Hybrid power coal mining machine traction part transmission system and working method

Abstract

The invention discloses a hybrid power coal mining machine traction part transmission system and a working method. The system comprises a left cutting part, a left traction part, a coal mining machine hydraulic heightening system, a right cutting part and a right traction part. The left cutting part is connected with the left traction part and then is connected with the hydraulic height adjusting system of the coal mining machine, the right cutting part is connected with the right traction part and then is connected with the hydraulic height adjusting system of the coal mining machine, and the hydraulic height adjusting system of the coal mining machine controls the left cutting part, the left traction part, the right cutting part and the right traction part. According to the method, by using a PID control algorithm, according to different working conditions including a normal cutting working condition, a heavy-load cutting working condition, a dynamic adjustment working condition and a complex geological working condition, the output torque of a coal mining machine hydraulic heightening system is dynamically distributed, the problem of insufficient traction force can be solved, the coal mining efficiency is improved, safety is enhanced, the method adapts to variable working conditions, and the service life of equipment is prolonged; the coal mining benefit is comprehensively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of hybrid power coal mining machines, and in particular refers to a transmission system and a working method of a traction part of a hybrid power coal mining machine. Background Art

[0002] Coal mining machines play an important role in coal mining operations, and the traction unit faces extremely complex and changeable load changes during the coal and rock cutting process. During the operation of the coal mining machine, the traction unit will encounter cutting resistance and propulsion resistance that change dynamically with the hardness, thickness and interlayer of the coal seam, the uphill resistance generated by the weight of the coal mining machine when it moves on the inclined working surface, and the friction generated by the close contact between the walking wheel and the scraper conveyor when the coal mining machine performs S-bend cutting; the load generated by the gear meshing of the transmission system itself, the radial and axial forces borne by the bearings, and other loads. Due to the uncertainty and mutation of these loads, insufficient traction will directly lead to a decrease in the operating speed of the coal mining machine, significantly reducing the overall coal mining efficiency, and then disrupting the production plan of the coal mining enterprise and damaging the economic benefits. Insufficient traction also significantly increases the safety hazards of coal mining operations, reduces the stability of the coal mining machine in the coal seam, and easily causes accidents such as slipping, loss of control, and even overturning, posing a great threat to the life safety of underground workers. At the same time, insufficient traction will also affect the cutting quality of the coal seam, resulting in an uneven coal seam surface, thereby reducing coal mining efficiency and subsequent processing utilization rate, and ultimately causing a profound adverse impact on the overall production efficiency and market competitiveness of coal mining enterprises. Summary of the invention

[0003] The purpose of the present invention is to provide a hybrid coal mining machine traction part transmission system and working method, the system can overcome the problem of insufficient gravity of the traction part, the method can improve coal mining efficiency, enhance safety, adapt to changing working conditions and extend equipment life, and comprehensively improve coal mining efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides a hybrid power coal mining machine traction part transmission system, including a left cutting part, a left traction part, a coal mining machine hydraulic height adjustment system, a right cutting part, and a right traction part; the left cutting part is connected to the left traction part and then connected to the coal mining machine hydraulic height adjustment system, and the right cutting part is connected to the right traction part and then connected to the coal mining machine hydraulic height adjustment system, and the coal mining machine hydraulic height adjustment system controls the left cutting part, the left traction part, the right cutting part, and the right traction part.

[0005] As a further solution of the present invention: the hydraulic height adjustment system of the coal mining machine includes a left height adjustment cylinder and a right height adjustment cylinder. The left height adjustment cylinder is connected to the left hydraulic lock, and the left hydraulic lock is connected to the left-hand hydraulic reversing valve. The output end of the left-hand hydraulic reversing valve is connected to the left electromagnetic reversing valve. The left electromagnetic reversing valve outputs two paths, one of which is connected in series with the brake solenoid valve and the pressure relay in turn and then connected in parallel to the left brake and the right brake; one end of the brake solenoid valve is connected to the accumulator; the other path is connected in series with the one-way valve and then connected to the accumulator; the right height adjustment cylinder is connected to the right hydraulic lock, and the right hydraulic lock is connected to the right-hand hydraulic reversing valve. The output end of the right-hand hydraulic reversing valve is connected to the right electromagnetic reversing valve. The right electromagnetic reversing valve outputs two paths, one of which is connected to the brake solenoid valve The left pressure gauge is connected to the left high-pressure relief valve and is divided into two paths. One path passes through the left-hand hydraulic reversing valve through a one-way valve and is connected to the left cutting part, and the other path is connected to the right pressure gauge. The output end of the right pressure gauge is connected to the right high-pressure relief valve, and the output end of the right high-pressure relief valve passes through the right-hand hydraulic reversing valve through a one-way valve and is connected to the right cutting part; the one-way valve and proportional valve 1 are also connected in series, and are connected in parallel with the one-way valve and proportional valve 2 in series; the left height adjustment pump station is connected in series with the left coarse filter and then grounded, and the right height adjustment pump station is connected in series with the right coarse filter and then grounded; a fine filter is also connected between the left high-pressure relief valve and the right pressure gauge, and the fine filter is connected in series with the low-pressure relief valve and grounded.

