Arched lifting continuous conveying intelligent control system

Abstract

The invention provides an arch-shaped lifting continuous conveying intelligent control system which comprises a first oil cylinder, a second oil cylinder, a third oil cylinder and a fourth oil cylinder, the first oil cylinder and the fourth oil cylinder are symmetrically arranged, and the second oil cylinder and the third oil cylinder are symmetrically arranged; the first oil cylinder, the second oil cylinder, the third oil cylinder and the fourth oil cylinder are provided with a first control valve, a second control valve, a third control valve and a fourth control valve which are used for controlling flow respectively, and the real-time flow ratio of hydraulic oil of the first oil cylinder to the real-time flow ratio of hydraulic oil of the second oil cylinder is Q1 / Q2 = L1 / (L1 + L2) + / -M. The real-time flow of the hydraulic oil of the first oil cylinder and the real-time flow of the hydraulic oil of the second oil cylinder are controlled; the first truss and the second truss can be lifted or descended according to the real-time lengths H1 and H2 of the first oil cylinder and the second oil cylinder, and it can be guaranteed that the situation that the mutual connecting point of the first truss and the second truss deviates from the same straight line direction by a too large angle, and then jamming occurs is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment, and particularly to an intelligent control system for arch-shaped lifting continuous conveying without manned operation in underground roadways. Background Art

[0002] Underground operations have basically achieved unmanned operation. Especially in special scenarios, intelligent and automated systems are basically used to replace manual work.

[0003] During roadway excavation, as the roadheader advances, the crushed stones and rock and soil excavated need to be transported out by the belt conveyor connected behind the roadheader. The main conveying equipment is the belt conveyor. At the same time, the side walls, tops, and floors of the initially formed roadway need to be hardened, that is, "strengthening the sides, fixing the top, and treating the bottom". Soft rock roadways have high ground stress and strong deformation. The underground surrounding rock engineering geological conditions are poor, and the support of the roof and floor is difficult. The quality and efficiency of its treatment have always been the key factors affecting the high-yield and high-efficiency of the mine. At present, the soft rock roadway repair equipment has developed rapidly in "strengthening the sides and fixing the top", but has made slow progress in "treating the bottom". The main reason is that the tunneling and invert arch operations of related equipment (lifting the truss of the belt conveyor behind the roadheader to the top of the roadway, leaving space below for the operation of the repair equipment) cannot be carried out simultaneously. The patent 202310066447.8 has disclosed the necessary mechanical equipment for the arch-forming equipment.

[0004] Although this equipment provides the arch-forming equipment, during actual operation, when the multi-section trusses of the conveyor are lifted, the running speed or height between the trusses does not match, resulting in jams, and the trusses are stuck, unable to operate continuously and stably. Summary of the Invention

[0005] In view of the above defects, the present invention proposes an intelligent control system for arch-shaped lifting continuous conveying without manned operation and intelligent automatic control in underground roadways, including:

[0006] S1: A first oil cylinder, a second oil cylinder, a third oil cylinder, and a fourth oil cylinder are arranged below the conveyor. The bottoms of the four oil cylinders are arranged on a trolley. The trolley moves along the roadway ground. One ends of the four oil cylinders are all movably connected to the trolley, and the other ends of the four oil cylinders are perpendicularly and fixedly connected to the truss, so as to ensure that when the oil cylinders expand and contract, they are always fixedly connected to the truss and remain perpendicular. The first oil cylinder and the fourth oil cylinder are symmetrically arranged, and the second oil cylinder and the third oil cylinder are symmetrically arranged;

[0007] S2: The first oil cylinder, the second oil cylinder, the third oil cylinder, and the fourth oil cylinder are respectively provided with a first control valve, a second control valve, a third control valve, and a fourth control valve for controlling the flow rate. The four oil cylinders divide the truss into five sections, namely the first truss, the second truss, the third truss, the fourth truss, and the middle truss. The middle truss is arranged between the second truss and the third truss and is provided with a hinged structure (such as the cooperation of a hinge plate and an oil cylinder in the prior art) so that the middle truss can form a bend within a set range with the second truss and the middle truss with the third truss without jamming. 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 points for the lifting or lowering of each oil cylinder.

