Stepping self-moving control system and control method for reversed loader

Abstract

The invention provides a stepping self-moving control system and method for a reversed loader, and belongs to the technical field of coal mine equipment intelligence. Comprising a controller, an electro-hydraulic control valve, a first displacement sensor group and a second displacement sensor group, the controller is arranged on the reversed loader, and the output end of the controller is connected with the reversed loader pushing oil cylinder and the reversed loader lifting oil cylinder through an electro-hydraulic control valve. The first displacement sensor group is arranged in a reversed loader pushing oil cylinder, is connected to a signal acquisition interface of the controller through a cable, and is used for monitoring whether the reversed loader moves in place or not; and the second displacement sensor group is arranged in the lifting oil cylinder of the reversed loader, is connected to the signal acquisition interface of the controller through a cable, and is used for monitoring whether the lifting oil cylinder of the reversed loader stretches in place or not. Whether the pushing oil cylinder and the lifting oil cylinder are in place or not is detected in real time through the displacement sensor, the pushing oil cylinder and the lifting oil cylinder are controlled according to the detection result, and therefore automatic and intelligent control over the reversed loader is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mine equipment, and in particular to a control system and a control method for a stepping self-moving transfer machine. Background Art

[0002] The transfer machine is a kind of coal transportation equipment used in the fully mechanized mining working face of coal mines. It can move forward according to a certain step distance by relying on its own stepping self-moving system. The existing stepping self-moving system mainly relies on manual hydraulic valves to operate, which can complete the extension and retraction of the lifting cylinder and the push cylinder, and realize the lifting, falling, and moving forward of the transfer machine. During operation, the staff needs to stand next to the transfer machine to operate, which has many unsafe factors.

[0003] In the prior art, for example, the Chinese utility model patent with application number 201320197291.9 specifically discloses a self-moving transfer machine electro-hydraulic control system. The control system mentioned in the patent controls the electro-hydraulic valve group through the control module to realize the automation and information integration of the lifting, pushing, lowering and sliding motion of the transfer machine during movement. The staff can operate at the PLC control box to avoid the transfer machine from causing harm to people during movement. However, the patent still requires manual operation by the staff, and cannot realize the automation and intelligent control of the transfer machine, and cannot meet the needs of coal mine intelligence. Summary of the invention

[0004] In view of this, the present invention provides a control system and a control method for a transfer machine to move automatically, so as to solve the technical problem that the prior art cannot realize the automatic and intelligent control of the transfer machine.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A control system for a transfer machine to move itself step by step, characterized in that it includes: a controller, an electro-hydraulic control valve, a first displacement sensor group, and a second displacement sensor group; the controller is arranged on the transfer machine, and the output end of the controller is connected to the transfer machine's pushing cylinder and the transfer machine's lifting cylinder through the electro-hydraulic control valve; the first displacement sensor group is arranged in the transfer machine's pushing cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the transfer machine has moved into place; the second displacement sensor group is arranged in the transfer machine's lifting cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the transfer machine's lifting cylinder is extended and retracted into place.

[0006] Preferably, it also includes: a wireless remote controller, which is communicatively connected with the controller via wireless transmission.

[0007] Preferably, the controller is connected to the self-moving machine tail controller and the end bracket controller through cables, and communicates through a CAN bus.

[0008] Preferably, it also includes: a first pressure sensor group and a second pressure sensor group; the first pressure sensor group is arranged in the transfer machine's pushing cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the pushing cylinder is over-pressure or under-pressure; the second pressure sensor group is arranged in the transfer machine's lifting cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the lifting cylinder is over-pressure or under-pressure.

[0009] Preferably, the controller is an intrinsically safe controller, and the electro-hydraulic control valve is an intrinsically safe electro-hydraulic control valve.

[0010] Preferably, the controller is provided with an operation interface, so as to select the control mode of the stepping self-propelled control system of the transfer machine through the operation interface.

