CN110271835B - Control method of self-moving adjustable belt supporting system - Google Patents
Control method of self-moving adjustable belt supporting system Download PDFInfo
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- CN110271835B CN110271835B CN201811461944.3A CN201811461944A CN110271835B CN 110271835 B CN110271835 B CN 110271835B CN 201811461944 A CN201811461944 A CN 201811461944A CN 110271835 B CN110271835 B CN 110271835B
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- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims 1
- 238000010924 continuous production Methods 0.000 abstract description 4
- 230000007704 transition Effects 0.000 abstract 1
- 239000003245 coal Substances 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000005065 mining Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
- B65G15/64—Arrangements for supporting or guiding belts, e.g. by fluid jets for automatically maintaining the position of the belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/10—Arrangements of rollers
- B65G39/12—Arrangements of rollers mounted on framework
- B65G39/16—Arrangements of rollers mounted on framework for aligning belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of belt conveyors of underground mine gateway equipment, in particular to a self-moving adjustable belt supporting system. The system is a transition supporting device between a middle frame of a belt conveyor and a self-moving tail, a front telescopic roller frame and a rear telescopic roller frame are nested in a main frame body, a shear frame connects the three frames into a whole, and the rear telescopic roller frame is connected with the main frame body through a telescopic oil cylinder; the main frame body is connected with the guide rail through a pushing cylinder, the main frame body is connected with the walking support through a lifting cylinder, and the lower end of the walking support hooks the guide rail; the left and right sides of the main frame body roller frame are respectively provided with a deflection sensor, and the left and right sides of the upper plane of the main frame body are respectively provided with an inclination sensor; the electrohydraulic control system and the executing mechanism operate according to control logic, and the electrohydraulic control system can realize the functions of automatic advancing and automatic correction of belt deviation. The self-moving adjustable belt supporting system can reduce the times of disassembling the middle frame of the belt conveyor and ensure continuous production.
Description
Technical Field
The invention relates to the technical field of belt conveyors of underground coal mine gate conveyor equipment, in particular to a self-moving adjustable belt supporting system and a control method.
Background
Along with the development progress of the coal mining process, higher requirements are put forward on the intelligence and the high efficiency of the coal mining equipment. The coal face is generally a long-wall retreating coal mining process, a crossheading belt conveyor is used for conveying coal, and the belt conveyor is generally supported in sequence by a middle frame with the length of 2-3 m. When the coal face is propelled, the transport length of the belt conveyor is shortened, a certain number of conveyor intermediate frames are required to be stopped and disassembled, and then the belt is tensioned to continue the propulsion. The underground coal mine mostly adopts a shift production and overhaul mode, which is generally three shifts, the early shift is responsible for equipment overhaul, and the middle and night shifts are responsible for production coal mining. The middle frame needs to be disassembled and carried manually, the labor intensity is high, the time generally needs about 1 hour per shift, and especially during the production shift, the production is stopped and interrupted, so that the production efficiency is seriously influenced. Therefore, a movable supporting device is arranged between the middle frame of the belt conveyor and the self-moving tail, so that the frame is disassembled without stopping during production shift, and continuous production is a problem which needs to be solved urgently for improving production efficiency.
Disclosure of Invention
In order to solve the problems, the invention provides a self-moving adjustable belt supporting system and a control method. The automatic correction of the belt deviation can be realized by automatically advancing, the number of single frame disassembly is increased, the number of frame disassembly times is reduced, continuous production during production shifts can be ensured, and the requirement of rapid propulsion of fully mechanized mining matched equipment is met.
