CN108252713B - Multi-section running speed adjusting device and method in automatic cutting mode of coal mining machine - Google Patents
Multi-section running speed adjusting device and method in automatic cutting mode of coal mining machine Download PDFInfo
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
The invention discloses a multi-section running speed adjusting device and method in an automatic cutting mode of a coal cutter, wherein the device comprises a coal cutter control module and a handheld adjusting module, the handheld adjusting module comprises a handheld controller, a speed input key, a liquid crystal display screen, an alarm module and a first indicator lamp, and the coal cutter control module comprises a coal cutter controller, a second wireless transceiver module and a memory, as well as a speed detecting module, a running direction detecting module, a position detecting module, a speed threshold input key module, a coal cutter running motor and a second indicator lamp; the method comprises the following steps: 1. detecting the current position of the coal mining machine; 2. judging the current position of the coal mining machine and adjusting the running speed of the coal mining machine; 3. and detecting and transmitting the running speed of the coal mining machine in real time. The automatic coal cutting device is reasonable in design, the running speed of the coal cutter in an automatic cutting mode is adjustable, the optimal speed control of automatic coal cutting is realized, and the practicability is high.
Description
Technical Field
The invention belongs to the technical field of remote speed adjustment of coal mining machines, and particularly relates to a multi-section running speed adjustment device and method in an automatic cutting mode of a coal mining machine.
Background
At present, the technology of coal mining machines at home and abroad is different day by day, and an automatic, intelligent and unmanned fully mechanized mining working face is no longer dream, so that ideas are gradually changed into reality. As the requirements of clients on the functions of the coal mining machine are continuously improved, industry competition is more and more vigorous, research and development personnel of each enterprise are thoroughly innovated in design, so that the technology of the coal mining machine is rapidly improved, the functions are continuously increased, the performance is more and more stable, and a technical blind area still exists. The automatic coal cutting mode is not operated, and the coal cutting mode is controlled manually. In order to realize the operation speed adjustment of the coal cutter in the automatic cutting mode, the operation speed of the coal cutter can be quickly adjusted according to different conditions of the coal face in the automatic cutting mode, and the automatic cutting speed adjustment of the coal cutter is necessary. Therefore, a multi-section operation speed adjusting device and a multi-section operation speed adjusting method under an automatic cutting mode of a coal mining machine with reasonable design are lacking at present, so that the coal mining machine can finish multi-section operation speed adjustment under the automatic cutting mode according to different coal mining working surface conditions, the optimal speed control of automatic coal cutting is realized, the automatic coal cutting efficiency of the coal mining machine is improved through accurate, quick and reliable speed adjustment, the safety of the automatic operation of the coal mining machine is enhanced, and the purposes of increasing yield and improving efficiency and producing safety are achieved for the coal mine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the multi-section operation speed adjusting device in the automatic cutting mode of the coal mining machine, which has reasonable design and low cost, and can set proper operation speed according to the real-time operation process of the coal mining machine, so that the operation speed of the coal mining machine in the automatic cutting mode is adjustable, the optimal speed control of automatic coal cutting is realized, the automatic cutting of the coal mining machine is more stable, reliable and efficient, the automatic cutting efficiency of the coal mining machine is effectively improved, the automatic operation state is improved, the human intervention in the automatic cutting process is reduced, and the practicability is strong.
In order to solve the technical problems, the invention adopts the following technical scheme: a multistage operation speed adjusting device under automatic cutting mode of coal-winning machine, its characterized in that: the intelligent coal mining machine comprises a coal mining machine control module and a handheld adjusting module, wherein the handheld adjusting module is arranged on the coal mining machine and used for adjusting the running speed of the coal mining machine, the handheld adjusting module comprises a handheld controller and a first wireless receiving and transmitting module connected with the handheld controller, the input end of the handheld controller is connected with a speed input key, the output end of the handheld controller is provided with a liquid crystal display screen, an alarm module and a first indicator lamp, the coal mining machine control module comprises a coal mining machine controller, a second wireless receiving and transmitting module and a memory, the second wireless receiving and transmitting module is connected with the coal mining machine controller, the input end of the coal mining machine controller is connected with a speed detecting module, a walking direction detecting module and a position detecting module, and a speed threshold input key module, and the output end of the coal mining machine controller is connected with a coal mining machine walking motor and a second indicator lamp, and the handheld controller is in data communication with the coal mining machine controller through the first wireless receiving and transmitting module and the second wireless receiving module.
The multi-section operation speed adjusting device under the automatic cutting mode of the coal mining machine is characterized in that: the speed threshold input key module comprises a left operation speed threshold input key, a right operation speed threshold input key and a middle operation speed threshold input key, and the output ends of the left operation speed threshold input key, the right operation speed threshold input key and the middle operation speed threshold input key are connected with the input end of the coal mining machine controller.
The multi-section operation speed adjusting device under the automatic cutting mode of the coal mining machine is characterized in that: the hand-held controller is a single-chip microcomputer, an FPGA microcontroller, a DSP microcontroller or an ARM microcontroller; the coal mining machine controller is a singlechip, an FPGA microcontroller, a DSP microcontroller or an ARM microcontroller.