[0011] The present invention also provides a method for controlling the stepping self-movement of a transfer machine, which is applied to the stepping self-movement control system of the transfer machine as described above, and comprises the following steps: S1. The controller receives a control action instruction and determines whether it matches the mode. If it matches, the controller enters the corresponding control mode, wherein the modes include wireless control mode, automatic control mode and linkage control mode; S2. When the controller enters the automatic control mode, it controls the extension of the lifting cylinder and obtains the displacement value detected by the second displacement sensor group to determine whether the displacement value reaches the first set value; S3, when the displacement value of the lifting cylinder reaches the first set value, the lifting cylinder is stopped and the push cylinder is controlled to extend; S4, obtaining the displacement value of the push cylinder detected by the first displacement sensor group, and determining whether the displacement value reaches a second set value; S5, when the displacement value of the push cylinder reaches the second set value, the push cylinder is stopped from extending, and the lifting cylinder is controlled to retract; S6, obtaining the displacement value detected by the second displacement sensor group, and determining whether the displacement value reaches a third set value; S7, when the displacement value of the lifting cylinder reaches the third set value, the lifting cylinder is stopped from being retracted, and the pushing cylinder is controlled to be retracted; S8, obtaining the displacement value detected by the first displacement sensor group, and determining whether the displacement value is 0; S9. When the displacement value reaches 0, stop pushing the oil cylinder to retract, and complete the step-by-step self-movement of the transfer machine.

[0012] Preferably, the second displacement sensor group includes eight displacement sensors. In step S3, when the displacement value of the lifting cylinder reaches the first set value, stopping the lifting cylinder extension includes: when the displacement values ​​detected by the eight displacement sensors all reach the first set value, stopping the lifting cylinder extension.

[0013] Preferably, the first displacement sensor group includes two displacement sensors, and in step S5, when the displacement value of the push cylinder reaches the second set value, stopping the push cylinder extension includes: when the displacement values ​​detected by the two displacement sensors both reach the second set value, stopping the push cylinder extension.

[0014] Preferably, a first pressure sensor group is provided in the transfer machine's pushing cylinder, and a second pressure sensor group is provided in the transfer machine's lifting cylinder. The method also includes: in the entire control process, real-time acquisition of the pressure values ​​detected by the first pressure sensor group and the second pressure sensor group, when the pressure value exceeds the set pressure value or is lower than the set pressure value, stopping the movement of the pushing cylinder and the lifting cylinder, and processing the corresponding pushing cylinder or lifting cylinder.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses the first displacement sensor group and the second displacement sensor group to detect in real time whether the pushing cylinder and the lifting cylinder are in place, and then the controller controls the pushing cylinder and the lifting cylinder to extend or retract through the electro-hydraulic control valve according to the detection result to complete the step-by-step self-movement of the transfer machine, thereby realizing automatic and intelligent control of the transfer machine without manual operation and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the connection diagram of the various parts of the transfer machine's step-by-step self-moving control system.

[0017] Figure 2 This is the connection relationship diagram corresponding to the linkage control mode of the stepping self-moving control system of the transfer machine.

[0018] Figure 3 This is a schematic diagram of the controller structure.

[0019] Figure 4 It is a flow chart of the control method of the present invention.

[0020] In the figure: a controller 10 , an operation interface 11 , an electro-hydraulic control valve 20 , a first displacement sensor group 30 , a second displacement sensor group 40 , a first pressure sensor group 50 , a second pressure sensor group 60 , and a wireless remote controller 70 . DETAILED DESCRIPTION

[0021] The technical solutions and technical effects of the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings of the present invention.

[0022] Please see Figure 1A control system for a transfer machine to move in steps, comprising: a controller 10, an electro-hydraulic control valve 20, a first displacement sensor group 30, and a second displacement sensor group 40; the controller 10 is arranged on the transfer machine, and the output end of the controller 10 is connected to the transfer machine pushing cylinder and the transfer machine lifting cylinder through the electro-hydraulic control valve 20; the first displacement sensor group 30 is arranged in the transfer machine pushing cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, so as to monitor whether the transfer machine has moved into place; the second displacement sensor group 40 is arranged in the transfer machine lifting cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, so as to monitor whether the transfer machine lifting cylinder is extended and retracted into place.

