Multi-point cooperative adjustment lifting conveying equipment and intelligent control method

Abstract

The invention provides multi-point cooperative adjustment lifting conveying equipment. The multi-point cooperative adjustment lifting conveying equipment comprises a first oil cylinder set, a second oil cylinder set, a third oil cylinder set, a fourth oil cylinder set, a first truss, a second truss, a third truss, a fourth truss and a middle truss. The system comprises a first truss, a second truss, a third truss, a middle truss, two first sensors, two second sensors, two third sensors and two fourth sensors, the middle truss is arranged between the second truss and the third truss and provided with a hinge structure, the first truss is connected with the second truss, and the third truss is connected with the fourth truss; the length sensors are arranged close to the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder respectively and used for detecting the real-time lengths of the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder in real time; according to the scheme, through arrangement of a plurality of steps, the truss basically does not generate height difference in the radial direction and the axial direction, and the truss is almost not blocked in the lifting or descending process.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment, and particularly to a multi-point collaborative adjustment lifting and conveying device for underground roadway unmanned operation and an intelligent control method. Background Art

[0002] A roadheader is an important device for excavating roadways, and the excavation process is also the first step in tunneling roadways. As the roadheader advances, the crushed stones and rock and soil excavated need to be transported out by a belt conveyor connected behind the roadheader. The main conveying device is the belt conveyor. Then, as the excavation process progresses, the roadways excavated behind need to be hardened in a timely and synchronous manner due to the soft ground, so as to provide a foundation for subsequent resource extraction. The prior art has also proposed a belt conveyor with an arching function. By arranging the belt conveyor with an arching function between normal fuselages, when ground maintenance and hardening are required, the truss is lifted to the top of the roadway, and a space is reserved below for the operation of equipment for repair work. Patent 202310066447.8 has disclosed the mechanical equipment necessary for the arching device.

[0003] After the belt conveyor arches, it presents a structure design with a high middle and low ends, and both ends still need to be connected to the normal fuselage. The existing arching belt conveyor has a total length of about 60 meters and is supported by four groups of oil cylinders, forming five groups of truss groups. When lifting or lowering, how to keep the truss of such a length from jamming or being synchronous has become a bottleneck technology for this device.

[0004] Several truss groups of the arching belt conveyor are arranged according to the reference direction in the roadway, marked as the X direction (i.e., the length direction of the truss), the Y direction (i.e., the width direction of the truss), the height direction is the direction in which the truss is lifted, and the length direction is the direction in which the oil cylinder extends. Regarding the technical problem of jamming between adjacent trusses in the X direction and Y direction during the lifting or lowering of the truss, which causes the adjacent trusses to be jammed, there is still no record in the prior art. Summary of the Invention

[0005] In view of the above defects, the present invention provides a multi-point cooperative adjustment lifting and conveying device, including a group of oil cylinders, a second group of oil cylinders, a third group of oil cylinders, a fourth group of oil cylinders, a first truss, a second truss, a third truss, a fourth truss, and an intermediate truss; each group of oil cylinders includes two oil cylinders, namely a first oil cylinder, a second oil cylinder, a third oil cylinder, and a fourth oil cylinder. The two first oil cylinders are arranged below the first truss, respectively near the left and right sides of the first truss. The two second oil cylinders are arranged below the second truss, respectively near the left and right sides of the second truss. The two third oil cylinders are arranged below the third truss, respectively near the left and right sides of the third truss. The two fourth oil cylinders are arranged below the fourth truss, respectively near the left and right sides of the fourth truss; the intermediate truss is arranged between the second truss and the third truss and is provided with a hinge structure. The first truss and the second truss are connected, the third truss and the fourth truss are connected. The left end of the first truss and the right end of the fourth truss are connected to a telescopic fuselage and a normal fuselage horizontally arranged on the roadway ground. The connection points are the reference planes for the lifting or lowering of each oil cylinder.

