Intelligent dust removal control system and method for mining excavator

Abstract

The invention discloses an intelligent dust removal control system and method for a mining excavator, and the system comprises a control panel which is used for controlling the mode selection; the acquisition module is connected with the control panel and is used for acquiring the angular velocity of the bucket relative to the bucket rod, the torque of the bucket rod and the bucket relative to the bucket and the torque variation of the bucket rod and the bucket hinged part; the input end of the double-signal detection module is connected with the output end of the acquisition module and the output end of the main controller of the mining excavator, and the double-signal detection module is used for detecting and processing input information of the acquisition module and the main controller of the mining excavator; the output end of the double-signal detection module and the output end of the control panel are connected with the input end of the spraying device switch and used for controlling the dust removal device to work. The state of the excavator can be reflected in real time, accurate water spraying dust suppression is carried out in the step where dust is prone to being generated when the mining excavator works, and meanwhile waste of water resources is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of dust removal for excavators, and in particular relates to an intelligent dust removal control system and method for a mining excavator. Background Art

[0002] Open-pit mining has high environmental protection requirements, among which dust pollution is a very important indicator. Mining excavators will generate a lot of dust during the excavation process, which not only seriously pollutes the environment, but also poses great harm to the human body. It also has a relatively large impact on the service life of the mining excavators involved in production.

[0003] In the prior art, in order to suppress dust generation during the excavation process of mining excavators, sprinkler trucks are often used to spray water for a long time when the mining excavators are working to suppress dust. In this process, not only does it increase the waste of water resources, but it also fails to accurately and timely suppress dust generation. Summary of the invention

[0004] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides an intelligent dust removal control system and method for a mining excavator.

[0005] The intelligent dust removal control system for a mining excavator of the present invention comprises:

[0006] A control panel, wherein the control panel is used for controlling mode selection;

[0007] A collection module, the collection module is connected to the control panel and is used to collect the angular velocity of the bucket relative to the dipper arm, the relative bucket torque at the dipper arm and the bucket hinge, and the torque change at the dipper arm and the bucket hinge;

[0008] A dual signal detection module, wherein the input end of the dual signal detection device is respectively connected to the output end of the acquisition module and the output end of the mining excavator main controller, and is used to detect the input information of the acquisition module and the mining excavator main controller for processing;

[0009] The spray device switch, the dual signal detection module output end and the control panel output end are respectively connected to the spray device switch input end, and are used to control the operation of the dust removal device.

[0010] Furthermore, in the above-mentioned intelligent dust removal control system for mining excavators, the control panel includes a system switch, an automatic module and a manual module, the input ends of the automatic module and the manual module are respectively connected to the output end of the system switch, the output end of the automatic module is electrically connected to the acquisition module, and the output end of the manual module is electrically connected to the spraying device switch.

[0011] Furthermore, in the above-mentioned intelligent dust removal control system for mining excavators, a manual spraying switch is arranged between the manual module and the spraying device switch, and the output end of the manual spraying switch is electrically connected to the input end of the spraying device switch.

[0012] The intelligent dust removal control method for a mining excavator of the present invention comprises:

[0013] Select automatic mode or manual mode for the intelligent dust removal control system of mining excavators;

[0014] When the automatic mode is selected, the automatic module supplies power to the acquisition module, and after the acquisition module is powered on, it collects the angular velocity of the bucket relative to the arm, the relative bucket torque at the joint between the arm and the bucket, and the torque change at the joint between the arm and the bucket;

[0015] When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module increases within the torque change setting range per unit time, and the forward rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally;

[0016] When the dual signal detection module detects through the mining excavator main controller that the excavator's rotation angular velocity is greater than 0, a stop control signal is sent to the spraying device switch to control the dust removal device to stop working;

[0017] When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module decreases within the torque change setting range per unit time, and the reverse rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally;

[0018] When the manual mode is selected, the manual module supplies power to the manual spray switch. When the manual spray switch is pressed, a working control signal is sent to the spray device switch to control the dust removal device to work normally.

[0019] When the manual spray switch is released, a stop control signal is sent to the spray device switch to control the dust removal device to stop working.

[0020] The intelligent dust removal control system and method for mining excavators of the present invention have the following advantages and beneficial effects:

[0021] The present invention reflects the state of the excavator in real time through the cooperation of the dual signal detection module, the acquisition module and the main controller of the mining excavator, and accurately sprays water to suppress dust in the steps where dust is easily generated when the mining excavator is working, while reducing the waste of water resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of the intelligent dust removal control system for a mining excavator of the present invention;

[0024] Figure 2 This is a schematic diagram of intelligent dust removal control for a mining excavator of the present invention;

[0025] Figure 3 It is a schematic diagram of the state of the excavator bucket during the excavation process in the intelligent dust removal control method for a mining excavator of the present invention;

[0026] Figure 4 It is a schematic diagram of the state when the unloading action is executed in the intelligent dust removal control method for a mining excavator of the present invention.

