CN106524962A - Abrasion loss detection device for traveling wheel of coal mining machine and abrasion loss detecting and early-warning method - Google Patents
Abrasion loss detection device for traveling wheel of coal mining machine and abrasion loss detecting and early-warning method Download PDFInfo
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- CN106524962A CN106524962A CN201610878693.3A CN201610878693A CN106524962A CN 106524962 A CN106524962 A CN 106524962A CN 201610878693 A CN201610878693 A CN 201610878693A CN 106524962 A CN106524962 A CN 106524962A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses an abrasion loss detection device for the traveling wheel of a coal mining machine and an abrasion loss detecting and early-warning method. An MEMS sensor is an inertial measurement unit and is arranged in a mounting groove on the end surface of the output shaft of an idler wheel. A memory card is arranged on the MEMS sensor. The MEMS sensor is connected to the input end of a data receiving device through a cable. The output end of the data receiving device is connected to a data processing device. The data receiving device and the data processing device are arranged in a numerical control box. The idler wheel is meshed with the traveling wheel of a coal mining machine. The traveling wheel is meshed with the pin-track teeth of a scraper conveyer. The device and the method are concise in configuration and simple in detection process, wherein the manual participation is not required. The device and the method are applicable to the operation in severe mines. Various kinematics and dynamics parameters of the traveling wheel during the operating process can be obtained through the sensing operation of the MEMS sensor arranged on the output shaft of the idler wheel. Therefore, correct abrasion loss data are obtained and the response is made in real time. Whether the traveling wheel is in the normal working state or not can be timely and correctly judged, and then the early-warning response is made. As a result, the occurrence of serious production accidents is avoided.
Description
Technical field
The present invention relates to a kind of walking wheel of coal cutter abrasion amount detecting device and wear extent detection method for early warning, belong to mining
Apparatus field.
Background technology
Equipment of the coal-winning machine as most critical in fully-mechanized mining working, its properties of product, quality, production capacity decide work
Face or even mine capacity, but as coal-winning machine (especially high seam, high working face coal winning machine) road wheel and scraper plate are conveyed
The problems such as machine pin rail engagement displacement, road wheel serious wear is caused, if wear extent can not be detected in time, broken teeth easily occurs and damages
Bad phenomenon, has a strong impact on the production efficiency of working face, or even more serious accident occurs.
Currently, the detection of wear extent can be examined using gear wear oil liquid detection testing stand, the sound emission of gear wear failure
Detection means and the methods such as survey, three measurement of coordinates machine testing gear wear amounts, but, one side said method is mostly by more
Individual detecting element compound detection, process is loaded down with trivial details, feedback result is not in time and error-prone；On the other hand, due to coal-winning machine building ring
Border is severe, and said method is not particularly suited for detecting the wear extent of walking wheel of coal cutter, leads to not understand in time the work of road wheel
Make state.
The content of the invention
For the problem that above-mentioned prior art is present, it is an object of the invention to provide a kind of can adapt to severe building ring
Border, configuration is succinct, detection process is simple, can be with real-time processing road wheel wear data, correctly judge whether road wheel is normal
Working condition, can avoid the walking wheel of coal cutter abrasion amount detecting device that serious production accident occurs；Another mesh of the present invention
Be to provide a kind of detection easily, result it is accurate, can correctly judge road wheel working condition in time and make the coal mining of reply
Machine road wheel wear extent detects method for early warning.
For achieving the above object, the technical solution used in the present invention is：A kind of walking wheel of coal cutter abrasion amount detecting device,
Including a MEMS sensor, the MEMS sensor is arranged in the mounting groove of idle pulley output shaft end face, the MEMS sensor
Storage card is provided with, and MEMS sensor is connected to the input of a data sink by cable, data sink
Output end is connected to a data processing equipment, and the data sink and data processing equipment are arranged in numerical control box；It is described
Idle pulley is engaged with walking wheel of coal cutter, and the road wheel is engaged with the pin rail tooth of drag conveyor.