[0006] As a further solution of the present invention: the left cutting part and the right cutting part are symmetrically designed, the left cutting part includes a cutting part housing, a cutting motor, a rocker gear reduction mechanism, a planetary reducer, a coal mining machine drum, and a cutting part torque coupling device, the cutting part housing includes a cutting motor inside, the cutting motor is connected to the rocker gear reduction mechanism, a planetary reducer is provided above the rocker gear reduction mechanism, the planetary reducer is connected to the coal mining machine drum, the rocker gear reduction mechanism includes a cutting part torque coupling device inside, the cutting part torque coupling device is connected to the electro-hydraulic reversing valve through a hydraulic motor, the electro-hydraulic reversing valve is also connected to an external accumulator and a hydraulic motor; the electro-hydraulic reversing valve is connected to the left traction part through an electro-hydraulic proportional valve below.

[0007] As a further solution of the present invention: the left traction part and the right traction part are the moving parts of the coal mining machine, the left traction part and the right traction part are symmetrically arranged, the left traction part includes a traction part torque coupling device, the traction part torque coupling device is connected to the cylindrical gear reduction mechanism, and the cylindrical gear reduction structure is respectively connected to the traction motor and the planetary reducer.

[0008] As a further solution of the present invention: the traction motor is equipped with a speed, voltage and current sensor, through which the values ​​of the traction motor under different working conditions during the entire cutting process can be measured, and the real-time power of the motor can be calculated according to the calculation formula of the motor power: P=UI; and then according to the calculation formula of the motor torque: Get the real-time torque of the traction motor.

[0009] As a further solution of the present invention: the traction motor has a separate PID adjustment controller responsible for calculating the preliminary compensation torque and sending it to the electro-hydraulic proportional valve, the target value of the PID control is the rated torque of the left and right traction motors, the torque value after the hydraulic motor and the traction motor are torque coupled is used as its feedback signal, and its error is obtained; the total output obtained by adding the error signal after proportional, integral and differential operations is used as the output signal to control the opening of the electro-hydraulic proportional valve, and then the output torque of the hydraulic motor is controlled, and the torque output by the traction motor is coupled through the torque coupling mechanism, so that the output torque of the traction motor is always maintained at the rated torque;

[0010] At the same time, the rated torque signal and real-time torque signal of the left and right traction motors are transmitted to the central coordination controller to execute the coordination logic; at the end of each PID compensation control cycle of the left and right traction motors, the central coordination controller compares the difference between the rated torque and the real-time torque of the left and right traction motors; if the difference is very small, the torque compensation is considered successful, and only one PID dynamic compensation is required at this time; if the torque difference after compensation is still large due to the large load on the traction motor at this time, the central coordination controller will calculate the additional torque required and transmit it to the error signal of the PID controller on the other side, and use two hydraulic motors for torque compensation at the same time.

[0011] As a further solution of the present invention: the different working conditions include normal cutting conditions, heavy-load cutting conditions, dynamic adjustment conditions, and complex geological conditions.

[0012] A working method of a hybrid power coal mining machine traction part transmission system, including working methods of the following working modes:

[0013] During normal cutting conditions: the traction motor inputs the torque to the sun gear of the planetary reducer through the cylindrical gear reduction mechanism. The inner gear ring of the planetary reducer is fixed and the output is output through the planetary carrier to drive the coal mining machine to move;

[0014] During heavy-load cutting conditions: the traction motor is started, and the electro-hydraulic reversing valve is in the right working state. The power output by the hydraulic height adjustment system of the coal mining machine reaches the torque coupling device of the traction part through the hydraulic motor, and is coupled with the torque output by the traction motor. The torque is input to the sun gear of the planetary reducer through the cylindrical gear reduction mechanism. The inner gear ring of the planetary reducer is fixed and output through the planetary carrier to drive the coal mining machine to move.