The multi-section operation speed adjusting device under the automatic cutting mode of the coal mining machine is characterized in that: the first wireless transceiver module and the second wireless transceiver module are wireless radio frequency transceiver modules.
Meanwhile, the invention also discloses a method for adjusting the multi-section running speed of the coal mining machine in the automatic cutting mode, which has the advantages of simple steps, reasonable design and convenient realization, and is characterized by comprising the following steps:
step one, detecting the current position of the coal mining machine: the method comprises the steps that a position detection module is adopted to detect the current position of the coal mining machine in real time, the detected current position of the coal mining machine is sent to a coal mining machine controller, a traveling direction detection module is adopted to detect the traveling direction of the coal mining machine in real time, and the detected traveling direction of the coal mining machine is sent to the coal mining machine controller;
judging the current position of the coal mining machine and adjusting the running speed of the coal mining machine, wherein the specific process is as follows:
step 201, judging the current position of the coal cutter by the coal cutter controller, and executing step 202 when the current position of the coal cutter is positioned at the left end of the coal face; executing step 203 when the current position of the coal cutter is located at the middle section of the coal face; executing step 204 when the current position of the coal cutter is positioned at the right end of the coal face; the coal face is divided into a left end, a middle section and a right end from left to right;
step 202, a coal mining machine controller judges whether the coal mining machine works on left end head beveling feeding and left end head triangular coal cutting according to the current position of the coal mining machine and the traveling direction of the coal mining machine, and when the coal mining machine does not work on left end head beveling feeding and left end head triangular coal cutting, step 2021 is executed; otherwise, step 2022 is performed;
step 2021, when the shearer is not operating at left-end miter cut and cutting left-end triangle coal, the shearer controller recalls the left run speed V stored in memory z The coal cutter controller controls the running speed of the coal cutter to be the left running speed V through the coal cutter running motor z And the coal mining machine controller controls the memory to input key input through speed sent by the handheld controllerThe left running speed regulating value is not stored, so that the coal mining machine can drive according to the left running speed V z Operating; wherein the left running speed V z Less than a predetermined left operating speed threshold stored in memory;
step 2022, when the shearer is operating on left-end miter cut and cut left-end triangle coal, the shearer controller recalls the left walk acceleration value V stored in memory zj The coal cutter controller controls the running speed of the coal cutter to be a left walking acceleration value V through a coal cutter walking motor zj The coal mining machine controller controls the memory to not store the left walking acceleration adjustment value input by the speed input key sent by the handheld controller, so that the coal mining machine can drive the coal mining machine according to the left walking acceleration value V zj Operating; wherein the left walking acceleration value V zj Less than a predetermined left operating speed threshold stored in memory;
step 203, when the current position of the coal mining machine is located in the middle section of the coal mining working face, the specific process is as follows:
step 2031, the shearer controller retrieves the intermediate run initial speed V stored in the memory 0 The coal cutter controller controls the running speed of the coal cutter to be V through a coal cutter running motor 0 ；
Step 2032, when the running speed of the coal mining machine needs to be adjusted, the coal mining machine controller sends a speed regulation command through the second wireless transceiver module and the first wireless transceiver module, the handheld controller receives the speed regulation command sent by the coal mining machine controller, and a worker inputs the middle walking adjustment value V through a speed input key 1 The hand-held controller receives the middle walking adjusting value V 1 And transmitting the current intermediate running initial speed V of the coal cutter stored in the memory by the coal cutter controller through the first wireless transceiver module and the second wireless transceiver module 0 Is adjusted by the middle walking adjustment value V 1 Updated, the coal mining machine controller updates the middle walking adjusting value V 1 Stored in memory, the shearer controller recalls the intermediate travel adjustment value V stored in memory 1 The coal cutter controller passes through the coal cutter walking motorControlling the running speed of the coal mining machine to be V 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the intermediate section operation speed adjusting value V 1 Less than a preset intermediate operating speed threshold stored in memory;
step 2033, repeat step 2032, and the worker inputs the next intermediate walking adjustment value V via the speed input key 2 And sent to the shearer controller, and the shearer controller adjusts the current intermediate walk adjustment value V of the shearer stored in the memory 1 Is regulated by the next intermediate walking regulation value V 2 Updating, the coal mining machine controller updates the next intermediate walking adjusting value V 2 Stored in memory, the shearer controller recalls the next intermediate walk adjustment value V stored in memory 2 The coal cutter controller controls the running speed of the coal cutter to be V through a coal cutter running motor 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the next intermediate section operation speed adjusting value V 2 Less than a preset intermediate operating speed threshold stored in memory;
