Automatic Control Method and Control System for Downhole Original Area Filling Cylindrical Coal Gangue Separator

Abstract

The present invention discloses an automatic control method and control system for an underground original domain filling barrel-type coal-gangue separator, which relates to the field of automatic control of mine ore separation equipment. Combining with the actual underground production, the present invention effectively ensures the efficient and stable operation of the barrel-type coal-gangue separator, remotely monitors and controls the whole process of equipment operation, saves labor costs, extends the service life of the equipment, avoids the waste of water and electricity energy, recycles and subsequently reasonably treats the waste water, and fills the sorted gangue in the original domain, realizing energy conservation and environmental protection, and meeting the requirements of green and low-carbon mining with original domain filling in coal mines.

Description

Technical Field

[0001] The present invention relates to the field of automatic control of ore separation equipment in mines, and specifically to an automatic control method and control system for an underground original area filling barrel-type coal gangue separator. Background Art

[0002] The barrel-type ore washer is a device widely used in industries such as sand and gravel plants, mines, building materials, transportation, chemical engineering, water conservancy and hydropower, and concrete mixing plants for material washing and selection. In the field of coal production, following green and low-carbon mining has become a consensus, and the filling mode of integrated underground mining, selection and filling has become the development direction of the industry. This requires the separation of coal and gangue underground in coal mines, and then the separated gangue is filled in situ in the original production area underground. The efficient, green, and automatic separation of coal gangue has become a key link in the mining, selection, and filling technology of mines, and the coal gangue separator is a key device among them. The cylindrical ore washer can be used as a coal gangue separator by sorting ores through rotation and flushing, which can effectively remove impurities in coal, efficiently separate lumpy coal and lumpy gangue in the underground coal gangue mixture, and remove powdery impurities therein, improving the separation efficiency and filling effect.

[0003] The barrel-type ore washer is divided into two types: cylindrical and cylindrical with sieve bars. Its working principle is to use a rotating cylinder, internal scraper or stirring blades, and a high-pressure water flushing system to clean and screen materials. After the materials enter the cylinder, they impact and rub against each other during the soaking and rotation in water, dissociating clay and ore blocks. The ore and ore mud smaller than the sieve holes pass through the sieve holes and are discharged, while the coarse ore blocks are discharged through the double-cone sieve at the tail end of the cylinder. This device can handle large ore blocks and effectively separate ore and ore mud.

[0004] Although the barrel-type ore washer is widely used, there are also various problems in its operation process. For example, when the barrel-type ore washer is used for coal gangue separation, it consumes a large amount of water resources and electrical energy during operation. Although it is also equipped with a control system, which reduces the pressure of manual operation, the control system is relatively simple and cannot monitor the operating status of each component and the usage of the equipment in real time during the operation process. The residues in the cylinder cannot be removed in time, and the staff is negligent in maintenance and upkeep. Various factors have caused premature aging of the equipment, reduced the ore washing efficiency, shortened the service life of the equipment, and at the same time, the waste of a large amount of water and electricity resources and the inability to effectively treat waste water and waste residues have further increased the production cost of the enterprise. Summary of the Invention

[0005] To solve the above existing technical problems, the present invention provides an automatic control method and control system for an underground original domain filling cylindrical coal gangue separator, which effectively ensures the efficient and stable operation of the cylindrical coal gangue separator in combination with the actual underground production, remotely monitors and controls the whole process of equipment operation, saves labor costs, extends the service life of the equipment, avoids waste of water and electricity energy, recycles and subsequently reasonably treats the waste water, and fills the sorted gangue in the original domain, realizing energy conservation, environmental protection and waste utilization, and meeting the requirements of green and low-carbon mining of original domain filling in coal mines.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] An automatic control method for an underground original domain filling cylindrical coal gangue separator is realized through the following steps:

[0008] 1) Design a basic automatic control system. The cylindrical coal gangue separator uses a cylindrical ore washer as the basic equipment structure. A basic automatic control system is designed for the structural composition and operation process of the cylindrical ore washer to realize the water inlet of the equipment, spraying water inside the cylinder and rotating to wash coal gangue ore, respectively discharging the sorted coal and gangue, high-pressure water backwashing, and collecting and treating waste water.