[0006] The bottoms of the four groups of oil cylinders are all arranged on a trolley. The trolley moves along the roadway ground. One end of each of the four groups of oil cylinders is movably connected to the trolley, and the other end of each of the four groups of oil cylinders is vertically and fixedly connected to the truss. The first group of oil cylinders and the fourth group of oil cylinders are symmetrically arranged, and the second group of oil cylinders and the third group of oil cylinders are symmetrically arranged;

[0007] A first group of sensors, a second group of sensors, a third group of sensors, and a fourth group of sensors are also provided. Each group of sensors includes two sensors, namely two first sensors, two second sensors, two third sensors, and two fourth sensors, which are respectively arranged near the two first oil cylinders, second oil cylinders, third oil cylinders, and fourth oil cylinders, and are used to detect the real-time lengths of the first oil cylinder, second oil cylinder, third oil cylinder, and fourth oil cylinder in real time.

[0008] In this solution, through the control of steps S1 and S2, the multi-section truss remains symmetric during the lifting or lowering process, enabling the whole machine to operate smoothly; through the control of steps S3 and S4, a height difference within a preset or allowable error range can be preset or reserved in the radial direction (such as the X direction in the figure, that is, the length direction of the truss) at the hinge of adjacent two-section trusses, and it still will not get stuck; through the control of steps S5 and S6, not only the first truss and the second truss basically do not generate a height difference in the Y direction themselves, but also adjacent two-section trusses basically do not generate a height difference in the axial direction (such as the Y direction in the figure, that is, the width direction of the truss) at the hinge, and there is almost no jamming during the lifting or lowering process, thereby providing a flat load-bearing surface for the belt above for the belt to run at high speed. It should be emphasized that the above six steps S1, S2, S3, S4, S5, and S6 are synchronously controlled in actual use and there is no sequential order. Description of the Drawings

[0009] Figure 1 Schematic diagram of the multi-point collaborative adjustment lifting and conveying equipment of the present invention. The state is without arching.

[0010] Figure 2 Schematic diagram of the multi-point collaborative adjustment lifting and conveying equipment of the present invention. The state is with arching.

[0011] Figure 3 For Figure 2 Simplified principle schematic diagram.

[0012] Figure 4 Schematic diagram of the first truss 50, the second truss 60, the first oil cylinder 10, and the second oil cylinder 20.

[0013] Figure 5 Schematic diagram of the third truss 70, the fourth truss 80, the third oil cylinder 30, and the fourth oil cylinder 40.

[0014] Figure 6 For Figure 4 Partial enlarged view of point G in

[0015] Figure 7 For Figure 6 Cross-sectional schematic diagram along the H direction in , G1 is to show the internal structure schematic diagram of the connecting shaft.

[0016] Figure 8 For Figure 6 Cross-sectional schematic diagram along the H direction in , G2 is to show the internal structure schematic diagram of the connecting plate.

[0017] Figure 9 Schematic diagram showing the simplified connection principle between the first truss and the second truss.

[0018] Figure 10 Physical diagram of the hinge shaft 13 and the hinge plate 14 in the product of the present invention.

[0019] Figure 11 On-site assembly display diagram of the whole machine of the product of the present invention.

[0020] In the figure: the first oil cylinder 10, the first left oil cylinder 11, the first right oil cylinder 12, the hinge shaft 13, the hinge plate 14, the second oil cylinder 20, the second left oil cylinder 21, the second right oil cylinder 22, the third oil cylinder 30, the fourth oil cylinder 40, the first truss 50, the second truss 60, the third truss 70, the fourth truss 80, the intermediate truss 90, the trolley 100. Detailed implementation manner

[0021] See Figure 1-11, the multi-point collaborative adjustment lifting and conveying equipment proposed by the present invention includes a group of oil cylinders, a second group of oil cylinders, a third group of oil cylinders, a fourth group of oil cylinders, a first truss 50, a second truss 60, a third truss 70, a fourth truss 80, and an intermediate truss 90; each group of oil cylinders includes two oil cylinders, namely a first oil cylinder 10, a second oil cylinder 20, a third oil cylinder 30, and a fourth oil cylinder 40. The two first oil cylinders 10 are arranged below the first truss 50, near the left and right sides of the first truss 50 respectively. The two second oil cylinders 20 are arranged below the second truss 60, near the left and right sides of the second truss 60 respectively. The two third oil cylinders 30 are arranged below the third truss 70, near the left and right sides of the third truss 70 respectively. The two fourth oil cylinders 40 are arranged below the fourth truss 80, near the left and right sides of the fourth truss 80 respectively; the intermediate truss 90 is arranged between the second truss 60 and the third truss 70 and is provided with a hinge structure. The first truss 50 and the second truss 60 are connected. The third truss 70 and the fourth truss 80 are connected. The left end of the first truss 50 and the right end of the fourth truss 80 are connected to a telescopic fuselage and a normal fuselage horizontally arranged on the roadway ground. The connection points are the reference planes for the lifting or lowering of each oil cylinder.

