Integrated control system for mining belt self-moving tail and reversed loader

Abstract

The utility model provides an integrated control system for a mining belt self-moving tail and a reversed loader, which relates to the technical field of mining equipment control, and comprises a sensor assembly, a first controller, a second controller, a first controller, a second controller, a first controller, a second controller, a first controller and a second controller, the centralized control center is used for receiving data uploaded by the second controller and issuing an instruction to the second controller; the first controller and the second controller share the received data and instructions in real time; the first controller is used for controlling the belt self-moving tail hydraulic system according to sensor data collected by the sensor assembly, and the second controller is used for controlling the reversed loader hydraulic system according to the sensor data collected by the sensor assembly. According to the scheme, cooperative control over the belt self-moving tail and the reversed loader can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining equipment control, in particular to an integrated control system of a mining belt self-moving tail machine and a transfer machine. Background Art

[0002] The chute conveyor and belt conveyor tail are crucial conveying equipment in fully mechanized coal mining faces. They connect the scraper and belt conveyor during the coal mining process. During operation, the belt conveyor tail must adjust its height, sideways, push, level, and skew according to actual working conditions. The conveyor is also required to raise and move forward in response to the scraper's pushing motion. The reliability, safety, cost-effectiveness, and continuity of this entire operation directly impact the entire coal conveyor line.

[0003] The intelligent construction of coal mines requires the intelligent operation of coal mining, transportation, ventilation, safety assurance, business management and other processes, basically realizing the mining work with few people or even no one, the operation of key positions in coal mines by robots, the unmanned and remote monitoring of fixed positions underground, and the intelligent decision-making and automated coordinated operation of various systems.

[0004] At present, although the control systems of the belt conveyor's self-moving tail and the transfer machine have basically realized electro-hydraulic control, they only have basic control functions. Moreover, the two control systems are far apart and independent of each other, and cannot achieve integrated coordinated motion control. In actual applications, the coordinated action of the transfer machine and the belt conveyor's self-moving tail is crucial. Utility Model Content

[0005] In view of this, in order to address the above shortcomings, it is necessary to propose an integrated control system for the mine belt self-moving tail and the transfer machine to achieve coordinated control of the belt self-moving tail and the transfer machine.

[0006] The utility model provides an integrated control system for a mine belt self-moving tail and a transfer machine, the system comprising: a sensor assembly, a first controller, a second controller, a centralized control center, a hydraulic system for the belt self-moving tail and a transfer machine hydraulic system;

[0007] The belt self-moving machine tail hydraulic system is communicated with the first controller, the centralized control center and the transfer machine hydraulic system are communicated with the second controller, the first controller and the second controller are communicated with each other, the sensor assembly is communicated with the first controller and / or the second controller, and the centralized control center is communicated with the second controller;

[0008] The sensor assembly is used to collect equipment operating condition data in real time and send the collected operating condition data to the first controller and / or the second controller;

[0009] The centralized control center is used to receive data uploaded by the second controller and issue instructions to the second controller;

[0010] The first controller and the second controller share the data and instructions received by each in real time; the first controller is used to control the belt self-moving machine tail hydraulic system according to the sensor data collected by the sensor component, and the second controller is used to control the transfer machine hydraulic system according to the sensor data collected by the sensor component.

[0011] Preferably, the control system also includes a visual component that is communicatively connected to the first controller; the visual component is installed on the head side of the belt self-moving machine tail, and is used to monitor in real time the current position of the belt self-moving machine tail and the offset angle of the belt self-moving machine tail in the direction of travel, and upload the monitored data to the first controller.

[0012] Preferably, the system further comprises a remote control assembly in communication with the first controller, for controlling the belt self-moving tail and the transfer machine via the remote control assembly.

[0013] Preferably, both the first controller and the second controller include a manual control mode, and the priority of manual control is higher than the priority of control through the remote control component.

[0014] Preferably, the sensor assembly includes a plurality of displacement sensors, each of which is installed in each oil cylinder of the mining belt self-propelled machine tail and the transfer machine, and is used to collect displacement data of the corresponding oil cylinder.

