Intelligent control system of digging and anchoring integrated mechanical-electrical-hydraulic system

Abstract

The invention belongs to the technical field of electro-hydraulic control of underground coal mine tunneling equipment, and particularly relates to an intelligent control system of a tunneling and anchoring integrated electro-hydraulic system. Comprising a power supply module, a control driver and an intelligent valve control box, the power supply module is used for supplying power to the control driver and the intelligent valve control box; the control driver is used for outputting a PWM control signal; and the intelligent valve control box is connected with the control driver and is used for receiving the PWM control signal and controlling an electro-hydraulic control valve group connected to the output of the intelligent valve control box based on the signal so as to drive a hydraulic execution element to work. Intelligent management and information interaction of equipment operation are achieved, and high reliability of the system in a severe underground environment is ensured through the firm anti-explosion design of the system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electro-hydraulic control of underground coal mine tunneling equipment, and particularly relates to an intelligent control system for an electro-hydraulic system of a tunneling-anchor integrated machine. BACKGROUND

[0002] In underground coal mine production, each action of the tunneling-anchor integrated machine relies on an electro-hydraulic control valve group to achieve precise driving of the hydraulic system. The electro-hydraulic control valve group control box, as a core control component, directly affects the stability of equipment operation, the convenience of operation, and the production efficiency. Currently, the existing mine electro-hydraulic control valve group control box has the following outstanding problems: Limited control precision: traditional on-off or relay control is adopted, only electromagnetic valve on-off control can be achieved, fine adjustment of opening and closing degree is not possible, leading to inaccurate equipment action response and affecting work quality; Limited operation mode: it is mostly dependent on wired connection of an upper computer or field button operation, the underground equipment work area is complex and narrow, wired operation has poor flexibility, and there is a safety hazard of personnel working close to dangerous areas; Incomplete communication and information interaction: single communication mode is mostly adopted, only control instruction issuing or simple state feedback can be achieved, wireless operation information (such as operator, operation parameter, and operation time) cannot be synchronously uploaded, which is not conducive to equipment operation tracing and intelligent management; Insufficient environmental adaptability: the explosion-proof, sealing, and anti-electromagnetic interference design of some control boxes is not perfect, faults are prone to occur in the underground humid, dusty, strong electromagnetic interference, and explosive gas environment, and the wireless module lacks mine special adaptation design, signal transmission is unstable.

[0003] Therefore, it is urgent to design an intelligent valve group control box with PWM control, mine wireless remote control, high control precision, comprehensive information interaction, and reliable underground environment adaptability to meet the needs of intelligent upgrading of coal mine equipment and safe and efficient production. SUMMARY

[0004] The application provides an intelligent control system for an electro-hydraulic system of a tunneling-anchor integrated machine to solve the above problems.

[0005] The application adopts the following technical scheme: an intelligent control system for an electro-hydraulic system of a tunneling-anchor integrated machine, comprising: a power module, a control driver, and an intelligent valve control box. The power module is used to power the control driver and the intelligent valve control box. The control driver is used to output a PWM control signal. The intelligent valve control box is connected with the control driver, used to receive the PWM control signal, and control the electro-hydraulic control valve group connected to the output based on the signal, and then drive the hydraulic actuator to work.

[0006] In some embodiments, the power module comprises a voltage conversion and rectification unit for converting 127V AC power into 24V DC power.

[0007] In some embodiments, the control driver comprises a driving circuit with PC923 control chip as the core, which contains a push-pull amplification circuit composed of transistors and MOS tubes, for improving the driving capacity of the output PWM signal.

[0008] In some embodiments, the duty cycle of the PWM control signal is adjusted by adjusting the on and off time of the MOS tube.

[0009] In some embodiments, the intelligent valve control box is provided with a wireless receiving module for receiving wireless control instructions sent by the remote controller, to realize remote wireless control.

[0010] In some embodiments, the wireless receiving module is an intrinsically safe mine wireless receiving device.

[0011] In some embodiments, the intelligent valve control box has a CAN communication interface for data exchange with the host computer or main controller.

[0012] In some embodiments, the electro-hydraulic control valve group is an electro-hydraulic proportional control valve.

[0013] In some embodiments, when the combined excavator-anchor is in the walking mode, the remote controller sends instructions to control the hydraulic motor driving the combined excavator-anchor to walk through the intelligent valve control box.

[0014] In some embodiments, the intelligent valve control box has an explosion-proof sealed shell with a shell thickness not less than 8mm, which is suitable for use in explosive environments underground.

[0015] Compared with the prior art, the present application has the following beneficial effects: The present application effectively overcomes the limitations of traditional control methods by constructing an intelligent electro-hydraulic control system based on PWM control, significantly improving the control accuracy and operational flexibility of the combined excavator-anchor, and by introducing wireless remote control and CAN communication functions, ensuring the safety of underground operations while realizing intelligent management and information interaction of equipment operation, and its solid explosion-proof design ensures high reliability of the system in harsh underground environments. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The specific circuit diagram of the present application. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] An intelligent control system for an electro-hydraulic system of a tunneling and anchoring machine includes: a power module, a control driver, and an intelligent valve control box; the power module is used to supply power to the control driver and the intelligent valve control box; the control driver is used to output a PWM control signal; the intelligent valve control box is connected to the control driver and is used to receive the PWM control signal and control the electro-hydraulic control valve group connected to its output based on the signal, thereby driving the hydraulic actuator to work.

[0019] The power module includes a transformer and rectifier unit that converts 127V AC power to 24V DC power.

