CN108854177A - Mud scraper operation control system and its control method - Google Patents
Mud scraper operation control system and its control method Download PDFInfo
- Publication number
- CN108854177A CN108854177A CN201810965708.9A CN201810965708A CN108854177A CN 108854177 A CN108854177 A CN 108854177A CN 201810965708 A CN201810965708 A CN 201810965708A CN 108854177 A CN108854177 A CN 108854177A
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- running gear
- wheel
- processor
- mud scraper
- signal
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- 238000000034 method Methods 0.000 title claims description 13
- 238000009434 installation Methods 0.000 claims abstract description 3
- 238000004891 communication Methods 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/18—Construction of the scrapers or the driving mechanisms for settling tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/30—Control equipment
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention discloses a kind of mud scraper operation control systems, pond two sides are equipped with track, the running gear installation of mud scraper is in orbit, the track of two sides is respectively No. 1 track and No. 2 tracks, running gear is supported by No. 1 driving wheel and No. 1 driven wheel on No. 1 track, running gear is supported by No. 2 driving wheels and No. 2 driven wheels on No. 2 guide rails, No. 1 driving wheel and No. 2 driving wheels are driven by independent power unit, No. 1 driving wheel, No. 1 driven wheel, wheel speed sensors are equipped on No. 2 driving wheels and No. 2 driven wheels, the wheel speed sensors connect processor, the wheel speed signal that will acquire is delivered to processor, the signal output end connection power unit of the processor simultaneously exports start stop signal to power unit.The advantage of the invention is that can guarantee the reliable and stable work of mud scraper, greatly reduces and have skidded or rail phenomenon occurs partially, and there is certain ability for correcting operating status, so as to prevent the generation of major accident.
Description
Technical field
The present invention relates to walking arrangements.
Background technique
The pond of water factory in use for some time, needs to carry out dredging to bottom of pond using mud scraper, mud scraper generally exists
Track is arranged in pond two sides, and driving is in orbit by roller supporting, is rotated using motor driven idler wheel, and driving is equipped with downward
Extend to the scraper plate of bottom of pond.
Mud scraper is controlled using on-off at this stage, can not detect mud scraper use state, is beaten when mud scraper meets with obstruction
When phenomena such as sliding or inclined rail can not timely correction, so as to cause major accident.In addition, mud scraper power supply at this stage is most of all
It is to be powered using towing cable, towing cable track is elongated, can deform in long-time use process, when towing cable trolley passes through deformable track
It is to be easy to happen phenomena such as stuck, when the stuck cable of towing cable trolley is easy to break, while track is also easy to pull off.
Summary of the invention
The technical problem to be solved by the present invention is to realize a kind of control system for guaranteeing the reliable and stable walking of mud scraper.
To achieve the goals above, the technical solution adopted by the present invention is：Mud scraper operation control system, pond two sides are set
There is a track, in orbit, the track of two sides is respectively No. 1 track and No. 2 tracks for the running gear installation of mud scraper, and described No. 1
Running gear is supported by No. 1 driving wheel and No. 1 driven wheel on track, on No. 2 guide rails by No. 2 driving wheels and No. 2 from
Driving wheel supports running gear, and No. 1 driving wheel and No. 2 driving wheels are driven by independent power unit, No. 1 active
Wheel speed sensors are equipped on wheel, No. 1 driven wheel, No. 2 driving wheels and No. 2 driven wheels, the wheel speed sensors connect processor,
The wheel speed signal that will acquire is delivered to processor, and the signal output end connection power unit of the processor simultaneously exports start stop signal
To power unit.
The signal output end of the processor connects wireless communication unit, and unit issues signal to shifting by wireless communication
Dynamic terminal.
On the running gear install there are two respectively acquire with two sides interorbital away from range sensor, it is described distance pass
Sensor outputs signal to processor.
Mud scraper track is provided with guide rail, towing cable trolley is installed on the guide rail, cable one end connects mud scraper
Supply port, the other end connect power supply, and for the cable at interval of set distance as a fixed point, each fixed point is successively solid
It is scheduled on towing cable trolley, the towing cable trolley near running gear is fixed trolley, and the fixed trolley is fixed in running gear
On, fixed trolley is equipped with the sensor of induction fixed point drag force, and the sensor is defeated by obtained signal by signal wire
It send to processor.
