CN102991439A - Wireless sight distance control system of small underground trackless carry-scraper - Google Patents
Wireless sight distance control system of small underground trackless carry-scraper Download PDFInfo
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- CN102991439A CN102991439A CN2012105506504A CN201210550650A CN102991439A CN 102991439 A CN102991439 A CN 102991439A CN 2012105506504 A CN2012105506504 A CN 2012105506504A CN 201210550650 A CN201210550650 A CN 201210550650A CN 102991439 A CN102991439 A CN 102991439A
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Abstract
The invention discloses a wireless sight distance control system of a small underground trackless carry-scraper. A sight distance remote receiver (2) is connected with an execution controller (4) through a CAN (Controller Area Network) bus (3); an electric control travelling pedal (6), an electric control steering handle (7), an electric control working handle (8), an electric control braking switch (9), an electric control accelerator switch (10), an electric control flameout button (11), a change-over switch (17), an electric control multiway valve group (12), an electromagnetic directional valve (13), an accelerator executor (14), a flameout electromagnetic valve (15), an electric control variable pump (16), a horn assembly (24), a starting motor (25) and the like are connected with the execution controller (4); and a slight distance remote transmitter (1) is provided with a travelling handle (1-1), a steering rocker (1-2), a working handle (1-3), a power switch (1-4), a power indicator (1-5), a horn button (1-6), an emergency braking button (1-7), an accelerator switch (1-8), a flameout button (1-9) and a starting button (1-10). The wireless sight distance control system is time-saving and labor-saving to operate, high in precision, small in occupied area, low in mechanical failure rate, capable of relieving the working intensity, safe and reliable.
Description
Technical field:
The present invention relates to a kind of control system, relate in particular to a kind of wireless sighting distance control system of small underground trackless scoper.
Background technology:
At present, in the wireless sighting distance control system of existing small underground trackless scoper, controllable capacity pump is mechanical type control variable pump, advancing, retreating and speed change by mechanical type stretcher and connecting rod mechanism control scoper, this structure is because after existing machinery production error, particularly structure wearing and tearing, cause performance accuracy poor, the action not in place, in addition because frequently the operation, the faults such as bearing pin fracture often appear.Adopt the action of hydraulic steering gear control steering cylinder, because be not electric control, do not realize the remote control turning function.Adopt the manual type multiway valve, by mechanical type operation mechanism control system hydraulic circuit, not only complex manufacturing technology, take up room greatly, also have the shortcoming of operation effort, easy to wear and low precision.Adopt hand change over valve control braking maneuver, fault rate is high, and can't realize remote control control.Adopt acceleration cable manually to control the throttle of diesel engine, it is flame-out that flameout pull-cord is manually controlled diesel engine, causes behind the wire deformation that performance accuracy is poor, action is not in place.Owing to can't realize remote control control, the driver can only shovel in scoper, fill, operate industry, like this when downhole operations, when the situation such as mining face under mine roof fall, rock landing occurring, can bring danger to the driver, greatly reduce the safety factor of borehole operation.
Summary of the invention:
The object of the invention is to overcome the deficiency of above-mentioned prior art and provide a kind of operation time saving and energy saving, it is little to take up room, failure rate of machinery is low, performance accuracy is high, action puts in place, reduce the operating personal working strength, ensured the wireless sighting distance control system of small underground trackless scoper of the safety of borehole operation.
