Belt self-moving tail control system and control method in driving face

Abstract

The invention discloses a belt self-moving tail control system and method in a driving face, and the system comprises a centralized control center, a control substation, a current transformer, a safety barrier, an ultrasonic ranging sensor, a tilt angle sensor, a pressure sensor, and a deviation sensor. The safety barrier, the ultrasonic ranging sensor, the tilt angle sensor, the pressure sensor and the deviation sensor are electrically connected with the control substation so as to upload detection data to the control substation, and the control substation is in communication connection with the centralized control center. The control method comprises the following steps: S1, placing the handheld remote controller in a manual mode or an automatic operation mode; after system initialization is completed, the handheld remote controller sends out an instruction, the belt self-moving tail control system outputs corresponding actions, and the belt self-moving tail acts correspondingly; s3, respectively comparing the data information, if not, repeating the step S2, and if yes, stopping outputting the instruction; and S4, ending the action. Intelligentization of tunneling belt control can be achieved, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of belt self-moving machine tail control, and in particular to a belt self-moving machine tail control system and a control method in an excavation working face. Background Art

[0002] The self-moving tail of the belt conveyor is an important device for the connection between the underground chute transfer machine and the belt conveyor. As the fully mechanized mining face advances, the self-moving tail of the belt conveyor must also move forward accordingly and ensure the accurate connection between the transfer machine and the belt conveyor. Therefore, the convenience of the operation of the self-moving tail of the belt directly affects the smoothness and efficiency of underground transportation.

[0003] In the excavation working face, the tail of the belt self-propelled machine is controlled by the original mechanical device in the underground excavation face. Since the belt self-propelled machine is relatively large, it is difficult to operate and has low working efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and provide a belt self-moving tail control system and control method in an excavation working face, so as to realize intelligent control of the excavation belt and improve work efficiency.

[0005] In order to achieve the above object, the technical solution of the present invention is: A belt self-moving tail control system in a tunneling working face, comprising: The centralized control center receives the uploaded data from the control substation, generates instructions and transmits them to the control substation; The control substation receives the data changes during the movement of the belt self-moving machine tail, and uploads it to the centralized control center, receives the instructions from the centralized control center and transmits the action instructions downward; The current transformer is arranged on the input circuit of the tail motor of the belt self-propelled machine to detect the current of the tail motor of the belt self-propelled machine; Safety barrier converts the non-safe current signal output by the current transformer into an intrinsically safe current signal and uploads it to the control substation; Ultrasonic distance measuring sensors are installed on both sides of the belt self-propelled machine to monitor the distance changes from the two sides of the self-propelled machine to the tunnel wall; The inclination sensor is arranged on the tail of the belt self-moving machine to detect the inclination change of the tail of the belt self-moving machine; Pressure sensor, to detect the pressure of the liquid circuit; The deviation sensor detects the deviation degree of the belt during the self-moving operation of the tail of the machine.

[0006] The safety barrier, ultrasonic distance measuring sensor, inclination sensor, pressure sensor, deviation sensor are electrically connected to the control substation to upload the detection data to the control substation, and the control substation is communicatively connected to the centralized control center.

[0007] As an improvement to the above technical solution, the belt self-moving tail machine control system also includes a millimeter wave ranging sensor, which is electrically connected to the control substation to detect the moving distance of the belt self-moving tail machine and upload the movement information to the control substation.

[0008] As an improvement to the above technical solution, the control substation is connected to the centralized control center via Ethernet communication.

[0009] As an improvement to the above technical solution, the belt self-moving tail control system also includes a handheld remote control and a remote control receiver. The handheld remote control is connected to the remote control receiver through communication to issue remote control instructions.