[0015] Preferably, the sensor assembly further comprises an inclination sensor, which is respectively mounted at the nose and tail of the belt self-propelled tail machine and is used to collect the body posture data of the belt self-propelled tail machine.

[0016] Preferably, the sensor assembly further includes a deviation sensor, which is installed on the tail of the belt self-moving machine and is used to collect belt deviation data.

[0017] Preferably, the sensor assembly further includes a stroke sensor, which is respectively installed in each oil cylinder of the belt self-propelled machine tail and the transfer machine, and is used to monitor whether the displacement of the oil cylinder reaches the limit position.

[0018] Preferably, the sensor assembly further comprises a temperature sensor, a flow sensor and a pressure sensor, which are respectively arranged on the tail of the belt self-moving machine and the oil cylinder of the transfer machine;

[0019] The temperature sensor is used to collect oil temperature data in the corresponding oil cylinder;

[0020] The flow sensor is used to collect oil volume data in the corresponding oil cylinder;

[0021] The pressure sensor is used to collect pressure data of the corresponding oil cylinder.

[0022] Preferably, the system further comprises a first infrared sensor and a first camera communicatively connected to the first controller, and a second infrared sensor and a second camera communicatively connected to the second controller;

[0023] The first infrared sensor and the first camera are installed on the tail of the self-propelled belt conveyor and are used to monitor whether there is a person within a preset range of the tail of the self-propelled belt conveyor and upload the monitoring data to the first controller; the first controller is also used to issue an alarm when it is determined based on the monitoring data that a person has entered the preset range of the tail of the self-propelled belt conveyor;

[0024] The second infrared sensor and the second camera are installed on the transfer machine and are used to monitor whether there is anyone within the preset range of the transfer machine and upload the monitoring data to the second controller; the second controller is also used to issue an alarm when it is determined based on the monitoring data that a person has entered the preset range of the transfer machine.

[0025] It can be seen from the above technical solution that the integrated control system of the mining belt self-moving machine tail and the transfer machine provided by the utility model includes a sensor component, a first controller, a second controller, a centralized control center, a belt self-moving machine tail hydraulic system and a transfer machine hydraulic system. The sensor component can collect the working condition data of the belt self-moving machine tail and the transfer machine in real time, and send the working condition data to the first controller or the second controller, and the first controller and the second controller can share the data and instructions received by each other in real time, so that the first controller and the second controller can know the status of the transfer machine and the belt self-moving machine tail at the same time, and then the first controller and the second controller can realize the coordinated control of the belt self-moving machine tail and the transfer machine through the belt self-moving machine tail hydraulic system and the transfer machine hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The present invention provides a schematic diagram of an integrated control system for a mining belt self-moving tail and transfer machine.

[0027] In the figure: sensor component 10, first controller 20, second controller 30, centralized control center 40, belt self-moving tail hydraulic system 50, transfer machine hydraulic system 60, visual component 70, remote control component 80. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, a brief introduction will be given below to the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] like Figure 1 As shown, the utility model provides an integrated control system for a mine belt self-propelled tail machine and a transfer machine, the system comprising: a sensor assembly 10, a first controller 20, a second controller 30, a centralized control center 40, a hydraulic system 50 for the belt self-propelled tail machine and a transfer machine hydraulic system 60;

[0030] The belt self-moving machine tail hydraulic system 50 is in communication with the first controller 20, the centralized control center 40 and the transfer machine hydraulic system 60 are in communication with the second controller 30, the first controller 20 and the second controller 30 are in communication with each other, the sensor assembly 10 is in communication with the first controller 20 and / or the second controller 30, and the centralized control center 40 is in communication with the second controller 30;

[0031] The sensor assembly 10 is used to collect equipment operating condition data in real time and send the collected operating condition data to the first controller 20 and / or the second controller 30;

[0032] The centralized control center 40 is used to receive data uploaded by the second controller 30 and issue instructions to the second controller 30;

[0033] The first controller 20 and the second controller 30 share the data and instructions received by each in real time; the first controller 20 is used to control the belt self-moving machine tail hydraulic system 50 according to the sensor data collected by the sensor component 10, and the second controller 30 is used to control the transfer machine hydraulic system 60 according to the sensor data collected by the sensor component 10.