Purpose of the present invention can reach by following measure: a kind of wireless sighting distance control system of small underground trackless scoper, it is characterized in that it comprises the sighting distance remote transmitter, the sighting distance remote control receiver, the sighting distance remote control receiver links to each other with implementation controller by the CAN bus, total input power, the automatically controlled pedal of walking, turn to electric control handle, the work electric control handle, the brake electric control switch, the throttle electric control switch, flame-out automatically controlled button, remote control/manually controlled work mode change-over swith connects respectively implementation controller, implementation controller connects respectively the electric control multi-way valve group, solenoid directional control valve, throttle actuator, flameout electromagnetic valve, automatically controlled controllable capacity pump, the loudspeaker assembly of scoper, the starter motor of scoper, the electric control multi-way valve group respectively with the steering cylinder of scoper, elevating ram, dump ram links to each other, solenoid directional control valve links to each other with the drg of scoper, throttle actuator links to each other with the diesel engine throttle of scoper, flameout electromagnetic valve links to each other with the flame-out protection device for diesel engine of scoper, the running gear of automatically controlled controllable capacity pump and scoper) links to each other, the panel of sighting distance remote transmitter is provided with the walking handle, turn to rocking bar, working handle, source switch, power light, horn punch, emergency stop button, Oil Switch, flame-out button, start button.
In order further to realize purpose of the present invention, 1 pin of described implementation controller, 2 pin connect total input power, 3 pin, 4 pin connect the CAN bus, 23 pin, 24 pin connect the automatically controlled pedal of walking, 18 pin switch through to electric control handle, 25 pin, 26 pin connect the work electric control handle, 10 pin connect the brake electric control switch, 12 pin, 13 pin connect the throttle electric control switch, and 7 pin connect flame-out automatically controlled button, 6 pin connect remote control/manually controlled work mode change-over swith, 8 pin, 9 pin connect the output of DC5V power supply, 38 pin, 39 pin, 40 pin connect the electric control multi-way valve group, and 34 pin connect solenoid directional control valve, 35 pin, 36 pin connect throttle actuator, 33 pin connect flameout electromagnetic valve, 43 pin, 44 pin connect automatically controlled controllable capacity pump, and 31 pin connect the loudspeaker assembly of scoper, 32 pin connect the starter motor of scoper, and other pin sky connects.
The present invention can produce following good effect compared with the prior art: the present invention adopts the electric control controllable capacity pump to realize advancing, retreat and speed change of scoper, and electric signal is quick on the draw, and does not have mechanical wear problem and consequent mechanical breakdown.Employing turns to electric control handle and electric control multi-way valve, promotes the steering cylinder action, realizes that turning to of scoper can make operating personal more laborsaving, reduces working strength, and can realize the remote control control of turning function.Employing work electric control handle, lifting and the tipping bucket system circuit of control electric control multi-way valve, promote the flexible of the flexible and dump ram of elevating ram, the ore deposit operation is unloaded in the shovel ore deposit of realization scoper, electric signal is quick on the draw, rapid operation, it is little to take up room, and does not have mechanical wear problem and consequent mechanical breakdown.Adopt the brake electric control switch, the control solenoid directional control valve makes the drg action, realizes stopping brake and the emergency braking of scoper, failure rate is low, and can realize remote control control.Adopt the action of Throttle Opening Control switch control throttle actuator, thus the folding of control diesel engine throttle, the speed change of realization diesel engine; Adopt the automatically controlled control diesel engine of flameout electromagnetic valve flame-out, performance accuracy height, action put in place like this.This system has on the machine manually control and the outer wireless sighting distance of machine is controlled difunctional, switch by change-over swith, use distant control function, the driver can shovel, fills, operate industry away from 100 meters sighting distance remote manipulations of scoper scoper in the down-hole, the danger that can avoid like this mining face under mine roof fall, rock landing to bring to the driver improves the safety factor of borehole operation greatly.
Description of drawings:
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the schematic appearance of sighting distance remote transmitter of the present invention;
Fig. 3 is the electrical schematic diagram of implementation controller of the present invention.
