Motion control system based on cable towing device of coal mining machine
By installing an annular power chain and encoder on the coal mining machine, combined with tension sensors, real-time monitoring and control of cable tension, the problems of cable wear and breaking in the prior art are solved, and more reliable cable management is achieved.
Patent Information
- Application Number
- CN202422636004.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-10-30
AI Technical Summary
The existing coal mining streamer streamer device is not precise enough in complex coal mine environments, which can easily lead to cable wear and breakage, and has high maintenance costs.
The circular power chain and encoder are used to cooperate with the tension sensor to monitor the movement status of the coal mining machine in real time, and the circular power chain and streamer are controlled through the controller to keep the cables tight and avoid cable accumulation and wear.
High-precision tension of cables is achieved, reducing cable wear and breakage, reducing maintenance costs, and improving the reliability and stability of streamer systems.
Smart Images
Figure CN223245012U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of coal mine machinery, in particular to a motion control system based on a shearer towing cable device. Background Art
[0002] The "Black Dragon" system, developed by Poland's Kopax, is the first coal mining machine towing device used in China. It uses a frequency converter's constant torque control mode to maintain constant chain tension. Among domestic manufacturers, Shandong Energy Machinery Group has developed an automatic towing device that uses a wire rope as the power transmission unit to pull a pulley block to tow the cable.
[0003] Among them, the "Black Dragon" system uses constant torque control of the frequency converter and adjusts the speed only according to the tension force. It considers fewer environmental factors. During the coal mine production process, the environment is relatively complex. When too many coal blocks fall and accumulate in the cable trough, the measured tension is quite different from the actual tension between the coal mining machine and the cable. The frequency converter may abnormally accelerate and break the cable. During the application process, the cost of keeping the cable trough clean is too high.
[0004] The power unit used in Shandong Energy Machinery Group's towing device has effectively solved the problems of excessive extrusion and wear of coal mining machine cables. However, the use of wire rope has the disadvantage of poor reliability, which affects its performance.
[0005] In order to further make the tow cable system operate more stably and keep the cable tensioned in real time to avoid problems such as folding and wear, it is necessary to continue to innovate the tow cable system.
[0006] In order to solve the above problems, people have been seeking an ideal technical solution. Utility Model Content
[0007] The purpose of the utility model is to address the deficiencies of the prior art and thus provide a motion control system based on a shearer towing cable device with more reliable transmission and real-time tensioning.
[0008] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a motion control system based on a shearer towing device, comprising a controller, a shearer motion shaft encoder, a tension sensor, a towing frame, an annular power chain and a chain motion shaft encoder;
[0009] The shearer motion axis encoder is installed on any motion axis of the shearer and is used to detect the motion state of the shearer and send it to the controller;
[0010] The annular power chain is laid along the movement direction of the coal mining machine, and the annular power chain is driven by an independent chain power assembly to perform rotational motion. The movement of the annular power chain is controlled by a controller by sending a signal;
[0011] The towing cable rack is fixed on the annular power chain and driven by the annular power chain to perform linear motion. The towing cable rack is equipped with a cable clamping wheel, and the towing cable rack tensions the cable through the cable clamping wheel.
[0012] The tension sensor is installed at the connection point of the cable to sense the tension of the cable and send it to the controller;
[0013] The chain motion axis encoder is installed on any motion axis of the ring-shaped power chain and is used to detect the motion state of the ring-shaped power chain and send it to the controller;
[0014] The controller controls the synchronous movement of the annular power chain to tension the cable according to the signal sent by the shearer motion shaft encoder;
[0015] The controller controls the synchronous movement of the ring-shaped power chain according to the signal sent by the tension sensor to fine-tune the cable tension;
[0016] The controller determines whether the endless power chain has moved into position according to the signal sent by the chain motion shaft encoder.
[0017] Based on the above, the shearer motion shaft encoder is installed on the driving motor shaft or the reducer shaft of the shearer.
[0018] Based on the above, the chain power assembly is a combination of a motor and a reducer or a reduction motor or a combination of a hydraulic motor and a reducer, and the chain motion shaft encoder is installed on the motor shaft or the reducer shaft.
[0019] Based on the above, the controller is a programmable controller.
[0020] Based on the above, the controller is any one of a single chip microcomputer, a PLC, a DSP, and an FPGA.
[0021] Based on the above, the coal mining machine is equipped with an alarm light associated with the tension sensor.
[0022] Based on the above, one end of the annular power chain is aligned with the tail of the coal shearer, and the other end is arranged in the middle of the main movement path of the coal shearer.
[0023] Based on the above, the annular power chain is located as a whole below the coal mining machine.
[0024] Based on the above, a tow cable rack track is provided corresponding to the tow cable rack.
[0025] Based on the above, the tow cable frame is always at the position of 50% of the movement stroke of the coal mining machine.