Further, also including a walking wheel of coal cutter warning device, the output end of the data processing equipment passes through line
Cable is connected to walking wheel of coal cutter warning device.
Preferably, the MEMS sensor is externally provided with crown cap.
Preferably, the MEMS sensor is IMU Inertial Measurement Units.
Preferably, the MEMS sensor is powered by cable by the battery being placed in numerical control box.
Preferably, the data sink is the mass storage with cable interface.
Preferably, the data processing equipment is the microprocessor with high speed processing ability.
Preferably, the numerical control box is arranged on traction electric machine side.
Preferably, the cable is downhole communication cable, after downhole communication cable is drawn from MEMS sensor, is led along above-mentioned
Draw motor edge arrangement, be linked in numerical control box.
Present invention also offers a kind of wear extent detection method for early warning of walking wheel of coal cutter, comprises the steps：
(1) definition calculates the coordinate system needed for road wheel wear extent, navigational coordinate system OnxnynznFor the reference coordinate for calculating
System, origin is in the end of coal-winning machine, xnAxle is horizontally directed on the right side of fuselage parallel to coal-winning machine working face, ynAxle points to hydraulic pressure
Frame and perpendicular to coal-winning machine working face, znAxle is pointed up along the vertical line direction that lands, and navigational coordinate system is designated as n systems；Road wheel is sat
Mark system ObxbybzbIt is connected with road wheel, origin is in the center of road wheel idler shaft, xbAxle is along coal-winning machine working face horizontal direction
Point on the right side of fuselage, ybAxle points to hydraulic support, z along perpendicular to coal-winning machine fuselage directionbAlong coal-winning machine vertical pivot upwards；Road wheel
Coordinate system is calculated as carrier coordinate system b system；
(2) MEMS sensor detection obtains acceleration information a (t), and acceleration information is stored and led to by down-hole
News cable transmission imports data to data processing equipment, at Jing Kalman filters to data sink after the completion of data receiver
After reason, to the direction cosine matrix obtained using MEMS sensorAttitude algorithm is carried out, by adding defined in carrier coordinate system
SpeedPremultiplication direction cosinesObtain the acceleration a in navigational coordinate systemn；
(3) to anFrequency Domain Integration is carried out, Frequency Domain Integration is carried out and can be reduced the integral error produced due to accumulated time, according to
The formula of Fourier transformation, acceleration signal are can be expressed as in the Fourier components of arbitrary frequency
A (t)=Aejωt,
In formula：A (t) is Fourier components of the acceleration signal in frequencies omega, and A is the coefficient of correspondence a (t), and j is imaginary number；
When initial velocity component is 0, time integral is carried out to acceleration signal components and can draw rate signal component, i.e.,
In formula：V (t) is Fourier components of the rate signal in frequencies omega, and V is the coefficient of correspondence v (t)；
Due to once integrating the relational expression in frequency domain it is：
When initial velocity and first displacement component are 0, the Fourier components of acceleration signal are integrated twice and can draw displacement
Component：
In formula：S (t) is Fourier components of the displacement signal in frequencies omega, and S is the coefficient of correspondence s (t)；
(4) by the displacement information after integrating twice, the displacement information that inverse Fourier transform is obtained time domain is carried out, that is, is walked
The positional information of wheel meshing point；From carrier coordinate system, detection and the wear extent for calculating is needed to occur in xbzbIn plane, institute
With ybDisplacement on direction can be ignored, and within a pair of tooth engagement times, s (t) is designated as s1(x1, z1), s2(x2, z2), s3(x3,
z3)……sn(xn, zn), according to this n point, walking is fitted by least square method polynomial curve fitting principle and method
The contour curve of wheel engaging tooth；
(5) when lower a pair of teeth are engaged, compute repeatedly and fitting, until after road wheel rotates a circle, you can to intend
Close out the contour curve of road wheel engaging tooth；
(6), during road wheel is rotated further, cycle calculations and matched curve, by the contour curve for rotating each circle
The wear extent of road wheel is obtained with the contour curve contrast for rotating a circle before；
(7) data processing equipment using BP neural network to different wear extenies is as training data and classifies, BP
The output result of neutral net is delivered to walking wheel of coal cutter warning device as control instruction, when BP neural network output result
When reaching the pre-alarm value being set in advance in walking wheel of coal cutter warning device, walking wheel of coal cutter warning device sends forecast
Alert signal；When BP neural network output result is beyond the alarming value being set in advance in walking wheel of coal cutter warning device,
Warning device sends alarm signal.