The specific embodiment: the specific embodiment of the present invention is elaborated below in conjunction with accompanying drawing:
Embodiment: a kind of wireless sighting distance control system of small underground trackless scoper is (referring to Fig. 1-Fig. 2), it comprises sighting distance remote transmitter 1, sighting distance remote control receiver 2, sighting distance remote control receiver 2 adopts Sa Australia MC050-010 50 needle controls by CAN bus 3 with implementation controller 4() link to each other, total input power 5, the automatically controlled pedal 6 of walking, turn to electric control handle 7, work electric control handle 8, brake electric control switch 9, throttle electric control switch 10, flame-out automatically controlled button 11, remote control/manually controlled work mode change-over swith 17 connects respectively implementation controller 4, and implementation controller 4 connects respectively electric control multi-way valve group 12, solenoid directional control valve 13, throttle actuator 14, flameout electromagnetic valve 15, automatically controlled controllable capacity pump 16, the loudspeaker assembly 24 of scoper, the starter motor 25 of scoper.Electric control multi-way valve group 12 links to each other with steering cylinder 18, elevating ram 19, the dump ram 20 of scoper respectively, and solenoid directional control valve 13 links to each other with the drg 21 of scoper.Throttle actuator 14 links to each other with the diesel engine throttle 22 of scoper, and flameout electromagnetic valve 15 links to each other with the flame-out protection device for diesel engine 23 of scoper, and automatically controlled controllable capacity pump 16 links to each other with the running gear 26 of scoper.The panel of sighting distance remote transmitter 1 is provided with walking handle 1-1, turns to rocking bar 1-2, working handle 1-3, source switch 1-4, power light 1-5, horn punch 1-6, emergency stop button 1-7, Oil Switch 1-8, flame-out button 1-9, start button 1-10.
Referring to Fig. 3,1 pin of implementation controller 4,2 pin connect total input power 5,3 pin, 4 pin connect CAN bus 3,23 pin, 24 pin connect the automatically controlled pedal 6 of walking, 18 pin switch through to electric control handle 7,25 pin, 26 pin connect work electric control handle 8,10 pin connect brake electric control switch 9,12 pin, 13 pin connect throttle electric control switch 10,7 pin and connect flame-out automatically controlled button 11,6 pin connect remote control/manually controlled work mode change-over swith 17,8 pin, 9 pin connect the output of DC5V power supply, 38 pin, 39 pin, 40 pin connect electric control multi-way valve group 12,34 pin and connect solenoid directional control valve 13,35 pin, 36 pin connect throttle actuator 14,33 pin connect flameout electromagnetic valve 15,43 pin, 44 pin connect the loudspeaker assembly 24 that automatically controlled controllable capacity pump 16,31 pin connect scoper, 32 pin connect the starter motor 25 of scoper, and other pin sky connects.
This system has on the machine manually control and the outer wireless sighting distance of machine and controls difunctionally, switches by change-over swith.
When manually controlling on the machine, rotation remote control/manually controlled work mode change-over swith 17, sighting distance remote transmitter 1 and sighting distance remote control receiver 2 are all inoperative, realize hand control function.
Control principle is as follows:
After starting diesel engine, the automatically controlled pedal 6 of foot-operated walking by automatically controlled controllable capacity pump 16 actions of implementation controller 4 controls, is realized advancing, retreat and speed change of scoper; Pull and turn to electric control handle 7, by the steering swivel system loop of implementation controller 4 control electric control multi-way valve groups 12, promote steering cylinder 18 actions, realize turning to of scoper; Operation element electric control handle 8, by implementation controller 4 control electric control multi-way valve groups 12 lifting and tipping bucket system circuit, promote flexible and dump ram 20 flexible of elevating ram 19, realize that the ore deposit operation is unloaded in the shovel ore deposit of scoper; Pull brake electric control switch 9, by 13 actions of implementation controller 4 control solenoid directional control valves, make drg 21 actions of scoper, realize stopping brake and the emergency braking of scoper; Pull Throttle Opening Control switch 10, by 14 actions of implementation controller 4 control throttle actuators, thus the folding of the diesel engine throttle of control scoper, the speed change of realization diesel engine; Press the flame-out button 11 of diesel engine, by 15 actions of implementation controller 4 control flameout electromagnetic valves, and flame-out by flame-out protection device for diesel engine 23 control diesel engines.