step 2034, repeating step 2033 for a plurality of times, and inputting the kth intermediate walking adjustment value V by the staff through the speed input key k And sent to the shearer controller, and the shearer controller adjusts the current k-1 intermediate walk adjustment value V of the shearer stored in the memory k-1 Is regulated by the kth intermediate walking regulation value V k Updated, the coal mining machine controller updates the kth intermediate walking adjusting value V k Stored in memory, the shearer controller recalls the kth intermediate walk adjustment value V stored in memory k The coal cutter controller controls the running speed of the coal cutter to be V through a coal cutter running motor k Until the coal mining of the middle section is completed; wherein the kth intermediate walking adjustment value V k And the k-1 th intermediate walking adjustment value V k-1 Are smaller than a preset intermediate running speed threshold stored in a memory;
step 204, the coal mining machine controller judges whether the coal mining machine works on right-end chamfering feeding and right-end triangular coal cutting according to the current position of the coal mining machine and the traveling direction of the coal mining machine, and when the coal mining machine does not work on right-end chamfering feeding and right-end triangular coal cutting, step 2041 is executed; otherwise, go to step 2042;
2041, when the coal mining machine is not working at the right end chamfer feed and cutting right end triangle coal, the coal mining machine controller retrieves the right running speed V stored in the memory y The coal cutter controller controls the running speed of the coal cutter to be right running speed V through a coal cutter running motor y The coal mining machine controller controls the memory to not store the right running speed regulating value which is transmitted by the handheld controller and is input through the speed input key, so that the coal mining machine can operate at the right running speed V y Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in memory;
2042, when the coal mining machine works on right-end chamfering feeding and right-end triangular coal cutting, the coal mining machine controller retrieves the right walking acceleration value V stored in the memory yj The coal cutter controller controls the running speed of the coal cutter to be a right walking acceleration value V through a coal cutter walking motor yj The coal mining machine controller controls the memory to not store the right walking acceleration adjustment value input by the speed input key sent by the handheld controller, so that the coal mining machine can drive the coal mining machine according to the right walking acceleration value V yj Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in memory;
step three, real-time detection and transmission of the running speed of the coal mining machine: the speed detection module detects the running speed of the coal mining machine in real time and sends the detected running speed of the coal mining machine to the coal mining machine controller, the coal mining machine controller sends the received running speed of the coal mining machine to the handheld controller through the second wireless transceiver module and the first wireless transceiver module, and the handheld controller controls the liquid crystal display screen to display the running speed of the coal mining machine, so that when the coal mining machine is positioned at the left end and the coal mining machine works at the left end beveling feeding and cutting of the left end triangle coal, the running speed of the coal mining machine meets a left walking acceleration value V zj When the coal cutter is positioned at the left end and the coal cutter does not work at the left end for cutting the left end triangle coal, the running speed of the coal cutter is fullFoot left running speed V z When the coal cutter is positioned at the right end and the coal cutter works at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right walking acceleration value V yj When the coal cutter is positioned at the right end and the coal cutter does not work at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right running speed V y When the coal mining machine is positioned in the middle section, the running speed of the coal mining machine meets the kth middle walking adjusting value V k 。
The method is characterized in that: the left running speed threshold value in the step 2021 and the step 2022 is in a value range of 0.7 m/min-23 m/min; the value range of the intermediate running speed threshold in the step 203 is 0.7 m/min-23 m/min; the right running speed threshold in the step 204 is in a value range of 0.7 m/min-23 m/min.
Compared with the prior art, the invention has the following advantages:
1. the speed adjusting device is simple in structure and reasonable in design, can remotely adjust the speed of coal mining machine middle section coal mining, achieves the purpose of remote speed adjustment of coal mining machine middle section coal mining, and meets the requirement of adjusting the running speed of the coal mining machine due to the change of middle section coal seam conditions in an automatic cutting mode of the coal mining machine, and the practicability is strong.
2. The speed adjusting device comprises a coal cutter control device and a handheld adjusting module, the using effect is good, firstly, the handheld controller remotely adjusts the running speed of the middle section of the coal face, because the middle section of the coal face is longer, the remote speed adjustment of the coal face in the middle section can be realized, the adjustment is convenient, and the running speed can be changed in real time according to different coal mining layers in the middle section, so that the running speed of the coal cutter in an automatic cutting mode can be adjusted according to different real-time coal layer conditions of the coal cutter, the optimal speed control of automatic cutting coal is realized, the automatic cutting efficiency of the coal cutter is more stable, reliable and efficient, and the automatic running state is improved;
secondly, when the coal mining machine works at the left end head and the right end head, the handheld controller cannot adjust the running speed of the coal mining machine, so that the running speed of the coal mining machine is ensured to run according to the preset running speed, and the staged control of the working position of the coal mining machine is realized.
3. The adopted handheld adjusting module can carry out multi-section speed adjustment on the middle section of the coal face so as to meet various coal seam coal mining conditions as much as possible and improve the coal mining efficiency.
4. The multi-section operation speed adjusting step in the automatic cutting mode of the coal mining machine is simple, convenient to realize and easy and convenient to operate, the coal mining machine can be ensured to remotely adjust the speed in the middle section of the coal mining machine, and the operation speed can be adjusted for multiple times in the middle section of the coal mining machine.