[0009] 2) Adjust the cleaning liquid level inside the cylinder. A water quality detection device and a water quality pretreatment device are arranged at the front end of the water inlet device. The water quality is adjusted to the qualified threshold range before water inlet. The spray pipe inside the cylinder is set to the high-pressure spraying state, the cleaning motor is set to a variable frequency speed regulation motor, and a liquid level sensor is arranged on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor and realizes the on-line adjustment of the liquid level inside the cylinder by adjusting the opening of the water inlet valve, adjusting the cleaning time of the coal gangue ore inside the cylinder or adjusting the speed of the cleaning motor.

[0010] 3) Utilization of waste water. A simple sedimentation tank is arranged underground. The waste water generated by cleaning is introduced into the simple sedimentation tank. A liquid level sensor is arranged inside the simple sedimentation tank. The clarified water on the upper part of the sedimentation tank is pumped out by a water pump, filtered through a filtering device, and then reconnected to the water inlet pipe and the high-pressure water backwashing pipe for recycling. When the liquid level is lower than the lowest threshold of the liquid level sensor, the water pump stops working. When the waste water deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, the waste water deposited at the bottom is pumped to the ground sedimentation tank for centralized treatment.

[0011] 4) Treatment of gangue waste residue. The waste water and gangue generated during the cleaning process are discharged simultaneously. Before entering the simple sedimentation tank, they pass through a vibrating filtering component to filter out the gangue waste residue, which is collected and filled in the underground original domain. The remaining waste water, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibrating motor of the vibrating filtering component is set to a variable frequency speed regulation motor, and its vibration speed and frequency are controlled by the control system.

[0012] 5) Removal of residues inside the cylinder: Install monitoring equipment inside the cylinder near the water inlet pipe to detect the internal situation of the cylinder. Design a simple adjustable internal scraper. The control system collects information about the internal situation of the cylinder. For residues that cannot be removed even after high-pressure flushing, control the internal scraper to the specified position for removal;

[0013] 6) Based on the above steps and functions, design the structure of a on-site control cabinet with explosion-proof rating, write a control program, realize on-site operation and parameter setting on the touch screen human-machine interface, and communicate with the upper computer through a network communication protocol to achieve real-time monitoring and fault alarm of the equipment by the upper computer, and perform data recording, analysis, storage and related remote control functions, as well as auxiliary design of remote control functions and mobile phone applet control functions.

[0014] A control system for an underground original area filling barrel-type coal gangue separator. All components and equipment used in the control system are designed with explosion protection. The control system designed according to the above automatic control method includes a controller, a temperature sensor, a pressure sensor, an ore flow sensor, an internal cylinder liquid level sensor, a sedimentation tank liquid level sensor, a data preprocessing module, a cylinder rotation motor, a water inlet pipe solenoid valve, a high-pressure backwashing water pipe solenoid valve, a water pump, a vibration motor, an internal cylinder monitoring device and an internal scraper electric component. The controller uses a programmable logic controller PLC or a single-chip microcomputer. The temperature sensor, pressure sensor, ore flow sensor, internal cylinder liquid level sensor, and sedimentation tank liquid level sensor are respectively connected to the data preprocessing module. The data preprocessing module is connected to the input end of the controller. The output end of the controller is respectively connected to the cylinder rotation motor, the water inlet pipe solenoid valve, the high-pressure backwashing water pipe solenoid valve, the water pump, the vibration motor and the internal scraper electric component. The internal cylinder monitoring device is connected to the controller through an image processing module. The controller is connected to a display device and an alarm device, and is remotely connected to the upper computer through a communication module.

[0015] The internal cylinder monitoring device described in step 5) uses an infrared night vision device or an omnidirectional high-definition camera.

[0016] The control system also includes a water quality detection device and a water quality pretreatment device. The water quality detection device uses a simple instrument for measuring water quality. The water quality pretreatment device sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue ore to be separated. The water quality detection device is connected to the input end of the controller, and the water quality pretreatment device is connected to the output end of the controller.