When outside the machine during wireless sighting distance remote control, rotation remote control/manually controlled work mode change-over swith 17, sighting distance remote transmitter 1 and 2 work of sighting distance remote control receiver, this moment, hand control function was inoperative.
Under the sighting distance remote state, by each handle and button emitter on the panel of operation sighting distance remote transmitter 1 signal is launched, sighting distance remote control receiver 2 is processed after receiving these signals, the walking by implementation controller 4 control scopers, turn to, work, the function such as parking.Remote control distance: about 200 meters of aboveground open ground, about 100 meters of down-hole.
Control principle is as follows:
Press start button 1-10, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, and by 25 actions of implementation controller 4 control starter motors, scoper starts;
Handle the walking handle 1-1 on the sighting distance remote transmitter 1, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, by automatically controlled controllable capacity pump 16 actions of implementation controller 4 controls, realizes advancing, retreat and speed change of scoper.
Turn to rocking bar 1-2 by operation sighting distance remote transmitter 1, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, by the steering swivel system loop of implementation controller 4 control electric control multi-way valve groups 12, promote steering cylinder 18 actions, realize turning to of scoper.
By operation sighting distance remote transmitter 1 working handle 1-3, emitter is launched signal, after receiving this signal, processes sighting distance remote control receiver 2, by implementation controller 4 control electric control multi-way valve groups 12 lifting and tipping bucket system circuit, promote stretching of elevating ram 19 and stretching of dump ram 20, realize that the ore deposit operation is unloaded in the shovel ore deposit of scoper;
By sighting distance remote transmitter 1 emergency stop button 1-7, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, by 13 actions of implementation controller 4 solenoid directional control valves, make drg 21 actions of scoper, realize stopping brake and the emergency braking of scoper;
Pull sighting distance remote transmitter 1 Oil Switch 1-8, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, by 14 actions of implementation controller 4 throttle actuators, thereby the folding of the diesel engine throttle of control scoper, the speed change of realization diesel engine;
By the flame-out button 1-9 of sighting distance remote transmitter 1 diesel engine, emitter is launched signal, after receiving this signal, processes sighting distance remote control receiver 2, by 15 actions of implementation controller 4 control flameout electromagnetic valves, and flame-out by flame-out protection device for diesel engine 23 control diesel engines.
Blast the horn button 1-6, emitter is launched signal, processes after sighting distance remote control receiver 2 receives this signal, sends tweeting sound by implementation controller 4 control loudspeaker assemblies 24.
Claims (2)
1. the wireless sighting distance control system of a small underground trackless scoper, it is characterized in that it comprises sighting distance remote transmitter (1), sighting distance remote control receiver (2), sighting distance remote control receiver (2) links to each other with implementation controller (4) by CAN bus (3), total input power (5), the automatically controlled pedal (6) of walking, turn to electric control handle (7), work electric control handle (8), brake electric control switch (9), throttle electric control switch (10), flame-out automatically controlled button (11), remote control/manually controlled work mode change-over swith (17) connects respectively implementation controller (4), implementation controller (4) connects respectively electric control multi-way valve group (12), solenoid directional control valve (13), throttle actuator (14), flameout electromagnetic valve (15), automatically controlled controllable capacity pump (16), the loudspeaker assembly (24) of scoper, the starter motor of scoper (25), electric control multi-way valve group (12) respectively with the steering cylinder (18) of scoper, elevating ram (19), dump ram (20) links to each other, solenoid directional control valve (13) links to each other with the drg (21) of scoper, throttle actuator (14) links to each other with the diesel engine throttle (22) of scoper, flameout electromagnetic valve (15) links to each other with the flame-out protection device for diesel engine (23) of scoper, automatically controlled controllable capacity pump (16) links to each other with the running gear (26) of scoper, the panel of sighting distance remote transmitter (1) is provided with walking handle (1-1), turn to rocking bar (1-2), working handle (1-3), source switch (1-4), power light (1-5), horn punch (1-6), emergency stop button (1-7), Oil Switch (1-8), flame-out button (1-9), start button (1-10).