[0034] In this embodiment, through the real-time sharing of data and instructions between the first controller 20 and the second controller 30, the first controller 20 and the second controller 30 can combine the data of each sensor and their own internal logic according to the actual needs of the coal mining process to accurately realize the coordinated control of the transfer machine pushing and the belt self-moving machine tail pushing, leveling, deviation adjustment and straightening.

[0035] In one embodiment, the control system also includes a visual component 70 that is communicatively connected to the first controller 20; the visual component 70 is installed on the head side of the belt self-moving machine tail, and is used to monitor in real time the current position of the belt self-moving machine tail and the offset angle of the belt self-moving machine tail in the direction of travel, and upload the monitored data to the first controller 20.

[0036] In this embodiment, the vision component 70 can monitor the current deviation angle of the belt self-propelled machine tail from the travel direction and the current position of the belt self-propelled machine tail in real time by detecting a calibration object, and feed the deviation angle and position information back to the first controller 20. In this way, when the deviation angle is greater than a set value, the first controller 20 can issue an alarm message indicating that the moving direction is deviated and straighten the belt self-propelled machine tail according to the magnitude of the deviation angle.

[0037] The control system can have functions such as remote control, long-distance control, local control, and automatic control. In one embodiment, the system can include a remote control assembly 80 that is communicatively connected to the first controller 20, and is used to control the belt conveyor tail and the transfer machine through the remote control assembly 80. In remote control mode, the belt conveyor tail and the transfer machine can be manually controlled, such as one-button leveling, one-button deviation correction, one-button adjustment, and one-button push control. Of course, the remote control assembly 80 can include one, which is communicatively connected to the first controller 20. The remote control assembly 80 can control the belt conveyor tail and can also forward the instructions for controlling the transfer machine from the first controller 20 to the second controller 30, so that the second controller 30 can control the transfer machine. In another embodiment, the remote control assembly 80 can include two, which are communicatively connected to the first controller 20 and the second controller 30, respectively, for controlling the belt conveyor tail and the transfer machine.

[0038] In one embodiment, both the first controller 20 and the second controller 30 include a manual control mode, and manual control takes precedence over control via the remote control component. In this embodiment, in local control mode, the belt conveyor tail and the transfer machine can be controlled manually via the first controller 20 and the second controller 30, or remotely via a remote control. Manual and remote control are interlocked, and manual control takes precedence over remote control.

[0039] In the automatic control mode, the first controller 20 and the second controller 30 collect the industrial control data of the belt self-moving tail and the transfer machine based on the visual system and various sensors installed on the machine body. The two analyze the data according to their respective established logic. The first controller 20 and the second controller 30 share data with each other and upload the data to the centralized control center 40 at the same time. In this way, combined with the control instructions received from the centralized control center 40, coordinated control of the automatic leveling, automatic deviation correction, automatic straightening, automatic pushing of the belt self-moving tail and the automatic pushing of the transfer machine can be achieved.

[0040] The sensor assembly 10 may include several types of sensors. For example, the sensor assembly 10 may include several displacement sensors, each of which is installed in the oil cylinders of the mine belt self-propelled machine tail and the transfer machine, respectively, to collect the displacement data of the corresponding oil cylinder. The sensor assembly 10 also includes a stroke sensor, which is installed in the oil cylinders of the mine belt self-propelled machine tail and the transfer machine, respectively, to monitor whether the displacement of the oil cylinder has reached the limit position. In this way, the displacement data of the oil cylinder can be monitored in real time by the displacement sensor, thereby realizing precise adjustment and control of the oil cylinder. At the same time, the limit position of the oil cylinder is monitored by the stroke sensor, which avoids excessive movement of the oil cylinder and ensures the stable operation and service life of the hydraulic system.