[0022] The bottoms of the four groups of oil cylinders are all arranged on the trolley 100. The trolley 100 moves along the roadway ground. One end of each of the four groups of oil cylinders is movably connected to the trolley 100, and the other end of each of the four groups of oil cylinders is vertically and fixedly connected to the truss. The first group of oil cylinders and the fourth group of oil cylinders are symmetrically arranged, and the second group of oil cylinders and the third group of oil cylinders are symmetrically arranged;

[0023] A first group of sensors, a second group of sensors, a third group of sensors, and a fourth group of sensors are also provided. Each group of sensors includes two sensors, namely two first sensors, two second sensors, two third sensors, and two fourth sensors, which are arranged near the two first oil cylinders 10, the second oil cylinders 20, the third oil cylinders 30, and the fourth oil cylinders 40 respectively, and are used to detect the real-time lengths of the first oil cylinder 10, the second oil cylinder 20, the third oil cylinder 30, and the fourth oil cylinder 40 in real time.

[0024] The present invention also proposes a multi-point collaborative adjustment lifting and conveying intelligent control method, which includes the following steps:

[0025] S1: Control the lifting speed or lowering speed V1 of the two first oil cylinders 10 and the lifting speed or lowering speed V4 of the two fourth oil cylinders 40 so that V1 = (0.95 - 0.99) * V4; the purpose of this control is to make the speeds V1 of the first oil cylinders 10 and V4 of the two fourth oil cylinders 40 nearly the same, so as to maintain the symmetry of the truss;

[0026] S2: Control the lifting or lowering speed of V2 of the two second cylinders 20 and V3 of the two third cylinders 30 to be V2 = (0.95 - 0.99) * V3; the purpose of this control is to make the speeds of V2 of the second cylinders 20 and V3 of the two third cylinders 30 nearly the same, so as to maintain the symmetry of the truss. In a preferred embodiment, the distance between the second cylinder 20 and the third cylinder 30 is about 15 meters.

[0027] S3: Control the lifting or lowering speed V1 of the two first cylinders and the lifting or lowering speed V2 of the two second cylinders to be V1 = (0.2 - 0.5) * V2; preferably V1 = (0.23 - 0.33) * V2; in a preferred embodiment, the distance between the first cylinder 10 and the second cylinder 20 is about 15 meters, the length L1 of the first truss 50 is about 6 meters, the length L2 of the second truss 60 is about 15 meters, and the maximum net height H2 lifted by the highest point of the second truss 60 is about 1.8 meters. The purpose of this control is to try to keep the speed adaptation balance of the first truss 50 and the second truss 60 during the lifting or lowering process, and the hinge shaft or hinge plate does not jam with each other in the X direction. If V2 of the second cylinder 20 is too fast and V1 of the first cylinder 10 is too slow, or V2 of the second cylinder 20 is too slow and V1 of the first cylinder 10 is too fast, it is easy to cause jamming of the two trusses in the X direction.

[0028] S4: Control the lifting or lowering speed of V4 of the two fourth cylinders 40 and V3 of the two third cylinders 30 to be V4 = (0.2 - 0.5) * V3; preferably V4 = (0.23 - 0.33) * V3; the purpose of this control is to try to keep the speed adaptation balance of the third truss 70 and the fourth truss 80 during the lifting or lowering process, and they do not jam with each other. If V4 of the fourth cylinder 40 is too fast and V3 of the third cylinder 30 is too slow, or V4 of the fourth cylinder 40 is too slow and V3 of the third cylinder 30 is too fast, it is easy to cause jamming of the two trusses in the X direction.

