Rotation speed control system for star wheel of shovel plate part of heading machine and use method of rotation speed control system

Abstract

The invention discloses a heading machine shovel plate part star wheel rotating speed control system and a using method thereof. The heading machine shovel plate part star wheel rotating speed control system comprises a comprehensive control system and an equipment collecting layer. The comprehensive control system comprises a PC (Personal Computer) upper computer, a PLC (Programmable Logic Controller) lower computer and an MPI communication module and is used for controlling the shovel plate star wheel system of the heading machine; and the equipment acquisition layer is used for star wheel rotating speed control execution operation. Compared with the prior art, the comprehensive solving system for accurate loading and transporting operation of the shovel plate has the advantages that coal weight is accurately collected, the rotating speed of the star wheel is accurately controlled, the coal throwing rate can be reduced, loading operation can be efficiently completed, and economic benefits of a coal mine are improved.

Description

Technical Field

[0001] The invention relates to a star wheel speed control system for a shovel part of a tunnel boring machine and a use method thereof, belonging to the technical field of tunnel boring machine loading. Background Art

[0002] The star wheel loading mechanism is one of the important loading components of the roadheader. It plays an important role in loading efficiency during the roadheader's excavation and loading process, and is the core equipment to ensure efficient loading of the roadheader. Due to the complexity of the distribution of coal and rock and the complexity of the working environment of the roadheader, the star wheel transfer mechanism is prone to jamming and serious coal throwing, which affects the loading efficiency of the roadheader. At present, in response to this problem, a star wheel transfer structure servo drive system has been developed. Although it has achieved a certain control over the turntable speed, there are problems such as inaccurate turntable speed control. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a star wheel speed control system for the shovel part of a roadheader for accurate coal weight collection and accurate star wheel speed control and a method of using the same.

[0004] Preferably, the present invention provides a star wheel speed control system for a shovel section of a tunnel boring machine, wherein the integrated control system comprises a PC host computer, a PLC slave computer and an equipment acquisition layer, wherein the PC host computer is connected to the PLC slave computer, and the PLC slave computer is connected to the equipment acquisition layer. Among them, the equipment acquisition layer includes a sensor acquisition module, a hydraulic control system for controlling the star wheel, and a pump station start and stop control box for starting and stopping the hydraulic system pump station. The sensor acquisition module is installed on the tunnel boring machine.

[0005] Preferably, the sensor acquisition module includes a first pressure sensor for obtaining the weight of coal, a second pressure sensor for acquiring the liquid pressure of the star wheel hydraulic control circuit in the tunnel boring machine, a speed sensor for acquiring the motor speed of the tunnel boring machine, a signal filter for filtering out impurity signals, a signal amplifier for signal amplification and an A / D converter. The first pressure sensor, the second pressure sensor and the speed sensor are connected to the signal filter, and the signal filter, the signal amplifier and the A / D converter are connected in sequence.

[0006] Preferably, the PC host computer includes a PID controller, a proportional reversing valve, and a hydraulic motor. The PID controller is connected to the proportional reversing valve, and the proportional reversing valve is connected to the hydraulic motor.

[0007] Preferably, the hydraulic control system includes a hydraulic oil tank, a drive motor, a hydraulic pump and a relief valve, the hydraulic pump is connected to the drive motor, the hydraulic pump is connected to the hydraulic oil tank, and the relief valve is connected to the hydraulic oil tank and the proportional reversing valve.

[0008] Preferably, a method for using a star wheel speed control system for a shovel section of a tunnel boring machine, using any one of the star wheel speed control systems for a shovel section of a tunnel boring machine, comprises: Step 1: In each working cycle of the roadheader, the weight of the transferred coal is collected by using the first pressure sensor, and the weight signal of the collected coal and rock weight is transmitted to the PLC lower computer; Step 2: Use the PLC lower computer to transmit the collected weight signal to the PC upper computer; Step 3: Use the PC host computer to read and decode the weight signal; Step 4, using the star wheel control algorithm to convert the weight signal into the star wheel speed; Step 5, using the PID control system to collect the desired speed signal and perform differential adjustment on the hydraulic control system; Step six, use the hydraulic control system to adjust the proportional control valve to implement the star wheel speed regulation.

[0009] Preferably, the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods described in the first aspect when executing the program.