The technical scheme adopted for solving the technical problems is as follows:
the self-moving adjustable belt supporting system mainly comprises a rear telescopic roller frame, a telescopic oil cylinder, a front telescopic roller frame, a main frame body, a scissor frame, a walking support, a lifting oil cylinder stroke sensor, a pushing cylinder, a guide rail, a deflection sensor, an inclination sensor, an electrohydraulic control system and the like. The front telescopic roller frame and the rear telescopic roller frame are nested in the main frame body and are provided with a horizontal double-layer connecting plate structure; the scissors frame is clamped in the middle of the double-layer connecting plate and is fixed by a fixing pin, and the scissors frame, the double-layer connecting plate and the fixing pin are connected into a whole. The two telescopic oil cylinders are horizontally arranged on two sides of the main frame body, the rear telescopic roller frames and the main frame body are connected, and when the telescopic oil cylinders act, the front telescopic roller frames and the rear telescopic roller frames can simultaneously stretch and retract, and the length of the belt can be adjusted. Four lifting cylinders are vertically arranged at four corners of the main frame body and are connected with the walking support and the main frame body. The lower end of the walking support hooks the guide rail. The two pushing cylinders are obliquely arranged at two sides of the bottom of the main frame body and are connected with the guide rail and the main frame body. The electrohydraulic control system is arranged on the side surface of the main frame body;
in the system, stroke sensors are arranged in the telescopic oil cylinder and the pushing cylinder, and the lifting oil cylinder is provided with an external stroke sensor. A group of roller frames on the front of the main frame body are respectively provided with a deflection sensor on the left and the right, and inclination sensors are respectively arranged on the main beams on the left and the right sides of the upper plane of the main frame body. The electrohydraulic control system, the sensor and the oil cylinder operate according to control logic, and can complete the functions of automatic advancing and automatic correction of belt deviation of the system.
The beneficial effects of the invention are as follows:
1. the invention realizes the automatic advancing function of the self-moving adjustable belt support system, can reduce the times of disassembling the middle frame of the belt conveyor, can ensure continuous production, and meets the requirement of rapid pushing of fully mechanized mining matched equipment;
2. the device has the function of adjusting the height of the belt surface of the outlet and inlet of the belt self-moving device, so that the transportation of the gate way is well connected;
3. the belt deviation adjusting function is achieved, and the material sprinkling and the belt abrasion are prevented;
4. the automatic control and remote control functions are realized, the labor intensity of operators is reduced, and the labor cost is saved.
Drawings
FIG. 1 is a schematic diagram of a self-moving adjustable belt support system;
FIG. 2 is a top view of the self-moving adjustable belt support system;
FIG. 3 is a control flow diagram;
in the figure: 1. a rear telescopic roller frame, 2, a telescopic cylinder, 3, a main frame body, 4, a pushing cylinder, 5, an electrohydraulic control system, 6, a lifting cylinder, 7, a walking support, 8, a lift cylinder stroke sensor, 9, a guide rail, 10, a scissor type frame, 11, a front telescopic roller frame, 12, a deviation sensor, 13, a fixing pin, 14 and an inclination sensor; v represents speed and arrow represents direction of belt conveying coal.
Description of the embodiments
The invention is further described below with reference to the drawings and examples of implementation.
As shown in fig. 1 and 2, the self-moving adjustable belt supporting system mainly comprises a rear telescopic roller frame 1, a telescopic oil cylinder 2, a main frame body 3, a pushing cylinder 4, an electrohydraulic control system 5, a lifting oil cylinder 6, a walking support 7, a lifting oil cylinder stroke sensor 8, a guide rail 9, a scissor frame 10, a front telescopic roller frame 11, a deviation sensor 12, a fixing pin 13 and an inclination sensor 14. Wherein, the front telescopic roller frame 11 and the rear telescopic roller frame 1 are nested in the main frame body 3, and all the three are provided with a horizontal double-layer connecting plate structure; the scissors frame 10 is clamped between the double-layer connecting plates and fixed by a fixing pin 13, and the three are connected into a whole. The two telescopic cylinders 2 are horizontally arranged at two sides of the main frame body 3 and are connected with the rear telescopic roller frame 1 and the main frame body 3. Four lifting cylinders 6 are vertically arranged at four corners of the main frame body 3 and are connected with the walking support 7 and the main frame body 3. The lower end of the walking support 7 hooks the guide rail 9. The two pushing cylinders 4 are obliquely arranged at two sides of the bottom of the main frame body 3 and are connected with the guide rail 9 and the main frame body 3. The electrohydraulic control system 5 is installed on the side of the main frame body 3. In the system, stroke sensors are arranged in the telescopic oil cylinder 2 and the pushing cylinder 4, and the lifting oil cylinder 6 is an external stroke sensor. The left and right sides of a group of roller frames on the front of the main frame body 3 are respectively provided with a deflection sensor 12, and the left and right side main beams of the upper plane of the main frame body 3 are respectively provided with an inclination sensor 14. The electrohydraulic control system 5, the sensor and the oil cylinder operate according to control logic, and can complete the automatic advancing and automatic correcting functions of the belt deviation of the system.