[0008] S3: Let the real-time flow rates of the hydraulic oil of the first oil cylinder and the second oil cylinder be Q1 and Q2, and let the lengths of the first truss and the second truss be L1 and L2 respectively. The control of the real-time flow rate ratio Q1 / Q2 of the hydraulic oil of the first oil cylinder and the second oil cylinder is executed according to the following formula:

[0009] Q1 / Q2 = L1 / (L1 + L2) ± M, where M ≤ 5%.

[0010] In the present invention, by controlling the real-time flow rate of the hydraulic oil of the first oil cylinder and the real-time flow rate of the hydraulic oil of the second oil cylinder to conform to the above formula (1), one can be the main control and the other can be the slave or follow control. Within the allowable range of the mechanical structure setting accuracy, the first truss and the second truss can be lifted or lowered synchronously according to the real-time lengths H1 and H2 of the first oil cylinder and the second oil cylinder, which can ensure that the connection points between the first truss and the second truss will not deviate from the same straight line direction angle and cause jamming. In the original design, the two oil cylinders usually adopt their respective average speeds. For example, the second oil cylinder is controlled at twice the speed of the first oil cylinder. This cannot adapt to the complex roadway ground conditions, the sinking or inclination of the bottom of a certain oil cylinder due to the soft and collapsible roadway, or the change of the installation positions L1 and L2 of the two oil cylinders. Although the final lifted height is the same, the process cannot achieve real-time adjustment during the process, and it is easy to have the problem of jamming between the first truss and the second truss. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic structural diagram of the belt conveyor shown in the present invention. In the figure, it is in a horizontal state and not arched.

[0012] Figure 2 It is a schematic structural diagram of the belt conveyor shown in the present invention. In the figure, it is in a state of being lifted to a preset height and arched.

[0013] Figure 3 is Figure 2 a state diagram of

[0014] Figure 4 isFigure 2 Only the structural diagrams of the first truss, the second truss and the oil cylinder are shown.

[0015] Figure 5 It is Figure 4 a geometric schematic diagram of.

[0016] Figure 6 It is a schematic diagram of the control module of the oil cylinder and the control valve of the present invention.

[0017] Figure 7 It is a display diagram of the physical assembly of the first oil cylinder 10, the first truss and the trolley when the present invention does not have an arch.

[0018] In the figure: the first oil cylinder 10, the first truss 11, the second oil cylinder 20, the second truss 21, the third oil cylinder 30, the third truss 31, the fourth oil cylinder 40, the fourth truss 41, the middle truss 50, the trolley 60, the normal fuselage 100, the telescopic fuselage 200. Specific embodiments

[0019] Refer to Figure 1-7 A kind of arched lifting continuous conveying intelligent control system proposed by the present invention is connected to a roadheader through a telescopic fuselage 200 etc. at the front end and is connected to a plurality of detachable normal fuselages 100 at the rear end, and includes:

[0020] S1: A first oil cylinder 10, a second oil cylinder 20, a third oil cylinder 30 and a fourth oil cylinder 40 are arranged under the conveyor. The bottoms of the four oil cylinders are arranged on the trolley 60. The trolley moves along the roadway ground. One ends of the four oil cylinders are movably connected to the trolley, and the other ends of the four oil cylinders are vertically and fixedly connected to the truss, so as to ensure that when the oil cylinders extend and contract, they are always fixedly connected to the truss and remain vertical. The first oil cylinder and the fourth oil cylinder are symmetrically arranged, and the second oil cylinder and the third oil cylinder are symmetrically arranged;

[0021] The upper ends of the four oil cylinders are fixedly connected perpendicular to the truss. The lower ends of the four oil cylinders are all movably connected to the trolley, usually by hinge or universal shaft. The truss is lifted or lowered when the oil cylinders extend or contract. As the truss is lifted or lowered, in order to keep the upper end of the oil cylinder perpendicularly connected to the truss, the hinge at the lower end of the oil cylinder can make an adaptive angle adjustment. The trolley is fixed to the roadway ground through an external mechanism. The trolley carries the intelligent control system for arched lifting and continuous conveying above to move and travel, and then is fixed to the roadway ground to support the lifting and lowering of the oil cylinders. This is completely different from the way that the lower end of the oil cylinder is arranged perpendicular to the roadway and the upper end is connected to the truss. If the upper end is set as a non-fixed vertical structure, as the truss is lifted or lowered, the truss is not perpendicular to the oil cylinder. Not only is the oil cylinder easily damaged, but the angle between the truss and the oil cylinder is constantly changing, resulting in the angles between the four oil cylinders and the truss being uncontrollable with each other, and it is even more impossible to ensure the symmetry between the first oil cylinder and the fourth oil cylinder, and between the second oil cylinder and the third oil cylinder. Then the lifting speed and stroke of each oil cylinder cannot be controlled, and the running state of the truss cannot be controlled either, and it is very easy to have problems such as jamming.