[0010] Preferably, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0011] The beneficial effects achieved by the present invention are: The advantages of the present invention over the existing inventions are that it has a weight collection unit to accurately collect the weight that the shovel needs to load, adopts a star wheel control algorithm to realize the conversion of coal weight-star wheel speed-liquid pressure; adopts a PID control system to reduce the error of the star wheel speed; and adopts a hydraulic speed control system to achieve precise control of the star wheel. The present invention can greatly improve the transfer efficiency of the star wheel loading mechanism and reduce energy consumption. The present invention has a comprehensive solution system for accurate shovel loading operations with accurate coal weight collection and accurate star wheel speed control, which can reduce the coal rejection rate and efficiently complete the loading operation, thereby improving the economic benefits of the coal mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 is a principle block diagram of some embodiments of the present application; Figure 2This is a schematic diagram of the PID control process in some embodiments of the present application; Figure 3 is a schematic installation diagram of sensors in some embodiments of the present application; Figure 4 It is a control diagram of the hydraulic system in some embodiments of the present application.

[0014] Meaning of the reference numerals: 1 - scraper, 2 - first pressure sensor, 3 - star wheel, 4 - hydraulic oil tank, 5 - drive motor, 6 - hydraulic pump, 7 - proportional reversing valve, 8 - second pressure sensor, 9 - speed sensor, 10 - hydraulic motor, 11 - overflow valve. DETAILED DESCRIPTION

[0015] See also Figure 1 The present application discloses a star wheel speed control system for the shovel section of a tunnel boring machine, which is characterized by: comprising an integrated control system and an equipment acquisition layer; the integrated control system is used to control the star wheel system of the shovel section of the tunnel boring machine; the equipment acquisition layer is used to control the star wheel speed to perform operations.

[0016] The integrated control system includes a PC host computer and a PLC slave computer; the PC host computer is used to send the star wheel control command of the shovel board of the tunnel boring machine; the PLC slave computer is used to execute the star wheel control command of the shovel board of the tunnel boring machine.

[0017] The equipment acquisition layer includes a sensor acquisition module, a hydraulic control system, and a pump station start-stop control box; the sensor acquisition module is used for signal acquisition operations; the hydraulic control system is used for star wheel control; the pump station start-stop control box is used for the start-stop operations of the hydraulic system pump station.

[0018] The PC host computer includes a data reading module, a PID control module, an operation module, a data printing module, and a star wheel control algorithm; the data reading module is used to read the data information transmitted by the PLC control system; the PID control system is used for precise control of the star wheel speed; the operation module is used for staff to operate the system; the data printing module is used to record data information; and the star wheel control algorithm is used for the conversion of star wheel control variables.

[0019] The PLC lower computer includes an AI module, an AO module, and a DI module. The AI ​​module is connected to the sensor acquisition module and is used to collect sensor signals; the AO module is used to control the flow of the hydraulic control system; and the DI module is used to start and stop the pump station of the hydraulic system.

[0020] The sensor acquisition module consists of a first pressure sensor, a second pressure sensor, a speed sensor, a signal filter, a signal amplifier, and an A / D converter; the first pressure sensor is used to obtain the weight of the coal and convert the weight signal into a voltage signal; the second pressure sensor is two in number and is used for signal acquisition of liquid pressure; the speed sensor is used to acquire motor speed signals; the signal filter is used to filter out impurity signals; the signal amplifier is used to amplify signals; the A / D converter is used to realize the conversion of analog signals and digital signals; and the data processing signal is used for data processing.

[0021] The PID control system includes an expected signal module, a PID controller, a proportional reversing valve, a hydraulic motor, and a pressure-speed conversion model; the expected signal module is the expected target signal provided by the PID control system; the PID controller adjusts and controls the signal difference and converts it into an electrical signal to transmit to the reversing valve; the proportional reversing valve is used to receive the signal and control the valve opening of the reversing valve according to the signal difference; the hydraulic motor is used for driving the star wheel; the liquid pressure-speed model is used to convert the pressure signal into a speed signal.

[0022] The hydraulic control system includes a hydraulic oil tank, a drive motor, a hydraulic pump, and a relief valve; the hydraulic oil tank is used to store hydraulic oil; the drive motor is used to drive the hydraulic pump; the hydraulic pump is used to drive the hydraulic system; and the relief valve is used to stabilize the pressure of the entire system and protect the system.