Present invention configuration is succinct, detection process is simple；Artificially need not participate in, it is adaptable in severe ore deposit underground work,
Road wheel various kinematics and dynamics in running can be obtained by the MEMS sensor detection on idle pulley output shaft
Parameter；Correct wear extent data can be drawn and responded in real time, correctly judge whether road wheel is normal work in time
State simultaneously makes reply, can avoid the generation of serious production accident.
Description of the drawings
Fig. 1 is the respective outer side edges schematic diagram of the present invention；
Fig. 2 is traveling box of coal mining machine entirety side schematic view of the present invention；
Fig. 3 is abrasion amount detecting device connection figure；
Fig. 4 road wheels abrasion quantity measuring method flow chart；
Fig. 5 be amplify at A in Fig. 1 after calculate the schematic diagram of wear extent according to matched curve；
Fig. 6 is the schematic diagram of carrier coordinate system and coal-winning machine relation；
In figure, 1, road wheel；2nd, MEMS sensor；3rd, idle pulley；4th, idle pulley output shaft；5th, idle pulley end cap；6th, road wheel end
Lid；7th, traction electric machine；8th, numerical control box；9th, pin rail tooth.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
The amount detecting device as illustrated, a kind of walking wheel of coal cutter weares and teares, including a MEMS sensor 2, the MEMS is passed
Sensor 2 is arranged in the mounting groove of 4 end face of idle pulley output shaft, installs idle pulley 3 on idle pulley output shaft 4, and idle pulley 3 is externally provided with idler end
Lid 5, the MEMS sensor 2 are provided with storage card, and MEMS sensor 2 is connected to the defeated of a data sink by cable
Enter end, the output end of data sink is connected to a data processing equipment, the data sink and data processing equipment
It is arranged in numerical control box 8；The idle pulley 3 is engaged with walking wheel of coal cutter 1,1 outer covering road wheel end cap 6 of road wheel, the row
Walk wheel 1 to engage with the pin rail tooth 9 of drag conveyor.
Concrete principle：MEMS sensor 2 is on the idle pulley output shaft 4 engaged with road wheel 1, because gear engagement is passed
Dynamic is positive drive, so the MEMS sensor 2 on idle pulley output shaft 4 can be used to detect that road wheel 1 was running
Various kinematics and kinetic parameter in journey.After 2 acquired data storage of MEMS sensor, data are transferred data to by cable
Reception device.After the completion of data receiver, data sink no longer receiving data, and data processing equipment is imported data to, lead to
Algorithm process is crossed, the displacement information after obtaining the acceleration information of road wheel 1 and integrating twice obtains the operation work of road wheel 1
Condition and wear extent.Data processing unit is by wear extent and the wear extent ratio of extreme values being set in advance in data processing unit compared with sentencing
Whether disconnected wear extent exceedes extreme value, less than extreme value, normal work, continues detection；Otherwise, remind artificial maintenance or change walking
Wheel 1.
Further, also including a walking wheel of coal cutter warning device, the output end of the data processing equipment passes through line
Cable is connected to walking wheel of coal cutter warning device.After data processing equipment draws wear extent, coal-winning machine walking is sent data to
Wheel warning device, if wear extent is beyond the alarming value being set in advance in walking wheel of coal cutter warning device, warning device
Send alarm signal.
