Angle automatic adjusting system and method of coal cutter end head cutting height display device

Abstract

The present application relates to a kind of coal winning machine end head display device angle automatic adjusting system and method, the system includes mounting bracket, display device, remote controller, antenna, coal winning machine control module, motor and motor drive module, display device is hinged in mounting bracket, display device is fixedly connected with the output shaft of motor, display device, antenna, motor drive module are electrically connected with coal winning machine control module, remote controller is communicated wirelessly with coal winning machine control module by antenna;The method is to build the above system, when coal winning machine control module receives the remote control signal of remote controller by antenna, communication delay calculation is carried out and left and right remote controller is identified by signal mark, to judge the left and right direction of remote controller relative to display device, then drive signal is sent to motor drive module, so that motor drives display device to rotate to the direction where remote controller is located.The present application can automatically adjust the angle of display device, and expand the position range of coal winning machine driver observing the data of mining height.

Description

Technical Field

[0001] This invention relates to an angle adjustment system and an automatic angle adjustment method for a coal mining machine end-face height display device. Background Technology

[0002] The coal mining machine is a crucial piece of equipment in the fully mechanized coal mining face of an underground coal mine. During operation, the working face generates a large amount of coal dust, and the dim lighting makes it difficult for the operator to observe the cutting height of the drum, thus hindering their ability to determine whether the roof and floor have been cut to the appropriate position. A coal mining height display device at the end of the mining machine provides the operator with real-time cutting height data, allowing them to adjust the drum height accordingly, reducing the frequency of drum observations and lowering their workload.

[0003] The existing coal mining machine end mining height display device is fixedly installed above the coal mining machine's traveling part or at a suitable position on the rocker arm. This method is simple and easy to implement, but the angle cannot be adjusted, and the coal mining machine operator can only observe the mining height data when he is in a certain fixed area. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic angle adjustment system and method for a coal mining machine end-face height display device, which can automatically adjust the angle of the display device and expand the position range for the coal mining machine operator to observe the drum height data.

[0005] The main technical solutions of this invention are as follows:

[0006] An automatic angle adjustment system for a coal mining machine end-face height display device includes a mounting frame, a display device, a remote controller, an antenna, a coal mining machine control module, a motor, and a motor drive module. The motor and motor drive module are electrically connected. The display device is hinged to the mounting frame with a vertically extending hinge axis. The display device is fixedly connected to the output shaft of the motor. The display device can rotate left and right around the hinge axis under the drive of the motor. The display device, antenna, and motor drive module are all electrically connected to the coal mining machine control module. The remote controller interacts wirelessly with the coal mining machine control module through the antenna.

[0007] The top and bottom surfaces of the display device are respectively connected to an upper hinge shaft and a lower hinge shaft, which are installed upwards and downwards on the upper and lower parts of the mounting bracket, respectively.

[0008] The upper and lower parts of the mounting bracket can be solid structures and hollow structures, respectively. The upper hinge shaft passes through the upper part of the mounting bracket, and the upper end of the upper hinge shaft is provided with an axial limiting end. The motor is set in the lower cavity of the mounting bracket, and the lower end of the lower hinge shaft passes through the top plate of the lower part of the mounting bracket and is coaxially and fixedly connected with the output shaft of the motor.

[0009] The automatic angle adjustment system of the coal mining machine end height display device also includes a mining height sensor, and the signal output terminal of the mining height sensor is connected to the coal mining machine control module.

[0010] The automatic angle adjustment system of the coal mining machine end height display device also includes a coal mining machine housing, and the mounting frame is fixedly installed on the outer wall of the front side of the coal mining machine housing.

[0011] The antenna is preferably installed on the outer wall of the front side of the coal mining machine housing and is located in the middle of the front side of the coal mining machine housing.