[0041] For another example, the sensor assembly 10 may also include tilt sensors, mounted at the nose and tail of the belt-propelled tail, to collect data on the tail's body posture. This allows the tail's body posture to be monitored and the data transmitted to the controller. When the body tilt exceeds a set value, the first controller 20 can control the leveling of the tail by precisely adjusting the lift cylinder's height based on a predetermined logical sequence and the displacement information from the displacement sensor.

[0042] For example, the sensor assembly 10 may also include a deviation sensor, mounted on the tail of the self-propelled belt conveyor, to collect belt deviation data. This allows for monitoring of belt deviation and transmits this data to the controller. When the belt deviates, the first controller 20 precisely adjusts the extension and retraction of the head and tail side-shift cylinders based on a predetermined logical sequence and the displacement information from the displacement sensor, thereby precisely adjusting the belt's deviation.

[0043] For another example, the sensor assembly 10 may also include a temperature sensor, a flow sensor and a pressure sensor, which are respectively arranged on each cylinder of the belt self-propelled machine tail and the transfer machine; the temperature sensor is used to collect the oil temperature data in the corresponding cylinder; the flow sensor is used to collect the oil quantity data in the corresponding cylinder; and the pressure sensor is used to collect the pressure data of the corresponding cylinder.

[0044] In one embodiment, the system further includes a first infrared sensor and a first camera in communication with the first controller 20 , and a second infrared sensor and a second camera in communication with the second controller 30 ;

[0045] The first infrared sensor and the first camera are installed on the tail of the self-propelled belt conveyor and are used to monitor whether there is a person within a preset range of the tail of the self-propelled belt conveyor and upload the monitoring data to the first controller 20; the first controller 20 is also used to issue an alarm when it is determined based on the monitoring data that a person has entered the preset range of the tail of the self-propelled belt conveyor;

[0046] The second infrared sensor and the second camera are installed on the transfer machine to monitor whether there is anyone within the preset range of the transfer machine and upload the monitoring data to the second controller 30; the second controller 30 is also used to issue an alarm when it is determined based on the monitoring data that someone has entered the preset range of the transfer machine.

[0047] In this embodiment, by installing infrared sensors and cameras on the tail of the belt self-moving machine and the transfer machine, the situation of people around the equipment can be monitored. When the equipment is in automatic operation mode, when people enter a certain range of the equipment, the controller will issue an alarm and self-lock the equipment to ensure the safety of people.

[0048] As can be seen from the above, the integrated control system for the mining belt-driven tail and transfer machine provided by this solution is based on the electro-hydraulic control system of the belt-driven tail and transfer machine. Various sensors, such as vision, deviation, displacement, travel, inclination, pressure, and infrared, are installed on the equipment to collect real-time operating data of the belt-driven tail and transfer machine. This operating data is transmitted to the controller via wired or wireless transmission. Based on the operating data of the belt-driven tail and transfer machine and the current movement requirements of the belt-driven tail and transfer machine from the underground centralized control, the controller issues precise control instructions to the belt-driven tail and transfer machine, thereby achieving the movement, straightening, and posture adjustment of the belt-driven tail and transfer machine. In this way, this system realizes functions such as positioning, posture sensing and adjustment, straightening, leveling, forward movement, and safety protection of the belt-driven tail and transfer machine. At the same time, it cooperates with the centralized control center 40 to realize remote and coordinated control of the belt-driven tail and transfer machine, helping to achieve the goals of unmanned or reduced-manpower, safe, efficient, and intelligent mining.

[0049] The modules or units in the device of the embodiment of the present invention can be combined, divided, or deleted according to actual needs. The above disclosure is only a preferred embodiment of the present invention and certainly does not limit the scope of the rights of the present invention. A person skilled in the art will understand that implementing all or part of the process of the above embodiment and making equivalent changes in accordance with the claims of the present invention still fall within the scope of the present invention.