Preferably, in order to protect the sensor from damaging, the MEMS sensor 2 is externally provided with crown cap.
Preferably, the MEMS sensor 2 is IMU Inertial Measurement Units.IMU Inertial Measurement Units are that one kind is added by three axles
Velocity sensor and three-axis gyroscope sensor group into sensing element, can be each in running with accurate detection road wheel 1
Plant kinematics and kinetic parameter.
Preferably, the MEMS sensor 2 is powered by cable by the battery being placed in numerical control box 8.
Preferably, the storage card is UFS2.0 and above high speed storing card, and storage card is connected to depositing for MEMS sensor 2
Card storage interface, can be with quick storage mass data.
Preferably, in order to data sink is convenient with the connection of MEMS sensor 2, the data sink is
Mass storage with cable interface.
Preferably, the data processing equipment is the microprocessor with high speed processing ability.
Preferably, the numerical control box 8 is arranged on 7 side of traction electric machine.
Preferably, in order to ensure that, using safety, the cable is downhole communication cable, and the downhole communication cable is from MEMS
After sensor 2 is drawn, arrange along 7 edge of traction electric machine, be linked in numerical control box 8.
The wear extent detection method for early warning of walking wheel of coal cutter, comprises the steps：
(1) the wear extent parameter of road wheel 1 is determined by acceleration information, and the acquisition of acceleration needs each coordinate
Relation between system is determining.
Definition calculates the coordinate system needed for road wheel wear extent, navigational coordinate system OnxnynznFor calculate the frame of reference,
Origin is in the end of coal-winning machine, xnAxle is horizontally directed on the right side of fuselage parallel to coal-winning machine working face, ynAxle point to hydraulic support and
Perpendicular to coal-winning machine working face, znAxle is pointed up along the vertical line direction that lands, and navigational coordinate system is designated as n systems；Road wheel coordinate system
ObxbybzbIt is connected with road wheel, origin is in the center of road wheel idler shaft, xbAxle is pointed to along coal-winning machine working face horizontal direction
On the right side of fuselage, ybAxle points to hydraulic support, z along perpendicular to coal-winning machine fuselage directionbAlong coal-winning machine vertical pivot upwards；Road wheel coordinate
System is calculated as carrier coordinate system b system；
(2) detection of MEMS sensor 2 obtains acceleration information a (t), and acceleration information is stored and led to by down-hole
News cable transmission imports data to data processing equipment, at Jing Kalman filters to data sink after the completion of data receiver
After reason, to the direction cosine matrix obtained using MEMS sensor 2Attitude algorithm is carried out, by adding defined in carrier coordinate system
SpeedPremultiplication direction cosinesObtain the acceleration a in navigational coordinate systemn；
(3) to anFrequency Domain Integration is carried out, Frequency Domain Integration is carried out and can be reduced the integral error produced due to accumulated time, substantially
Principle is the signal for needing integration to be made Fourier transformation first, transformation results is integrated computing in frequency domain then, most
Time-domain signal after being integrated by inverse Fourier transform：
According to the formula of Fourier transformation, acceleration signal is can be expressed as in the Fourier components of arbitrary frequency
A (t)=Aejωt,
In formula：A (t) is Fourier components of the acceleration signal in frequencies omega, and A is the coefficient of correspondence a (t), and j is imaginary number；
When initial velocity component is 0, time integral is carried out to acceleration signal components and can draw rate signal component, i.e.,
In formula：V (t) is Fourier components of the rate signal in frequencies omega, and V is the coefficient of correspondence v (t)；
Due to once integrating the relational expression in frequency domain it is：
When initial velocity and first displacement component are 0, the Fourier components of acceleration signal are integrated twice and can draw position
Move component：
In formula：S (t) is Fourier components of the displacement signal in frequencies omega, and S is the coefficient of correspondence s (t).