[0010] As an improvement to the above technical solution, the present invention also provides a control method for the belt self-moving tail control system in the above excavation working face, the steps of the method are: S1. Set the handheld remote control mode to manual mode or automatic operation mode. After the system is initialized, the control substation reads the data information of the safety barrier, ultrasonic distance sensor, inclination sensor, pressure sensor, and deviation sensor. S2. The handheld remote controller issues a command, and the belt self-moving tail control system outputs a corresponding action, and the belt self-moving tail moves accordingly; S3, the control substation of the belt self-moving machine tail control system receives the data information of the safety barrier, ultrasonic distance sensor, inclination sensor, pressure sensor, and deviation sensor in the action state, and compares them one by one to see if each data meets the requirements. If not, repeat step S2, and if it meets the requirements, stop outputting instructions; S4, the belt self-moving tail machine control system ends the action.

[0011] Compared with the prior art, the present invention has the following advantages and positive effects: The belt self-moving tail control system in the excavation working face of the present invention can realize manual, automatic and emergency stop control, and further can realize intelligent control of the excavation belt and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0013] Figure 1 It is a block diagram of the system composition of the present invention; Figure 2 This is a flow chart of manual control of the present invention; Figure 3 It is a flow chart of automatic control of the present invention. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work, any modifications, equivalent substitutions, improvements, etc., should be included in the protection scope of the present invention.

[0015] like Figure 1 As shown, this embodiment discloses a belt self-moving machine tail control system in the excavation working face, which is composed of a mutual inductor, a safety barrier, an ultrasonic distance sensor, an inclination sensor, a pressure sensor, a deviation sensor, and a control substation arranged on the belt self-moving machine tail; the belt motor is started by detecting whether it is started through the current mutual inductor, and the handheld remote control issues a control command. The functions of the various components of the belt self-moving machine tail control system are as follows: Transformer: The current transformer is used to detect the current of the tail motor of the belt self-propelled machine.

[0016] Safety barrier: converts the non-safe current signal output by the current transformer into an intrinsically safe current signal.

[0017] Ultrasonic ranging sensor: monitors the distance from the tail end of the self-propelled machine to the tunnel wall.

[0018] Inclination sensor: detect the inclination of the tail of the self-moving machine to realize the self-moving and leveling function of the belt.

[0019] Pressure sensor: detects the pressure of the liquid circuit.

[0020] Deviation sensor: detects whether the belt is deviating during self-moving operation.

[0021] like Figure 2 and 3 As shown in the figure, the control principle of the belt self-moving tail is: The belt self-moving tail control system can use ultrasonic distance measuring sensors, inclination sensors, pressure sensors, and deviation sensors to intelligently warn and detect the status of the belt self-moving tail during operation; In manual mode and automatic operation mode, emergency stop can be carried out quickly in case of emergencies; Manual mode: Through the buttons of the handheld remote control, first, extend and push to the left, extend and push to the right to realize the forward movement of the fuselage; secondly, extend and push sideways, retract the pump cable car and push sideways, retract the frame and push sideways to realize the horizontal adjustment of the entire fuselage; finally, extend the tail and lift the bottom, extend the back and lift the bottom, extend the middle and lift the bottom 1, extend the middle and lift the bottom 2, extend the middle and lift the bottom 3, extend the middle and lift the bottom 4, extend the front and lift the bottom, lower the cable car and lift the bottom, lower the pump car and lift the bottom to realize the vertical lifting and lowering of the fuselage.

[0022] Automatic mode: According to the command sent by the remote control, the moment when the tail of the self-moving machine starts to move horizontally, that is, the actions of the bottom lifting cylinder and the push cylinder begin to be executed according to the automatic logic; it ends automatically, and compares the set push distance with the real-time measured push displacement. If it is in place, it stops; in the automatic correction state, the dynamic adjustment of the machine body state and the relative position of the belt is completed to ensure the coincidence of the center line of the belt and the center line of the machine body, and prevent damage to the belt edge.

[0023] The data collected by the control substation can be uploaded to the centralized control center via CAN to Ethernet.

[0024] The scraper belt self-moving machine tail of the excavation working face is manually and automatically controlled. The remote control receiver on the control substation receives the commands sent by the handheld remote control through serial port communication. The 28-function electromagnetic driver controls the 16-function electric control main valve through the actions sent by the remote control.