2. the wireless sighting distance control system of a kind of small underground trackless scoper according to claim 1,1 pin that it is characterized in that described implementation controller (4), 2 pin connect total input power (5), 3 pin, 4 pin connect CAN bus (3), 23 pin, 24 pin connect walking automatically controlled pedal (6), 18 pin switch through to electric control handle (7), 25 pin, 26 pin connect work electric control handle (8), 10 pin connect brake electric control switch (9), 12 pin, 13 pin connect throttle electric control switch (10), 7 pin connect flame-out automatically controlled button (11), 6 pin connect remote control/manually controlled work mode change-over swith (17), 8 pin, 9 pin connect the output of DC5V power supply, 38 pin, 39 pin, 40 pin connect electric control multi-way valve group (12), and 34 pin connect solenoid directional control valve (13), 35 pin, 36 pin connect throttle actuator (14), 33 pin connect flameout electromagnetic valve (15), 43 pin, 44 pin connect automatically controlled controllable capacity pump (16), and 31 pin connect the loudspeaker assembly (24) of scoper, 32 pin connect the starter motor (25) of scoper, and other pin sky connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105506504A CN102991439A (en) | 2012-12-18 | 2012-12-18 | Wireless sight distance control system of small underground trackless carry-scraper |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105506504A CN102991439A (en) | 2012-12-18 | 2012-12-18 | Wireless sight distance control system of small underground trackless carry-scraper |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103294040A (en) * | 2013-06-09 | 2013-09-11 | 山东华山拖拉机制造有限公司 | Remote automatic control system |
| CN103422525A (en) * | 2013-08-24 | 2013-12-04 | 烟台兴业机械股份有限公司 | Fault intelligent diagnosing and monitoring system for underground scraper |
| CN106600943A (en) * | 2016-12-15 | 2017-04-26 | 电子科技大学 | Transmission control method of underground wireless remote control load-haul-dump machine airborne equipment signals |
| CN106759618A (en) * | 2016-12-15 | 2017-05-31 | 电子科技大学 | A kind of wireless remote control method of underground carry scraper |
| CN108487021A (en) * | 2018-05-25 | 2018-09-04 | 徐州徐工筑路机械有限公司 | A kind of feeding device and its milling machine with wireless control system |
| CN113715021A (en) * | 2021-08-31 | 2021-11-30 | 广州多钛克机械科技有限公司 | Drainage robot control system |
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| CN2823342Y (en) * | 2005-09-23 | 2006-10-04 | 天津工程机械研究院 | Wireless remote-controller for bulldozer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294040A (en) * | 2013-06-09 | 2013-09-11 | 山东华山拖拉机制造有限公司 | Remote automatic control system |
| CN103422525A (en) * | 2013-08-24 | 2013-12-04 | 烟台兴业机械股份有限公司 | Fault intelligent diagnosing and monitoring system for underground scraper |
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| CN106600943A (en) * | 2016-12-15 | 2017-04-26 | 电子科技大学 | Transmission control method of underground wireless remote control load-haul-dump machine airborne equipment signals |
| CN106759618A (en) * | 2016-12-15 | 2017-05-31 | 电子科技大学 | A kind of wireless remote control method of underground carry scraper |
| CN108487021A (en) * | 2018-05-25 | 2018-09-04 | 徐州徐工筑路机械有限公司 | A kind of feeding device and its milling machine with wireless control system |
| CN113715021A (en) * | 2021-08-31 | 2021-11-30 | 广州多钛克机械科技有限公司 | Drainage robot control system |
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Application publication date: 20130327 |