[0029] In this solution, by controlling the first cylinder 10 and the fourth cylinder 40, the first truss 50 and the fourth truss 80 move synchronously. By controlling the second cylinder 20 and the third cylinder 30, the second truss 60 and the third truss 70 move synchronously. By controlling the first cylinder 10 and the second cylinder 20, the first truss 50 and the second truss 60 move according to the set relationship, avoiding jamming and getting stuck between the two trusses. By controlling the third cylinder 30 and the fourth cylinder 40, the third truss 70 and the fourth truss 80 move according to the set relationship, avoiding jamming and getting stuck between the two trusses.

[0030] S5: The two first sensors are respectively the first left sensor and the first right sensor, and the two first hydraulic cylinders 10 are respectively the first left hydraulic cylinder 11 and the first right hydraulic cylinder 12. The first left sensor real-time detects the real-time length H1(left) of the first left hydraulic cylinder 11, and the first right sensor real-time detects the real-time length H1(right) of the first right hydraulic cylinder 12. Adjust and control H1(left) - H1(right) or H1(right) - H1(left) ≤ 0.02 m;

[0031] The two second sensors are respectively the second left sensor and the second right sensor, and the two second hydraulic cylinders 20 are respectively the second left hydraulic cylinder 21 and the second right hydraulic cylinder 22. The second left sensor real-time detects the real-time length H2(left) of the second left hydraulic cylinder, and the second right sensor real-time detects the real-time length H2(right) of the second right hydraulic cylinder. By controlling the speed V2(left) of the second left hydraulic cylinder and the speed V2(right) of the second right hydraulic cylinder, control H2(left) - H2(right) or H2(right) - H2(left) ≤ 0.02 m, so as to control the synchronization and non-stuck of the first truss 50 itself and the second truss 60 itself in the Y direction;

[0032] By controlling the speed V1(left) of the first left hydraulic cylinder 11 and the speed V2(right) of the second right hydraulic cylinder, and the speed V1(right) of the first right hydraulic cylinder 12 and the speed V2(left) of the second left hydraulic cylinder, control H1(left) - H2(right) or H1(right) - H2(left) ≤ 0.02 m, so as to control the synchronization and non-stuck of the adjacent-connected first truss 50 and second truss 60 in the Y direction;

[0033] The real-time data detected by the sensor is used as the input data of the external controller. After calculation, if the two groups of data do not meet ≤ 0.02 m after calculation, the controller adjusts the flow rate of the hydraulic cylinder with the smaller length, and then adjusts the speed to increase the length of the corresponding hydraulic cylinder. The sensor synchronously and real-time detects the adjusted data and uses it as the real-time input data of the controller until the requirements of the above calculation results are met, so as to achieve the purpose of correcting the real-time lengths of the two hydraulic cylinders.

[0034] S6: The two second sensors are respectively the second left sensor and the second right sensor, and the two second hydraulic cylinders 20 are respectively the second left hydraulic cylinder and the second right hydraulic cylinder. The second left sensor real-time detects the real-time length H2(left) of the second left hydraulic cylinder, and the second right sensor real-time detects the real-time length H2(right) of the second right hydraulic cylinder. By controlling the speed V2(left) of the second left hydraulic cylinder and the speed V2(right) of the second right hydraulic cylinder, control H2(left) - H2(right) or H2(right) - H2(left) ≤ 0.02 m;

[0035] The two third sensors are respectively the third left sensor and the third right sensor, and the two third hydraulic cylinders 30 are respectively the third left hydraulic cylinder and the third right hydraulic cylinder. The third left sensor real-time detects the real-time length H3(left) of the third left hydraulic cylinder, and the third right sensor real-time detects the real-time length H3(right) of the third right hydraulic cylinder. By controlling the speed V3(left) of the third left hydraulic cylinder and the speed V3(right) of the third right hydraulic cylinder, it is controlled that H3(left) - H3(right) or H3(right) - H3(left) ≤ 0.02 m, so as to achieve the synchronization and non-sticking of the third truss 70 itself and the fourth truss 80 itself in the Y direction;

[0036] By controlling the speed V3(left) of the third left hydraulic cylinder and the speed V4(right) of the fourth right hydraulic cylinder, and the speed V3(right) of the third right hydraulic cylinder and the speed V4(left) of the fourth left hydraulic cylinder, it is controlled that H3(left) - H4(right) or H3(right) - H4(left) ≤ 0.02 m, so as to achieve the synchronization and non-sticking of the adjacent connected third truss 70 and fourth truss 80 in the Y direction.