[0015] During the dynamic adjustment working condition: the traction motor is started, and the electro-hydraulic reversing valve on the left is in the right working state. The power output by the hydraulic height adjustment system of the coal mining machine reaches the torque coupling device of the traction part through the hydraulic motor, and is coupled with the torque output by the traction motor. The torque is input to the sun gear of the planetary reducer through the cylindrical gear reduction mechanism. The inner gear ring of the planetary reducer is fixed and output through the planetary carrier; or the hydraulic height adjustment system of the coal mining machine enters the electro-hydraulic reversing valve on the right side and the hydraulic motor to the torque coupling device of the traction part through the one-way valve and proportional valve 2, and is coupled with the torque output by the traction motor. The torque is input to the sun gear of the planetary reducer through the cylindrical gear reduction mechanism. The inner gear ring of the planetary reducer is fixed and output through the planetary carrier;

[0016] In complex geological conditions: the traction motor starts, the left and right height adjustment pump stations start at the same time, the right height adjustment pump station passes through proportional valve 1 and enters the electro-hydraulic reversing valve on the left, the electro-hydraulic reversing valve is in the right working state, the power output by the hydraulic height adjustment system of the coal mining machine reaches the traction part torque coupling device through the hydraulic motor, and is coupled with the torque output by the traction motor, and the torque is input into the sun gear of the planetary reducer through the cylindrical gear reduction mechanism, the inner gear ring of the planetary reducer is fixed, and the output is through the planetary carrier.

[0017] As a further solution of the present invention: the working mode switching process is as follows: the coal mining machine is turned on, the traction motor is started, and it is determined whether the load of the left and right traction motors is too large. If the load of the left and right traction motors is not too large, the normal cutting condition is entered, and the error signal input by the PID control compensation device is zero, that is, no torque compensation is performed at this time, and only the left and right traction motors of the coal mining machine work; if the load of the left and right traction motors is too large at the same time, the heavy-load cutting condition is entered, the error signal input by the PID control compensation device is the difference between the actual torque and the rated torque, and the output is the torque value that needs to be compensated, and the hydraulic height adjustment system of the coal mining machine assists the left and right traction motors to work respectively; if only one side of the traction motor is too large, the single hydraulic motor working mode is performed. In the single hydraulic motor working mode, if the load of the traction motor on one side is too large, a complex geological condition is entered, and the central coordination controller will output the additional torque that needs to be added to the PID control compensation device on the other side, and the left and right hydraulic motors simultaneously assist the same traction motor; otherwise, the left and right hydraulic motors randomly assist the left and right traction motors.

[0018] Compared with the prior art, the present invention utilizes the hydraulic height adjustment system of the coal mining machine to assist the traction motors in the left traction part and the right traction part, and uses a PID control algorithm to dynamically distribute the output torque of the hydraulic height adjustment system of the coal mining machine according to different working conditions, including normal cutting conditions, heavy-load cutting conditions, dynamic adjustment conditions, and complex geological conditions. This can overcome the problem of insufficient traction force of the traction part of the coal mining machine, improve coal mining efficiency, enhance safety, adapt to changing working conditions, extend equipment life, and comprehensively improve the efficiency of coal mine mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of a hybrid power coal mining machine traction unit transmission system of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the hydraulic height adjustment system of the coal mining machine of the present invention.

[0021] Figure 3 It is a specific structural schematic diagram of the left cutting portion of the present invention.

[0022] Figure 4 It is a specific structural schematic diagram of the left traction part of the present invention.

[0023] Figure 5 The invention discloses a specific structural diagram of a transmission system of the traction part of a hybrid power coal mining machine.

[0024] Figure 6 It is a schematic diagram of the PID controlled proportional valve of the present invention.

[0025] Figure 7 It is a schematic diagram of the operation principle of the present invention under normal cutting conditions.

[0026] Figure 8 It is a schematic diagram of the operation principle of the present invention under heavy-load cutting conditions.

[0027] Fig. 9 It is an operating principle diagram of the present invention in dynamically adjusting working conditions.

[0028] Fig.10 It is another operating principle diagram of the present invention in the dynamic adjustment working condition.

[0029] Fig.11 It is a schematic diagram of the operation principle of the present invention under complex geological conditions.

[0030] Fig.12 It is a schematic diagram of the working mode switching process of the present invention.

[0031] In the figure: 1, cutting part housing, 2, cutting motor, 3, rocker gear reduction mechanism, 4, planetary reducer, 5, coal mining machine drum, 6, cutting part torque coupling device, 7, hydraulic motor, 8, external accumulator, 9, pressure relay, 10, electro-hydraulic reversing valve, 11, coal mining machine hydraulic height adjustment system, 11-1, left height adjustment cylinder, 11-2, right height adjustment cylinder, 11-3, left hydraulic lock, 11-4, right hydraulic lock, 11-5, left hand hydraulic reversing valve, 11-6, right hand hydraulic reversing valve, 11-7, left electromagnetic reversing valve, 11-8, right electromagnetic reversing valve, 11-9, left brake, 11-10, right brake, 11-11 , pressure relay, 11-12, brake solenoid valve, 11-13, accumulator, 11-14, right high-pressure relief valve, 11-15, left high-pressure relief valve, 11-16, right pressure gauge, 11-17, left pressure gauge, 11-18, proportional valve one, 11-19, proportional valve two, 11-20, right height adjustment pump station, 11-21, left height adjustment pump station, 11-22, right coarse filter, 11-23, left coarse filter, 11-24, fine filter, 11-25, low-pressure relief valve, 12, traction unit torque coupling device, 13, cylindrical gear reduction mechanism, 14, traction motor, 15, planetary reducer, 16, electro-hydraulic proportional valve. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] like Figure 1 As shown, a hybrid power coal mining machine traction part transmission system includes a left cutting part, a left traction part, a coal mining machine hydraulic height adjustment system 11, a right cutting part, and a right traction part; the left cutting part is connected to the left traction part and then connected to the coal mining machine hydraulic height adjustment system, and the right cutting part is connected to the right traction part and then connected to the coal mining machine hydraulic height adjustment system, and the coal mining machine hydraulic height adjustment system controls the left cutting part, the left traction part, the right cutting part, and the right traction part.