The fixed trolley is equipped with the hanging scroll swung along guide rail moving direction, is fixed with below the hanging scroll by connecting rod
For fixing the fixed block of cable, the hanging scroll of the towing cable trolley is vertically fixed support plate close to other towing cable trolley sides,
The pressure sensor for incuding fixed point drag force is fixed in the support plate, when the towing cable trolley terminad is mobile
When, the fixed block is swung to beginning, the fixed block or connecting rod squeeze pressure sensor, the pressure sensor output pressure
Signal is to processor.
Control method based on the mud scraper operation control system：
Step 1, driving four wheels rotation, and 4 wheel rotary states are obtained in real time；
Step 2, when No. 1 secondary speed be greater than about No. 1 driven wheel of No. 2 driven wheels or No. 2 secondary speeds；
Step 3 stops No. 1 driving wheel and No. 2 driving wheels.
In the step 1：
Add up running gear along the travel distance of No. 1 guide rail by the wheel speed signal of No. 1 driven wheel；
Add up running gear along the travel distance of No. 2 guide rails by the wheel speed signal of No. 2 driven wheels；
When running gear is greater than along the travel distance of No. 1 guide rail the travel distance of No. 2 guide rails, then No. 1 driving wheel is reduced
Wheel speed, until the travel distance of No. 1 guide rail is equal to the travel distance of No. 2 guide rails；
When running gear is greater than along the travel distance of No. 2 guide rails the travel distance of No. 1 guide rail, then No. 2 driving wheels are reduced
Wheel speed, until the travel distance of No. 1 guide rail is equal to the travel distance of No. 1 guide rail.
It further include that set distance is retracted in step 4, No. 1 driving wheel of driving and No. 2 driving wheel reversions, and keeps running gear edge
The travel distance of No. 1 guide rail and No. 2 guide rails is identical；
Step 5, return step 1, if the number of continuous return step 1 is more than setting number, stopping alarm.
When the work of the running gear of mud scraper, the pressure signal that pressure sensor will acquire in real time is delivered to processing
Device, if pressure sensor obtains pressure value and is greater than maximum early warning value, processor drives running gear to shut down, while by wireless
Communication unit issues alarm signal to mobile terminal.
With the increase of running gear travel distance, the maximum early warning value of pressure sensor is gradually increased.
After mud scraper completes a dredging, processor gets pressure sensor stress curve, is obtained according to stress curve
Maximum tangent slope is obtained, if maximum tangent slope is greater than the set value, processor by wireless communication send out to mobile terminal by unit
Maintenance signal out.
Processor obtains the distance of No. 1 track and No. 2 tracks of distance in real time, when distance be greater than given threshold, then close master
Driving wheel is simultaneously alarmed.
The advantage of the invention is that can guarantee the reliable and stable work of mud scraper, greatly reduce have skidded or
Inclined rail phenomenon occurs, and has certain ability for correcting operating status, so as to prevent the generation of major accident.
Detailed description of the invention
Below to width attached drawing every in description of the invention expression content and figure in label be briefly described：
Fig. 1 is mud scraper running gear structural schematic diagram；
Fig. 2 is mud scraper cable running gear structural schematic diagram；
Fig. 3 is towing cable trolley schematic diagram in Fig. 2；
Label in above-mentioned figure is：1, mud scraper；2, pressure sensor；3, guide rail；4, towing cable trolley；5, cable；6,
Hanging scroll；7, fixed block；8, support plate；9, fixed trolley.
Specific embodiment
As shown in Figure 1, mud scraper operation control system is equipped with track in pond two sides, the running gear of mud scraper is mounted on
On track, the track of two sides is respectively No. 1 track and No. 2 tracks, passes through No. 1 driving wheel and No. 1 driven wheel support on No. 1 track
Running gear supports running gears by No. 2 driving wheels and No. 2 driven wheels on No. 2 guide rails, and No. 1 driving wheel and No. 2 driving wheels are equal
It is driven by independent power unit, wheel speed sensing is equipped on No. 1 driving wheel, No. 1 driven wheel, No. 2 driving wheels and No. 2 driven wheels
Device, wheel speed sensors connect processor, and the wheel speed signal that will acquire is delivered to processor, and the signal output end connection of processor is dynamic
Power unit simultaneously exports start stop signal to power unit.Wheel speed sensors are installed on 2 tracks of mud scraper and detect turning for 4 wheels
Dynamic state is to judge the motion state of mud scraper, to control the movement of mud scraper.