5. The multi-section running speed adjustment operation under the automatic cutting mode of the coal mining machine is simple and convenient, the using effect is good, the current position of the coal mining machine is detected, and the control of the running speed adjustment of the coal mining machine is judged according to the current position of the coal mining machine; then, when the coal mining machine works at the left end head and the right end head, the remote speed adjusting value input by the handheld adjusting module is not stored in the memory, so that the running speed of the coal mining machine runs at a set speed; when the coal mining machine works in the middle section, the remote speed adjustment is carried out on the coal mining machine through the handheld adjusting module, the remote speed adjustment value is stored in the memory, the running speed of the coal mining machine is updated, the running speed of the middle section can be adjusted for multiple times, the multi-section running speed adjustment under the automatic cutting mode of the coal mining machine is realized, and the adjustment is convenient.
In summary, the invention has reasonable design and low cost, and can set proper running speed according to the real-time running process of the coal cutter, so that the running speed of the coal cutter in an automatic cutting mode is adjustable, the optimal speed control of automatic coal cutting is realized, the automatic cutting of the coal cutter is more stable, reliable and efficient, the automatic cutting efficiency of the coal cutter is effectively improved, the automatic running state is improved, the human intervention in the automatic cutting process is reduced, and the practicability is strong.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic block diagram of a multi-stage operation speed adjusting device in an automatic cutting mode of a coal mining machine according to the present invention.
FIG. 2 is a flow chart of a method for adjusting multi-stage operation speed in an automatic cutting mode of a coal cutter according to the present invention.
Reference numerals illustrate:
1-a coal mining machine controller; 2-a memory; 3-a hand-held controller;
4, an alarm module; 5-a liquid crystal display; 6-a speed input key;
7-a first indicator light; 8-a first wireless transceiver module; 9-a second wireless transceiver module;
10-left running speed threshold input key; 11-right running speed threshold input key;
12-an intermediate running speed threshold input key; 13, a walking direction detection module;
14-a position detection module; 15-a second indicator light; 16-a coal cutter walking motor;
17-a speed detection module.
Detailed Description
The multi-section operation speed adjusting device in the automatic cutting mode of the coal mining machine as shown in fig. 1 comprises a coal mining machine control module arranged on the coal mining machine and a handheld adjusting module for adjusting the operation speed of the coal mining machine, wherein the handheld adjusting module comprises a handheld controller 3 and a first wireless transceiver module 8 connected with the handheld controller 3, the input end of the handheld controller 3 is connected with a speed input key 6, the output end of the handheld controller 3 is provided with a liquid crystal display 5, an alarm module 4 and a first indicator lamp 7, the coal mining machine control module comprises a coal mining machine controller 1, a second wireless transceiver module 9 connected with the coal mining machine controller 1 and a memory 2, the input end of the coal mining machine controller 1 is connected with a speed detecting module 17, a traveling direction detecting module 13 and a position detecting module 14, and a speed threshold input key module, the output end of the coal mining machine controller 1 is connected with a coal mining machine traveling motor 16 and a second indicator lamp 15, and the handheld controller 3 communicates data with the coal mining machine controller 1 through the first wireless transceiver module 8 and the second wireless transceiver module 9.
In this embodiment, the speed threshold input key module includes a left running speed threshold input key 10, a right running speed threshold input key 11 and an intermediate running speed threshold input key 12, where the output ends of the left running speed threshold input key 10, the right running speed threshold input key 11 and the intermediate running speed threshold input key 12 are all connected with the input end of the coal mining machine controller 1.
In the present embodiment, the left operation speed threshold is input in advance through the left operation speed threshold input key 10, and the left operation speed threshold is stored in the memory 2, the operation speed threshold is input in advance through the right operation speed threshold input key 11, and the operation speed threshold is stored in the memory 2, the intermediate operation speed threshold is input in advance through the intermediate operation speed threshold input key 12, and the intermediate operation speed threshold is stored in the memory 2.
In this embodiment, the hand-held controller 3 is a single-chip microcomputer, an FPGA microcontroller, a DSP microcontroller, or an ARM microcontroller; the coal mining machine controller 1 is a singlechip, an FPGA microcontroller, a DSP microcontroller or an ARM microcontroller.
In this embodiment, the first wireless transceiver module 8 and the second wireless transceiver module 9 are both wireless radio frequency transceiver modules.