[0034] like Figure 2As shown, the hydraulic height adjustment system of the coal mining machine is mainly responsible for raising the height of the cutting drum to achieve continuous cutting, including a left height adjustment cylinder 11-1 and a right height adjustment cylinder 11-2. The left height adjustment cylinder 11-1 is connected to a left hydraulic lock 11-3, and the left hydraulic lock 11-3 is connected to a left-hand hydraulic reversing valve 11-5. The output end of the left-hand hydraulic reversing valve 11-5 is connected to a left electromagnetic reversing valve 11-7. The left electromagnetic reversing valve 11-7 has two outputs, one of which is connected in turn to a brake electromagnetic valve 11-12 and a pressure relay 11-13. -11 are connected in series and then connected in parallel to the left brake 11-9 and the right brake 11-10; one end of the brake solenoid valve 11-12 is connected to the accumulator 11-13; the other end is connected in series with the one-way valve and then connected to the accumulator 11-13; the right height adjustment cylinder 11-2 is connected to the right hydraulic lock 11-4, the right hydraulic lock 11-4 is connected to the right hand hydraulic reversing valve 11-6, the output end of the right hand hydraulic reversing valve 11-6 is connected to the right electromagnetic reversing valve 11-8, the right electromagnetic reversing valve 11-8 has two outputs, one of which is connected to the brake solenoid The left pressure gauge 11-17 is connected to the left high-pressure relief valve 11-15 and then divided into two paths, one of which passes through the left-hand hydraulic reversing valve 11-5 through a one-way valve and is connected to the left cutting part, and the other is connected to the right pressure gauge 11-16. The output end of the right pressure gauge 11-16 is connected to the right high-pressure relief valve 11-14. The output end of the right high-pressure relief valve 11-14 passes through the right-hand hydraulic reversing valve 11-14 through a one-way valve. -6 is connected to the right cutting part; it also includes a one-way valve and a proportional valve 11-18 connected in series, and is connected in parallel with the one-way valve and the proportional valve 2 11-19 connected in series; the left height adjustment pump station 11-21 is connected in series with the left coarse filter 11-23 and then grounded, and the right height adjustment pump station 11-20 is connected in series with the right coarse filter 11-22 and then grounded; a fine filter 11-24 is also connected between the left high-pressure relief valve 11-15 and the right pressure gauge 11-16, and the fine filter 11-24 is connected in series with the low-pressure relief valve 11-25 and grounded. The height adjustment function is achieved by controlling the proportional valve and the reversing valve.

[0035] like Figure 3 , Figure 5 As shown in FIG. 1 , the left and right cutting parts of the coal mining machine are symmetrically designed and are responsible for the structure of the coal mining machine to cut coal. Figure 3As shown, taking the left cutting part as an example, it includes a cutting part housing 1, a cutting motor 2, a rocker gear reduction mechanism 3, a planetary reducer 4, a coal mining machine drum 5, and a cutting part torque coupling device 6. The cutting part housing 1 includes a cutting motor 2 inside, and the cutting motor 2 is connected to the rocker gear reduction mechanism 3. A planetary reducer 4 is provided above the rocker gear reduction mechanism 3, and the planetary reducer 4 is connected to the coal mining machine drum 5. The rocker gear reduction mechanism 3 includes a cutting part torque coupling device 6 inside, and the cutting part torque coupling device 6 is connected to the electro-hydraulic reversing valve 10 through a hydraulic motor 7. The electro-hydraulic reversing valve 10 is also connected to an external accumulator 8 and a hydraulic motor 9; the electro-hydraulic reversing valve 10 is connected to the left traction part through an electro-hydraulic proportional valve below.

[0036] like Figure 4 , Figure 5 As shown, the left traction part and the right traction part of the coal mining machine are the moving parts of the coal mining machine, which move back and forth in front of the coal wall to achieve coal cutting. The left traction part and the right traction part are symmetrically arranged, as shown in FIG. Figure 4 As shown, taking the left traction part as an example, the left traction part includes a traction part torque coupling device 12, the traction part torque coupling device 12 is connected to the cylindrical gear reduction mechanism 13, and the cylindrical gear reduction mechanism 13 is respectively connected to the traction motor 14 and the planetary reducer 15.

