Electronic control system and electronic control method for digging and anchoring integrated machine

Abstract

The invention relates to the technical field of driving and anchoring all-in-one machines for roadway driving of an underground coal mine driving working face, and aims to solve the problems that a complex and burdensome electric control system is formed by a plurality of electric elements and connecting lines, the intelligent automation degree between different control loops is low, and the normal work progress and economic benefits are influenced. According to the digging and anchoring all-in-one machine electric control system and method, a CAN bus serves as a communication mode, a main controller program is provided with an error detection mechanism, the working state of an element can be judged and a fault point can be determined rapidly according to read data of the element, the intelligence and automation of control over the digging and anchoring all-in-one machine are effectively improved, and the working efficiency of the digging and anchoring all-in-one machine is improved. A large amount of element arrangement space can be saved, the total wiring amount can be reduced, and the troubleshooting efficiency of a user can be effectively improved.

Description

Technical Field

[0001] This invention relates to the technical field of integrated tunneling and anchoring machines for tunneling in underground coal mine working faces, and more specifically, to an electrical control system and method for an integrated tunneling and anchoring machine. Background Technology

[0002] In coal mining equipment, the stability of the electrical control system directly affects the equipment's operating status and work quality. The electrical control system generally consists of a main circuit, control circuit, protection circuit, and data acquisition and communication unit. Numerous electrical components and connecting lines constitute a complex and cumbersome electrical control system, requiring a large layout space. Moreover, in operation, once an electrical fault occurs, the complex circuit will cause inconvenience for troubleshooting and maintenance, with a large total wiring and low fault diagnosis efficiency. The degree of intelligent automation between different control circuits is low, affecting the normal work progress and economic benefits. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide an electrical control system and method for an integrated tunneling and anchoring machine. This invention is based on the CAN bus communication protocol, enabling communication between the main controller of the integrated tunneling and anchoring machine and various actuators and data acquisition devices, issuing work command signals or reading the working status of each component, thereby achieving control of the integrated tunneling and anchoring machine.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An integrated tunneling and anchoring machine electrical control system, based on CAN bus communication, queries the fault points of the integrated tunneling and anchoring machine through the machine control system, realizing communication between the machine control system and the machine control system. The machine control system includes a main controller, a display, a remote controller, a remote controller receiver, a leakage current interlock module, an angle sensor, a current transformer, a pressure transmitter, an encoder, an audible and visual alarm, a temperature and vibration sensor, a sensing center, a dust sensor, and a solenoid valve control box. The main controller is bidirectionally connected to the display, remote controller receiver, leakage current interlock module, angle sensor, current transformer, pressure transmitter, encoder, audible and visual alarm, temperature and vibration sensor, sensing center, dust sensor, and solenoid valve control box via CAN bus. The solenoid valve control box controls hydraulic cylinders and motors through several solenoid valves. The sensing center receives signals for detecting the pressure, flow rate, and temperature of cooling water, as well as the oil pressure, flow rate, and temperature signals of the hydraulic cylinders. The remote controller sends start / stop control signals and hydraulic action signals to the integrated tunneling and anchoring machine's oil pump motor, cutting motor, transport motor, and dust removal fan.

[0005] Furthermore, the remote control is set to a tunneling and anchoring working mode and a walking working mode. When switching between different working modes via the remote control, the main controller outputs a control signal to the tunneling and anchoring machine control system. The solenoid valve control box drives the switching solenoid valve to switch the hydraulic oil circuit conversion switch. Different working modes are electrically interlocked, so that the tunneling and anchoring machine is in one working state at the same time. The solenoid valve used to realize the switching of working states is set in the main hydraulic circuit of the anchor protection.

[0006] Furthermore, the integrated tunneling and anchoring machine is equipped with several anchor drilling arms, including side drilling arms and top drilling arms. Each anchor drilling arm sends a confirmation signal to the main controller upon completing its current work task.

[0007] Furthermore, the main controller is equipped with an error detection mechanism for querying fault locations.

[0008] Furthermore, the main controller is equipped with at least three CAN interfaces to receive communication signals from different types of components.