A blocked point：Drag sources are in No. 1 track deformation or track sundries；
B blocked point：Drag sources are obstructed in No. 1 side mud suction mouth；
C blocked point:Drag sources are uniformly obstructed in track；
D blocked point：Drag sources are obstructed in No. 2 side suction dredge mouths；
E blocked point：Drag sources are in No. 2 track deformations or track sundries.
Judge thinking:Direction as illustrated
When No. 1 active is moved in turn, No. 1 driven wheel is motionless, and No. 2 driving wheels illustrate that A and B are obstructed, consequence is No. 2 rails from all moving
Road may derail；
When No. 2 actives are moved in turn, No. 2 driven wheels are motionless, and No. 1 driving wheel illustrates that D and E are obstructed, consequence is No. 1 rail from all moving
Road may derail；
When 1, No. 2 active is moved in turn, 1, No. 2 driven wheel is motionless, illustrates that C is obstructed, and mud is too deep, and consequence is that mud scraper can not be transported
Row.
When No. 1 secondary speed be greater than No. 2 driven wheels, illustrate that No. 1 guide rail is obstructed；
When about No. 1 driven wheel of No. 2 secondary speeds, illustrate that No. 2 guide rails are obstructed；
Specific control method is as follows：
Step 1, driving four wheels rotation, and 4 wheel rotary states are obtained in real time；
In four wheels rotation process, driven wheel surveys travel distance as standard；
Add up running gear along the travel distance of No. 1 guide rail by the wheel speed signal of No. 1 driven wheel；
Add up running gear along the travel distance of No. 2 guide rails by the wheel speed signal of No. 2 driven wheels；
When running gear is greater than along the travel distance of No. 1 guide rail the travel distance of No. 2 guide rails, then No. 1 driving wheel is reduced
Wheel speed, until the travel distance of No. 1 guide rail is equal to the travel distance of No. 2 guide rails；
When running gear is greater than along the travel distance of No. 2 guide rails the travel distance of No. 1 guide rail, then No. 2 driving wheels are reduced
Wheel speed, until the travel distance of No. 1 guide rail is equal to the travel distance of No. 1 guide rail；
Step 2, when No. 1 secondary speed be greater than about No. 1 driven wheel of No. 2 driven wheels or No. 2 secondary speeds；
Step 3 stops No. 1 driving wheel and No. 2 driving wheels.
Set distance is retracted in step 4, No. 1 driving wheel of driving and No. 2 driving wheel reversions, and running gear is kept to lead along No. 1
The travel distance of rail and No. 2 guide rails is identical；
Step 5, return step 1, if the number of continuous return step 1 is more than setting number, stopping alarm.It can be certainly
Dynamic multiple impact mud, reaches active dredging effect, if active dredging can not solve the problems, such as, stopping alarm issues alarm
Signal is to user terminal.
1 cable running gear of mud scraper, which has, is provided with guide rail 3 along 1 track of mud scraper, and towing cable trolley is equipped on guide rail 3
4, the quantity of towing cable trolley 4 is depending on the length of guide rail 3, and each towing cable trolley 4 can be slided along guide rail 3, cable 5 one
End connection mud scraper 1 supply port, the other end connect power supply, cable 5 at interval of set distance as a fixed point, each
Fixed point is sequentially fixed on towing cable trolley 4, state as shown in Figure 2, in general the number of the quantity of fixed point and towing cable trolley 4
It measures identical.
Towing cable trolley 4 near running gear is fixed trolley 9, fixed trolley 9 and other 4 structure phases of towing cable trolley
Together, it can be slided along guide rail 3, differential point is equipped on fixed trolley 9 for obtaining the sensing for pulling 5 dynamics of cable
Furthermore device is fixed trolley 9 and is fixed on running gear, drives towing cable trolley 4 by sensor when mud scraper 1 is walked, pass through
The power size for surveying sensor judges towing cable either with or without blocking.