(4) by the displacement information after integrating twice, the displacement information that inverse Fourier transform is obtained time domain is carried out, that is, is walked
Take turns the positional information of 1 meshing point；From carrier coordinate system, detection and the wear extent for calculating is needed to occur in xbzbIn plane, institute
With ybDisplacement on direction can be ignored, and within a pair of tooth engagement times, s (t) is designated as s1(x1, z1), s2(x2, z2), s3(x3,
z3)……sn(xn, zn), according to this n point, walking is fitted by least square method polynomial curve fitting principle and method
The contour curve of wheel engaging tooth；
(5) when lower a pair of teeth are engaged, compute repeatedly and fitting, until after road wheel rotates a circle, you can to intend
Close out the contour curve of road wheel engaging tooth；
(6), during road wheel is rotated further, cycle calculations and matched curve, by the contour curve for rotating each circle
The wear extent of road wheel 1 is obtained with the contour curve contrast for rotating a circle before；
(7) data processing equipment using BP neural network to different wear extenies is as training data and classifies, BP
The output result of neutral net is delivered to walking wheel of coal cutter warning device as control instruction, when BP neural network output result
When reaching the pre-alarm value being set in advance in walking wheel of coal cutter warning device, walking wheel of coal cutter warning device sends forecast
Alert signal；When BP neural network output result is beyond the alarming value being set in advance in walking wheel of coal cutter warning device,
Warning device sends alarm signal.
Claims (10)
1. a kind of walking wheel of coal cutter weares and teares amount detecting device, it is characterised in that including a MEMS sensor, the MEMS sensings
Device is arranged in the mounting groove of idle pulley output shaft end face, and the MEMS sensor is provided with storage card, and MEMS sensor passes through
Cable is connected to the input of a data sink, and the output end of data sink is connected to a data processing equipment, institute
State data sink and data processing equipment is arranged in numerical control box；The idle pulley is engaged with walking wheel of coal cutter, the row
Walk wheel to engage with the pin rail tooth of drag conveyor.
2. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that also including a coal-winning machine
Road wheel warning device, the output end of the data processing equipment are connected to walking wheel of coal cutter warning device by cable.
3. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the MEMS sensor
It is externally provided with crown cap.
4. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the MEMS sensor
For IMU Inertial Measurement Units, the IMU Inertial Measurement Units are by three-axis gyroscope sensor and 3-axis acceleration sensor group
Into.
5. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the MEMS sensor
Powered by cable by the battery being placed in numerical control box.
6. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the data receiver dress
It is the mass storage with cable interface to put.
7. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the data processing dress
It is the microprocessor with high speed processing ability to put.
8. walking wheel of coal cutter according to claim 1 weares and teares amount detecting device, it is characterised in that the numerical control box is arranged
In traction electric machine side.
9. walking wheel of coal cutter according to claim 8 weares and teares amount detecting device, it is characterised in that the cable is down-hole
Communication cable, downhole communication cable from after MEMS sensor extraction are arranged along traction electric machine edge, are linked in numerical control box.