[0023] The controller is the control core of the control system of the transfer machine's step-by-step self-movement, and the electro-hydraulic control valve is used to control the extension and retraction of the hydraulic cylinder. When the controller receives the command to control the transfer machine's step-by-step self-movement, the controller first controls the extension of the lifting cylinder through the electro-hydraulic control valve to lift the body of the transfer machine, and monitors in real time through the second displacement sensor group whether the lifting cylinder is extended to the right position; when the lifting cylinder is extended to the right position, the controller controls the extension of the push cylinder through the electro-hydraulic control valve to move the transfer machine, and monitors in real time through the first displacement sensor group whether the push cylinder is pushed to the right position, and then determines whether the transfer machine has moved to the right position; when the transfer machine has moved to the right position, the controller controls the retraction of the lifting cylinder through the electro-hydraulic control valve, at which time the body of the transfer machine can be lowered, and detects whether the lifting cylinder is retracted to the right position through the second displacement sensor group; when the lifting cylinder is retracted to the right position, the controller controls the retraction of the push cylinder through the electro-hydraulic control valve, and when the push cylinder is retracted, the automatic lifting and pushing action of the transfer machine ends. Therefore, the first displacement sensor group and the second displacement sensor group can be used to detect in real time whether the push cylinder and the lifting cylinder are in place, and then the controller controls the status of the push cylinder and the lifting cylinder through the electro-hydraulic control valve according to the detection result, thereby realizing automatic and intelligent control of the transfer machine without manual operation and high work efficiency.

[0024] In some embodiments, see Figure 1The transfer machine push cylinder includes a first push cylinder and a second push cylinder arranged on the left and right sides of the transfer machine, and the first displacement sensor group 30 includes a first displacement sensor and a second displacement sensor, and the displacement sensor is used to detect the displacement of the hydraulic cylinder. Among them, the first displacement sensor is arranged in the first push cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, and is used to monitor whether the left side of the transfer machine moves into place, and the first displacement sensor sends the monitored displacement data to the controller 10; the second displacement sensor is arranged in the second push cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, and is used to monitor whether the right side of the transfer machine moves into place, and the second displacement sensor sends the monitored displacement data to the controller 10. When the controller 10 receives the displacement data monitored by the first displacement sensor and the second displacement sensor indicating that the first push cylinder and the second push cylinder are pushed into place, the controller 10 can send a signal to the electro-hydraulic control valve to control the lifting cylinder to shrink the cylinder through the electro-hydraulic control valve, thereby realizing the automatic control of the transfer machine push cylinder.

[0025] Four lifting cylinders are respectively arranged on each side track of the transfer machine, so the transfer machine lifting cylinders include the first lifting cylinder, the second lifting cylinder, the third lifting cylinder, the fourth lifting cylinder, the fifth lifting cylinder, the sixth lifting cylinder, the seventh lifting cylinder, and the eighth lifting cylinder arranged on the left and right side tracks of the transfer machine. The second displacement sensor group includes the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor, the sixth displacement sensor, the seventh displacement sensor, the eighth displacement sensor, the ninth displacement sensor, and the tenth displacement sensor, so that a displacement sensor is arranged in each lifting cylinder, and each displacement sensor is respectively connected to the signal interface of the controller to respectively monitor whether each lifting cylinder is extended and retracted in place, thereby ensuring that the entire transfer machine body can automatically complete the lifting and lowering.

[0026] For further information, see Figure 1 , and further includes: a wireless remote controller 70, which is connected to the controller 10 by wireless transmission. Specifically, the controller 10 has a built-in wireless receiving module and communicates with the wireless remote controller 70 by 2.4G wireless mode. The operator can communicate and control the wireless remote controller 70 and the controller 10 through the wireless remote controller 70. Under no special circumstances, the operator does not need to enter the tunnel of the coal mining face, and can remotely lift and push the transfer machine by operating the wireless remote controller.