[0009] An electrical control method for a roadheader-anchor machine is implemented based on the aforementioned roadheader-anchor machine electrical control system. The remote controller selects either the roadheader-anchor working mode or the walking working mode according to the current working conditions. The main controller outputs a control signal matching the currently selected working mode to the roadheader-anchor machine control system. The solenoid valve control box drives the switching solenoid valve to switch the hydraulic oil circuit conversion switch. Different working modes are electrically interlocked to ensure that the roadheader-anchor machine can only be in one working mode at any given time. After the current task is completed, the main controller receives a confirmation signal before selecting the working mode for the next task.

[0010] Furthermore, after the main controller receives confirmation signals from all anchor drill arms, the tunneling and anchoring machine switches to the walking working mode.

[0011] Furthermore, the integrated tunneling and anchoring machine control system sets detection ranges and applicable working modes for all connected components, defines network addresses to facilitate data reading and command issuance, and uses an error detection mechanism to obtain the network addresses of components to confirm fault points.

[0012] In summary, the invention has the following beneficial effects: This invention employs components with CAN bus communication capabilities and selects CAN bus as the communication method to construct a simple and reliable electrical control system. Based on actual conditions, the components are calibrated to determine their signal detection range or operating status. Simultaneously, network addresses are defined to facilitate data reading and command issuance. Furthermore, the main controller program has an error detection mechanism that can quickly determine the operating status of components and pinpoint fault points based on the read component data. This effectively enhances the intelligence and automation of the integrated tunneling and anchoring machine control, significantly saving component layout space, reducing the total wiring, and effectively improving the user's troubleshooting efficiency. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the connection of the electronic control system of the present invention; Figure 2 Schematic diagram of the electrical control box for the tunneling and anchoring machine; Figure 3 A picture of the main controller; Figure 4 The logic control distribution diagram of the main controller; Figure 5 This is a structural diagram of the leakage current interlocking module; Figure 6 This is a structural diagram of a tilt sensor; Figure 7 This is a structural diagram of a current transformer; Figure 8 Here is a picture of the actual pressure transmitter; Figure 9 and Figure 10 The images are a structural diagram and a physical photograph of the encoder. Figure 11 It is a temperature vibration sensor; Figure 12 This is a schematic diagram of the signal measurement principle at the sensor center. Figure 13 This is a structural diagram of the sensor center. Detailed Implementation

[0014] The present invention will now be described in further detail with reference to the accompanying drawings.

[0015] It should be noted that, for ease of description, the descriptions of direction in the following text are consistent with the directions in the accompanying drawings, but they do not limit the structure of the present invention.

[0016] like Figures 1-12As shown, this invention discloses an integrated control system for a tunneling and anchoring machine. Based on CAN bus communication, the system queries the fault points of the integrated tunneling and anchoring machine through the machine's control system, enabling rapid fault location and facilitating maintenance and repair. The control system includes a main controller, a display, a remote controller, a remote receiver, a leakage current interlock module, a tilt sensor, a current transformer, a pressure transmitter, an encoder, an audible and visual alarm, a temperature and vibration sensor, a sensing center, a dust sensor, and a solenoid valve control box. The main controller is equipped with an error detection mechanism for fault location. It has at least three CAN interfaces to receive communication signals from different types of components, increasing communication loops, reducing fault risk, and facilitating troubleshooting. During maintenance, the main controller is bidirectionally connected to the display, remote control receiver, leakage current interlock module, tilt sensor, current transformer, pressure transmitter, encoder, audible and visual alarm, temperature and vibration sensor, sensing center, dust sensor, and solenoid valve control box via a CAN bus. Each component has CAN communication functionality. The main controller can read and control data from each component. The solenoid valve control box controls hydraulic cylinders and motors through several solenoid valves. The sensing center receives signals for detecting the pressure, flow, and temperature of cooling water, as well as the oil pressure, flow, and temperature signals of the hydraulic cylinders. The remote control sends start / stop control signals and hydraulic action signals to the oil pump motor, cutting motor, transport motor, and dust removal fan of the tunneling and anchoring machine. The display shows the working status of each component of the integrated anchor bolting machine; the remote control controls the start and stop of the oil pump motor, cutting motor, transport motor, and dust removal fan of the integrated anchor bolting machine, as well as the hydraulic actions of each component; the remote control receiver receives the remote control signals sent by the remote control; the leakage current interlocking module monitors the insulation of the main circuit of each motor; the tilt sensor detects the angle between the integrated anchor bolting machine body and the horizontal ground; the current transformer detects the operating current of the main circuit of each motor; the pressure transmitter detects the operating pressure of each hydraulic circuit; the encoder detects the traveling speed and position of the integrated anchor bolting machine; the audible and visual alarm provides audible and visual alarms before each motor of the integrated anchor bolting machine starts; the temperature and vibration sensor monitors the operating temperature and vibration of the cutting reducer; and the solenoid valve control box controls each solenoid valve to control the hydraulic cylinders and motors.