[0025] The manual mode of the belt self-moving tail is sent through the remote control to perform manual actions such as front bottom lifting, middle bottom lifting, rear bottom lifting, middle bottom lifting, tail bottom lifting, middle bottom lifting, left pushing, right pushing, frame rollover, pump truck rollover, etc.

[0026] The automatic mode of the belt self-moving tail is achieved by pressing the automatic mode button on the remote control. The belt self-moving tail will first lift the bottom lifting cylinders on both sides of the self-moving tail to lift the tracks on both sides, and then the pushing cylinder of the belt self-moving tail will be retracted and the track will move forward. After the pushing cylinder is fully retracted, the bottom lifting cylinder will be extended to lift the belt self-moving tail. After the bottom lifting cylinder is fully extended, the pushing cylinder of the belt self-moving tail will be extended to drag the belt self-moving tail to slide on the track.

[0027] The belt self-moving machine tail has an emergency stop mode. When the belt self-moving machine tail is in manual or automatic mode, if a sudden situation occurs, press the emergency stop button on the handheld remote control and all actions will stop.

[0028] The present invention can realize manual, automatic and emergency stop control, and further can realize intelligent control of the excavation belt, thereby improving work efficiency.

Claims

1. A belt self-moving tail control system in a tunneling working face, characterized in that: include: The centralized control center receives the uploaded data from the control substation, generates instructions and transmits them to the control substation; The control substation receives the data changes during the movement of the belt self-moving machine tail, and uploads it to the centralized control center, receives the instructions from the centralized control center and transmits the action instructions downward; The current transformer is arranged on the input circuit of the tail motor of the belt self-propelled machine to detect the current of the tail motor of the belt self-propelled machine; Safety barrier converts the non-safe current signal output by the current transformer into an intrinsically safe current signal and uploads it to the control substation; Ultrasonic distance measuring sensors are installed on both sides of the belt self-propelled machine to monitor the distance changes from the two sides of the self-propelled machine to the tunnel wall; The inclination sensor is arranged on the tail of the belt self-moving machine to detect the inclination change of the tail of the belt self-moving machine; Pressure sensor, to detect the pressure of the liquid circuit; The deviation sensor detects the deviation degree of the belt during the self-moving operation of the tail of the self-moving machine; The safety barrier, ultrasonic distance measuring sensor, inclination sensor, pressure sensor, deviation sensor are electrically connected to the control substation to upload the detection data to the control substation, and the control substation is communicatively connected to the centralized control center.

2. The belt self-moving tail control system in the excavation working face as claimed in claim 1, characterized in that: The belt self-moving tail machine control system also includes a millimeter wave distance measuring sensor, which is electrically connected to the control substation to detect the moving distance of the belt self-moving tail machine and upload the moving information to the control substation.

3. The belt self-moving tail control system in the excavation working face as claimed in claim 2, characterized in that: The control substation is connected to the centralized control center via Ethernet communication.

4. The belt self-moving tail control system in the excavation working face as claimed in claim 3, characterized in that: The belt self-moving tail control system also includes a handheld remote controller and a remote control receiver. The handheld remote controller is connected to the remote control receiver through communication to send out remote control instructions.

5. A control method for the belt self-moving tail control system in the excavation working face according to claim 4, characterized in that: The steps of this method are: S1. Set the handheld remote control mode to manual mode or automatic operation mode. After the system is initialized, the control substation reads the data information of the safety barrier, ultrasonic distance sensor, inclination sensor, pressure sensor, and deviation sensor. S2. The handheld remote controller issues a command, and the belt self-moving tail control system outputs a corresponding action, and the belt self-moving tail moves accordingly; S3, the control substation of the belt self-moving machine tail control system receives the data information of the safety barrier, ultrasonic distance sensor, inclination sensor, pressure sensor, and deviation sensor in the action state, and compares them one by one to see if each data meets the requirements. If not, repeat step S2, and if it meets the requirements, stop outputting instructions; S4, the belt self-moving tail machine control system ends the action.

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