CN111395441A - Intelligent resistance reduction control system and control method for underground carry scraper - Google Patents
Intelligent resistance reduction control system and control method for underground carry scraper Download PDFInfo
- Publication number
- CN111395441A CN111395441A CN202010341746.4A CN202010341746A CN111395441A CN 111395441 A CN111395441 A CN 111395441A CN 202010341746 A CN202010341746 A CN 202010341746A CN 111395441 A CN111395441 A CN 111395441A
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- China
- Prior art keywords
- bucket
- control system
- valve
- scraper
- controller
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses an intelligent resistance reduction control system and a control method of an underground carry-scraper, wherein the control system comprises a controller, a pressure sensor, an angle sensor and a speed sensor, the pressure sensor, the angle sensor and the speed sensor are respectively and electrically connected with the controller, the controller is used for receiving signals sent by the pressure sensor and the angle sensor and judging whether resistance reduction control is adopted on a bucket or not, the pressure sensor is used for detecting the resistance of the bucket, the angle sensor is used for detecting whether the bucket is in a horizontal state or not, and the control system also comprises a bucket lifting valve, a bucket tipping valve, a bucket descending valve and a bucket collecting valve which are respectively and electrically connected with the controller. The underground scraper receives the signals of the sensor and performs the resistance reduction action through the valve body, so that the automatic and intelligent operation is realized, the working efficiency is improved, and the service life of the underground scraper is prolonged.
Description
Technical Field
The invention relates to an underground scraper, in particular to an intelligent resistance reduction control system and method for the underground scraper.
Background
The underground scraper is mainly used for ore removal and slag discharge in an underground mine stope, mainly shovels, transports and explodes loose materials, and is main equipment for underground mine trackless mining. In the process of carrying and loading the underground carry scraper, due to different geological conditions and operation environments, the stress condition of the bucket is complex, and the bucket is often subjected to dense kernels such as large stones and the like, so that the resistance borne by the bucket is increased. In the traditional mode operation, based on observation or experience judgment of an operator, operations such as movable arm lifting, bucket collecting and equipment advancing are carried out, and the operation is repeated until the core is warped and loosened. However, in the actual use process, problems such as repeated operation, confrontation with large resistance and the like are easy to occur, so that the bucket cannot fully shovel materials, and the working efficiency is low; the repeated operation increases the working intensity of workers; the opposition of the large resistance reduces the service life of the device.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, so that the underground scraper can automatically judge and adopt flexible operation when meeting a compact core in work, thereby improving the scraping efficiency and prolonging the service life.
In order to achieve the above object, in one aspect, the present invention first provides an intelligent drag reduction control system for an underground scraper, where the scraper includes a bucket, the control system includes a controller, a pressure sensor and an angle sensor, the pressure sensor and the angle sensor are respectively electrically connected to the controller, and the controller is configured to receive signals sent by the pressure sensor and the angle sensor, and determine whether to perform drag reduction control on the bucket; the pressure sensor is used for detecting the resistance of the bucket; the angle sensor is used for detecting whether the bucket is in a horizontal state; the control system further comprises a bucket lifting valve, a bucket tipping valve, a bucket descending valve and a bucket collecting valve which are respectively electrically connected with the controller.
Further, the control system also includes a speed sensor electrically connected to the controller.
Further, the pressure sensors include a lift cylinder pressure sensor and a tilt cylinder pressure sensor.
Further, the angle sensors include a bucket lift angle sensor and a bucket tip angle sensor.
Further, the control system also comprises a hydraulic oil temperature sensor.
Further, the bucket lift valve, the bucket tilt valve, the bucket drop valve, and the bucket dump valve are proportional valves.
On the other hand, the invention also provides an intelligent resistance reduction control method for the underground carry scraper, which comprises the following steps:
and 4, controlling the bucket lifting valve, the bucket tipping valve, the bucket descending valve and the bucket collecting valve to perform a drag reduction action by the controller.
Further, in step 3, the setting condition is that the horizontal resistance of the bucket is greater than the maximum allowable value of the horizontal resistance.
Further, in step 3, the set condition is that the control system detects that the tires of the scraper wheel slip.