When the intermediate rack of the belt conveyor in front of the self-moving adjustable belt support system is required to be moved forward after the intermediate rack has been removed, the specific control flow is as follows:
1) Firstly, an audible and visual alarm gives an alarm to prompt the start of automatic forward movement; 2) The controller sends out an instruction to control the telescopic cylinder 2 to retract, so that the front telescopic carrier roller frame 11 and the rear telescopic carrier roller frame 1 are fully retracted at the same time. After the telescopic oil cylinder is in place, a stroke sensor of the telescopic oil cylinder 2 transmits a signal to a controller, and the controller sends out an instruction to stop the action of the telescopic oil cylinder; 3) The controller sends out an instruction to control the four lifting cylinders 6 to extend (200 mm in the invention), so that the weight is fully pressed on the guide rail 9, after the lifting cylinders 6 are in place, an external stroke sensor 8 of the lifting cylinders 6 transmits signals to the controller, and the controller stops the four lifting cylinders 6 to act, and only the guide rail 9 props up to the ground at the moment; 4) The controller sends out instructions to control the pushing cylinder 4 to extend, the main frame body 3 and the connecting parts thereof move forwards by one step distance (1000 mm in the invention), after the pushing cylinder 4 is in place, a stroke sensor of the pushing cylinder 4 transmits signals to the controller, and the controller stops the pushing cylinder 4 from acting; 5) The controller sends out an instruction to control the four lifting oil cylinders 6 to retract, the main frame body 3 falls to the ground, the guide rail 9 is lifted up, after the guide rail is in place, a stroke sensor of the lifting oil cylinders 6 transmits a signal to the controller, and the controller stops the four lifting oil cylinders 6 to act; 6) The controller sends out an instruction to control the pushing cylinder 4 to retract, the guide rail 9 moves forwards by one step distance, and after the pushing cylinder 4 is in place, a stroke sensor of the pushing cylinder 4 transmits a signal to the controller, and the controller sends out an instruction to stop the pushing cylinder 4 from acting; 7) Repeating steps 3) to 6) a number of times until the device moves to a predetermined position; 8) The heights of the four lifting cylinders 6 are respectively adjusted to reach the preset supporting height; 9) The controller sends out an instruction to control the extension of the telescopic cylinder 2, so that the front telescopic roller frame 11 and the rear telescopic roller frame 1 extend in place; 10 If the deviation sensor 12 does not alarm, not performing the operation; if the deviation sensor 12 alarms, when deviation occurs, the deviation adjusting mode is as follows: the controller controls the lifting cylinder 6 on the opposite side of the deviation sensor 12 to extend according to the alarm signal of the deviation sensor 12, and lifts the corresponding side of the main frame body 3 until the deviation sensor 12 alarms to eliminate or the detection value of the transverse angle of the inclination sensor 14 reaches a preset near horizontal range; after the detection value of the inclination angle sensor 14 reaches a preset near-horizontal range, if the alarm of the deviation sensor 12 is not eliminated, the controller controls the pushing cylinder 4 on the opposite side of the alarm deviation sensor 12 to intermittently extend gradually, and the whole system twists until the alarm of the deviation sensor 12 is eliminated; 11 The system is stopped for pressure maintaining, and the next starting instruction is waited for.