[0017] The remote control sets the tunneling and anchoring working mode and the walking working mode. When switching between different working modes via the remote control, the main controller outputs a control signal to the tunneling and anchoring machine control system. The solenoid valve control box drives the switching solenoid valve to switch the hydraulic oil circuit conversion switch. Different working modes are electrically interlocked so that the tunneling and anchoring machine is in one working state at the same time, ensuring that the two working modes do not work at the same time. The solenoid valve used to switch working states is located in the main hydraulic circuit of the anchor protection.

[0018] The integrated anchor-drilling machine is equipped with several anchor drilling arms, including side drilling arms and top drilling arms. Each anchor drilling arm sends a confirmation signal to the main controller after completing its current work task. In this embodiment, there are 6 anchor drilling arms, including two side drilling arms and four top drilling arms. The anchoring of the drilling arms is manually hydraulically driven. Each drilling arm sends a confirmation signal to the main controller after completing its work. When the integrated anchor-drilling machine is working in walking mode, the remote control controls the hydraulic motor to walk. Walking is only allowed after all six drilling arms have returned confirmation signals.

[0019] This invention also discloses an electrical control method for a roadheader-anchor machine, implemented based on the aforementioned roadheader-anchor machine electrical control system. The remote controller selects either the roadheader-anchor working mode or the traveling working mode according to the current working conditions. The main controller outputs a control signal matching the currently selected working mode to the roadheader-anchor machine control system. The solenoid valve control box drives the switching solenoid valve to switch the hydraulic circuit conversion switch. Different working modes are electrically interlocked to ensure that the roadheader-anchor machine can only be in one working mode at a time. After the current task is completed, the main controller receives a confirmation signal before selecting the working mode for the next task. After receiving confirmation signals from all anchor drill arms, the roadheader-anchor machine switches to the traveling working mode.

[0020] The integrated tunneling and anchoring machine control system sets the detection range and applicable working mode for all connected components, defines network addresses to facilitate data reading and command issuance, and uses an error detection mechanism to obtain the network address of the components to confirm the fault point.

[0021] The main controller is the U-Control Assisted Driving Domain Controller (VACU), model EV22297A (hereinafter referred to as the main controller). It uses the Infineon TC297TP control chip and has 6 CAN communication interfaces, 22 analog interfaces, and 13 digital interfaces. Among them, the CAN-A interface is used for communication with the leakage current interlock module, sensing center, current transformer, and tilt sensor; CAN-B is used for communication with the pressure transmitter, encoder, vibration temperature sensor, and temperature sensor; CAN-C is used for communication with the solenoid valve control box, display, and audible and visual alarm; the analog interfaces are used for monitoring the motor temperature sensor; and the digital interfaces are used for external emergency stop and contactor return contact control.

[0022] The remote control receiver receives the wireless signal emitted by the remote control receiver and sends it to the main controller in the form of data frames via the CAN bus. The main controller outputs control signals to the corresponding relays to control the start and stop of the oil pump motor, cutting motor, transport motor and dust removal fan of the tunneling and anchoring machine, as well as the hydraulic action of each component. The leakage current interlock module, model ALK4N-V33-G1, connects to a 24V power supply via the VIN and GND pins, and to the CAN bus via the CANH and CANL pins. -HV1 through -HV5 are connected to the detection circuits respectively. The module processes the detection results, performs logical operations, and outputs two operating states, which are then sent to the main controller via the CAN bus as data frames. The main controller controls the tunneling and anchoring machine based on the operating state of the leakage current interlock module.