10. a kind of wear extent of walking wheel of coal cutter detects method for early warning, it is characterised in that comprise the steps：
(1) definition calculates the coordinate system needed for road wheel wear extent, navigational coordinate system OnxnynznFor the frame of reference for calculating, original
Point is in the end of coal-winning machine, xnAxle is horizontally directed on the right side of fuselage parallel to coal-winning machine working face, ynAxle points to hydraulic support and hangs down
Directly in coal-winning machine working face, znAxle is pointed up along the vertical line direction that lands, and navigational coordinate system is designated as n systems；Road wheel coordinate system
ObxbybzbIt is connected with road wheel, origin is in the center of road wheel idler shaft, xbAxle is pointed to along coal-winning machine working face horizontal direction
On the right side of fuselage, ybAxle points to hydraulic support, z along perpendicular to coal-winning machine fuselage directionbAlong coal-winning machine vertical pivot upwards；Road wheel coordinate
System is calculated as carrier coordinate system b system；
(2) MEMS sensor detection obtains acceleration information a (t), acceleration information is stored and passes through downhole communication line
Cable is transmitted to data sink, after the completion of data receiver, imports data to data processing equipment, the process of Jing Kalman filters
Afterwards, the direction cosine matrix to being obtained using MEMS sensorAttitude algorithm is carried out, by the acceleration defined in carrier coordinate system
Degree abPremultiplication direction cosinesObtain the acceleration a in navigational coordinate systemn；
(3) to anFrequency Domain Integration is carried out, Frequency Domain Integration is carried out and can be reduced the integral error produced due to accumulated time, according in Fu
The formula of leaf transformation, acceleration signal are can be expressed as in the Fourier components of arbitrary frequency
A (t)=Aejωt,
In formula：A (t) is Fourier components of the acceleration signal in frequencies omega, and A is the coefficient of correspondence a (t), and j is imaginary number；
When initial velocity component is 0, time integral is carried out to acceleration signal components and can draw rate signal component, i.e.,
In formula：V (t) is Fourier components of the rate signal in frequencies omega, and V is the coefficient of correspondence v (t)；
Due to once integrating the relational expression in frequency domain it is：
When initial velocity and first displacement component are 0, the Fourier components of acceleration signal are integrated twice and can draw displacement component：
In formula：S (t) is Fourier components of the displacement signal in frequencies omega, and S is the coefficient of correspondence s (t)；
(4) by the displacement information after integrating twice, the displacement information that inverse Fourier transform is obtained time domain, i.e. road wheel are carried out and is nibbled
The positional information of chalaza；From carrier coordinate system, detection and the wear extent for calculating is needed to occur in xbzbIn plane, so yb
Displacement on direction can be ignored, and within a pair of tooth engagement times, s (t) is designated as s1(x1, z1), s2(x2, z2), s3(x3,
z3)……sn(xn, zn), according to this n point, walking is fitted by least square method polynomial curve fitting principle and method
The contour curve of wheel engaging tooth；
(5) when lower a pair of teeth are engaged, compute repeatedly and fitting, until after road wheel rotates a circle, you can to fit
The contour curve of road wheel engaging tooth；
(6) during road wheel is rotated further, cycle calculations and matched curve, by the contour curve that rotates each circle therewith
The front contour curve contrast for rotating a circle obtains the wear extent of road wheel；
(7), using BP neural network to different wear extenies is as training data and classifies, BP is neural for data processing equipment
The output result of network is delivered to walking wheel of coal cutter warning device as control instruction, when BP neural network output result reaches
During the pre-alarm value being set in advance in walking wheel of coal cutter warning device, walking wheel of coal cutter warning device sends pre-alarm letter
Number；When BP neural network output result is beyond the alarming value being set in advance in walking wheel of coal cutter warning device, report to the police
Device sends alarm signal.
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| CN108343435A (en) * | 2018-03-30 | 2018-07-31 | 北京力信德华科技有限公司 | It is a kind of that there is the coalcutter for drawing running part double protecting device and its guard method |
| CN108343435B (en) * | 2018-03-30 | 2024-05-10 | 北京力信德华科技有限公司 | Coal mining machine with traction traveling part double protection device and protection method thereof |
| CN110820495A (en) * | 2019-11-20 | 2020-02-21 | 上海海事大学 | Method and system for detecting flatness of road surface of non-motor vehicle and computer storage medium |
| CN114674551A (en) * | 2022-03-08 | 2022-06-28 | 广州机械科学研究院有限公司 | Method, device and system for monitoring abrasion energy of gear and electronic equipment |
| CN114674551B (en) * | 2022-03-08 | 2023-10-13 | 广州机械科学研究院有限公司 | Gear abrasion energy monitoring method, device and system and electronic equipment |
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