A method for adjusting multi-stage operation speed in an automatic cutting mode of a shearer as shown in fig. 2, the method comprising the steps of:
step one, detecting the current position of the coal mining machine: the method comprises the steps that a current position of a coal cutter is detected in real time by a position detection module 14, the detected current position of the coal cutter is sent to a coal cutter controller 1, a traveling direction detection module 13 detects the traveling direction of the coal cutter in real time, and the detected traveling direction of the coal cutter is sent to the coal cutter controller 1;
judging the current position of the coal mining machine and adjusting the running speed of the coal mining machine, wherein the specific process is as follows:
step 201, the coal mining machine controller 1 judges the current position of the coal mining machine, and when the current position of the coal mining machine is positioned at the left end of the coal mining working face, step 202 is executed; executing step 203 when the current position of the coal cutter is located at the middle section of the coal face; executing step 204 when the current position of the coal cutter is positioned at the right end of the coal face; the coal face is divided into a left end, a middle section and a right end from left to right;
step 202, the coal mining machine controller 1 judges whether the coal mining machine works on the left end head beveling feeding and cutting left end head triangular coal according to the current position of the coal mining machine and the traveling direction of the coal mining machine, and when the coal mining machine does not work on the left end head beveling feeding and cutting left end head triangular coal, step 2021 is executed; otherwise, step 2022 is performed;
step 2021, when the shearer is not operating at left-end miter cut and cutting left-end triangle coal, the shearer controller 1 recalls the left run speed V stored in the memory 2 z The coal cutter controller 1 controls the running speed of the coal cutter to be the left running speed V through the coal cutter running motor 16 z And the coal mining machine controller 1 controls the memory 2 to not save the left running speed regulating value input by the speed input key 6 sent by the handheld controller 3 so as to lead the coal mining machine to be at the left running speed V z Operating; wherein the left running speed V z Less than a preset left running speed threshold stored in the memory 2;
step 2022, when the shearer is operating on left-end miter cut and left-end triangle coal cut, the shearer controller 1 recalls the left walk acceleration value V stored in the memory 2 zj The coal cutter controller 1 controls the running speed of the coal cutter to be a left walking acceleration value V through the coal cutter walking motor 16 zj And the coal mining machine controller 1 controls the memory 2 to not store the left walking acceleration adjustment value input by the speed input key 6 sent by the handheld controller 3 so that the coal mining machine can follow the left walking acceleration value V zj Operating; wherein the left walking acceleration value V zj Less than a preset left running speed threshold stored in the memory 2;
step 203, when the current position of the coal mining machine is located in the middle section of the coal mining working face, the specific process is as follows:
step 2031, the shearer controller 1 recalls the intermediate running initial speed V stored in the memory 2 0 The coal cutter controller 1 controls the running speed of the coal cutter to be V through the coal cutter running motor 16 0 ；
Step 2032, when the operation speed of the coal mining machine needs to be adjusted, the coal mining machine controller 1 sends a speed regulation command through the second wireless transceiver module 9 and the first wireless transceiver module 8, the handheld controller 3 receives the speed regulation command sent by the coal mining machine controller 1, the handheld controller 3 controls the first indicator lamp 7 to be on, and the staff inputs the intermediate walking adjustment value V through the speed input key 6 1 The hand-held controller 3 receives the intermediate walking adjustment value V 1 And transmitted to the shearer controller 1 through the first wireless transceiver module 8 and the second wireless transceiver module 9, and the shearer controller 1 operates the initial speed V for the current middle of the shearer stored in the memory 2 0 Is adjusted by the middle walking adjustment value V 1 Updated, the shearer controller 1 adjusts the middle walking adjustment value V 1 Stored in the memory 2, the shearer controller 1 controls the second indicator lamps 15 two by two, and the shearer controller 1 calls the intermediate walking adjustment value V stored in the memory 2 1 The coal cutter controller 1 controls the running speed of the coal cutter to be V through the coal cutter running motor 16 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the intermediate section operation speed adjusting value V 1 Less than a preset intermediate operating speed threshold stored in memory 2;
step 2033, repeat step 2032, and the worker inputs the next intermediate walking adjustment value V via the speed input key 6 2 And sent to the shearer controller 1, and the shearer controller 1 adjusts the current intermediate walk adjustment value V of the shearer stored in the memory 2 1 Is regulated by the next intermediate walking regulation value V 2 Updated, the shearer controller 1 will then adjust the next intermediate travel adjustment value V 2 Stored in the memory 2, the shearer controller 1 recalls the next intermediate walking adjustment value V stored in the memory 2 2 The coal cutter controller 1 is controlled by a coal cutter travel motor 16The operation speed of the coal making machine is V 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the next intermediate section operation speed adjusting value V 2 Less than a preset intermediate operating speed threshold stored in memory 2;
step 2034, repeating step 2033 a plurality of times, and the staff inputs the kth intermediate walking adjustment value V through the speed input key 6 k And sent to the shearer controller 1, and the shearer controller 1 adjusts the current k-1 th intermediate walk adjustment value V of the shearer stored in the memory 2 k-1 Is regulated by the kth intermediate walking regulation value V k Updated, the shearer controller 1 updates the kth intermediate walking adjustment value V k Stored in the memory 2, the shearer controller 1 recalls the kth intermediate travel adjustment value V stored in the memory 2 k The coal cutter controller 1 controls the running speed of the coal cutter to be V through the coal cutter running motor 16 k Until the coal mining of the middle section is completed; wherein the kth intermediate walking adjustment value V k And the k-1 th intermediate walking adjustment value V k-1 Are smaller than a preset intermediate running speed threshold stored in the memory 2;
in this embodiment, the preset intermediate running speed threshold value stored in the memory 2 is transmitted to the handheld controller 3 through the second wireless transceiver module 9 and the first wireless transceiver module 8.
In this embodiment, the alarm module 4 is configured to provide a k-th intermediate walking adjustment value V input by the operator via the speed input key 6 k When the speed is greater than a preset intermediate running speed threshold, the handheld controller 3 controls the alarm module 4 to alarm and remind, so that the working safety of the coal mining machine is improved.