[0017] The vibration motor is connected to a screen to form a vibration filtering component. A gangue waste collection and conveying device is arranged below the vibration filtering component for underground original area filling.

[0018] A density detection device is arranged on the screen mesh. The density detection device is connected to a controller, and the controller adjusts the operating parameters of the vibration motor according to the density parameters of the gangue waste residue.

[0019] The inner scraper electric component includes a micro motor and an electric push rod. The front end of the electric push rod is connected to a foldable scraper, and the bottom is fixedly arranged on a magnetic adsorption type movable base with rollers. The micro motor is arranged on the magnetic adsorption type movable base to drive its movement. When the electric push rod pushes out the scraper, the scraper is in an unfolded state, and its bottom is close to the inner wall of the cylinder to scrape residues during movement. When the electric push rod contracts, the scraper is in a folded state and placed on the magnetic adsorption type movable base. A navigation system is arranged on the magnetic adsorption type movable base. According to the position information of the residues in the cylinder monitored by the monitoring device in the cylinder, the controller sets position navigation to control the magnetic adsorption type movable base to walk to a specified position in the cylinder.

[0020] When the magnetic adsorption type movable base is in a moving state, the scraper is in a folded state. When it reaches the working position, the electric push rod is remotely controlled to push out the scraper to be in a working state. After completion, the electric push rod is remotely controlled to be in a contracted state to retract the scraper.

[0021] The controller adopts a programmable controller PLC of the FX2N - 64RM type, and the touch screen of the display device adopts the GT1575 - VNBA type, which is connected to the programmable controller through the RS232 serial port for on - site control.

[0022] A control system for an underground original - area filling cylindrical coal - gangue separator includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, it realizes the steps of an automatic control method for the underground original - area filling cylindrical coal - gangue separator.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1) The structure of a cylindrical ore washing machine is adopted as the basic structure of the underground original - area filling cylindrical coal - gangue separator, and a full - automatic control method and control system are designed according to its working principle and operation process. The state and parameters of the equipment operation are monitored in all aspects, realizing remote control, remote operation, and on - site control, which is more convenient to operate and saves labor costs. The equipment effectively removes impurities such as mud and stone powder in coal to obtain pure coal, improves the quality of coal. At the same time, the separated gangue waste residue is collected and used for original - area filling, achieving waste utilization.

[0025] 2) For the pretreatment of the quality of the washing water, it can ensure the ore washing effect and reduce equipment loss and water loss.

[0026] 3) Automatically adjust the liquid level in the cylinder during the operation of the equipment online to ensure the best separation effect, and at the same time ensure the stability and safety of the equipment;

[0027] 4) Designed the treatment and recycling process of the flushing wastewater, reducing the waste of water resources during operation;

[0028] 5) The selected gangue waste residue is collected at any time and filled in the original underground area, realizing waste utilization, saving energy consumption. At the same time, process parameters such as flushing water volume and flushing time can be adjusted in time during operation. On the premise of ensuring the washing effect, the generation amount of gangue waste residue is reduced;

[0029] 6) Designed a simple robot scraper for removing the residues in the cylinder. After detecting the position of the residues, it remotely navigates into the cylinder for removal, solving the residues or stubborn residues hidden in the dead corners that cannot be flushed or washed off by high-pressure flushing water. Then, combined with other conventional residue cleaning methods, it ensures the internal cleanliness of the cylinder, preventing the accumulation of residues from affecting the normal operation and use effect of the equipment;

[0030] 7) Based on the control method, designed a simple and efficient control system and the corresponding control program, realizing the full-automatic control of the coal-gangue separator, mainly including the real-time monitoring of the operation state and fault alarm, the recording and analysis of data, providing data support for equipment maintenance and process optimization, upgrading the system of the equipment, greatly improving the efficiency and effect of coal-gangue separation, extending the service life of the equipment, realizing energy conservation and environmental protection, providing more control methods for large-scale equipment, saving labor, and being suitable for large-scale popularization and operation. Brief Description of the Drawings

[0031] Figure 1 It is a schematic flow chart of the control method of the present invention;

[0032] Figure 2 It is a schematic main structure diagram of the barrel-type coal-gangue separator of the present invention;