[0027] For further information, see Figure 2, the controller 10 is connected to the self-moving machine tail controller and the end bracket controller through a cable, and communicates through the CAN bus. At present, the self-movement of the transfer machine, the movement of the self-moving machine tail and the movement of the end bracket are all controlled by separate control devices. The transfer machine, the self-moving machine tail and the end bracket cannot be controlled in a linkage manner. It is necessary to manually observe on-site whether the transfer machine has moved into place, and then control the movement of the end bracket and the self-moving machine tail accordingly, which takes a long time and seriously affects the advancement speed and coal output efficiency of the working face. Therefore, the present invention connects the controller of the transfer machine's step-by-step self-movement control system to the self-moving machine tail controller and the end bracket controller through a cable, and communicates through the CAN bus, thereby realizing the linkage control of the transfer machine, the self-moving machine tail and the end bracket. Specifically, when the transfer machine receives a signal from the underground centralized control center and starts to move by itself, it first raises the oil cylinder to lift the body of the transfer machine, and uses the second displacement sensor to detect in real time whether the lifting cylinder is lifted to the right position; when the lifting cylinder is lifted to the right position, the controller sends a signal to the end support controller, and the end support controller controls the end support to push the transfer machine; when the transfer machine is pushed to the right position, the lifting cylinder retracts to complete the self-movement of the transfer machine. At this time, the controller sends a signal to the self-moving machine tail controller, and the self-moving machine tail controller controls the self-moving machine tail to move. In this way, the linkage control of the transfer machine, the end support and the self-moving machine tail is realized, thereby shortening the control time and improving the advancement speed and coal output efficiency of the working face.

[0028] For further information, see Figure 1 and Figure 2 The stepping self-moving control system of the transfer machine of the present invention can realize the overpressure or underpressure detection function of the oil cylinder. The system also includes a first pressure sensor group 50 and a second pressure sensor group 60; the pressure sensor is used to detect the pressure of the oil cylinder. The first pressure sensor group 50 is arranged in the transfer machine's pushing cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, and is used to monitor whether the pushing cylinder is overpressure or underpressure; the second pressure sensor group 60 is arranged in the transfer machine's lifting cylinder, and is connected to the signal acquisition interface of the controller 10 through a cable, and is used to monitor whether the lifting cylinder is overpressure or underpressure. Specifically, a pushing cylinder is respectively provided on the left and right sides of the transfer machine, and four lifting cylinders are respectively provided on the left and right tracks of the transfer machine; by arranging a pressure sensor in each pushing cylinder and each lifting cylinder, the pressure value of each cylinder can be detected in real time, and each pressure sensor is respectively connected to the signal interface of the controller, and the cylinder pressure threshold is set in the controller 10. By comparing the pressure value detected by the pressure sensor with the cylinder pressure threshold set by the controller, the cylinder overpressure or underpressure monitoring can be realized, so that the cylinder overpressure or underpressure situation can be discovered and handled in time, the intelligent monitoring of the cylinder can be realized, and the work efficiency can be improved.

[0029] Furthermore, the controller 10 is an intrinsically safe controller, and the electro-hydraulic control valve 20 is an intrinsically safe electro-hydraulic control valve, so as to better adapt to the environment of the mine and ensure the normal operation of the transfer machine. The intrinsically safe controller and the intrinsically safe electro-hydraulic control valve are connected via a communication cable, and the communication mode is RS232.

[0030] For further information, see Figure 3 The controller 10 is provided with an operation interface 11, through which the control mode of the stepping self-moving control system of the transfer machine can be selected. As an embodiment, the operation interface 11 is provided next to the operation interface 11. Figure 3 The operator can select the corresponding control mode by operating the operation button, for example, the operator can press the "automatic" button to make the transfer machine self-propelled control system enter automatic control; the operator can also control the transfer machine self-propelled control system to perform corresponding operations by pressing the corresponding operation button, for example, the operator can control the lifting cylinder or the pushing cylinder of the transfer machine to extend by pressing the "extend" button. As another embodiment, the operation interface 11 is designed as a touch screen interface, and the corresponding control mode can be selected or the transfer machine self-propelled control system can be controlled to perform corresponding operations by performing touch screen operations on the operation interface.

[0031] In some embodiments, a warning light is provided on the signal collection interface connected to the pressure sensor on the controller to indicate whether the oil cylinder is over-pressured or under-pressured. Specifically, the pressure sensor sends the collected pressure value to the controller, and the controller compares the pressure value with the set oil cylinder pressure threshold. If the comparison result shows that the oil cylinder is under-pressured, the warning light on the signal collection interface connected to the pressure sensor of the oil cylinder lights up a certain color; if the comparison result shows that the oil cylinder is over-pressured, the warning light on the signal collection interface connected to the pressure sensor of the oil cylinder lights up a light of a different color from the under-pressure; if the comparison result shows that the oil cylinder pressure is normal, the warning light on the signal collection interface connected to the pressure sensor of the oil cylinder does not light up or lights up green; thus, the staff can timely find out which oil cylinder has a problem and deal with it by observing the warning light on the controller, thereby ensuring the normal operation of the transfer machine.