Step 204, the coal mining machine controller 1 judges whether the coal mining machine works on right-end chamfering feeding and right-end triangular coal cutting according to the current position of the coal mining machine and the traveling direction of the coal mining machine, and when the coal mining machine does not work on right-end chamfering feeding and right-end triangular coal cutting, step 2041 is executed; otherwise, go to step 2042;
step 2041, when the coal mining machine is not working at the right end chamfer feed and cutting right end triangle coal, the coal mining machine controller 1 callsRight running speed V stored in memory 2 y The coal cutter controller 1 controls the running speed of the coal cutter to be right running speed V through the coal cutter running motor 16 y And the coal mining machine controller 1 controls the memory 2 to not save the right running speed regulating value input by the speed input key 6 and sent by the handheld controller 3 so as to lead the coal mining machine to be in accordance with the right running speed V y Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in the memory 2;
step 2042, when the shearer is operated at right-end miter cut and right-end triangle coal is cut, the shearer controller 1 retrieves the right walk acceleration value V stored in the memory 2 yj The coal cutter controller 1 controls the running speed of the coal cutter to be a right walking acceleration value V through the coal cutter walking motor 16 yj And the coal mining machine controller 1 controls the memory 2 to not store the right walking acceleration adjustment value input by the speed input key 6 and sent by the handheld controller 3, so that the coal mining machine can follow the right walking acceleration value V yj Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in the memory 2;
step three, real-time detection and transmission of the running speed of the coal mining machine: the speed detection module 17 detects the running speed of the coal mining machine in real time, and sends the detected running speed of the coal mining machine to the coal mining machine controller 1, the coal mining machine controller 1 sends the running speed of the received coal mining machine to the handheld controller 3 through the second wireless transceiver module 9 and the first wireless transceiver module 8, and the handheld controller 3 controls the liquid crystal display 5 to display the running speed of the coal mining machine, so that when the coal mining machine is positioned at the left end and the coal mining machine works on the left end for cutting feed and cutting left end triangle coal, the running speed of the coal mining machine meets a left walking acceleration value V zj When the coal cutter is positioned at the left end and the coal cutter does not work at the left end for chamfering feeding and cutting left end triangular coal, the running speed of the coal cutter meets the left running speed V z When the coal cutter is positioned at the right end and the coal cutter works at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right walking acceleration value V yj When the coal cutter is positioned at the right end and the coal cutter does not work at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right running speed V y When the coal mining machine is positioned in the middle section, the running speed of the coal mining machine meets the kth middle walking adjusting value V k 。
In this embodiment, the range of the left running speed threshold in step 2021 and step 2022 is 0.7m/min to 23m/min, and the range of the intermediate running speed threshold in step 203 is 0.7m/min to 23m/min; the right running speed threshold in the step 204 is in a value range of 0.7 m/min-23 m/min.
In this embodiment, the shearer controller 1 adjusts the current k-1 th intermediate travel adjustment value V of the shearer stored in the memory 2 k-1 Is regulated by the kth intermediate walking regulation value V k Updated, the shearer controller 1 updates the kth intermediate walking adjustment value V k Stored in the memory 2, the shearer controller 1 recalls the kth intermediate travel adjustment value V stored in the memory 2 k The coal cutter controller 1 controls the running speed of the coal cutter to be V through the coal cutter running motor 16 k Therefore, the middle section operation speed of the coal cutter is adjusted in the automatic cutting mode, because the existing automatic coal cutter adopts the main controller PLC of the coal cutter to realize automatic cutting of the coal cutter, in the automatic cutting process of the coal cutter, the operation speed of the coal cutter is preset by the parameter setting module, the operation speed of the coal cutter cannot be changed in real time according to the coal seam conditions of the coal seam working face section, unless the operation speed of the coal cutter is changed by human intervention, the coal cutter can be caused to exit the automatic cutting operation mode, when the manual adjustment speed is finished, the automatic cutting operation mode is restarted by the coal cutter, the speed of the coal cutter is restored to the speed preset by the parameter setting module, and the manually adjusted speed value cannot be maintained.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (5)
1. The utility model provides a multistage operation speed adjustment method under automatic cutting mode of coal-winning machine, this method adopts the device including set up coal-winning machine control module and right the hand held type adjustment module that adjusts the operation speed of coal-winning machine on the coal-winning machine, hand held type adjustment module includes hand held type controller (3) and first wireless transceiver module (8) that meet hand held type controller (3), the input termination of hand held type controller (3) has speed input button (6), the output of hand held type controller (3) is provided with liquid crystal display (5), alarm module (4) and first pilot lamp (7), coal-winning machine control module includes coal-winning machine controller (1) and second wireless transceiver module (9) and memory (2) that meet with coal-winning machine controller (1), the input termination of coal-winning machine controller (1) has speed detection module (17), walking direction detection module (13) and position detection module (14), and speed threshold input button module, the output termination of coal-winning machine controller (1) has liquid crystal display (5), alarm module (4) and first pilot lamp (7), coal-winning machine control module (3) and wireless transceiver (8) carry out coal-winning machine communication with wireless transceiver module (9) and wireless transceiver module (8), it carries out wireless transceiver (9) communication with its data:
the method comprises the following steps:
step one, detecting the current position of the coal mining machine: in the working process of the automatic cutting mode of the coal mining machine, a position detection module (14) is adopted to detect the current position of the coal mining machine in real time, the detected current position of the coal mining machine is sent to a coal mining machine controller (1), a traveling direction detection module (13) is adopted to detect the traveling direction of the coal mining machine in real time, and the detected traveling direction of the coal mining machine is sent to the coal mining machine controller (1);
judging the current position of the coal mining machine and adjusting the running speed of the coal mining machine, wherein the specific process is as follows:
step 201, judging the current position of the coal mining machine by the coal mining machine controller (1), and executing step 202 when the current position of the coal mining machine is positioned at the left end of the coal mining working face; executing step 203 when the current position of the coal cutter is located at the middle section of the coal face; executing step 204 when the current position of the coal cutter is positioned at the right end of the coal face; the coal face is divided into a left end, a middle section and a right end from left to right;
step 202, a coal mining machine controller (1) judges whether the coal mining machine works at a left end head beveling feed and cuts left end head triangular coal according to the current position of the coal mining machine and the traveling direction of the coal mining machine, and when the coal mining machine does not work at the left end head beveling feed and cuts left end head triangular coal, step 2021 is executed; otherwise, step 2022 is performed;
step 2021, when the shearer is not operating at left-end miter cut and cutting left-end triangle coal, the shearer controller (1) recalls the left run speed V stored in the memory (2) z The coal mining machine controller (1) controls the running speed of the coal mining machine to be the left running speed V through the coal mining machine running motor (16) z And the coal mining machine controller (1) controls the memory (2) to not store the left running speed regulating value which is input by the speed input key (6) and sent by the handheld controller (3), so that the coal mining machine can operate at the left running speed V z Operating; wherein the left running speed V z Less than a preset left running speed threshold stored in the memory (2);
step 2022, when the shearer is operating at left-end miter cut and cutting left-end triangle coal, the shearer controller (1) recalls the left walk acceleration value V stored in the memory (2) zj The coal cutter controller (1) controls the running speed of the coal cutter to be a left walking acceleration value V through a coal cutter walking motor (16) zj And the coal mining machine controller (1) controls the memory (2) to not store the left walking acceleration adjustment value input by the speed input key (6) sent by the handheld controller (3) so as to enable the coal mining machine to be in accordance with the left walking acceleration value V zj Operating; wherein the left walking acceleration value V zj Less than a preset left running speed threshold stored in the memory (2);
step 203, when the current position of the coal mining machine is located in the middle section of the coal mining working face, the specific process is as follows:
step 2031, the shearer controller (1) recalls the intermediate operations stored in the memory (2)Initial velocity V 0 The coal mining machine controller (1) controls the running speed of the coal mining machine to be V through the coal mining machine running motor (16) 0 ；
Step 2032, when the running speed of the coal mining machine needs to be adjusted, the coal mining machine controller (1) sends a speed regulation command through the second wireless transceiver module (9) and the first wireless transceiver module (8), the handheld controller (3) receives the speed regulation command sent by the coal mining machine controller (1), and a worker inputs the intermediate walking adjustment value V through the speed input key (6) 1 The hand-held controller (3) receives the middle walking adjusting value V 1 And transmitting to the shearer controller (1) through the first wireless transceiver module (8) and the second wireless transceiver module (9), and the shearer controller (1) performs the current intermediate operation initial speed V of the shearer stored in the memory (2) 0 Is adjusted by the middle walking adjustment value V 1 Updated, the coal mining machine controller (1) adjusts the middle walking adjusting value V 1 Stored in a memory (2), the shearer controller (1) retrieves the intermediate travel adjustment value V stored in the memory (2) 1 The coal mining machine controller (1) controls the running speed of the coal mining machine to be V through the coal mining machine running motor (16) 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the intermediate section operation speed adjusting value V 1 Less than a preset intermediate operating speed threshold stored in the memory (2);
step 2033, repeat step 2032, and the staff inputs the next intermediate walking adjustment value V through the speed input key (6) 2 And sent to the shearer controller (1), and the shearer controller (1) adjusts the current intermediate travel adjustment value V of the shearer stored in the memory (2) 1 Is regulated by the next intermediate walking regulation value V 2 Updated, the coal mining machine controller (1) changes the next intermediate walking adjusting value V 2 Stored in the memory (2), the shearer controller (1) retrieves the next intermediate travel adjustment value V stored in the memory (2) 2 The coal mining machine controller (1) controls the running speed of the coal mining machine to be V through the coal mining machine running motor (16) 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the next intermediate section operation speed adjusting value V 2 Less than a preset intermediate operating speed threshold stored in the memory (2);