[0012] A method for automatically adjusting the angle of a coal mining machine end-face height display device includes fixing an antenna and a mounting bracket to the front outer wall of the coal mining machine housing. The display device is hinged to the mounting bracket, with the hinge axis extending vertically. A motor, either a stepper motor or a servo motor, drives the display device to rotate left and right around the hinge axis. A remote control is used to wirelessly interact with the coal mining machine control module via the antenna. There are two remote controls: the left remote control communicates with the coal mining machine control module, which controls the display device to rotate to the left; the right remote control communicates with the coal mining machine control module, which controls the display device to rotate to the right. When the coal mining machine control module receives the remote control signal via the antenna... When the remote control signal of the coal mining machine is received, the control module calculates the remote control signal reception delay and determines which remote control is the left or right remote control by using the signal identifier. Then, it determines the left and right direction of the remote control relative to the display device, and records the remote control signal reception delay, the direction of the remote control, the number of pulses of the motor drive pulse signal, and the current angle of the display device in real time. Then, it sends a drive signal to the motor drive module, which outputs a motor drive pulse signal to the motor, causing the motor to drive the display device to rotate in the direction of the remote control. The size of the rotation angle is proportional to the remote control signal reception delay. When the remote control signal reception delay exceeds the preset delay upper limit or the angle of the display device reaches the preset angle upper limit, the motor stops rotating.

[0013] The rotation angles of the display device to the left and right are recorded as negative and positive values, respectively. Simultaneously, the angle when the display screen is parallel to the front outer wall of the coal mining machine and facing the goaf side is recorded as 0°. The angles when the display screen is to the left and right of the 0° position are recorded as negative and positive values, respectively. When the cutting motor and traction motor of the coal mining machine are de-energized, or when the coal mining machine is powered on, if the angle of the display device is not at the initial 0° position, the coal mining machine control module takes the absolute value of the current angle of the display device, calculates the number of pulses of the motor drive signal corresponding to this absolute angle, and determines the reset rotation direction of the display device based on the current angle. Then, the coal mining machine control module sends a drive signal to the motor drive module to drive the motor to rotate and reset the display device, i.e., rotate it to the initial 0° position.

[0014] When the distance between the remote control and the antenna changes from far to near or from near to far along the same direction, the coal mining machine control module detects the remote control signal reception delay in real time. When the delay of two consecutive remote control signals in the same direction changes, and only the remote control in that direction sends a remote control signal in between, the angle of the display device will be adjusted according to the difference in the delay of these two remote control signals. The specific adjustment method is as follows: if the delay value increases, the device will continue to rotate in that direction at the angle corresponding to the absolute value of the delay difference; if the delay value decreases, the device will rotate in the opposite direction at the angle corresponding to the absolute value of the delay difference.

[0015] The beneficial effects of this invention are:

[0016] This invention eliminates the need for manual rotation of the display device to adjust the angle, resulting in a high degree of automation and adjustable rotation accuracy, thus expanding the range of positions from which the coal mining machine operator can observe the drum height data.

[0017] This invention allows the coal mining machine operator to observe clear mining height data from multiple angles by automatically and flexibly adjusting the relative angle between the display device and the coal mining machine operator. This not only effectively reduces the labor intensity of the coal mining machine operator and enhances the production safety of the coal mining face, but also significantly improves the automation level of the coal mining machine. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the electrical connection relationship of the automatic angle adjustment system of the coal mining machine end height display device of the present invention;

[0019] Figure 2 This is a front view (display screen facing forward) of an embodiment of the automatic angle adjustment system for the coal mining machine end height display device of the present invention;

[0020] Figure 3 for Figure 2 The right view;

[0021] Figure 4 for Figure 2 The illustrated embodiment shows the display device rotated 90 degrees to the right (the display screen faces right).

[0022] Figure label:

[0023] 1-1. Remote control; 1-2. Remote control signal; 1-3. Antenna; 2-1. Motor; 2-2. Motor drive module; 2-3. Lower hinge shaft; 3. Display device; 4. Coal mining machine control module; 5. Mining height sensor; 6. Mounting frame; 6-1. Upper hinge shaft; 7. Coal mining machine housing. Detailed Implementation