The invention has the beneficial effects that: the controller receives signals sent by the sensors through a pressure sensor, an angle sensor, a speed sensor and the like which are arranged on the scraper, judges the position information of the bucket, and senses the resistance borne by the bucket in real time in the process of pushing and stacking the bucket so as to judge whether to adopt drag reduction control; after the drag reduction control is adopted, the controller controls the bucket lifting valve, the bucket tipping valve, the bucket descending valve and the bucket collecting valve to execute drag reduction operation, so that the compact core is broken down in a smooth mode in the composite action, the bucket can be smoothly pushed to fill the materials, the operation realizes automation and intellectualization, the working efficiency is improved, the hard confrontation of the bucket to the compact core is avoided, and the service life of the scraper is prolonged.
Drawings
FIG. 1 is a schematic diagram of the configuration of the intelligent drag reduction control system of the present invention;
FIG. 2 is a schematic diagram of the circuit control of the intelligent drag reduction control system of the scraper of the present invention;
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The underground scraper comprises a working device, a power device, a traveling device and the like, wherein the working device comprises a bucket, a movable arm, a connecting rod, a rocker arm, a tipping oil cylinder, a lifting oil cylinder and the like. The working process of the underground scraper is mainly reflected on a working device, and the action of the underground scraper consists of five working conditions, namely an insertion working condition, a shoveling working condition, a lifting working condition, an unloading working condition and an automatic leveling working condition. The invention mainly occurs in the insertion condition and the shovel loading condition. The insertion and the loading of the bucket are hindered by the presence of heavy or ground-engaging gangue, boulders, etc., i.e., compact nuclei, in the pile. In order to damage the compact core without damaging the bucket, the invention provides an intelligent drag reduction control system of an underground scraper, which comprises a controller, a pressure sensor and an angle sensor, wherein the pressure sensor and the angle sensor are respectively electrically connected with the controller, and the controller is used for receiving signals sent by the pressure sensor and the angle sensor and judging whether to perform drag reduction control on the bucket or not, as shown in fig. 1; the pressure sensor is used for detecting the resistance of the bucket; the angle sensor is used for detecting whether the bucket is in a horizontal state or not; the control system further comprises a bucket lifting valve, a bucket tipping valve, a bucket lowering valve and a bucket collecting valve which are respectively electrically connected with the controller. The control system also includes a speed sensor electrically connected to the controller. The pressure sensors include a lift cylinder pressure sensor and a tilt cylinder pressure sensor. The angle sensors include a bucket lift angle sensor and a bucket tip angle sensor. The control system also includes a hydraulic oil temperature sensor. The bucket lift valve, the bucket tilt valve, the bucket drop valve, and the bucket dump valve are proportional valves. The controller is installed in a cab of the underground carry scraper, the pressure sensors are installed on a bucket lifting oil cylinder and a tipping oil cylinder, the angle sensor is installed on the back of a bucket, and the speed sensor is installed on a hub of a wheel.
The working principle of the invention is that as shown in fig. 2, a circuit board is arranged in a controller, the model is IMC T5040, the left side of the circuit board is connected with a bucket lifting angle sensor, a bucket tipping angle sensor, a lifting oil cylinder pressure sensor, a tipping oil cylinder pressure sensor and a hydraulic oil temperature sensor, the circuit board receives a bucket action signal through the sensors, then the circuit board judges the position of the bucket and the resistance value met by the bucket, and compares the resistance value with a set maximum resistance value, then whether to adopt drag reduction control on the bucket is determined, and whether to adopt drag reduction control can be judged by detecting whether tires skid through a speed sensor, when adopting drag reduction control, the controller controls a bucket lifting valve, a bucket tipping valve, a bucket descending valve and a bucket collecting valve on the right side of the circuit board to execute drag reduction action, the valves are proportional valves, and can proportionally output corresponding forces to corresponding oil cylinders, the drag reduction action is more stable and fine, and hard countermeasure action on the compact core is avoided.