[0033] Figure 3 It is a schematic principle diagram of the control system of the present invention;

[0034] Figure 4 It is a schematic simplified structure diagram of the inner scraper assembly in the unfolded state of the present invention;

[0035] Figure 5 It is a schematic simplified structure diagram of the inner scraper assembly in the folded state of the present invention;

[0036] Figure 6 It is a partial circuit diagram of the data signal processing of the present invention. Detailed Description of the Invention

[0037] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments:

[0038] As Figure 1 shown, an automatic control method for an in-situ filling cylindrical coal-gangue separator in a mine is realized through the following steps:

[0039] 1) Design a basic automatic control system. The cylindrical coal-gangue separator uses a cylindrical ore washer as the basic equipment structure. For the structural composition and operation process of the cylindrical ore washer, design a basic automatic control system to realize the water inlet of the equipment, spraying water inside the cylinder and rotating to wash coal-gangue ore, separately discharging the sorted coal and gangue, high-pressure water backwashing, and collecting and treating wastewater.

[0040] 2) Adjust the cleaning liquid level inside the cylinder. A water quality detection device and a water quality pretreatment device are set at the front end of the water inlet device to adjust the water quality to within the qualified threshold range before water inlet. The spray pipe inside the cylinder is set to a high-pressure spraying state, and the cleaning motor is set to a variable-frequency speed-regulating motor. A liquid level sensor is set on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor and realizes the online adjustment of the liquid level inside the cylinder by adjusting the opening degree of the water inlet valve, adjusting the cleaning time of the coal-gangue ore inside the cylinder, or adjusting the rotation speed of the cleaning motor. To ensure the washing effect and the normal operation of the equipment, it is usually necessary to control the liquid level inside the ore washer within a certain range. If the liquid level is too low, it may cause the ore to not be fully soaked and washed, affecting the washing efficiency. If the liquid level is too high, it may increase the load of the equipment and even cause the ore to overflow, affecting the stability and safety of the equipment. Design a control method for online adjusting the liquid level, which can not only ensure the washing effect but also save water and electricity energy and ensure the stability and safety of the equipment.

[0041] 3) Utilization of wastewater. Set a simple sedimentation tank underground, introduce the wastewater generated by cleaning into the simple sedimentation tank. A liquid level sensor is set inside the simple sedimentation tank. Use a water pump to pump out the clarified water at the upper part of the sedimentation tank, filter it through a filtering device, and then reconnect it to the water inlet pipe and the high-pressure water backwashing pipe for recycling. When the liquid level is lower than the lowest threshold of the liquid level sensor, the water pump stops working. When the wastewater deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, use a water pump to pump the deposited wastewater at the bottom to the ground sedimentation tank for centralized treatment; of course, there are also various ways to utilize the wastewater in the ground sedimentation tank, such as agricultural irrigation, ecological environment restoration, other industrial water use, urban miscellaneous water use, etc. These are all determined according to the water quality characteristics of the treated water and will not be elaborated here one by one. This step only describes a way of wastewater utilization in which the clarified water at the upper part can be recycled in advance for the production link by designing a simple sedimentation tank underground, which reduces the energy consumption and time consumption required in the wastewater treatment process.

[0042] 4) Treatment of gangue waste residue. During the cleaning process, the wastewater and gangue are discharged simultaneously. Before entering the simple sedimentation tank, they pass through a vibrating filter component. The gangue waste residue is filtered out, collected, and used for in-situ filling underground. The remaining wastewater, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibrating motor of the vibrating filter component is set as a variable-frequency speed-regulating motor, and its vibration speed and frequency are controlled through the control system to achieve the purpose of saving electric energy.

[0043] 5) Removal of residues inside the cylinder. A monitoring device capable of detecting the internal situation of the cylinder is installed at one end of the cylinder near the water inlet pipe. A simple adjustable internal scraper is designed. The control system collects information about the internal situation of the cylinder. For residues that cannot be removed even after high-pressure flushing, the internal scraper is controlled to move to the specified position for removal.