[0032] Please see Figure 4 The present invention also provides a method for controlling the automatic movement of a transfer machine, which is applied to the automatic movement control system of the transfer machine as described above, and comprises the following steps: S1. The controller receives the control action instruction and determines whether it matches the mode. If it matches, it enters the corresponding control mode, wherein the modes include wireless control mode, automatic control mode and linkage control mode. The step-by-step self-moving control system of the transfer machine of the present invention can realize three control modes: wireless control, automatic control and linkage control, thereby realizing the automation and intelligent control of the transfer machine and meeting the needs of intelligent coal mines. The three control modes can be selected in the operation interface of the intrinsically safe controller. After confirmation, the system will run in the selected control mode.

[0033] S2. When the controller enters the automatic control mode, it controls the extension of the lifting cylinder and obtains the displacement value detected by the second displacement sensor group to determine whether the displacement value reaches the first set value; wherein, the first set value is the displacement value set by the controller that the lifting cylinder needs to be extended. If the displacement value reaches the first set value, it indicates that the lifting cylinder is extended to the position, and the transfer machine can be started to be moved at this time.

[0034] S3, when the displacement value of the lifting cylinder reaches the first set value, the lifting cylinder is stopped and the push cylinder is controlled to extend; S4. Obtain the displacement value of the push cylinder detected by the first displacement sensor group, and determine whether the displacement value reaches the second set value; wherein the second set value is the displacement value set by the controller according to the distance the transfer machine needs to move. If the displacement value pushed by the push cylinder reaches the second set value, it indicates that the transfer machine has moved into place.

[0035] S5, when the displacement value of the push cylinder reaches the second set value, the push cylinder is stopped from extending, and the lifting cylinder is controlled to retract; S6, obtaining the displacement value detected by the second displacement sensor group, and determining whether the displacement value reaches a third set value; S7. When the displacement value of the lifting cylinder reaches the third set value, the lifting cylinder stops shrinking and the pushing cylinder is controlled to shrink. The third set value is the displacement value set by the controller that the lifting cylinder needs to retract. If the displacement value reaches the third set value, it indicates that the transfer machine has been lowered. At this time, the pushing cylinder can be retracted to complete the self-movement of the transfer machine.

[0036] S8, obtaining the displacement value detected by the first displacement sensor group, and determining whether the displacement value is 0; S9. When the displacement value reaches 0, stop pushing the oil cylinder to retract, and complete the step-by-step self-movement of the transfer machine.

[0037] The first displacement sensor group and the second displacement sensor group are used to detect in real time whether the push cylinder and the lifting cylinder are in place. The controller then controls the push cylinder and the lifting cylinder to extend or retract through the electro-hydraulic control valve according to the detection result to complete the step-by-step self-movement of the transfer machine, thereby realizing the automatic and intelligent control of the transfer machine, reducing manual operations and improving work efficiency.

[0038] Further, the second displacement sensor group includes eight displacement sensors, and in step S3, when the displacement value of the lifting cylinder reaches the first set value, stopping the extension of the lifting cylinder includes: when the displacement values ​​detected by the eight displacement sensors all reach the first set value, stopping the extension of the lifting cylinder. Specifically, the transfer machine is provided with eight lifting cylinders, and each lifting cylinder is provided with a displacement sensor for detecting whether the lifting cylinder is extended and retracted in place. When the displacement values ​​detected by the eight displacement sensors all reach the first set value, it indicates that the eight lifting cylinders have been lifted in place. When at least one of the displacement values ​​detected by the eight displacement sensors does not reach the first set value, and the displacement values ​​detected by the other displacement sensors reach the first set value, it indicates that there is a problem with the displacement sensor or its corresponding lifting cylinder, and therefore it is necessary to immediately stop all lifting cylinders from continuing to extend to avoid damage to the transfer machine caused by the continued extension of the lifting cylinders. At the same time, as an implementation method, a confirmation signal can be sent to the displacement sensor whose displacement value has not reached the first set value to determine whether the displacement sensor is operating normally. If it is operating normally, check whether there is a problem with the lifting cylinder corresponding to the displacement sensor; if it is not operating normally, the displacement sensor can be inspected, processed or replaced to ensure the subsequent normal operation of the transfer machine.