Claims

1. An integrated control system for a mining belt self-moving tail and transfer machine, characterized in that: The system includes: sensor components, a first controller, a second controller, a centralized control center, a belt self-moving tail hydraulic system and a transfer machine hydraulic system; The belt self-moving machine tail hydraulic system is communicated with the first controller, the centralized control center and the transfer machine hydraulic system are communicated with the second controller, the first controller and the second controller are communicated with each other, the sensor assembly is communicated with the first controller and / or the second controller, and the centralized control center is communicated with the second controller; The sensor assembly is used to collect equipment operating condition data in real time and send the collected operating condition data to the first controller and / or the second controller; The centralized control center is used to receive data uploaded by the second controller and issue instructions to the second controller; The first controller and the second controller share the data and instructions received by each in real time; the first controller is used to control the belt self-moving machine tail hydraulic system according to the sensor data collected by the sensor component, and the second controller is used to control the transfer machine hydraulic system according to the sensor data collected by the sensor component.

2. The integrated control system of the mining belt self-moving tail and transfer machine according to claim 1 is characterized in that: The control system also includes a visual component that is communicatively connected to the first controller; the visual component is installed on the head side of the belt self-moving machine tail, and is used to monitor in real time the current position of the belt self-moving machine tail and the offset angle of the belt self-moving machine tail in the direction of travel, and upload the monitored data to the first controller.

3. The integrated control system of the mining belt self-moving tail and transfer machine according to claim 1 is characterized in that: The system also includes a remote control component that is communicatively connected to the first controller and is used to control the belt self-moving tail and the transfer machine through the remote control component.

4. The integrated control system of the mining belt self-moving tail and transfer machine according to claim 3 is characterized in that: The first controller and the second controller both include a manual control mode, and the priority of manual control is higher than the priority of control through the remote control component.

5. The integrated control system of the mining belt self-moving tail and transfer machine according to claim 1 is characterized in that: The sensor assembly includes several displacement sensors, each of which is installed in the oil cylinder of the mining belt self-propelled machine tail and the transfer machine, and is used to collect displacement data of the corresponding oil cylinder.

6. The integrated control system for the mining belt self-moving tail and transfer machine according to claim 5 is characterized in that: The sensor assembly also includes an inclination sensor, which is respectively installed at the nose and tail of the belt self-propelled tail machine and is used to collect the body posture data of the belt self-propelled tail machine.

7. The integrated control system for the mining belt self-moving tail and transfer machine according to claim 5 is characterized in that: The sensor assembly also includes a deviation sensor, which is installed on the tail of the belt self-moving machine and is used to collect belt deviation data.

8. The integrated control system for the mining belt self-moving tail and transfer machine according to claim 5 is characterized in that: The sensor assembly also includes a stroke sensor, which is respectively installed in each oil cylinder of the belt self-propelled machine tail and the transfer machine, and is used to monitor whether the displacement of the oil cylinder reaches the limit position.

9. The integrated control system for the mining belt self-moving tail and transfer machine according to claim 5 is characterized in that: The sensor assembly also includes a temperature sensor, a flow sensor and a pressure sensor, which are respectively arranged on the tail of the belt self-moving machine and the oil cylinder of the transfer machine; The temperature sensor is used to collect oil temperature data in the corresponding oil cylinder; The flow sensor is used to collect oil volume data in the corresponding oil cylinder; The pressure sensor is used to collect pressure data of the corresponding oil cylinder.

10. The integrated control system of the mining belt self-moving tail and transfer machine according to claim 1 is characterized in that: The system also includes a first infrared sensor and a first camera in communication with the first controller, and a second infrared sensor and a second camera in communication with the second controller; The first infrared sensor and the first camera are installed on the tail of the self-propelled belt conveyor and are used to monitor whether there is a person within a preset range of the tail of the self-propelled belt conveyor and upload the monitoring data to the first controller; the first controller is also used to issue an alarm when it is determined based on the monitoring data that a person has entered the preset range of the tail of the self-propelled belt conveyor; The second infrared sensor and the second camera are installed on the transfer machine and are used to monitor whether there is anyone within the preset range of the transfer machine and upload the monitoring data to the second controller; the second controller is also used to issue an alarm when it is determined based on the monitoring data that a person has entered the preset range of the transfer machine.

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