The structure of fixed trolley 9 and its sensor can use structure as shown in Figure 3, i.e., fixed trolley 9 is equipped with edge and leads
The hanging scroll 6 that 3 moving direction of rail is swung is fixed with the fixed block 7 for fixing cable 5 by connecting rod below hanging scroll 6, and cable 5 can
It is fixed with being strapped on fixed block 7, the hanging scroll 6 of fixed trolley 9 (towing cable trolley 4) is perpendicular close to other 4 sides of towing cable trolley
It directly is fixed with support plate 8, support plate 8 is fixed with pressure sensor 2 towards 6 side of hanging scroll, and the pressure sensor 2 is solid for incuding
Drag force is pinpointed, when 4 terminad of towing cable trolley is mobile, fixed block 7 is swung to beginning, and fixed block 7 or connecting rod squeeze pressure
Force snesor 2,2 output pressure signal of pressure sensor to processor.
The power unit of running gear of the processor equipped with output driving unit to mud scraper 1 when a failure occurs can
Timely stop running gear, avoid equipment damage, the signal output end of processor connects wireless communication unit, and by wireless
Communication unit issues signal to mobile terminal, gives staff to issue alarm signal by short message, phone etc. when failure.
Processor can preset a maximum early warning value, and when the work of the running gear of mud scraper 1, pressure sensor 2 is equal
The pressure signal that will acquire in real time is delivered to processor, if pressure sensor 2 obtains pressure value and is greater than maximum early warning value, handles
Device drive running gear shut down, while by wireless communication unit to mobile terminal issue alarm signal.
But as running gear is mobile, the quantity that fixed trolley 9 pulls other towing cable trolleies 4 is more and more, stress
It will increase, therefore be preferably able to the movement with running gear, be gradually increased maximum early warning value, the i.e. running gear of mud scraper 1
Equipped with position sensor, position sensor exports the current stroke signal of mud scraper 1 to processor.When mud scraper 1 works, walking
Device is in real time by its current stroke signal to processor, and with the increase of stroke, processor is gradually increased pressure sensor 2 most
Big early warning value.
After mud scraper 1 completes a dredging, processor gets 2 stress curve of pressure sensor, when the x-axis of curve is
Between, y-axis is the pressure value that pressure sensor 2 obtains, and maximum tangent slope is obtained according to stress curve, if maximum tangent slope is big
In setting value, then it represents that guide rail 3 or towing cable trolley 4 need lubricating maintenance, and unit is whole to movement by wireless communication for processor
End issues maintenance signal.
Further, it is also possible on running gear install there are two respectively acquire with two sides interorbital away from range sensor,
Such as laser range sensor can be used, and range sensor outputs signal to processor, when normally travel, two range sensors
Be it is fixed, then its distance signal obtained is constant, and when shaped device will derail, idler wheel edge can ride up to track
On, then the numerical value that range sensor obtains can change, and processor obtains the distance of No. 1 track and No. 2 tracks of distance in real time,
When distance be greater than given threshold, then close driving wheel and alarm, derailment accident can be further avoided.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (10)
1. mud scraper operation control system, pond two sides are equipped with track, and the running gear installation of mud scraper is in orbit, two sides
Track is respectively No. 1 track and No. 2 tracks, passes through No. 1 driving wheel on No. 1 track and No. 1 driven wheel supports running gear,
Running gear is supported by No. 2 driving wheels and No. 2 driven wheels on No. 2 guide rails, No. 1 driving wheel and No. 2 driving wheels are equal
It is driven by independent power unit, it is characterised in that：No. 1 driving wheel, No. 1 driven wheel, No. 2 driving wheels and No. 2 driven wheels
On be equipped with wheel speed sensors, the wheel speed sensors connect processor, and the wheel speed signal that will acquire is delivered to processor, described
The signal output end connection power unit of processor simultaneously exports start stop signal to power unit.
2. mud scraper operation control system according to claim 1, it is characterised in that：The signal output end of the processor
Wireless communication unit is connected, and unit issues signal to mobile terminal by wireless communication, is equipped with two on the running gear
It is a acquire respectively with two sides interorbital away from range sensor, the range sensor outputs signal to processor.
3. mud scraper operation control system according to claim 1 or 2, it is characterised in that：It is provided with along mud scraper track
Guide rail is equipped with towing cable trolley on the guide rail, and cable one end connects the supply port of mud scraper, and the other end connects power supply, institute
Cable is stated at interval of set distance as a fixed point, each fixed point is sequentially fixed on towing cable trolley, near walking
The towing cable trolley of device is fixed trolley, and the fixed trolley is fixed on running gear, and fixed trolley is equipped with induction and fixes
Obtained signal is delivered to processor by signal wire by the sensor of point drag force, the sensor.