[0027] Description of reference numerals:

[0028] 100: Main controller of mining excavator; 200: Dust removal device;

[0029] 1: control panel, 11: system switch, 12: automatic module, 13: manual module;

[0030] 2: Acquisition module; 3: Dual signal detection module; 4: Spraying device switch; 5: Manual spraying switch. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 making creative work are within the scope of protection of the present invention.

[0032] The technical principle of the present invention is: control is performed according to the excavation process, rotation process and unloading process of the mining excavator. During the excavation process, that is, the bucket starts to contact the material, excavates the material, and fills the entire bucket with material. Dust is easily generated and spraying is required for dust suppression; during the rotation process, the bucket mouth plane is parallel to the ground, and the material in the bucket is stationary relative to the bucket without dust generation, so there is no need to spray dust suppression; during the unloading process, the bucket cylinder retracts and the bucket opens until all the materials are unloaded. Dust is easily generated and spraying is required for dust suppression. The present invention determines the opening and closing of the spraying device switch by judging the motion parameters of the three stages, thereby achieving the purpose of intelligent control of dust removal.

[0033] like Figure 1 As shown, the intelligent dust removal control system for a mining excavator of the present invention comprises:

[0034] Control panel 1: Control panel 1 is used for control mode selection;

[0035] The acquisition module 2 is connected to the control panel 1 and is used to collect the angular velocity of the bucket relative to the dipper arm, the relative bucket torque at the dipper arm and the bucket hinge, and the torque change at the dipper arm and the bucket hinge;

[0036] A dual signal detection module 3, the input end of the dual signal detection device is connected to the output end of the acquisition module 2 and the output end of the mining excavator main controller 100 respectively, and is used to detect the input information of the acquisition module 2 and the mining excavator main controller 100 for processing;

[0037] The spray device switch 4, the output end of the dual signal detection module 3 and the output end of the control panel 1 are respectively connected to the input end of the spray device switch 4, so as to control the operation of the dust removal device.

[0038] Furthermore, in the intelligent dust removal control system for a mining excavator of the present invention, the control panel 1 includes a system switch 11, an automatic module 12 and a manual module 13, the input ends of the automatic module 12 and the manual module 13 are respectively connected to the output end of the system switch 11, the output end of the automatic module 12 is electrically connected to the acquisition module 2, and the output end of the manual module 13 is electrically connected to the spraying device switch 4.

[0039] In order to facilitate the operation of the system, the switch 11, the automatic module 12 and the manual module 13 can be integrated into a knob form.

[0040] Furthermore, in the intelligent dust removal control system for mining excavators of the present invention, a manual spraying switch 5 is provided between the manual module 13 and the spraying device switch 4, and the output end of the manual spraying switch 5 is electrically connected to the input end of the spraying device switch 4.

[0041] The intelligent dust removal control method for a mining excavator of the present invention comprises:

[0042] like Figure 2As shown, the automatic mode or manual mode is selected for the intelligent dust removal control system of the mining excavator;

[0043] When the automatic mode is selected, the automatic module supplies power to the acquisition module, and after the acquisition module is powered on, it collects the angular velocity of the bucket relative to the arm, the relative bucket torque at the joint between the arm and the bucket, and the torque change at the joint between the arm and the bucket;

[0044] When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module increases within the torque change setting range per unit time, and the forward rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally;

[0045] The control logic of this step is: Figure 3 As shown, during the excavation process of the excavator bucket, the bucket teeth begin to be stressed, and the bucket torque value F and the torque change per unit time ΔF are set with point A, where the bucket arm and bucket are hinged, as the center, where the torque value F = f × L, L is the distance from the bucket rotation center to the bucket tip, f is the resistance generated by the bucket when digging, ΔF = F2-F1, and at the same time, the bucket needs to rotate to load the material into the bucket. Therefore, in this process, the bucket has an angular velocity α1, and if the bucket's internal rotation direction is positive, then α1>0; usually during the excavation process, the vehicle does not rotate, so the vehicle rotation angular velocity α2 can be set, that is, α2=0. Therefore, when the above three conditions are met, the controller controls the switch, the spraying system works, and the spraying is set to a delay time of 1 to 2s;

[0046] When the dual signal detection module detects through the mining excavator main controller that the excavator's rotation angular velocity is greater than 0, a stop control signal is sent to the spraying device switch to control the dust removal device to stop working;

[0047] The control logic of this step is: after the excavator bucket is filled with materials, the excavator turns on the vehicle and moves the bucket to the target location to prepare for unloading. During this process, the material in the bucket is stationary relative to the bucket, so only little or no dust is generated. Therefore, the spraying system does not need to work in stage 2, so it is set to stop working when the rotation angular velocity α2≠0 is detected.