[0037] The traction motor 14 is equipped with speed, voltage and current sensors, which can measure the values ​​of the traction motor under different working conditions during the entire cutting process. The real-time power of the motor is calculated according to the calculation formula of the motor power: P = UI; and then according to the calculation formula of the motor torque: The real-time torque of the traction motor 14 is obtained.

[0038] like Figure 6 As shown, the traction motors on the left and right sides have separate PID adjustment controllers responsible for calculating the preliminary compensation torque and sending it to the electro-hydraulic proportional valve. The target value of the PID control is the rated torque of the left and right traction motors. The torque value after the torque coupling between the hydraulic motor and the traction motor is used as its feedback signal to obtain its error. The total output obtained by adding the error signal after proportional, integral, and differential operations is the output signal to control the opening of the electro-hydraulic proportional valve, and then control the output torque of the hydraulic motor. It is coupled with the torque output of the traction motor through the torque coupling mechanism, so that the output torque of the traction motor is always maintained at the rated torque.

[0039] At the same time, the rated torque signal and real-time torque signal of the left and right traction motors are transmitted to the central coordination controller to execute the coordination logic. At the end of each PID compensation control cycle of the left and right traction motors, the central coordination controller compares the difference between the rated torque and the real-time torque of the left and right traction motors. If the difference is very small, the torque compensation is considered successful, and only one PID dynamic compensation is required. If the torque difference after compensation is still large due to the large load of the traction motor at this time, the central coordination controller will calculate the additional torque required and transmit it to the error signal of the PID controller on the other side, and use two hydraulic motors for torque compensation at the same time.

[0040] The working method of the hybrid coal mining machine traction drive system includes the following working modes:

[0041] Normal cutting conditions:

[0042] When the coal mining machine is in the middle cutting area and the geological conditions of the coal seam are relatively stable, the cutting depth is moderate, and the walking path is smooth, the left and right traction parts mainly bear the cutting resistance generated by the left and right cutting parts and the normal walking resistance generated by the walking mechanism. At this time, the load is relatively stable, and the traction motors of the left and right traction parts drive the coal mining machine to cut the coal wall along the predetermined path with stable traction force and speed.

[0043] The real-time torque of the traction motor is obtained based on the voltage, current and speed sensors installed on the traction motor. At this time, since the coal mining machine is working in normal cutting conditions and the load is relatively stable, the traction motor is working within the rated torque range, the error obtained is zero, and the output of the PID control algorithm is also zero. The opening of the electro-hydraulic proportional valve is zero, that is, the hydraulic height adjustment system does not perform torque matching.

[0044] like Figure 7 As shown, the traction motor 14 inputs the torque to the sun gear of the planetary reducer 15 through the cylindrical gear reduction mechanism 13. The inner gear ring of the planetary reducer 15 is fixed and output through the planetary carrier to drive the coal mining machine to move.

[0045] Heavy-load cutting conditions:

[0046] When encountering unfavorable geological conditions such as increased coal seam hardness, increased cutting depth, or the presence of interlayers in the coal seam, the cutting resistance increases significantly, causing the traction unit to bear heavy loads. At this time, the traction unit needs to output greater traction force to overcome the increased load.

[0047] The real-time torque of the left and right traction motors is obtained based on the voltage, current and speed sensors installed on the left and right traction motors. At this time, due to the significant increase in resistance, the torque of the left and right traction motors drops below the rated torque. The torque error of the left and right cutting motors is output to the electro-hydraulic proportional valve of the left and right hydraulic height adjustment system through the output value obtained by the PID control algorithm, and then the output torque of the hydraulic motor is controlled to couple with the torque of the traction motor to increase the driving torque of the traction motor.

[0048] like Figure 8 As shown, the traction motor 14 is started, and the electro-hydraulic reversing valve 10 is in the right working state. The power output by the hydraulic height adjustment system 11 of the coal mining machine is transmitted to the traction part torque coupling device 12 via the hydraulic motor 7, and is coupled with the torque output by the traction motor 14. The torque is input to the sun gear of the planetary reducer 15 through the cylindrical gear reduction mechanism 13. The inner gear ring of the planetary reducer 15 is fixed and output through the planetary carrier to drive the coal mining machine to move.

[0049] Dynamic adjustment of working conditions:

[0050] During the coal mining process, when the coal seam inclination changes greatly, the traction speed needs to be adjusted to prevent the coal mining machine from sliding down; when the cutting path needs to be changed, the traction direction needs to be adjusted. Due to changes in coal seam geological conditions or coal mining process requirements, the traction unit needs to frequently adjust the traction speed and direction.