[0020] In specific embodiments, such as Figure 1 As shown, T1 is a transformer that converts the input AC127V to AC24V, and BD is a rectifier and voltage regulator that converts AC24V to DC24V to power the drive circuit.

[0021] The power supply is connected in series with C1, and C1 is connected in parallel with C2 and C3, which are also connected in series. C1 is an X capacitor, which filters differential-mode interference signals, while C2 and C3 are Y capacitors, which filter common-mode interference signals. Capacitors C1, C2, and C3 are filter capacitors, which filter interference signals and improve power quality.

[0022] The power supply is connected in series with R1 and D1. D1 is a Zener diode, which provides a stable voltage output to the circuit. R1 is a voltage divider resistor. R1 and D1 form a voltage regulator circuit, which provides a stable power output to the drive circuit.

[0023] The control driver includes a drive circuit based on the PC923 control chip. This drive circuit comprises a push-pull amplifier circuit composed of transistors and a MOSFET, used to improve the driving capability of the output PWM signal. The duty cycle of the PWM control signal is adjusted by regulating the on and off times of the MOSFET.

[0024] Specifically, the PC923 control chip has pin 2 connected to a 5V enable power supply, pin 3 connected to the input signal, pins 5 and 8 connected to the power supply, pin 7 grounded, and pin 6 connected to the base of a transistor as the output, thus outputting a PWM fundamental signal.

[0025] The NPN transistor Q1 and the PNP transistor Q2 are connected in series to form a push-pull circuit. The high and low level signals of the output are amplified by the amplification effect of the transistor Q3 to improve the driving capability.

[0026] The MOSFET operates in the variable resistance region in this circuit, controlling the valve control box by switching the power supply on or off.

[0027] By adjusting the on or off time of the MOSFET, the duty cycle can be adjusted, the driving capability can be improved, the output efficiency of the valve control box can be effectively controlled, the operating range of the solenoid valve core can be changed, and the control accuracy can be improved.

[0028] like Figure 1 As shown, R4 is the driving resistor for the transistor, R8 is the voltage divider resistor, R6 is the pull-down discharge resistor for transistor Q3, and R7 is the pull-down discharge resistor for the MOSFET. MOSFET stands for Mosfeet insulated gate field-effect transistor, used to control the valve control box.

[0029] The intelligent valve control box is equipped with a wireless receiving module to receive wireless control commands sent by the remote controller, enabling remote wireless control. The wireless receiving module is an intrinsically safe mining-grade wireless receiver. The external wireless receiver of the intelligent valve control box adopts a mining-grade intrinsically safe design, conforming to the GB 3836.4-2010 standard, and is used to receive wireless control commands issued by the remote controller, and also supports the feedback and uploading of operation commands.

[0030] The intelligent valve control box has a CAN communication interface for data exchange with a host computer or main controller. Supporting the CAN 2.0B protocol, the intelligent valve control box is connected to the host controller via a communication bus to achieve bidirectional data transmission between the control box and the mining host computer, including receiving control commands and uploading operating status and operation information.

[0031] The electro-hydraulic control valve assembly is an electro-hydraulic proportional control valve.

[0032] When the tunneling and anchoring machine is in walking mode, a command is issued via the remote control, which controls the hydraulic motor that drives the tunneling and anchoring machine to walk through the intelligent valve control box.

[0033] The intelligent valve control box features an explosion-proof sealed shell with a thickness of no less than 8mm, suitable for explosive environments in underground coal mines. The explosion-proof sealed shell of the intelligent valve control box is welded from Q235 steel plate, with a shell thickness ≥8mm. Oil-resistant and aging-resistant rubber sealing rings are installed at the connections between the sealed cavity and external wiring ports and observation windows, adapting to explosive environments in underground coal mines with operating temperatures of -20℃ to 60℃, relative humidity ≤95% (25℃), and containing coal dust and methane.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control system for the electro-hydraulic system of a tunneling and anchoring machine, characterized in that: include: Power modules, control drivers, and intelligent valve control boxes; The power module is used to supply power to the control driver and the intelligent valve control box; The control driver is used to output PWM control signals; The intelligent valve control box is connected to the control driver and is used to receive the PWM control signal and control the electro-hydraulic control valve group connected to its output based on the signal, thereby driving the hydraulic actuator to work.

2. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 1, characterized in that, The power module includes a transformer and rectifier unit that converts 127V AC power to 24V DC power.

3. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 1, characterized in that, The control driver includes a drive circuit based on a PC923 control chip. The drive circuit includes a push-pull amplifier circuit composed of transistors and a MOSFET, which are used to improve the driving capability of the output PWM signal.

4. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 3, characterized in that, The duty cycle of the PWM control signal is adjusted by regulating the on and off times of the MOSFET.

5. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 1, characterized in that, The intelligent valve control box is equipped with a wireless receiving module, which is used to receive wireless control commands sent by the remote controller to realize remote wireless control.

6. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 5, characterized in that, The wireless receiving module is an intrinsically safe mining wireless receiving device.

7. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 1, characterized in that, The intelligent valve control box has a CAN communication interface for exchanging data with a host computer or main controller.

8. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 1, characterized in that, The electro-hydraulic control valve assembly is an electro-hydraulic proportional control valve.

9. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring machine according to claim 5, characterized in that, When the tunneling and anchoring machine is in walking mode, a command is issued via the remote control, which controls the hydraulic motor that drives the tunneling and anchoring machine to walk through the intelligent valve control box.

10. The intelligent control system for the electro-hydraulic system of the tunneling and anchoring integrated machine as described in claim 1, characterized in that, The intelligent valve control box has an explosion-proof sealed shell with a thickness of not less than 8mm, making it suitable for explosive environments in underground coal mines.

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