4. mud scraper operation control system according to claim 3, it is characterised in that：The fixed trolley is equipped with edge and leads
The hanging scroll that rail moving direction is swung, the hanging scroll lower section are fixed with the fixed block for fixing cable, the towing cable by connecting rod
The hanging scroll of trolley is vertically fixed support plate close to other towing cable trolley sides, is fixed in the support plate for incuding fixation
The pressure sensor of point drag force, when the towing cable trolley terminad is mobile, the fixed block is swung to beginning, the fixation
Block or connecting rod squeeze pressure sensor, the pressure sensor output pressure signal to processor.
5. the control method based on the mud scraper operation control system any in claim 1-4, it is characterised in that：
Step 1, driving four wheels rotation, and 4 wheel rotary states are obtained in real time；
Step 2, when No. 1 secondary speed be greater than about No. 1 driven wheel of No. 2 driven wheels or No. 2 secondary speeds；
Step 3 stops No. 1 driving wheel and No. 2 driving wheels.
6. control method according to claim 5, it is characterised in that：In the step 1：
Add up running gear along the travel distance of No. 1 guide rail by the wheel speed signal of No. 1 driven wheel；
Add up running gear along the travel distance of No. 2 guide rails by the wheel speed signal of No. 2 driven wheels；
When running gear along No. 1 guide rail travel distance be greater than No. 2 guide rails travel distance, then reduce No. 1 driving wheel wheel speed,
Until the travel distance of No. 1 guide rail is equal to the travel distance of No. 2 guide rails；
When running gear along No. 2 guide rails travel distance be greater than No. 1 guide rail travel distance, then reduce No. 2 driving wheels wheel speed,
Until the travel distance of No. 1 guide rail is equal to the travel distance of No. 1 guide rail.
7. control method according to claim 6, it is characterised in that：
It further include that set distance is retracted in step 4, No. 1 driving wheel of driving and No. 2 driving wheel reversions, and keeps running gear along No. 1
The travel distance of guide rail and No. 2 guide rails is identical；
Step 5, return step 1, if the number of continuous return step 1 is more than setting number, stopping alarm.
8. according to the control method any in claim 5-7, it is characterised in that：When the running gear of mud scraper works
When, the pressure signal that pressure sensor will acquire in real time is delivered to processor, if pressure sensor obtains pressure value and is greater than most
Big early warning value, then processor driving running gear shut down, while by wireless communication unit to mobile terminal issue alarm signal.
9. control method according to claim 8, it is characterised in that：With the increase of running gear travel distance, pressure
The maximum early warning value of sensor is gradually increased；After mud scraper completes a dredging, processor gets pressure sensor stress
Curve obtains maximum tangent slope according to stress curve, if maximum tangent slope is greater than the set value, processor passes through channel radio
Believe that unit issues maintenance signal to mobile terminal.
10. control method according to claim 9, it is characterised in that：Processor obtains No. 1 track of distance and No. 2 in real time
The distance of track, when distance be greater than given threshold, then close driving wheel and alarm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810965708.9A CN108854177A (en) | 2018-08-23 | 2018-08-23 | Mud scraper operation control system and its control method |
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| CN201810965708.9A CN108854177A (en) | 2018-08-23 | 2018-08-23 | Mud scraper operation control system and its control method |
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| CN109603227A (en) * | 2018-12-11 | 2019-04-12 | 薛金山 | The malfunction monitoring early warning system and calculation method of sedimentation basin mud scraper |
| CN114797192A (en) * | 2022-05-23 | 2022-07-29 | 宝武集团鄂城钢铁有限公司 | Double-motor traveling type mud scraper diagonal early warning correction method and system |
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| CN109603227A (en) * | 2018-12-11 | 2019-04-12 | 薛金山 | The malfunction monitoring early warning system and calculation method of sedimentation basin mud scraper |
| CN114797192A (en) * | 2022-05-23 | 2022-07-29 | 宝武集团鄂城钢铁有限公司 | Double-motor traveling type mud scraper diagonal early warning correction method and system |
| CN114797192B (en) * | 2022-05-23 | 2024-02-06 | 宝武集团鄂城钢铁有限公司 | Oblique running early warning and correcting method and system for dual-motor traveling mud scraper |
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