[0051] The real-time torque of the left and right traction motors is obtained based on the voltage, current and speed sensors installed on the left and right traction motors. At this time, if the hydraulic system on the same side of the traction motor is working, the central coordination controller will transmit the torque signal that needs to be compensated to the error signal on the other side to perform PID control compensation.

[0052] like Fig. 9 , Fig.10 As shown, the traction motor 14 is started, and the left electro-hydraulic reversing valve 10 is in the right working state. The power output by the hydraulic height adjustment system 11 of the coal mining machine is coupled with the torque output by the traction motor 14 through the hydraulic motor 7 to the traction part torque coupling device 12, and the torque is input to the sun gear of the planetary reducer 15 through the cylindrical gear reduction mechanism 13. The inner gear ring of the planetary reducer 15 is fixed and output through the planet carrier. Alternatively, the hydraulic height adjustment system 11 of the coal mining machine enters the right electro-hydraulic reversing valve 10 and the hydraulic motor 7 to the traction part torque coupling device 12 through the one-way valve and the proportional valve 11-19, and is coupled with the torque output by the traction motor 14. The torque is input to the sun gear of the planetary reducer 15 through the cylindrical gear reduction mechanism 13. The inner gear ring of the planetary reducer 15 is fixed and output through the planet carrier. In this mode, the hydraulic height adjustment system 11 of the coal mining machine can be flexibly allocated to the left and right traction motors to meet different working conditions.

[0053] Complex geological conditions:

[0054] During the start-up and shutdown of the coal mining machine, the traction unit will be subjected to a large impact load due to the effect of inertial load. In particular, during the process of starting from a stationary state to full-speed operation, and during emergency shutdown from full-speed operation, a large impact will be exerted on the transmission device and motor of the traction unit. Or in the case of extremely complex geological conditions of the coal seam and difficult cutting (such as large changes in coal seam thickness, steep inclination, a large number of interlayers and faults, etc.), the traction unit not only needs to withstand huge cutting resistance and walking resistance, but may also face risks such as unstable contact, sliding or tilting between the coal mining machine and the coal seam.

[0055] The real-time torque of the traction motor is obtained based on the voltage, current and speed sensors installed on the traction motor. At this time, since the coal mining machine works in complex geological conditions, the torque of the traction motor 14 on one side still does not reach the rated torque range after the torque compensation of the hydraulic motor 7 on the same side. The required additional torque is calculated by the central coordination controller and transmitted to the error signal of the PID controller on the other side. At the same time, two hydraulic motors 7 are used for torque compensation.

[0056] like Fig.11 As shown, the traction motor 14 is started, and the left height adjustment pump station 11-21 and the right height adjustment pump station 11-20 are started at the same time. The right height adjustment pump station 11-20 enters the electro-hydraulic reversing valve 10 on the left through the proportional valve 11-18. The electro-hydraulic reversing valve 10 is in the right working state. The power output by the hydraulic height adjustment system 11 of the coal mining machine is transmitted through the hydraulic motor 7 to the traction part torque coupling device 12, and is coupled with the torque output by the traction motor 14. The torque is input to the sun gear of the planetary reducer 15 through the cylindrical gear reduction mechanism 13. The inner gear ring of the planetary reducer 15 is fixed and output through the planetary carrier.

[0057] like Fig.12As shown, the working mode switching process is as follows: the coal mining machine is turned on, the traction motor is started, and it is determined whether the load of the left and right traction motors is too large. If the load of the left and right traction motors is not too large, the normal cutting condition is entered, and the error signal input by the PID control compensation device is zero, that is, no torque compensation is performed at this time, and only the left and right traction motors of the coal mining machine work; if the load of the left and right traction motors is too large at the same time, the heavy-load cutting condition is entered, the error signal input by the PID control compensation device is the difference between the actual torque and the rated torque, and the output is the torque value that needs to be compensated, and the coal mining machine hydraulic height adjustment system 11 assists the left and right traction motors to work respectively; if only one side of the traction motor is too large, the single hydraulic motor working mode is performed. In the single hydraulic motor working mode, if the load of the traction motor on one side is too large, a complex geological condition is entered, and the central coordination controller will output the additional torque that needs to be added to the PID control compensation device on the other side, and the left and right hydraulic motors simultaneously assist the same traction motor; otherwise, the left and right hydraulic motors randomly assist the left and right traction motors.

Claims

1. A hybrid power coal mining machine traction drive system, characterized in that: The invention comprises a left cutting part, a left traction part, a hydraulic height adjustment system (11) of a coal mining machine, a right cutting part and a right traction part; the left cutting part is connected to the left traction part and then connected to the hydraulic height adjustment system of the coal mining machine; the right cutting part is connected to the right traction part and then connected to the hydraulic height adjustment system of the coal mining machine; the hydraulic height adjustment system of the coal mining machine controls the left cutting part, the left traction part, the right cutting part and the right traction part.