In the process, the system realizes four basic functions: the telescopic function of the roller frame is reflected in the step 2) and the step 9) of the operation steps; the step-by-step advancing function is embodied in steps 3) through 6) of the operating steps; the belt deviation adjusting function is embodied in the 10 th step of the operation steps; the belt surface heightening function is embodied in step 8) of the operation steps.
Claims (1)
1. A method of controlling a self-moving adjustable belt support system, characterized by: the hydraulic lifting device mainly comprises a rear telescopic roller frame (1), a telescopic cylinder (2), a main frame body (3), a pushing cylinder (4), an electrohydraulic control system (5), a lifting cylinder (6), a walking support (7), a lifting cylinder stroke sensor (8), a guide rail (9), a scissor frame (10), a front telescopic roller frame (11), a deviation sensor (12), a fixed pin (13), an inclination sensor (14), wherein the front telescopic roller frame (11) and the rear telescopic roller frame (1) are nested in the main frame body (3), a horizontal double-layer connecting plate structure is arranged on the three, and the scissor frame (10) is clamped in the middle of the double-layer connecting plate and fixedly installed by the fixed pin (13) to connect the three into a whole; the two telescopic cylinders (2) are horizontally arranged at two sides of the main frame body (3), and are connected with the rear telescopic roller frame (1) and the main frame body (3); four lifting cylinders (6) are vertically arranged at four corners of the main frame body (3) and are connected with the walking support (7) and the main frame body (3); the lower end of the walking support (7) hooks the guide rail (9); the two pushing cylinders (4) are obliquely arranged at two sides of the bottom of the main frame body (3), and are connected with the guide rail (9) and the main frame body (3); the electrohydraulic control system (5) comprises a controller and an electromagnetic valve, and is arranged on the side surface of the main frame body (3); in the system, stroke sensors are arranged in a telescopic oil cylinder (2) and a pushing cylinder (4), and a lifting oil cylinder (6) is arranged outside the stroke sensor (8); a deflection sensor (12) is respectively arranged on the left and the right of a group of roller frames on the front of the main frame body (3); the main beams at the left side and the right side of the upper plane of the main frame body (3) are respectively provided with an inclination angle sensor (14);
the control method of the self-moving adjustable belt support system comprises the following steps: when the self-moving adjustable belt support system automatically moves, firstly, an electrohydraulic control system (5) is triggered to send a command to control a telescopic oil cylinder (2) to retract, the telescopic oil cylinder is driven by a scissor type frame (10), a front telescopic roller frame (11) and a rear telescopic roller frame (1) are retracted at the same time, after the telescopic oil cylinder (2) stroke sensor transmits a signal to a controller, and the controller stops the telescopic oil cylinder (2) from acting; the controller sends out an instruction to control the four lifting oil cylinders (6) to extend out, the main frame body (3) and the connecting parts thereof are lifted off the ground, at the moment, the guide rail (9) supports the ground, after the guide rail is in place, an external stroke sensor (8) of the lifting oil cylinders (6) transmits signals to the controller, and the controller stops the four lifting oil cylinders (6) from acting; the controller sends out an instruction to control the pushing cylinder (4) to extend, the main frame body (3) and the connecting parts thereof move forwards for one step distance, and after the pushing cylinder (4) is in place, a stroke sensor of the pushing cylinder (4) transmits a signal to the controller, and the controller stops the pushing cylinder (4) from acting; the controller sends out an instruction to control the four lifting oil cylinders (6) to retract, the main frame body (3) falls to the ground, the guide rail (9) is lifted, after the guide rail is in place, a stroke sensor of the lifting oil cylinders (6) transmits signals to the controller, and the controller stops the four lifting oil cylinders (6) to act; the controller sends out an instruction to control the pushing cylinder (4) to retract, the guide rail (9) moves forwards by one step distance, and after the guide rail is in place, a stroke sensor of the pushing cylinder (4) transmits a signal to the controller, and the controller sends out an instruction to stop the pushing cylinder (4) from acting;