[0022] S2: The first control valve, the second control valve, the third control valve, and the fourth control valve for controlling the flow rate are respectively arranged on the first oil cylinder 10, the second oil cylinder 20, the third oil cylinder 30, and the fourth oil cylinder 40. The four oil cylinders divide the truss into five sections, which are the first truss 11, the second truss 21, the third truss 31, the fourth truss 41, and the middle truss 50 in sequence. The middle truss 50 is arranged between the second truss 21 and the third truss 31, and a hinge structure (such as the cooperation of a hinge plate and an oil cylinder in the prior art) is provided so that the middle truss 50 can form a bend within the set range with the second truss 21 and the middle truss 50 can form a bend within the set range with the third truss 31 without jamming. The left end of the first truss 11 and the right end of the fourth truss 41 are connected to the telescopic fuselage 200 and the normal fuselage 100 horizontally arranged on the roadway ground, and the connection points are the reference points for the lifting or lowering of each oil cylinder; the control valve is a proportional valve or other components that can realize real-time adjustment of the oil cylinder flow rate.

[0023] S3: Let the real-time flow rates of the hydraulic oil of the first oil cylinder and the second oil cylinder be Q1 and Q2, and let the lengths of the first truss and the second truss be L1 and L2 respectively. The control of the real-time flow rate ratio Q1 / Q2 of the hydraulic oil of the first oil cylinder and the second oil cylinder is executed according to the following formula:

[0024] Q1 / Q2 = L1 / (L1 + L2) ± M, where M ≤ 5% Formula 1.

[0025] See Figure 4 、 5, in the present invention, by controlling the real-time flow rates of the hydraulic oil in the first oil cylinder and the second oil cylinder to conform to the above formula (1), within the allowable range of the mechanical structure setting accuracy, the first truss and the second truss can be lifted or lowered according to the real-time lengths H1 and H2 of the first oil cylinder and the second oil cylinder, so as to ensure that the connection points of the first truss and the second truss will not deviate from the same straight line direction and get stuck. Figure 5 In the schematic diagram:

[0026] H1 = L1 * tan a; Formula (2);

[0027] H2 = (L1 + L2) * tan a; Formula (3);

[0028] By detecting the angle between the first truss and the reference plane in real time, that is, the real-time angle value a can be measured by an angle sensor, etc.; L1 and L2 are known numbers. In order to calculate H1 and H2, assuming that the angle between the second oil cylinder and the reference plane is the same angle value, assign a, and apply Formula (2), the real-time data of the real-time length H1 of the first oil cylinder and the real-time length H2 of the second oil cylinder can be calculated; and the height of the oil cylinder is determined by its speed. Substitute it into the following formula:

[0029] V1 = H1 / t; Formula (4);

[0030] V2 = H2 / t; Formula (5);

[0031] t is the time during the lifting or lowering process of the oil cylinder, which can be timed from the start of the oil cylinder startup and is a known number that changes in real time. And the first oil cylinder and the second oil cylinder are started at the same time, t is the same value. The real-time speed V1 of the first oil cylinder and the real-time speed V2 of the second oil cylinder can be calculated and substituted into the following formula:

[0032] Q1 = V1 * A; Formula (6);

[0033] Q2 = V2 * A; Formula (7);

[0034] A is the cross-section of the oil cylinder. In order to reduce errors and the introduction of external variable and different factors, the two oil cylinders use the same model and have the same cross-sectional area, both being A. Then substitute Formulas (2), (3), (4), and (5) into Formulas (6) and (7), and we can get:

[0035] Q1 / Q2 = L1 / (L1 + L2);

[0036] This formula is the theoretical design calculation method. In actual operation, when a threshold value M is given, Formula (1) is obtained. Within the threshold range, the first truss and the second truss will not get stuck during the lifting and lowering process.