[0039] Further, the first displacement sensor group includes two displacement sensors, and in step S5, when the displacement value of the push cylinder reaches the second set value, stopping the extension of the push cylinder includes: when the displacement values ​​detected by the two displacement sensors reach the second set value, stopping the extension of the push cylinder. Specifically, push cylinders are respectively provided on the left and right sides of the transfer machine, and a displacement sensor is provided in each push cylinder to detect whether the push cylinder is pushed into place. When one of the displacement values ​​detected by the two displacement sensors reaches the second set value and the other does not reach the second set value, it is necessary to stop the extension of the push cylinder, and check whether the displacement sensor that has not reached the second set value and its corresponding push cylinder have problems, so as to avoid damage to the transfer machine caused by continuing to push the transfer machine.

[0040] Furthermore, a first pressure sensor group is provided in the transfer machine's pushing cylinder, and a second pressure sensor group is provided in the transfer machine's lifting cylinder. The method also includes: in the entire control process, the pressure values ​​detected by the first pressure sensor group and the second pressure sensor group are acquired in real time. When the pressure value exceeds the set pressure value or is lower than the set pressure value, the movement of the pushing cylinder and the lifting cylinder is stopped, and the corresponding pushing cylinder or lifting cylinder is processed.

[0041] Further, please refer again to Figure 4The control system of the automatic stepping transfer machine also includes a wireless remote controller, which is connected to the controller by wireless transmission. When the controller enters the wireless control mode, the wireless remote controller sends the operator's operating instructions to the controller in the form of wireless communication. The controller receives the operating instructions of the wireless remote controller, selects the control object according to the instructions, and jumps to the corresponding interface. Send an action instruction to the solenoid valve to control the movement of the push cylinder or the lifting cylinder. Determine whether the operating instruction of the wireless remote controller stops. If it stops, the automatic stepping transfer machine is completed, and the controller jumps to the standby interface. With the wireless control mode, there is no need for the operator to stand next to the transfer machine to operate, thereby avoiding harm to people during the movement of the transfer machine.

[0042] Furthermore, the controller 10 is connected to the self-moving machine tail controller and the end support controller through cables, and communicates through the CAN bus. Figure 4 When the controller enters the linkage control mode, the controller receives the signal from the underground centralized control center and starts to execute all actions under the "automatic control mode". At the same time, the controller sends the corresponding signal to the end support and the self-moving tail, so that the end support and the self-moving tail follow the movement of the transfer machine, thereby realizing the linkage control of the transfer machine, the end support and the self-moving tail, thereby shortening the control time and improving the advancement speed and coal output efficiency of the working face.

[0043] Specifically, first, the lifting cylinder is controlled to extend, and the displacement value detected by the second displacement sensor group is obtained to determine whether the displacement value reaches the first set value. When the displacement value of the lifting cylinder extension reaches the first set value, the lifting cylinder extension is stopped, and a completion instruction is sent to the end bracket to enable the end bracket to start to move. The controller determines whether a continue instruction is received, and when a continue instruction is received, the push cylinder is controlled to extend. When a stop instruction is received, the push cylinder extension is stopped, and the lifting cylinder is controlled to retract; the displacement value detected by the second displacement sensor group is obtained to determine whether the displacement value reaches the third set value; when the displacement value of the lifting cylinder retracts reaches the third set value, the lifting cylinder is stopped to retract, and the push cylinder is controlled to retract; the displacement value detected by the first displacement sensor group is obtained to determine whether the displacement value is 0; when the displacement value is 0, the push cylinder is stopped to retract, and the stepping self-movement of the transfer machine is completed; at the same time, the controller sends a completion instruction to the self-moving tail to start self-movement of the self-moving tail after the transfer machine completes the movement.