[0044] There are also many methods for cleaning the residues on the inner wall of the cylinder. Usually, it is the high-pressure water jet cleaning method. It is necessary to pay attention to controlling the water pressure and cleaning time to avoid damaging the inner wall of the cylinder. Chemical agents can also be used for cleaning, which react chemically with the residues to dissolve or peel off the residues. This requires determining the type and use concentration of the cleaning agent according to the material of the cylinder and the nature of the residues and operating according to certain regulations, which is rather troublesome. There are also fixed internal scrapers installed on the inner wall of the cylinder to remove the residues, but there are strict requirements for the position, angle, wear and maintenance of the scraper after long-term use. In a large cylinder, it is not convenient to operate. Therefore, an internal scraper structure similar to a simple robot is designed, which can be positioned and removed according to the position of the residues inside the cylinder, can be remotely controlled, and is convenient to operate.

[0045] 6) According to the above steps and functions, design the structure of the on-site control cabinet with explosion-proof rating, write the control program, realize on-site operation and parameter setting on the touch screen human-machine interface, and communicate with the upper computer through the network communication protocol to achieve real-time monitoring and fault alarm of the equipment by the upper computer, and perform data recording, analysis, storage and related remote control functions, as well as auxiliary design of remote control functions and mobile phone applet control functions.

[0046] Such as Figures 2 - 3As shown, for the control system of the underground original area filling barrel type coal gangue separator, since it operates underground, all components and equipment used in the control system are designed with explosion protection. The control system designed according to the automatic control method includes a controller 1, a temperature sensor 2, a pressure sensor 3, an ore flow sensor 4, a liquid level sensor 5 inside the barrel, a liquid level sensor 6 in the sedimentation tank, a data preprocessing module 7, a barrel rotating motor 8, a water inlet pipe solenoid valve 9, a high-pressure backwashing water pipe solenoid valve 10, a water pump 11, a vibration motor 12, an in-barrel monitoring device 13, and an inner scraper electric component 14. The controller 1 uses a programmable logic controller PLC or a single-chip microcomputer. The temperature sensor 2, the pressure sensor 3, the ore flow sensor 4, the liquid level sensor 5 inside the barrel, and the liquid level sensor 6 in the sedimentation tank are respectively connected to the data preprocessing module 7. The data preprocessing module 7 is connected to the input end of the controller 1. The output end of the controller 1 is respectively connected to the barrel rotating motor 8, the water inlet pipe solenoid valve 9, the high-pressure backwashing water pipe solenoid valve 10, the water pump 11, the vibration motor 12, and the inner scraper electric component 14. The in-barrel monitoring device 13 is connected to the controller 1 through an image processing module 15. The controller 1 is connected to a display device 16 and an alarm device 17, and is remotely connected to a host computer 19 through a communication module 18.

[0047] As a preferred method, in this embodiment, the in-barrel monitoring device 13 described in step 5) uses an infrared night vision device or an omnidirectional high-definition camera, which is selected according to the actual production situation and cost planning. The main principle of the infrared night vision device is based on optoelectronic conversion technology. It irradiates the target with an infrared searchlight and receives the reflected infrared radiation to form an image, with a relatively high cost. High-definition cameras are relatively widely used and have a relatively low cost.

[0048] As a preferred method, in this embodiment, the control system further includes a water quality detection device 20 and a water quality pretreatment device 21. The water quality detection device 20 uses an instrument for simple water quality measurement. The water quality pretreatment device 21 sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue to be separated. The water quality detection device 20 is connected to the input end of the controller 1, and the water quality pretreatment device 21 is connected to the output end of the controller 1. The quality of the washing water will affect the ore washing effect and equipment energy consumption. Therefore, it is a very necessary measure to preprocess the ore washing water source to ensure that the water quality meets the ore washing requirements.

[0049] As a preferred method, in this embodiment, the vibration motor 12 is connected to a screen to form a vibration filtering component. A gangue waste collection and conveying device is arranged below the vibration filtering component to collect and transport it for filling in the original production area, realizing waste utilization and saving transportation and other treatment costs.