[0024] like Figure 1-4As shown, this invention discloses an automatic angle adjustment system for a coal mining machine end-face height display device, including a mounting frame 6, a coal mining machine end-face height display device (hereinafter referred to as the display device) 3, a remote controller 1-1, an antenna 1-3, a coal mining machine control module 4, a motor 2-1, and a motor drive module 2-2. The motor and the motor drive module are electrically connected. The display device is hinged to the mounting frame, with the hinge axis extending vertically. The display device is fixedly connected to the output shaft of the motor, and the display device can rotate left and right around the hinge axis under the drive of the motor. The motor drive module drives the motor to work, and the motor drives the display device to rotate left or right. The display device, antenna, and motor drive module are all electrically connected to the coal mining machine control module. The remote controller interacts with the coal mining machine control module wirelessly through the antenna. The display device and the motor drive module are both bidirectionally connected to the coal mining machine control module. The coal mining machine control module is the core of the coal mining machine electrical control system. As the electrical control center of the automatic angle adjustment system for the coal mining machine end-face height display device, it controls the status of each electrical node. The mining height data displayed on the screen comes from the coal mining machine control module. The coal mining machine control module controls the start and stop of the motor through the motor drive module. The remote control can be used to adjust the coal mining machine's travel speed, direction, and drum height.

[0025] The top and bottom surfaces of the display device are respectively connected to an upper hinge shaft 6-1 and a lower hinge shaft 2-3, which are mounted upwards and downwards on the upper and lower parts of the mounting frame, respectively. In the embodiment shown in the attached drawings, the upper and lower parts of the mounting frame are cantilever structures extending from back to front, forming a through-groove with an opening facing forward together with the rear part of the mounting frame, and the display device is located in this groove.

[0026] The upper and lower parts of the mounting bracket can be solid and hollow structures, respectively. The upper hinge shaft passes through the upper part of the mounting bracket, and its upper end is provided with an axial limiting end. The upper hinge shaft can rotate freely relative to the mounting bracket. The motor is located in the lower cavity of the mounting bracket. The lower end of the lower hinge shaft passes through the top plate of the lower part of the mounting bracket and is coaxially and fixedly connected to the output shaft of the motor. The lower hinge shaft can rotate freely relative to the mounting bracket. When the motor rotates, it drives the display device to rotate synchronously via the lower hinge shaft.

[0027] The automatic angle adjustment system of the coal mining machine end height display device also includes a mining height sensor 5. The signal output terminal of the mining height sensor is connected to the coal mining machine control module. The coal mining machine control module receives the mining height data detected by the mining height sensor and then sends it to the display device for display. The mining height sensor is a sensor specifically designed for the display requirements of the coal mining machine end height display device.

[0028] The automatic angle adjustment system of the coal mining machine end height display device also includes a coal mining machine housing 7, and the mounting bracket is fixedly installed on the outer wall of the front side (i.e. the side with the coal mining machine operation button) of the coal mining machine housing.

[0029] The antenna is preferably installed on the outer front wall of the coal mining machine housing and located in the middle of the front side of the coal mining machine housing.

[0030] Typically, the remote control is held by the coal mining machine operator and used to adjust the machine's speed, direction, and drum height in real time based on the coal cutting situation at the working face. When the operator operates the remote control, the coal mining machine control module receives the remote control signal 1-2 via an antenna. Based on this signal, the control module adjusts the machine's movements and sends a drive signal to the motor drive module, causing the motor to rotate the display device in the direction of the remote control, allowing the operator to better observe the information on the display. The angle of rotation can be determined by the control module or by using other sensors to calculate the remote control's position relative to the display device.

[0031] Because the automatic angle adjustment system of the coal mining machine end height display device can automatically control the display device to rotate in the direction of the remote control, i.e. the coal mining machine driver, it can meet the need to observe the drum mining height data without manual operation. Therefore, it not only enhances the production safety of the coal mining face, but also significantly reduces the labor intensity of the coal mining machine driver.