[0044] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A control system for a transfer machine to move automatically while walking, characterized in that: include: A controller, an electro-hydraulic control valve, a first displacement sensor group, and a second displacement sensor group; the controller is arranged on the transfer machine, and the output end of the controller is connected to the transfer machine's push cylinder and the transfer machine's lifting cylinder through the electro-hydraulic control valve; the first displacement sensor group is arranged in the transfer machine's push cylinder, and is connected to the controller's signal acquisition interface through a cable, for monitoring whether the transfer machine has moved into place; the second displacement sensor group is arranged in the transfer machine's lifting cylinder, and is connected to the controller's signal acquisition interface through a cable, for monitoring whether the transfer machine's lifting cylinder is extended and retracted into place.

2. The step-by-step self-moving control system of the transfer machine according to claim 1 is characterized in that: Also includes: A wireless remote controller is connected to the controller by wireless transmission.

3. The step-by-step self-moving control system of the transfer machine according to claim 1 is characterized in that: The controller is connected with the self-moving machine tail controller and the end bracket controller through cables, and communicates through a CAN bus.

4. The step-by-step self-movement control system of the transfer machine according to claim 1 is characterized in that: Also includes: A first pressure sensor group and a second pressure sensor group; the first pressure sensor group is arranged in the transfer machine's pushing cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the pushing cylinder is over-pressure or under-pressure; the second pressure sensor group is arranged in the transfer machine's lifting cylinder, and is connected to the signal acquisition interface of the controller through a cable, for monitoring whether the lifting cylinder is over-pressure or under-pressure.

5. The step-by-step self-movement control system of the transfer machine according to claim 1 is characterized in that: The controller is an intrinsically safe controller, and the electro-hydraulic control valve is an intrinsically safe electro-hydraulic control valve.

6. The step-by-step self-moving control system of a transfer machine according to any one of claims 1 to 5, characterized in that: The controller is provided with an operation interface, through which the control mode of the stepping self-moving control system of the transfer machine is selected.

7. A method for controlling the stepping self-movement of a transfer machine, applied to the stepping self-movement control system of a transfer machine according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. The controller receives a control action instruction and determines whether it matches the mode. If it matches, the controller enters the corresponding control mode, wherein the modes include wireless control mode, automatic control mode and linkage control mode; S2. When the controller enters the automatic control mode, it controls the extension of the lifting cylinder and obtains the displacement value detected by the second displacement sensor group to determine whether the displacement value reaches the first set value; S3, when the displacement value of the lifting cylinder reaches the first set value, the lifting cylinder is stopped and the push cylinder is controlled to extend; S4, obtaining the displacement value of the push cylinder detected by the first displacement sensor group, and determining whether the displacement value reaches a second set value; S5, when the displacement value of the push cylinder reaches the second set value, the push cylinder is stopped from extending, and the lifting cylinder is controlled to retract; S6, obtaining the displacement value detected by the second displacement sensor group, and determining whether the displacement value reaches a third set value; S7, when the displacement value of the lifting cylinder reaches the third set value, the lifting cylinder is stopped from being retracted, and the pushing cylinder is controlled to be retracted; S8, obtaining the displacement value detected by the first displacement sensor group, and determining whether the displacement value is 0; S9. When the displacement value reaches 0, stop pushing the oil cylinder to retract, and complete the step-by-step self-movement of the transfer machine.

8. The stepping self-movement control method of a transfer machine according to claim 7, wherein the second displacement sensor group includes eight displacement sensors, characterized in that: In step S3, when the displacement value of the lifting cylinder reaches the first set value, stopping the lifting cylinder extension includes: when the displacement values ​​detected by the eight displacement sensors all reach the first set value, stopping the lifting cylinder extension.

9. The stepping self-movement control method of a transfer machine according to claim 7, wherein the first displacement sensor group includes two displacement sensors, characterized in that: In step S5, when the displacement value of the push cylinder reaches the second set value, stopping the push cylinder extension includes: when the displacement values ​​detected by the two displacement sensors both reach the second set value, stopping the push cylinder extension.

10. The control method for the stepping self-movement of a transfer machine according to claim 7, wherein a first pressure sensor group is provided in the transfer machine's pushing cylinder, and a second pressure sensor group is provided in the transfer machine's lifting cylinder, characterized in that: The method also includes: in the entire control process, real-time acquisition of the pressure values ​​detected by the first pressure sensor group and the second pressure sensor group, when the pressure value exceeds the set pressure value or is lower than the set pressure value, stopping the movement of the push cylinder and the lifting cylinder, and processing the corresponding push cylinder or lifting cylinder.

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