[0050] As a preferred method, in this embodiment, a density detection device is provided on the screen mesh. The density detection device is connected to the controller 1, and the controller 1 adjusts the operating parameters of the vibration motor 12 according to the density parameters of the small particle waste residue. The density detection device can be selected as a finished product or self-made according to the actual production situation, without being too precise. The function of designing the density detection device is to control and adjust the operating parameters of the vibration motor 12 through the density parameters of the waste residue, so as to achieve the effect of energy conservation and consumption reduction.

[0051] As Figure 4 , Figure 5 shown, as a preferred method, in this embodiment, the inner scraper electric component 14 includes a micro motor 141 and an electric push rod 142. The front end of the electric push rod 142 is connected to a foldable scraper 143, and the bottom is fixedly arranged on a magnetic adsorption type movable base 144 with rollers. The micro motor 141 is arranged on the magnetic adsorption type movable base 144 to drive its movement. The micro motor 141 and the electric push rod 142 are respectively connected to the signal output end of the controller 1. When the electric push rod 142 pushes out the scraper 143, the scraper 143 is in an unfolded state, and its bottom is close to the inner wall of the cylinder to scrape off residues during movement. When the electric push rod 142 contracts, the scraper 143 is in a folded state and placed on the magnetic adsorption type movable base 144. A navigation system is arranged on the magnetic adsorption type movable base 144. According to the position information of the residues in the cylinder monitored by the in-cylinder monitoring device 13, the controller 1 sets position navigation to control the magnetic adsorption type movable base 144 to walk to a specified position in the cylinder. The electric push rod 142 is set to have a rotation function. During the working process of the scraper 143, the lower side scraper is always used to scrape off residues in the unfolded state. Due to long-term use, it is prone to breakage. The scraper 143 can be rotated to use the other side for scraping work, which is simple in operation, cost-saving, and convenient for maintenance and replacement. In this embodiment, the electric push rod 142, the micro motor 141, and the magnetic adsorption type movable base 144 are all conventional products, so they are only expressed in the form of a simplified diagram in the drawings.

[0052] As a preferred method, in this embodiment, when the magnetic adsorption type movable base 144 is in a moving state, the scraper 143 is in a folded state. When it reaches the working position, the electric push rod 142 is remotely controlled to push out the scraper 143 to the working state. After completion, the electric push rod 142 is remotely controlled to the contracted state to retract the scraper 143.

[0053] As a preferred method, in this embodiment, the programmable logic controller PLC adopts the FX2N-64RM type, and the touch screen of the display device 16 adopts the GT1575-VNBA type, which is connected to the programmable logic controller through the RS232 serial port for on-site control.

[0054] The control system of the downhole original domain filling cylinder type coal gangue separator includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the steps of the above-mentioned automatic control method of the downhole original domain filling cylinder type coal gangue separator are realized. Some data processing circuits are as follows Figure 6 shown. All the content of the circuit part can be realized by using basic circuits, so no more elaboration will be made here.

[0055] In the specific implementation process of the present invention, the operation of the cylinder type coal gangue separator can be controlled on-site through an explosion-proof control cabinet, or remotely controlled by a remote control, a small program or a host computer. During the operation, the data of the temperature sensor 2, the pressure sensor 3, the ore flow sensor 4, and the in-cylinder liquid level sensor 5 are transmitted to the controller 1 in real time through the data preprocessing module 7. The control program loaded on the controller 1 analyzes and calculates according to the input signals, outputs control signals, and controls the operation and parameter adjustment of the cylinder rotating motor 8, the water inlet solenoid valve 9, the high-pressure backwash water pipe solenoid valve 10, the water pump 11, the vibration motor 12, and the inner scraper electric component 14. The display device 16 realizes human-computer interaction through the display screen. When a fault occurs, the alarm device 17 starts to alarm. The controller 1 uploads real-time data to the host computer 19 through the communication module 18, realizes the real-time monitoring and fault alarm of the equipment by the host computer 19, and performs data recording, analysis, storage, and related remote control functions. The in-cylinder monitoring device 13 can monitor the in-cylinder situation in real time. When it is necessary to scrape the residues, the inner scraper electric component 14 is controlled to enter the cylinder to work according to the provided situation and position, and exits the cylinder after the work is completed.