2. A hybrid power coal mining machine traction drive system according to claim 1, characterized in that: The coal mining machine hydraulic height adjustment system (11) comprises a left height adjustment oil cylinder (11-1) and a right height adjustment oil cylinder (11-2). The left height adjustment oil cylinder (11-1) is connected to a left hydraulic lock (11-3). The left hydraulic lock (11-3) is connected to a left hydraulic reversing valve (11-5). The output end of the left hydraulic reversing valve (11-5) is connected to a left electromagnetic reversing valve (11-7). The left electromagnetic reversing valve (11-7) has two output paths. One path is connected in series with a brake electromagnetic valve (11-12) and a pressure relay (11-11) in sequence and then connected in parallel with the left brake (11-12). -9), right brake (11-10); one end of the brake solenoid valve (11-12) is connected to the accumulator (11-13); the other end is connected to the accumulator (11-13) after being connected in series with a one-way valve; the right height adjustment cylinder (11-2) is connected to the right hydraulic lock (11-4), the right hydraulic lock (11-4) is connected to the right hand hydraulic reversing valve (11-6), the output end of the right hand hydraulic reversing valve (11-6) is connected to the right electromagnetic reversing valve (11-8), the right electromagnetic reversing valve (11-8) has two outputs, one of which is connected to the brake solenoid valve (11-12). The left pressure gauge (11-17) is connected to the left high-pressure relief valve (11-15) and then divided into two paths, one of which passes through a one-way valve through the left-hand hydraulic reversing valve (11-5) and is connected to the left cutting portion, and the other is connected to the right pressure gauge (11-16). The output end of the right pressure gauge (11-16) is connected to the right high-pressure relief valve (11-14). The output end of the right high-pressure relief valve (11-14) passes through a one-way valve through the right-hand hydraulic reversing valve (11-6) and is connected to the right pressure gauge (11-16). The cutting part is connected; it also includes a one-way valve and a proportional valve (11-18) connected in series, and connected in parallel with the one-way valve and the proportional valve (11-19) connected in series; the left height adjustment pump station (11-21) is connected in series with the left coarse filter (11-23) and then grounded, and the right height adjustment pump station (11-20) is connected in series with the right coarse filter (11-22) and then grounded; a fine filter (11-24) is also connected between the left high-pressure relief valve (11-15) and the right pressure gauge (11-16), and the fine filter (11-24) is connected in series with the low-pressure relief valve (11-25) and then grounded.

3. A hybrid power coal mining machine traction part transmission system according to claim 1, characterized in that: The left cutting part and the right cutting part are symmetrically designed. The left cutting part comprises a cutting part housing (1), a cutting motor (2), a rocker gear reduction mechanism (3), a planetary reducer (4), a coal mining machine drum (5), and a cutting part torque coupling device (6). The cutting part housing (1) comprises a cutting motor (2) inside. The cutting motor (2) is connected to the rocker gear reduction mechanism (3). A planetary reducer (4) is arranged above the rocker gear reduction mechanism (3). The planetary reducer (4) is connected to the coal mining machine drum (5). The rocker gear reduction mechanism (3) comprises a cutting part torque coupling device (6) inside. The cutting part torque coupling device (6) is connected to an electro-hydraulic reversing valve (10) through a hydraulic motor (7). The electro-hydraulic reversing valve (10) is also connected to an external accumulator (8) and a hydraulic motor (9). The electro-hydraulic reversing valve (10) is connected to the left traction part through an electro-hydraulic proportional valve below.

4. A hybrid power coal mining machine traction part transmission system according to claim 1, characterized in that: The left traction part and the right traction part are the moving parts of the coal mining machine. The left traction part and the right traction part are symmetrically arranged. The left traction part comprises a traction part torque coupling device (12). The traction part torque coupling device (12) is connected to a cylindrical gear reduction mechanism (13). The cylindrical gear reduction mechanism (13) is respectively connected to a traction motor (14) and a planetary reducer (15).

5. A hybrid power coal mining machine traction drive system according to claim 4, characterized in that: The traction motor (14) is equipped with a speed, voltage and current sensor, through which the values ​​of the traction motor (14) under different working conditions during the entire cutting process can be measured, and the real-time power of the motor can be calculated according to the calculation formula of the motor power: P=UI; and then according to the calculation formula of the motor torque: The real-time torque of the traction motor (14) is obtained.