[0048] When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module decreases within the torque change setting range per unit time, and the reverse rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally;

[0049] The control logic of this step is: Figure 4As shown, when the bucket reaches the specified position after excavation, the unloading action is performed. At this time, due to the rapid unloading of the bucket material, the torque value at point A where the dipper arm and the bucket are hinged is reduced. Therefore, in this process, the direction and range of ΔF need to be identified. When the monitored torque change ΔF is within the system set range, and the bucket also needs to have an angular velocity α1, and the direction of α1 is opposite to the direction during excavation, the system performs spraying and sets the system spraying delay time to 2 to 5s.

[0050] When the manual mode is selected, the manual module supplies power to the manual spray switch. When the manual spray switch is pressed, a working control signal is sent to the spray device switch to control the dust removal device to work normally.

[0051] When the manual spray switch is released, a stop control signal is sent to the spray device switch to control the dust removal device to stop working.

[0052] To sum up, compared with the prior art, the intelligent dust removal control system and method for mining excavators of the present invention have the following advantages and beneficial effects: the present invention reflects the state of the excavator in real time through the cooperation of the dual signal detection module with the acquisition module and the main controller of the mining excavator, and performs precise water spraying to suppress dust in the steps where dust is easily generated when the mining excavator is working, while reducing the waste of water resources.

[0053] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent dust removal control system for a mining excavator, characterized in that: The intelligent dust removal control system for a mining excavator comprises: A control panel, wherein the control panel is used for controlling mode selection; A collection module, the collection module is connected to the control panel and is used to collect the angular velocity of the bucket relative to the dipper arm, the relative bucket torque at the dipper arm and the bucket hinge, and the torque change at the dipper arm and the bucket hinge; A dual signal detection module, the input end of which is connected to the output end of the acquisition module and the output end of the mining excavator main controller respectively, and is used to detect the input information of the acquisition module and the mining excavator main controller for processing; The spray device switch, the dual signal detection module output end and the control panel output end are respectively connected to the spray device switch input end, and are used to control the operation of the dust removal device.

2. The intelligent dust removal control system for mining excavators according to claim 1 is characterized in that: The control panel includes a system switch, an automatic module and a manual module. The input ends of the automatic module and the manual module are respectively connected to the output end of the system switch. The output end of the automatic module is electrically connected to the acquisition module. The output end of the manual module is electrically connected to the spray device switch.

3. The intelligent dust removal control system for mining excavators according to claim 2 is characterized in that: A manual spray switch is provided between the manual module and the spray device switch, and an output end of the manual spray switch is electrically connected to an input end of the spray device switch.

4. An intelligent dust removal control method for a mining excavator, characterized in that: The intelligent dust removal control method for a mining excavator comprises: Select automatic mode or manual mode for the intelligent dust removal control system of mining excavators; When the automatic mode is selected, the automatic module supplies power to the acquisition module, and after the acquisition module is powered on, it collects the angular velocity of the bucket relative to the arm, the relative bucket torque at the joint between the arm and the bucket, and the torque change at the joint between the arm and the bucket; When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module increases within the torque change setting range per unit time, and the forward rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally; When the dual signal detection module detects through the mining excavator main controller that the excavator's rotation angular velocity is greater than 0, a stop control signal is sent to the spray device switch to control the dust removal device to stop working; When the dual signal detection module detects that the relative bucket torque value at the joint between the bucket arm and the bucket in the acquisition module decreases within the torque change setting range per unit time, and the reverse rotation angular velocity of the bucket relative to the bucket arm is greater than 0, and at the same time, the mining excavator main controller detects that the excavator rotation angular velocity is 0, a working control signal is sent to the spraying device switch to control the dust removal device to work normally; When the manual mode is selected, the manual module supplies power to the manual spray switch. When the manual spray switch is pressed, a working control signal is sent to the spray device switch to control the dust removal device to work normally. When the manual spray switch is released, a stop control signal is sent to the spray device switch to control the dust removal device to stop working.

Images