step 2034, multipleRepeating step 2033 for a second time, the worker inputs the kth intermediate walking adjustment value V through the speed input key (6) k And sent to the shearer controller (1), and the shearer controller (1) adjusts the current k-1 th intermediate walk adjustment value V of the shearer stored in the memory (2) k-1 Is regulated by the kth intermediate walking regulation value V k Updated, the coal mining machine controller (1) adjusts the kth intermediate walking adjusting value V k Stored in a memory (2), the shearer controller (1) retrieves a kth intermediate travel adjustment value V stored in the memory (2) k The coal mining machine controller (1) controls the running speed of the coal mining machine to be V through the coal mining machine running motor (16) k Until the coal mining of the middle section is completed; wherein the kth intermediate walking adjustment value V k And the k-1 th intermediate walking adjustment value V k-1 Are all smaller than a preset intermediate running speed threshold value stored in the memory (2);
204, judging whether the coal mining machine works at the right end beveling feeding and cutting right end triangular coal according to the current position of the coal mining machine and the traveling direction of the coal mining machine by a coal mining machine controller (1), and executing 2041 when the coal mining machine does not work at the right end beveling feeding and cutting right end triangular coal; otherwise, go to step 2042;
2041, when the coal mining machine is not working in right-end chamfering feeding and right-end triangular coal cutting, the coal mining machine controller (1) retrieves the right running speed V stored in the memory (2) y The coal mining machine controller (1) controls the running speed of the coal mining machine to be right running speed V through the coal mining machine running motor (16) y And the coal mining machine controller (1) controls the memory (2) to not store the right running speed regulating value which is transmitted by the handheld controller (3) and is input through the speed input key (6), so that the coal mining machine can operate at the right running speed V y Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in the memory (2);
2042, when the coal mining machine works on right-end chamfering feeding and right-end triangular coal cutting, the coal mining machine controller (1) retrieves a right walking acceleration value V stored in the memory (2) yj The coal mining machine controller (1) is powered by the coal mining machineThe machine (16) controls the running speed of the coal mining machine to be a right walking acceleration value V yj And the coal mining machine controller (1) controls the memory (2) to not store the right walking acceleration adjustment value input by the speed input key (6) sent by the handheld controller (3) so as to enable the coal mining machine to be in accordance with the right walking acceleration value V yj Operating; wherein the right running speed V y Less than a preset right running speed threshold stored in the memory (2);
step three, real-time detection and transmission of the running speed of the coal mining machine: the speed detection module (17) detects the running speed of the coal mining machine in real time, and sends the detected running speed of the coal mining machine to the coal mining machine controller (1), the coal mining machine controller (1) sends the running speed of the received coal mining machine to the handheld controller (3) through the second wireless transceiver module (9) and the first wireless transceiver module (8), and the handheld controller (3) controls the liquid crystal display screen (5) to display the running speed of the coal mining machine, so that when the coal mining machine is positioned at the left end and the coal mining machine works on the left end for cutting and feeding triangular coal at the left end, the running speed of the coal mining machine meets a left walking acceleration value V zj When the coal cutter is positioned at the left end and the coal cutter does not work at the left end for chamfering feeding and cutting left end triangular coal, the running speed of the coal cutter meets the left running speed V z When the coal cutter is positioned at the right end and the coal cutter works at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right walking acceleration value V yj When the coal cutter is positioned at the right end and the coal cutter does not work at the right end for cutting the triangular coal, the running speed of the coal cutter meets the right running speed V y When the coal mining machine is positioned in the middle section, the running speed of the coal mining machine meets the kth middle walking adjusting value V k 。
2. The method for adjusting the multi-stage operation speed in the automatic cutting mode of the coal mining machine according to claim 1, wherein: the speed threshold input key module comprises a left running speed threshold input key (10), a right running speed threshold input key (11) and an intermediate running speed threshold input key (12), and the output ends of the left running speed threshold input key (10), the right running speed threshold input key (11) and the intermediate running speed threshold input key (12) are connected with the input end of the coal mining machine controller (1).
3. A multi-stage operation speed adjusting method in an automatic cutting mode of a shearer according to claim 1 or 2, characterized in that: the hand-held controller (3) is a singlechip, an FPGA microcontroller, a DSP microcontroller or an ARM microcontroller; the coal mining machine controller (1) is a singlechip, an FPGA microcontroller, a DSP microcontroller or an ARM microcontroller.
4. A multi-stage operation speed adjusting method in an automatic cutting mode of a shearer according to claim 1 or 2, characterized in that: the first wireless transceiver module (8) and the second wireless transceiver module (9) are wireless radio frequency transceiver modules.
5. The method for adjusting the multi-stage operation speed in the automatic cutting mode of the coal mining machine according to claim 1, wherein: the left running speed threshold value in the step 2021 and the step 2022 is in a value range of 0.7 m/min-23 m/min; the value range of the intermediate running speed threshold in the step 203 is 0.7 m/min-23 m/min; the right running speed threshold in the step 204 is in a value range of 0.7 m/min-23 m/min.
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| CN105652728A (en) * | 2014-11-13 | 2016-06-08 | 西安众智惠泽光电科技有限公司 | Coal mining machine intelligence control system based on ARM microcontroller |
| CN104948187B (en) * | 2015-05-29 | 2017-01-25 | 中国矿业大学 | Infrared thermal imaging-based coal cutter automatic cutting system and method thereof |
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