[0037] However, in the axial direction of the hinge joint of adjacent trusses (the Y direction in the figure, that is, the width direction of the truss), because each section of the truss itself is a rigid frame, the connection between adjacent trusses should also form a flat bearing surface for the high-speed running of the tape as much as possible. When the roadway floor is repaired and the truss is lifted, if the left and right sides of two adjacent sections of the truss cannot be kept horizontal, that is, the two sections of the truss are not synchronized in the axial Y direction, due to the fact that the hinge shaft 13 or hinge plate 14 in this solution basically does not have displacement or misalignment in the Y direction, the hinge position is extremely prone to jamming, and the probability of jamming in the Y direction is much higher than that in the X direction; moreover, on the side where the truss is lifted to a higher height, the tape above it will move to the side where the lifting height is lower. After the repair is completed, the position of the tape above the truss is very chaotic. When starting to run again, it takes a long time to adjust to make the tape above multiple sections of the truss return to its original position and run stably;

[0038] In this solution, through the control of steps S1 and S2, the multi-section truss remains symmetric during the lifting or lowering process, so that the whole machine runs smoothly; such as Figure 6 , through the control of steps S3 and S4, a height difference within the preset or reserved error range can be preset in the radial direction (the X direction in the figure, that is, the length direction of the truss) of the hinge joint of two adjacent sections of the truss, and it still will not get stuck; such as Figure 7 、 8, through the control of steps S5 and S6, not only is there basically no height difference in the Y direction for the first truss 50 and the second truss 60 themselves, but also there is basically no height difference in the axial direction (the Y direction in the figure, that is, the width direction of the truss) at the hinge of two adjacent trusses, and there is almost no jamming during the lifting or lowering process, thereby providing a flat bearing surface for the tape above to run at high speed. It should be emphasized that the above six steps S1, S2, S3, S4, S5, and S6 are synchronously controlled in actual use, and there is no sequence of priority.

[0039] In this solution, the four groups of eight cylinders adopt the same specification model, with the same cross-sectional area and the same hydraulic oil flow rate per unit time. The sensor in the present invention is a pull rope sensor, which can detect length, distance, etc., and is a conventional device in the prior art. The present invention is configured with a controller. The controller is connected to the sensor, and the controller is also connected to the control system of the cylinder. The sensor transmits the real-time data of the detected distance or length to the controller. Based on this data, the controller sends a control signal to the control system of the cylinder. A flow proportional valve can be set in the cylinder control system, and the flow rate of the hydraulic oil in the cylinder is adaptively adjusted through the proportional valve to achieve the function of controlling the real-time adjustment of the cylinder length according to the real-time data of the sensor.

[0040] The above has described the embodiments of this solution in detail with reference to the accompanying drawings. However, this solution is not limited to the above embodiments, and various changes can be made without departing from the gist of this patent within the knowledge scope of those of ordinary skill in the art.

Claims

1. A multi-point collaborative adjustment lifting and conveying device, characterized in that: It includes a group of oil cylinders, a second group of oil cylinders, a third group of oil cylinders, a fourth group of oil cylinders, a first truss, a second truss, a third truss, a fourth truss, and an intermediate truss; each group of oil cylinders includes two oil cylinders, namely the first oil cylinder, the second oil cylinder, the third oil cylinder, and the fourth oil cylinder. The two first oil cylinders are arranged under the first truss, respectively near the left and right sides of the first truss. The two second oil cylinders are arranged under the second truss, respectively near the left and right sides of the second truss. The two third oil cylinders are arranged under the third truss, respectively near the left and right sides of the third truss. The two fourth oil cylinders are arranged under the fourth truss, respectively near the left and right sides of the fourth truss; the intermediate truss is arranged between the second truss and the third truss and is provided with a hinge structure. The first truss and the second truss are connected, the third truss and the fourth truss are connected. The left end of the first truss and the right end of the fourth truss are connected to the telescopic fuselage and the normal fuselage horizontally arranged on the roadway ground, and the connection points are the reference planes for the lifting or lowering of each oil cylinder; The bottoms of the four groups of oil cylinders are all arranged on the trolley. The trolley moves along the roadway ground. One ends of the four groups of oil cylinders are all movably connected to the trolley, and the other ends of the four groups of oil cylinders are respectively vertically and fixedly connected to the truss. The first group of oil cylinders and the fourth group of oil cylinders are symmetrically arranged, and the second group of oil cylinders and the third group of oil cylinders are symmetrically arranged; A first group of sensors, a second group of sensors, a third group of sensors, and a fourth group of sensors are also provided. Each group of sensors respectively includes two sensors, namely two first sensors, two second sensors, two third sensors, and two fourth sensors, which are respectively arranged near the two first oil cylinders, second oil cylinders, third oil cylinders, and fourth oil cylinders, and are used to detect the real-time lengths of the first oil cylinder, second oil cylinder, third oil cylinder, and fourth oil cylinder in real time.