[0056] The design of the control method and control system of the present invention aims to be more perfect in operation and function, more convenient in operation, realize various forms of automatic control, save labor and manpower, for the treatment of waste water, gangue and waste residues, the selection of automatic control execution components, the control and adjustment of various operating parameters, and finally realize the upgrade of the equipment control of traditional mining machinery, extend the service life of the equipment, achieve energy conservation and consumption reduction for resources such as water and electricity, reflect the extreme environmental protection concept and environmental protection effect for the utilization of waste water and waste residues. The fully automatic control system improves the automation degree of mining equipment, especially the automatic control and remote control of equipment in harsh downhole environments, solves the personal safety problems of operators, reduces the risk of health problems caused by harsh working environments, and will surely be the major trend of the future mining machinery industry.

[0057] Certainly, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, or substitutions made by those skilled in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automatic control method for an underground original domain filling barrel type coal-gangue separator, characterized in that, It is realized through the following steps: 1) Design a basic automatic control system. The cylindrical coal-gangue separator uses a cylindrical ore washer as the basic equipment structure. For the structural composition and operation process of the cylindrical ore washer, design a basic automatic control system to achieve the intake of water, spraying water inside the cylinder and rotating to wash coal-gangue ore, respectively discharging the sorted coal and gangue, high-pressure water backwashing, and collecting and treating wastewater; 2) Adjust the cleaning liquid level inside the cylinder. Set a water quality detection device and a water quality pretreatment device at the front end of the water intake device, adjust the water quality to within the qualified threshold range before water intake, set the spray pipe inside the cylinder to the high-pressure spraying state, set the cleaning motor to a variable-frequency speed-regulating motor, and set a liquid level sensor on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor and realizes the on-line adjustment of the liquid level inside the cylinder by adjusting the opening of the water intake valve, adjusting the cleaning time of the coal-gangue ore inside the cylinder, or adjusting the rotation speed of the cleaning motor; 3) Utilization of wastewater. Set up a simple sedimentation tank underground, introduce the wastewater generated by cleaning into the simple sedimentation tank. A liquid level sensor is set inside the simple sedimentation tank. Pump out the clarified water at the upper part of the sedimentation tank through a water pump, filter it through a filtering device, and then reconnect it to the water intake pipe and the high-pressure water backwashing pipe for recycling. When the liquid level is lower than the lowest threshold of the liquid level sensor, the water pump stops working. When the wastewater deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, pump the wastewater deposited at the bottom to the ground sedimentation tank for centralized treatment; 4) Treatment of gangue waste residue. The wastewater and gangue generated during the cleaning process are discharged simultaneously. Before entering the simple sedimentation tank, pass through a vibrating filtering component to filter out the gangue waste residue, collect it and carry out underground original area filling. The remaining wastewater, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibrating motor of the vibrating filtering component is set as a variable-frequency speed-regulating motor, and its vibration speed and frequency are controlled by the control system; 5) Removal of residues inside the cylinder. Set up an in-cylinder monitoring device capable of detecting the inside of the cylinder at one end of the cylinder close to the water intake pipe, design a simple adjustable inner scraper, and the control system collects the information inside the cylinder. For the residues that still cannot be removed after high-pressure flushing, control the inner scraper to the designated position for removal; 6) According to the above steps and functions, design the structure of a field control cabinet with explosion-proof grade, write a control program, realize on-site operation and parameter setting on the touch screen human-machine interface, communicate with the upper computer through the network communication protocol, realize the real-time monitoring and fault alarm of the equipment by the upper computer, and perform data recording, analysis, storage and related remote control functions, as well as auxiliary design remote control functions and mobile phone applet control functions.