[0023] The tilt sensor, officially named GUD60 intrinsically safe tilt sensor for mining, has pins 1 and 2 connected to a 24V power supply, and pins 3 and 4 connected to the CAN bus. The acquired tilt angle is output as a voltage signal, and the voltage signal is sent to the main controller via the CAN bus in the form of a data frame. The main controller adjusts the body angle of the tunneling and anchoring machine based on the received data.

[0024] The current transformer, model FSW50CAN-24V, has 0 and 24V pins connected to a 24V power supply, and CANH and CANL pins connected to the CAN bus. The current transformer collects current signals and sends them to the main controller in the form of data frames via the CAN bus. The main controller controls the tunneling and anchoring machine based on the received data through logical operations. The pressure transmitter, model GPD60(D), is a mine-use explosion-proof multi-interface pressure transmitter. The 24V+ and 24V- pins are connected to the power supply, while the CANH and CANL pins connect to the CAN bus. It integrates eight pressure sensors and outputs eight interfaces, each connecting to the pilot circuit of the hydraulic pump, hydraulic motor, hydraulic cylinder, and hydraulic control valve, respectively, to detect the pressure in each circuit and output a 4-20mA current signal. The pressure transmitter defines the address of each interface and connects to the main controller via the CAN bus. The main controller reads the signal from each interface to determine the operating status and control the tunneling and anchoring machine.

[0025] The encoder is a BQB24 multi-turn absolute rotary encoder. Pins 1 and 2 are connected to a 24V power supply, and pins 3 and 4 are connected to the CAN bus, which is connected to the output shaft of the travel motor. It is used to detect the speed of the tunneling and anchoring machine. The main controller records the encoder's initial data, which is defined as the starting position of the tunneling and anchoring machine. The main controller reads the encoder's output data, performs logical calculations, and detects the speed and position of the tunneling and anchoring machine.

[0026] The audible and visual alarm, model DJE20 / 24(36, 127)L(A), is a mine-use explosion-proof and intrinsically safe alarm light. Pins #1 and #2 are connected to a 36V power supply to emit a light signal, while pins #3 and #4 are connected to a 36V power supply to emit a voice signal. Pins H and L are connected to the CAN bus. The alarm has a built-in memory that stores pre-stored voice information. Through the CAN bus, the main controller addresses and retrieves the voice catalog to change the alarm prompt voice.

[0027] The temperature and vibration sensor is model ZVS750. Pins 1# and 2# are connected to a 24V power supply, and pins 3# and 4# are connected to the CAN bus. It is used to detect the temperature and vibration of the cutting reducer of the tunneling and anchoring machine. The current signal output by the sensor is sent to the main controller in the form of data frames through the CAN bus. The main controller determines the state of the reducer based on the data changes and realizes the control of the tunneling and anchoring machine through logic operations.

[0028] The sensor center, model GD3(C), is a mining multi-parameter sensor that integrates three physical parameters: flow measurement, pressure measurement, and temperature measurement. Pins 1# and 2# are connected to a 24V power supply, and pins 3# and 4# are connected to the CAN bus. The detected 4-20mA current signal is sent to the main controller for processing in the form of data frames via the CAN bus. The main controller calibrates the detection range and function of each interface to realize the monitoring and control of the tunneling and anchoring machine.

[0029] The dust sensor, model GCG1000(A), connects to a 24V power supply via its 0 and 24V pins, and to the CAN bus via its CANH and CANL pins. A laser generator illuminates the dust particles; the scattered light is converted into a current signal by a photoelectric converter, which is then calculated into a pulse signal to determine the dust concentration. This pulse signal is transmitted to the main controller via the CAN bus for monitoring the dust concentration in the working environment.