2. A multi-point collaborative adjustment intelligent control method for lifting and conveying, characterized in that It is realized by using the multi-point cooperative adjustment arched lifting and conveying equipment as described in claim 1, including the following steps: S1: Control the lifting speed or lowering speed of the two first oil cylinders V1 and the two fourth oil cylinders V4 to be V1 = (0.95 - 0.99)*V4; S2: Control the lifting speed or lowering speed of the two second oil cylinders V2 and the two third oil cylinders V3 to be V2 = (0.95 - 0.99)*V3; S3: Control the lifting speed or lowering speed of the two first oil cylinders V1 and the two second oil cylinders V2 to be V1 = (0.2 - 0.5)*V2; S4: Control the lifting speed or lowering speed of the two fourth oil cylinders V4 and the two third oil cylinders V3 to be V4 = (0.2 - 0.5)*V3; S5: The two first sensors are respectively the first left sensor and the first right sensor. The two first oil cylinders are respectively the first left oil cylinder and the first right oil cylinder. The first left sensor detects the real-time length H1(left) of the first left oil cylinder in real time, and the first right sensor detects the real-time length H1(right) of the first right oil cylinder in real time. Control H1(left) - H1(right) or H1(right) - H1(left) ≤ 0.02 m; The two second sensors are respectively the second left sensor and the second right sensor, and the two second hydraulic cylinders are respectively the second left hydraulic cylinder and the second right hydraulic cylinder. The second left sensor real-time detects the real-time length H2(left) of the second left hydraulic cylinder, and the second right sensor real-time detects the real-time length H2(right) of the second right hydraulic cylinder, and controls H2(left) - H2(right) or H2(right) - H2(left) ≤ 0.02 m; By controlling the speed V1(left) of the first left hydraulic cylinder and the speed V2(right) of the second right hydraulic cylinder, and the speed V1(right) of the first right hydraulic cylinder and the speed V2(left) of the second left hydraulic cylinder, control H1(left) - H2(right) or H1(right) - H2(left) ≤ 0.02 m; S6: The two second sensors are respectively the second left sensor and the second right sensor, and the two second hydraulic cylinders are respectively the second left hydraulic cylinder and the second right hydraulic cylinder. The second left sensor real-time detects the real-time length H2(left) of the second left hydraulic cylinder, and the second right sensor real-time detects the real-time length H2(right) of the second right hydraulic cylinder, and controls H2(left) - H2(right) or H2(right) - H2(left) ≤ 0.02 m; The two third sensors are respectively the third left sensor and the third right sensor, and the two third hydraulic cylinders are respectively the third left hydraulic cylinder and the third right hydraulic cylinder. The third left sensor real-time detects the real-time length H3(left) of the third left hydraulic cylinder, and the third right sensor real-time detects the real-time length H3(right) of the third right hydraulic cylinder, and controls H3(left) - H3(right) or H3(right) - H3(left) ≤ 0.02 m; By controlling the speed V3(left) of the third left hydraulic cylinder and the speed V4(right) of the fourth right hydraulic cylinder, and the speed V3(right) of the third right hydraulic cylinder and the speed V4(left) of the fourth left hydraulic cylinder, control H3(left) - H4(right) or H3(right) - H4(left) ≤ 0.02 m.

Images