when the belt deviation of the self-moving adjustable belt supporting system is automatically corrected, the controller controls the lifting oil cylinders (6) on the opposite sides of the deviation sensor (12) to extend according to the alarm signals of the deviation sensor (12), and the corresponding side of the main frame body (3) is lifted until the deviation sensor (12) alarms to eliminate or the transverse angle detection value of the inclination sensor (14) reaches a preset near-horizontal range; after the detection value of the inclination angle sensor (14) reaches a preset near-horizontal range, if the alarm of the deviation sensor (12) is not eliminated, the controller controls the pushing cylinder (4) on the opposite side of the alarm deviation sensor (12) to extend gradually and intermittently, and the whole system twists until the alarm of the deviation sensor (12) is eliminated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461944.3A CN110271835B (en) | 2018-12-03 | 2018-12-03 | Control method of self-moving adjustable belt supporting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811461944.3A CN110271835B (en) | 2018-12-03 | 2018-12-03 | Control method of self-moving adjustable belt supporting system |
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| Publication Number | Publication Date |
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| CN110271835A CN110271835A (en) | 2019-09-24 |
| CN110271835B true CN110271835B (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811461944.3A Active CN110271835B (en) | 2018-12-03 | 2018-12-03 | Control method of self-moving adjustable belt supporting system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846768A (en) * | 2020-07-24 | 2020-10-30 | 常州联力自动化科技有限公司 | Continuous pushing self-moving tail |
| CN112849983B (en) * | 2021-02-05 | 2022-09-09 | 保利长大海外工程有限公司 | A locomotive for construction |
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| WO2005109111A1 (en) * | 2004-05-06 | 2005-11-17 | Sortex Limited | Conveyor belt system |
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| CN204433699U (en) * | 2014-10-21 | 2015-07-01 | 武汉钢铁(集团)公司 | A kind of belt deviation correcting device |
| CN204737321U (en) * | 2015-05-06 | 2015-11-04 | 宁夏天地西北煤机有限公司 | Articulated scalable fuselage of formula belt conveyor |
| CN206358743U (en) * | 2016-10-10 | 2017-07-28 | 中国神华能源股份有限公司 | A kind of telescopic belt support meanss |
| CN206624353U (en) * | 2017-04-01 | 2017-11-10 | 胡斌 | A kind of conveyer linkage adjustment frame |
| CN206801611U (en) * | 2017-06-06 | 2017-12-26 | 淮南矿业(集团)有限责任公司 | Belt feeder tail bumper bracket self-advancing Device |
| CN108861413A (en) * | 2018-08-01 | 2018-11-23 | 唐山曹妃甸实业港务有限公司 | Conveyer Belt Deviating regulating device and its control method |
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2018
- 2018-12-03 CN CN201811461944.3A patent/CN110271835B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0307543A1 (en) * | 1987-08-27 | 1989-03-22 | Ecker Maschinenbau GmbH & Co. KG | Device for moving an object along a gallery, particularly for mining |
| WO2005109111A1 (en) * | 2004-05-06 | 2005-11-17 | Sortex Limited | Conveyor belt system |
| CN102011609A (en) * | 2010-12-07 | 2011-04-13 | 山西煤矿机械制造有限责任公司 | Walking running device for self-advancing tail |
| CN204433699U (en) * | 2014-10-21 | 2015-07-01 | 武汉钢铁(集团)公司 | A kind of belt deviation correcting device |
| CN204737321U (en) * | 2015-05-06 | 2015-11-04 | 宁夏天地西北煤机有限公司 | Articulated scalable fuselage of formula belt conveyor |
| CN206358743U (en) * | 2016-10-10 | 2017-07-28 | 中国神华能源股份有限公司 | A kind of telescopic belt support meanss |
| CN206624353U (en) * | 2017-04-01 | 2017-11-10 | 胡斌 | A kind of conveyer linkage adjustment frame |
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| CN110271835A (en) | 2019-09-24 |
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