[0030] The solenoid valve control box contains an intelligent controller, model MAN00175. Its 0 and 12V pins connect to a 24V power supply, while its CANH and CANL pins connect to the CAN bus, enabling control of each solenoid valve. The main controller sends a control signal, triggering the controller to output a PWM signal to drive the solenoid valve. Simultaneously, the controller returns the signal output status to the main controller to determine the operating state of the solenoid valve.

[0031] The main controller program has a check bit, which can determine the validity of the data based on the transmission format of the data frame. At the same time, it can determine the working status of each component through data logic operations. Once a fault occurs, the fault information can be quickly determined to facilitate fault diagnosis and handling.

[0032] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An integrated tunneling and anchoring machine electrical control system, characterized in that: The communication method based on CAN bus is used to query the fault points of the integrated tunneling and anchoring machine through the tunneling and anchoring machine control system, thereby realizing communication of the tunneling and anchoring machine control system. The tunneling and anchoring machine control system includes a main controller, a display, a remote controller, a remote controller receiver, a leakage current interlock module, an angle sensor, a current transformer, a pressure transmitter, an encoder, an audible and visual alarm, a temperature and vibration sensor, a sensing center, a dust sensor, and a solenoid valve control box. The main controller is bidirectionally connected to the display, remote controller receiver, leakage current interlock module, angle sensor, current transformer, pressure transmitter, encoder, audible and visual alarm, temperature and vibration sensor, sensing center, dust sensor, and solenoid valve control box via CAN bus. The solenoid valve control box controls hydraulic cylinders and motors through several solenoid valves. The sensing center receives signals for detecting the pressure, flow rate, and temperature of cooling water, as well as the oil pressure, flow rate, and temperature signals of the hydraulic cylinders. The remote controller sends start / stop control signals and hydraulic action signals to the integrated tunneling and anchoring machine's oil pump motor, cutting motor, transport motor, and dust removal fan.

2. The integrated tunneling and anchoring machine electrical control system according to claim 1, characterized in that: The remote control is set to a tunneling and anchoring working mode and a walking working mode. When switching between different working modes via the remote control, the main controller outputs a control signal to the tunneling and anchoring machine control system. The solenoid valve control box drives the switching solenoid valve to switch the hydraulic oil circuit conversion switch. Different working modes are electrically interlocked, so that the tunneling and anchoring machine is in one working state at the same time. The solenoid valve used to realize the switching of working states is set in the main hydraulic circuit of the anchor protection.

3. The integrated tunneling and anchoring machine electrical control system according to claim 1, characterized in that: The integrated tunneling and anchoring machine is equipped with several anchor drilling arms, including side drilling arms and top drilling arms. Each anchor drilling arm sends a confirmation signal to the main controller upon completion of its current work task.

4. The integrated tunneling and anchoring machine electrical control system according to claim 1, characterized in that: The main controller is equipped with an error detection mechanism for querying fault points.

5. The integrated tunneling and anchoring machine electrical control system according to claim 4, characterized in that: The main controller is equipped with at least three CAN interfaces to receive communication signals from different types of components.

6. A method for controlling an integrated tunneling and anchoring machine, implemented based on the integrated tunneling and anchoring machine control system according to any one of claims 1 to 5, characterized in that: The remote controller selects either the tunneling and anchoring working mode or the walking working mode based on the current working conditions. The main controller outputs a control signal matching the currently selected working mode to the tunneling and anchoring machine control system. The solenoid valve control box drives the solenoid valve to switch the hydraulic oil circuit conversion switch. Different working modes are electrically interlocked to ensure that the tunneling and anchoring machine can only be in one working mode at any given time. After the current task is completed, the main controller receives a confirmation signal before selecting the working mode for the next task.

7. The electrical control method for the integrated tunneling and anchoring machine according to claim 6, characterized in that: After receiving confirmation signals from all anchor drill arms, the main controller switches the tunneling and anchoring machine to the walking working mode.

8. The electrical control method for the integrated tunneling and anchoring machine according to claim 6, characterized in that: The integrated tunneling and anchoring machine control system sets the detection range and applicable working mode for all connected components, defines network addresses to facilitate data reading and command issuance, and uses an error detection mechanism to obtain the network address of the components to confirm the fault point.

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