[0037] Through the above calculations and the proposal of Formula 1, the changes in the lifting or lowering heights of the first truss and the second truss in this solution are real-time controlled and also change in real time, and Q1 / Q2 always remains within the range of L1 / (L1 + L2) ± M. The present invention can precisely control the real-time flow rates of the hydraulic oils of the two cylinders conveniently by controlling the first control valve and the second control valve in real time, and presetting the same angle a and the same time t, so as to control the lifting lengths H1 and H2 of the two cylinders, making the first truss and the second truss theoretically almost in the same straight line direction, fundamentally avoiding jamming caused by any truss deviating from the straight line direction during the lifting or lowering process. According to the design, this real-time control can be any time achievable in the prior art, such as millisecond level or microsecond level. Moreover, in this solution, regardless of whether the positions of the first cylinder and the second cylinder change, that is, whether L1 and L2 change, the right triangle always remains, and the two cylinders can be controlled at all times according to Formula 1.

[0038] The same applies to the third truss and the fourth truss. The real-time flow rates of the hydraulic oils of the third cylinder and the fourth cylinder are Q3 and Q4, and the lengths of the third truss and the fourth truss are L3 and L4 respectively. Q3 / Q4 = L4 / (L4 + L3) ± M, where M ≤ 5%.

[0039] In a preferred embodiment, the length L1 of the first truss is 6 meters, the length L2 of the second truss is 15 meters, and the angle a by which the first truss and the second truss are finally lifted 最终 is 5 ± 0.5°.

[0040] Q1 / Q2 = L1 / (L1 + L2) = 6 / (6 + 15) ± 0.05 = 0.28 ± 0.05, that is, Q1 = (0.23 - 0.33)Q2. The flow rates of the two cylinders can be controlled according to this relationship to achieve smooth lifting or lowering without jamming. Finally, the height by which the first cylinder is lifted is H1 = 0.525 meters, and the height by which the second cylinder is lifted is H2 = 1.8 meters. The space under the conveyor that is lifted and arched is used for equipment operation to repair and harden the roadway floor.

[0041] The above has described the embodiments of this solution in detail with reference to the 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. An intelligent control system for arch-shaped lifting continuous conveying, characterized in that Including: S1: A first oil cylinder, a second oil cylinder, a third oil cylinder, and a fourth oil cylinder are arranged under the conveyor. The bottoms of the four oil cylinders are arranged on a trolley, and the trolley moves along the roadway floor. One ends of the four oil cylinders are all movably connected to the trolley, and the other ends of the four oil cylinders are perpendicularly and fixedly connected to the truss, so as to ensure that when the oil cylinders expand and contract, they are always fixedly connected to the truss and remain perpendicular. The first oil cylinder and the fourth oil cylinder are symmetrically arranged, and the second oil cylinder and the third oil cylinder are symmetrically arranged; S2: The first oil cylinder, the second oil cylinder, the third oil cylinder, and the fourth oil cylinder are respectively provided with a first control valve, a second control valve, a third control valve, and a fourth control valve for controlling the flow rate. The four oil cylinders divide the truss into five sections, which are a first truss, a second truss, a third truss, a fourth truss, and a middle truss in sequence. The middle truss is arranged between the second truss and the third truss, and a hinge structure (such as the cooperation of a hinge plate and an oil cylinder in the prior art) is provided, so that the middle truss can form a bend within the set range between the middle truss and the second truss and between the middle truss and the third truss without jamming. 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 floor, and the connection points are the reference points for the lifting or lowering of each oil cylinder; S3: Let the real-time hydraulic oil flow rates of the first oil cylinder and the second oil cylinder be Q1 and Q2, and let the lengths of the first truss and the second truss be L1 and L2 respectively. The control of the real-time hydraulic oil flow rate ratio Q1 / Q2 of the first oil cylinder and the second oil cylinder is executed according to the following formula: Q1 / Q2 = L1 / (L1 + L2) ± M, where M ≤ 5%.

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