[0026] The present invention has substantial features and progress over the prior art. Specifically, the present invention utilizes an annular power chain as the main power component and provides a corresponding towing cable rack. The annular power chain is capable of high-precision operation, ensuring that the towing chain rack maintains the cable tension at all times, and is not prone to accumulation of impurities and coal blocks, thereby avoiding affecting the accuracy of cable tensioning.
[0027] At the same time, an encoder is installed at the end of the coal mining machine to obtain the movement status of the coal mining machine, and the movement direction and distance of the drag chain frame based on the circular power chain are determined according to the movement direction and distance of the coal mining machine, so that the cable is always tensioned; by setting up a tension sensor, the axial introduction of new cables caused by long-term stable tensioning can be avoided, resulting in relaxation and elongation of the tensioning area, and the circular power chain can be fine-tuned to further tighten it in real time; an encoder is installed at the end of the circular power chain to determine whether the circular power chain has moved a sufficient distance. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 It is a schematic diagram of the principle of the motion control system based on the shearer towing cable device in the utility model.
[0029] Figure 2 This is a composition principle diagram of the motion control system based on the coal mining machine towing device in the utility model.
[0030] Figure 3 It is a working condition analysis principle diagram of the motion control system based on the coal mining machine towing device in the utility model.
[0031] In the figure: 1. Coal mining machine motion shaft encoder; 2. Tension sensor; 3. Tow cable frame; 4. Ring power chain; 5. Chain motion shaft encoder; 6. Cable; 7. Coal mining machine; 8. Machine tail; 9. Tow cable frame track; 10. Scraper conveyor; 31. Cable clamp wheel. DETAILED DESCRIPTION
[0032] The technical solution of the present utility model is further described in detail below through specific implementation methods.
[0033] like Figure 1-Figure 3 As shown, a motion control system based on a coal mining machine towing cable device includes a controller (not shown in the figure), a coal mining machine motion shaft encoder 1, a tension sensor 2, a towing cable frame 3, an endless power chain 4 and a chain motion shaft encoder 5.
[0034] The controller is a programmable controller, such as a single-chip microcomputer, PLC, DSP, or FPGA. The shearer motion axis encoder 1 is installed on any motion axis of the shearer 7 and is used to detect the motion state of the shearer and transmit it to the controller. In this embodiment, it is installed on the shearer's drive motor shaft or reducer shaft. The encoder is used to obtain revolution data, which can be converted into travel data based on the shearer's own parameters, thereby obtaining the shearer's motion path length and speed, which is convenient for the controller to process.
[0035] The annular power chain 4 is laid along the movement direction of the coal mining machine, and the annular power chain 4 is driven by an independent chain power component to perform rotational motion. The movement of the annular power chain 4 is controlled by the controller by sending a signal. In this embodiment, the chain power component of the annular power chain 4 can use a motor and a reducer, a reduction motor, or a hydraulic motor in combination with a reducer. The appropriate drive form can be selected according to the energy conditions on site.
[0036] During installation, in this embodiment, one end of the annular power chain 4 is aligned with the tail 8 of the coal mining machine 7, and the other end is arranged in the middle of the main movement path of the coal mining machine 7. The annular power chain 4 is located below the coal mining machine 7 as a whole.
[0037] The towing cable frame 3 is fixed on the circular power chain 4 and driven by the circular power chain 4 to perform linear motion. A cable clamping wheel 31 is installed on the towing cable frame 3. The towing cable frame 3 tightens the cable 6 through the cable clamping wheel 31. In this embodiment, one end of the cable is connected and fixed to the coal mining machine wiring, and the other end of the cable is led out to the power supply end. The power supply end often uses relay equipment such as a winch to retain a certain length of cable to provide a margin for cable movement.
[0038] In order to ensure the stable operation of the tow chain rack 3 , a tow cable rack rail 9 is provided corresponding to the tow cable rack 3 .
[0039] The tension sensor 2 is installed at the connection point of the cable 6 to sense the tension of the cable 6 and send it to the controller, mainly used to determine the tension of the cable 6. The coal mining machine 7 is equipped with an alarm light associated with the tension sensor.
[0040] The chain motion shaft encoder 5 is installed on any motion shaft of the circular power chain 4 to detect the motion state of the circular power chain and send it to the controller. In this embodiment, it is installed on the motor shaft or the reducer shaft.
[0041] The controller controls the synchronous movement of the annular power chain to tension the cable according to the signal sent by the shearer motion shaft encoder;
[0042] The controller controls the synchronous movement of the ring-shaped power chain according to the signal sent by the tension sensor to fine-tune the cable tension;
[0043] The controller determines whether the endless power chain has moved into position according to the signal sent by the chain motion shaft encoder.