[0023] The star wheel control algorithm includes: a coal quantity-speed conversion model and a speed-liquid pressure model; the coal quantity-speed conversion model is used for data conversion between the required loading coal quantity and the star wheel speed; the speed-liquid pressure conversion model is used for realizing data conversion between the star wheel speed and the hydraulic pressure.

[0024] A method for using a star wheel speed control system for a shovel section of a tunnel boring machine, using any one of the star wheel speed control systems for a shovel section of a tunnel boring machine, comprising: Step 1: In each working cycle of the roadheader, the weight of the transferred coal is collected by using the first pressure sensor, and the weight signal of the collected coal and rock weight is transmitted to the PLC lower computer; Step 2: Use the PLC lower computer to transmit the collected weight signal to the PC upper computer; Step 3: Use the PC host computer to read and decode the weight signal; Step 4, using the star wheel control algorithm to convert the weight signal into the star wheel speed; Step 5, using the PID control system to collect the desired speed signal and perform differential adjustment on the hydraulic control system; Step six, use the hydraulic control system to adjust the proportional control valve to implement the star wheel speed regulation.

[0025] In an embodiment of the present application, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above methods when executing the program.

[0026] In an embodiment of the present application, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0027] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0028] Those skilled in the art will readily appreciate other embodiments of the invention after considering the specification and practicing the invention invented herein. This application is intended to cover any variations, uses or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not invented by the present invention. The specification and examples are intended to be exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0029] The above specific implementation methods further illustrate the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above are only specific implementation methods of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A star wheel speed control system for a shovel section of a tunnel boring machine, characterized in that: The integrated control system includes a PC host, a PLC slave and a device acquisition layer. The PC host is connected to the PLC slave, and the PLC slave is connected to the device acquisition layer. Among them, the equipment acquisition layer includes a sensor acquisition module, a hydraulic control system for controlling the star wheel, and a pump station start and stop control box for starting and stopping the hydraulic system pump station. The sensor acquisition module is installed on the tunnel boring machine.

2. A roadheader blade star wheel speed control system according to claim 1, characterized in that: The sensor acquisition module includes a first pressure sensor for obtaining the weight of coal, a second pressure sensor for collecting the liquid pressure of the star wheel hydraulic control circuit in the tunneling machine, a speed sensor for collecting the motor speed of the tunneling machine, a signal filter for filtering impurity signals, a signal amplifier and an A / D converter for signal amplification. The first pressure sensor, the second pressure sensor and the speed sensor are connected to the signal filter, and the signal filter, the signal amplifier and the A / D converter are connected in sequence.

3. A star wheel speed control system for a shovel section of a tunnel boring machine according to claim 1, characterized in that: The PC host computer comprises a PID controller, a proportional reversing valve (7), and a hydraulic motor (10); the PID controller is connected to the proportional reversing valve (7), and the proportional reversing valve (7) is connected to the hydraulic motor (10).

4. A star wheel speed control system for a shovel section of a tunnel boring machine according to claim 3, characterized in that: The hydraulic control system comprises a hydraulic oil tank (4), a drive motor (5), a hydraulic pump (6) and a relief valve (11), wherein the hydraulic pump (6) is connected to the drive motor (5), the hydraulic pump (6) is connected to the hydraulic oil tank (4), and the relief valve (11) is connected to the hydraulic oil tank (4) and the proportional reversing valve (7).

5. A method for using a star wheel speed control system for a shovel section of a tunnel boring machine, characterized in that: A star wheel speed control system for a shovel section of a roadheader according to any one of claims 1 to 4, comprising: Step 1: In each working cycle of the roadheader, the weight of the transferred coal is collected by using the first pressure sensor, and the weight signal of the collected coal and rock weight is transmitted to the PLC lower computer; Step 2: Use the PLC lower computer to transmit the collected weight signal to the PC upper computer; Step 3: Use the PC host computer to read and decode the weight signal; Step 4, using the star wheel control algorithm to convert the weight signal into the star wheel speed; Step 5, using the PID control system to collect the desired speed signal and perform differential adjustment on the hydraulic control system; Step six, use the hydraulic control system to adjust the proportional control valve to implement the star wheel speed regulation.

6. An electronic device 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 program, the steps of the method according to claim 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 5 are implemented.

Images