2. A control system for an underground in-situ filling barrel type coal-gangue separator, wherein all components and equipment used in the control system are explosion-proof designed, characterized in that, The control system designed according to the automatic control method of the downhole original domain filling cylinder type coal gangue separator described in claim 1 includes a controller (1), a temperature sensor (2), a pressure sensor (3), an ore flow sensor (4), a liquid level sensor (5) inside the cylinder, a liquid level sensor (6) in the sedimentation tank, a data preprocessing module (7), a cylinder rotating motor (8), a water inlet solenoid valve (9), a high-pressure backwashing water pipe solenoid valve (10), a water pump (11), a vibration motor (12), an in-cylinder monitoring device (13) and an inner scraper electric component (14). The controller (1) uses a programmable logic controller PLC or a single-chip microcomputer. The temperature sensor (2), the pressure sensor (3), the ore flow sensor (4), the liquid level sensor (5) inside the cylinder, and the liquid level sensor (6) in the sedimentation tank are respectively connected to the data preprocessing module (7). The data preprocessing module (7) is connected to the input end of the controller (1). The output end of the controller (1) is respectively connected to the cylinder rotating motor (8), the water inlet solenoid valve (9), the high-pressure backwashing water pipe solenoid valve (10), the water pump (11), the vibration motor (12) and the inner scraper electric component (14). The in-cylinder monitoring device (13) is connected to the controller (1) through an image processing module (15). The controller (1) is connected to a display device (16) and an alarm device (17), and realizes a remote communication connection with a host computer (19) through a communication module (18).

3. The control system of the downhole original domain filling barrel type coal gangue separator according to claim 2, characterized in that, The in-cylinder monitoring device (13) described in step 5) uses an infrared night vision device or an omnidirectional high-definition camera.

4. The control system of the underground in-situ filling cylinder type coal-gangue separator according to claim 2, wherein, This control system further includes a water quality detection device (20) and a water quality pretreatment device (21). The water quality detection device (20) uses an instrument for simply measuring water quality. The water quality pretreatment device (21) sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue ore to be separated. The water quality detection device (20) is connected to the input end of the controller (1). The water quality pretreatment device (21) is connected to the output end of the controller (1).

5. The control system of the downhole original domain filling cylinder type coal gangue separator according to claim 2, characterized in that, The vibration motor (12) is connected to a sieve to form a vibration filtering component. A gangue waste collection and conveying device is arranged below the vibration filtering component for downhole original domain filling.

6. The control system of the underground original domain filling barrel type coal gangue separator according to claim 5, characterized in that, A density detection device is arranged on the sieve. The density detection device is connected to the controller (1). The controller (1) adjusts the operating parameters of the vibration motor (12) according to the density parameters of the gangue waste.

7. The control system of the downhole original domain filling cylinder type coal-gangue separator according to claim 2, characterized in that, The inner scraper electric component (14) includes a micro motor (141) and an electric push rod (142). The front end of the electric push rod (142) is connected to a foldable scraper (143), and the bottom is fixedly arranged on a magnetic adsorption type movable base (144) with rollers. The micro motor (141) is arranged on the magnetic adsorption type movable base (144) to drive its movement. When the electric push rod (142) pushes out the scraper (143), the scraper (143) is in an unfolded state, and its bottom is close to the inner wall of the cylinder to scrape residues during movement. When the electric push rod (142) contracts, the scraper (143) is in a folded state and placed on the magnetic adsorption type movable base (144). A navigation system is arranged on the magnetic adsorption type movable base (144). According to the position information of the residues in the cylinder monitored by the in-cylinder monitoring device (13), the controller (1) sets position navigation to control the magnetic adsorption type movable base (144) to walk to a specified position in the cylinder.

8. The control system of the downhole original domain filling cylinder type coal gangue separator according to claim 7, characterized in that, When the magnetic adsorption type movable base (144) is in a moving state, the scraper (143) is in a folded state. When it reaches the working position, remotely control the electric push rod (142) to push out the scraper (143) to the working state. After completion, remotely control the electric push rod (142) to the contracted state to retract the scraper (143).

9. For the control system of the underground original domain filling barrel type coal gangue separator according to claim 2, the controller (1) adopts a programmable logic controller PLC of the FX2N-64RM type, and the touch screen of the display device (16) adopts the GT1575-VNBA type, which is connected to the programmable logic controller through the RS232 serial port for on-site control.

10. A control system for an underground in-situ filling barrel-type coal-gangue separator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it realizes the steps of the automatic control method of the underground original domain filling barrel type coal gangue separator described in claim 1 above.

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