[0044] Working principle description:
[0045] Taking the attached figure as an example, the coal mining machine 7 runs on the scraper conveyor 10, and the scraper conveyor 10 is replaced by a thick line. At the rear of the scraper conveyor 10, the cable 6 of the coal mining machine is connected. The cable 6 is wrapped around the cable clamping wheel 31 of the drag chain frame 3. The drag cable frame 3 is hard-connected to the annular power chain 4 represented by the dotted line below, and is horizontally guided by the drag cable frame track 9. The chain power assembly of the annular power chain 4 is installed at one end of the tail 8 to drive the drag cable frame 3 to move, thereby driving the cable tensioning and adjusting the position of the cable.
[0046] In an ideal embodiment, the tow cable frame is always at a position of 50% of the movement stroke of the coal mining machine, which can ensure that the cable is always in an extended state.
[0047] When the output signal of the shearer motion shaft encoder 1 is detected, it is converted into motion stroke and speed signals to control the synchronous movement of the ring power chain 4 and always keep the cable tensioned.
[0048] In addition, since the cable wound at the power supply end of the cable link is under tension for a long period, it is affected by the winding compression and its length cannot always be in an ideal state.
[0049] Based on the above two different situations, it can be summarized into two working conditions, such as Figure 3 As shown in the figure, when the shearer moves to the left, the cable tilts. To ensure cable extension, the position of the cable carrier needs to be adjusted further to the right. When moving to the right, the cable extension can be ensured by simply keeping the trolley at the center point. After long-term operation, the movement of the cable can cause the power supply interface to pull some cables into the cable trough, changing the total cable length in the system. To address these problems, the system introduces a tension sensor to constantly calculate the center point and control the movement of the circular power chain to ensure that the cable is in an extended state, preventing the cable from rolling out of the cable trough or being tightened, causing the shearer to shut down.
[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.
Claims
1. A motion control system based on a shearer towing cable device, characterized by: It includes a controller, a shearer motion shaft encoder, a tension sensor, a tow cable frame, an endless power chain and a chain motion shaft encoder; The shearer motion axis encoder is installed on any motion axis of the shearer and is used to detect the motion state of the shearer and send it to the controller; The annular power chain is laid along the movement direction of the coal mining machine, and the annular power chain is driven by an independent chain power assembly to perform rotational motion. The movement of the annular power chain is controlled by a controller by sending a signal; The towing cable rack is fixed on the annular power chain and driven by the annular power chain to perform linear motion. The towing cable rack is equipped with a cable clamping wheel, and the towing cable rack tensions the cable through the cable clamping wheel. The tension sensor is installed at the connection point of the cable to sense the tension of the cable and send it to the controller; The chain motion axis encoder is installed on any motion axis of the ring-shaped power chain and is used to detect the motion state of the ring-shaped power chain and send it to the controller; The controller controls the synchronous movement of the annular power chain to tension the cable according to the signal sent by the shearer motion shaft encoder; The controller controls the synchronous movement of the ring-shaped power chain according to the signal sent by the tension sensor to fine-tune the cable tension; The controller determines whether the endless power chain has moved into position according to the signal sent by the chain motion shaft encoder.
2. The motion control system based on the shearer towing cable device according to claim 1 is characterized in that: The shearer motion shaft encoder is installed on the driving motor shaft or the reducer shaft of the shearer.
3. The motion control system based on the shearer towing cable device according to claim 1 or 2, characterized in that: The chain power assembly is a combination of a motor and a reducer or a reduction motor or a combination of a hydraulic motor and a reducer, and the chain motion shaft encoder is installed on the motor shaft or the reducer shaft.
4. The motion control system based on the shearer towing cable device according to claim 3 is characterized in that: The controller is a programmable controller.
5. The motion control system based on the shearer towing cable device according to claim 4 is characterized in that: The controller is any one of a single chip microcomputer, a PLC, a DSP and an FPGA.
6. The motion control system based on the shearer towing cable device according to claim 1, 2, 4 or 5, characterized in that: The coal mining machine is equipped with an alarm light associated with the tension sensor.
7. The motion control system based on the shearer towing cable device according to claim 1, 2, 4 or 5, characterized in that: One end of the annular power chain is aligned with the tail of the coal mining machine, and the other end is arranged in the middle of the main movement path of the coal mining machine.
8. The motion control system based on the shearer towing cable device according to claim 7, characterized in that: The annular power chain is located as a whole below the coal mining machine.
9. The motion control system based on the shearer towing cable device according to claim 1, 2, 4 or 5, characterized in that: A tow cable rack track is provided corresponding to the tow cable rack.
10. The motion control system based on the shearer towing cable device according to claim 1, 2, 4 or 5, characterized in that: The tow cable frame is always at a position where the shearer has a movement stroke of 50%.