[0032] This invention also discloses an automatic angle adjustment method for a coal mining machine end-face height display device, such as... Figure 1-4 As shown, specifically, an antenna 1-3 and a mounting bracket 6 are fixedly installed on the outer wall of the front side (the side with the coal mining machine operation buttons) of the coal mining machine housing 7. The coal mining machine end height display device (hereinafter referred to as the display device) 1 is hinged to the mounting bracket, keeping the hinge axis vertically extended. A motor 2-1 drives the coal mining machine end height display device to rotate left and right around the hinge axis. The motor is a stepper motor or a servo motor. A remote control 1-1 is used to wirelessly control the coal mining machine control module 4 through the antenna. There are two remote controls, one on the left and one on the right, held by two coal mining machine operators respectively. When the left remote control communicates with the coal mining machine control module, the coal mining machine control module controls the display device to rotate to the left; when the right remote control communicates with the coal mining machine control module, the coal mining machine control module controls the display device to rotate to the right.

[0033] Remote controls are typically used to operate coal mining machines remotely, adjusting their travel speed, direction, and drum height. When the coal mining machine control module receives a remote control signal from any remote control via its antenna, it indicates that the operator on the corresponding side of the coal mining machine needs to observe the mining height data.

[0034] When the coal mining machine control module receives remote control signals 1-2 from the remote controller via the antenna, it calculates the remote control signal reception delay and determines which remote controller (left or right) it is based on the signal identifier. It then determines the left / right direction of the remote controller relative to the display device and records the remote control signal reception delay, the remote controller's location (i.e., its left / right direction relative to the display device), the number of pulses in the motor drive pulse signal, and the current angle of the display device in real time. It then sends a drive signal to the motor drive module 2-2, which outputs motor drive pulse signals to the motor, causing the motor to rotate the display device in the direction of the remote controller. Within a normal range, the rotation angle, the number of pulses in the drive pulse signal, and the remote control signal reception delay are directly proportional. A longer remote control signal reception delay indicates a greater distance between the remote controller or the coal mining machine operator and the antenna, requiring a larger rotation angle of the display device.

[0035] Since the maximum angle between the actual coal mining machine operator and the antenna is generally less than 90 degrees, adjusting the display device to 90 degrees is sufficient to meet the actual needs on site. Therefore, the angle of the display device will not be adjusted indefinitely. To address this, some upper limits can be preset to restrict the maximum angle of the display device, such as a preset delay upper limit or an angle upper limit (typically ±90 degrees). When the remote control signal reception delay exceeds the preset delay upper limit or the angle of the display device reaches the preset angle upper limit, the motor stops rotating.

[0036] When the coal mining machine control module receives a remote control signal in the opposite direction, it will send a drive signal to the motor drive module. The motor drive module will then output a motor drive pulse signal to the motor, causing the motor to drive the display device to rotate in the direction of the remote control (i.e., the opposite direction).

[0037] The relationship between the remote control signal reception delay per unit (e.g., 1 second delay, 1 millisecond delay) and the rotation angle of the motor or display device can be represented by a proportionality coefficient N (N > 0). The value of N can be adjusted according to the actual situation. Once the proportional relationship is determined, the remote control signal reception delay and the rotation angle are linearly related, and there is a one-to-one correspondence between the two.

[0038] The rotation angles of the display device to the left and right are recorded as negative and positive values, respectively. At the same time, the angle when the display screen is parallel to the front outer wall of the coal mining machine box and facing the goaf side is recorded as 0°. When the display screen is deviated to the left and right of the 0° position, the angles of the display device are recorded as negative and positive values, respectively. The range of the angle of the display device is -180° to +180°.

[0039] When the display device rotates to the left, the angle value after rotation to the left can be obtained by subtracting the angle value corresponding to the number of pulses of the output motor drive pulse signal from the current angle value of the display device. When the display device rotates to the right, the angle value after rotation to the right can be obtained by adding the angle value corresponding to the number of pulses of the output motor drive pulse signal to the current angle value of the display device.

[0040] When the cutting motor and traction motor of the coal mining machine are de-energized and the coal mining machine is powered on, if the angle of the display device is not at the initial position of 0°, the coal mining machine control module takes the absolute value of the current angle of the display device, calculates the number of pulses of the motor drive signal corresponding to the absolute value angle (this number of pulses is the number of pulses corresponding to the angle that the display device needs to rotate to reset), and determines the reset rotation direction of the display device based on the current angle of the display device (i.e., the opposite direction to the current angle). Then, the coal mining machine control module sends a drive signal to the motor drive module, and the motor drive module outputs a motor drive pulse signal to the motor to drive the motor to rotate and drive the display device to reset, that is, rotate to the initial position of 0°.