6. A hybrid power coal mining machine traction drive system according to claim 5, characterized in that: The traction motor (14) has a separate PID adjustment controller responsible for calculating the preliminary compensation torque and sending it to the electro-hydraulic proportional valve. The target value of the PID control is the rated torque of the left and right traction motors. The torque value after the torque coupling between the hydraulic motor (7) and the traction motor (14) is used as its feedback signal to obtain its error. The error signal is subjected to proportional, integral and differential operations, and the total output obtained by adding the error signal is used as the output signal to control the opening of the electro-hydraulic proportional valve, thereby controlling the output torque of the hydraulic motor (7), and coupling the output torque of the traction motor (14) with the torque output by the traction motor (14) through the torque coupling mechanism, so that the output torque of the traction motor (14) is always maintained at the rated torque; At the same time, the rated torque signals and real-time torque signals of the left and right traction motors (14) are transmitted to the central coordination controller to execute the coordination logic; at the end of each PID compensation control cycle of the left and right traction motors, the central coordination controller compares the difference between the rated torque and the real-time torque of the left and right traction motors; if the difference is very small, it is considered that the torque compensation is successful, and only one PID dynamic compensation is required at this time; if the torque difference after compensation is still large due to the large load of the traction motor at this time, the central coordination controller will calculate the required additional torque and transmit it to the error signal of the PID controller on the other side, and use two hydraulic motors to perform torque compensation at the same time.

7. A hybrid power coal mining machine traction drive system according to claim 5, characterized in that: The different working conditions include normal cutting conditions, heavy-load cutting conditions, dynamic adjustment conditions, and complex geological conditions.

8. A method for operating a hybrid power coal mining machine traction drive system according to any one of claims 1 to 7, characterized in that: Includes working methods for the following working modes: In normal cutting conditions: the traction motor (14) inputs the torque to the sun gear of the planetary reducer (15) through the cylindrical gear reduction mechanism (13); the inner gear ring of the planetary reducer (15) is fixed and outputted through the planet carrier to drive the coal mining machine to move; In heavy-load cutting conditions: the traction motor (14) is started, and the electro-hydraulic reversing valve (10) is in the right working state. The power output by the hydraulic height adjustment system (11) of the coal mining machine is transmitted to the traction part torque coupling device (12) through the hydraulic motor (7), and coupled with the torque output by the traction motor (14). The torque is input to the sun gear of the planetary reducer (15) through the cylindrical gear reduction mechanism (13). The inner gear ring of the planetary reducer (15) is fixed and output through the planet carrier to drive the coal mining machine to move. During the dynamic adjustment working condition: the traction motor (14) is started, and the left electro-hydraulic reversing valve (10) is in the right working state. The power output by the hydraulic height adjustment system (11) of the coal mining machine is transmitted through the hydraulic motor (7) to the torque coupling device (12) of the traction part, and is coupled with the torque output by the traction motor (14). The torque is input to the sun gear of the planetary reducer (15) through the cylindrical gear reduction mechanism (13). The inner gear ring of the planetary reducer (15) is fixed and output through the planet carrier; or the hydraulic height adjustment system (11) of the coal mining machine enters the right electro-hydraulic reversing valve (10) and the hydraulic motor (7) to the torque coupling device (12) of the traction part through the one-way valve and the proportional valve (11-19), and is coupled with the torque output by the traction motor (14). The torque is input to the sun gear of the planetary reducer (15) through the cylindrical gear reduction mechanism (13). The inner gear ring of the planetary reducer (15) is fixed and output through the planet carrier; When the geological conditions are complex: the traction motor (14) is started, the left height adjustment pump station (11-21) and the right height adjustment pump station (11-20) are started at the same time, the right height adjustment pump station (11-20) enters the left electro-hydraulic reversing valve (10) through the proportional valve 1 (11-18), the electro-hydraulic reversing valve (10) is in the right working state, the power output by the hydraulic height adjustment system (11) of the coal mining machine is transmitted to the traction part torque coupling device (12) through the hydraulic motor (7), and is coupled with the torque output by the traction motor (14), and the torque is input to the sun gear of the planetary reducer (15) through the cylindrical gear reduction mechanism (13), the inner gear ring of the planetary reducer (15) is fixed, and the torque is output through the planet carrier.

9. A method for operating a hybrid power coal mining machine traction drive system according to claim 8, characterized in that: The working mode switching process is as follows: the coal mining machine is turned on, the traction motor is started, and it is determined whether the load of the left and right traction motors is too large. If the load of the left and right traction motors is not too large, the normal cutting condition is entered, and the error signal input by the PID control compensation device is zero, that is, no torque compensation is performed at this time, and only the left and right traction motors of the coal mining machine work; if the load of the left and right traction motors is too large at the same time, the heavy-load cutting condition is entered, and the error signal input by the PID control compensation device is the difference between the actual torque and the rated torque, and the output is the torque value that needs to be compensated. The hydraulic height adjustment system of the coal mining machine assists the left and right traction motors to work respectively; if only one side of the traction motor is too large, the single hydraulic motor working mode is performed. In the single hydraulic motor working mode, if the load of the traction motor on one side is too large, complex geological conditions are entered, and the central coordination controller will output the additional torque that needs to be added to the PID control compensation device on the other side, and the left and right hydraulic motors assist the same traction motor at the same time; otherwise, the left and right hydraulic motors randomly assist the left and right traction motors.

Images