[0041] When the distance between the remote control and the antenna changes from far to near or from near to far along the same direction, the coal mining machine control module detects the remote control signal reception delay in real time. If the delay of two consecutive remote control signals received in the same direction changes, and only the remote control in that direction sends a signal in between, the angle of the display device will be adjusted according to the difference in the delays of these two remote control signals. Specifically, if the delay value increases, the device will continue to rotate in that direction by the angle corresponding to the absolute value of the delay difference; if the delay value decreases, the device will rotate in the opposite direction by the angle corresponding to the absolute value of the delay difference. This method is equivalent to fine-tuning the angle of the display device, allowing the automatic adjustment of the display device's angle to better match the actual needs.

[0042] The automatic angle adjustment system for the coal mining machine end height display device of the present invention can be used to realize the automatic angle adjustment method of the coal mining machine end height display device. The system and method can expand the position range for the coal mining machine operator to observe the drum height data.

Claims

1. A method for automatically adjusting the angle of a coal mining machine end-face height display device, characterized in that: An antenna and a mounting bracket are fixedly installed on the front outer wall of the coal mining machine housing. A display device is hinged to the mounting bracket, with the hinge axis extending vertically. A motor, either a stepper motor or a servo motor, drives the display device to rotate left and right around the hinge axis. A remote control is used to wirelessly interact with the coal mining machine control module via the antenna. There are two remote controls, left and right. When the left remote control communicates with the coal mining machine control module, the control module controls the display device to rotate to the left. When the right remote control communicates with the coal mining machine control module, the control module controls the display device to rotate to the right. The rotation angle is determined by the relative position of the respective remote control to the display device. When the coal mining machine control module receives the remote control signal through the antenna, coal mining begins. The control module calculates the remote control signal reception delay and determines which remote control is the left or right remote control based on the signal identifier. It then determines the left or right direction of the remote control relative to the display device and records the remote control signal reception delay, the direction of the remote control, the number of pulses in the motor drive pulse signal, and the current angle of the display device in real time. It then sends a drive signal to the motor drive module, which outputs a motor drive pulse signal to the motor, causing the motor to rotate the display device in the direction of the remote control. The longer the remote control signal reception delay, the farther the remote control is from the antenna, and the larger the angle of the display device needs to be rotated. When the remote control signal reception delay exceeds the preset delay limit or the angle of the display device reaches the preset angle limit, the motor stops rotating.

2. The automatic angle adjustment method for the coal mining machine end height display device as described in claim 1, characterized in that: The rotation angles of the display device to the left and right are recorded as negative and positive values, respectively. Simultaneously, the angle when the display screen is parallel to the front outer wall of the coal mining machine and facing the goaf side is recorded as 0°. The angles when the display screen is to the left and right of the 0° position are recorded as negative and positive values, respectively. When the cutting motor and traction motor of the coal mining machine are de-energized, or when the coal mining machine is powered on, if the angle of the display device is not at the initial 0° position, the coal mining machine control module takes the absolute value of the current angle of the display device, calculates the number of pulses of the motor drive signal corresponding to this absolute angle, and determines the reset rotation direction of the display device based on the current angle. Then, the coal mining machine control module sends a drive signal to the motor drive module to drive the motor to rotate and reset the display device, i.e., rotate it to the initial 0° position.

3. The automatic angle adjustment method for the coal mining machine end height display device as described in claim 1 or 2, characterized in that: When the distance between the remote control and the antenna changes from far to near or from near to far along the same direction, the coal mining machine control module detects the remote control signal reception delay in real time. When the delay of two consecutive remote control signals in the same direction changes, and only the remote control in that direction sends a remote control signal in between, the angle of the display device will be adjusted according to the difference in the delay of these two remote control signals. The specific adjustment method is as follows: if the delay value increases, the device will continue to rotate in that direction at the angle corresponding to the absolute value of the delay difference; if the delay value decreases, the device will rotate in the opposite direction at the angle corresponding to the absolute value of the delay difference.

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