The invention also provides an intelligent resistance reduction control method of the underground carry scraper, which comprises the following steps:
and step 4, controlling the bucket lifting valve, the bucket tipping valve, the bucket descending valve and the bucket collecting valve to execute a drag reduction action by the controller. In step 3, the setting condition is that the horizontal resistance of the bucket is greater than the maximum allowable value of the horizontal resistance.
In step 3, the set condition is that the control system detects that the scraper tire is slipping.
The drag reduction action is a composite action of bucket insertion, boom lifting or bucket collection, the action amplitude is small, the repetition time of each single action is short, and the action is similar to shaking, so that the action process is smooth and flexible, and a compact core is slowly loosened and then pried. In step 3, two conditions are set, and after the resistance encountered at the time of insertion or shovel loading of the bucket, the controller executes the drag reduction control regardless of which condition is reached first.
The invention can realize automatic judgment and automatic control, is intelligent operation, improves the working efficiency of the scraper on one hand, and prolongs the service life of the scraper on the other hand.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes which can be made within the knowledge of those skilled in the art without departing from the gist of the present invention are within the scope of the claims of the present invention.
Claims (9)
1. The utility model provides an underground carry scraper intelligence drag reduction control system, the carry scraper includes the scraper bowl, its characterized in that: the control system comprises a controller, a pressure sensor and an angle sensor, wherein the pressure sensor and the angle sensor are respectively electrically connected with the controller, and the controller is used for receiving signals sent by the pressure sensor and the angle sensor and judging whether to perform drag reduction control on the bucket; the pressure sensor is used for detecting the resistance of the bucket; the angle sensor is used for detecting whether the bucket is in a horizontal state; the control system further comprises a bucket lifting valve, a bucket tipping valve, a bucket descending valve and a bucket collecting valve which are respectively electrically connected with the controller.
2. The intelligent drag reduction control system of an underground scraper of claim 1, wherein: the control system further includes a speed sensor electrically connected to the controller.
3. The intelligent drag reduction control system of an underground scraper of claim 1, wherein: the pressure sensor comprises a lifting oil cylinder pressure sensor and a tipping oil cylinder pressure sensor.
4. The intelligent drag reduction control system of an underground scraper of claim 1, wherein: the angle sensors include a bucket lift angle sensor and a bucket tip angle sensor.
5. The intelligent drag reduction control system of an underground scraper of claim 1, wherein: the control system further comprises a hydraulic oil temperature sensor.
6. The intelligent drag reduction control system of an underground scraper of claim 1, wherein: the bucket lifting valve, the bucket tipping valve, the bucket descending valve and the bucket collecting valve are proportional valves.
7. A control method using the intelligent drag reduction control system of an underground scraper of claim 1, comprising the steps of:
step 1, determining a maximum allowable value of the horizontal resistance of the bucket by the controller;
step 2, the controller detects whether the position of the bucket is flat, and if the bucket is in a horizontal state, step 3 is carried out;
step 3, starting the scraper, inserting the bucket into the stockpile, and if the controller detects that the resistance of the bucket meets a set condition, adopting resistance reduction control;
and 4, controlling the bucket lifting valve, the bucket tipping valve, the bucket descending valve and the bucket collecting valve to perform a drag reduction action by the controller.
8. The intelligent drag reduction control method for an underground scraper as claimed in claim 7, wherein in step 3, the set condition is that the horizontal drag of the bucket is greater than the maximum allowable value of the horizontal drag.
9. The intelligent drag reduction control method for an underground scraper according to claim 7, characterized in that in step 3,
the set condition is that the control system detects that the tires of the scraper wheel are slipping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010341746.4A CN111395441A (en) | 2020-04-27 | 2020-04-27 | Intelligent resistance reduction control system and control method for underground carry scraper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010341746.4A CN111395441A (en) | 2020-04-27 | 2020-04-27 | Intelligent resistance reduction control system and control method for underground carry scraper |
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| CN111395441A true CN111395441A (en) | 2020-07-10 |
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| CN202010341746.4A Pending CN111395441A (en) | 2020-04-27 | 2020-04-27 | Intelligent resistance reduction control system and control method for underground carry scraper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022083186A1 (en) * | 2020-10-19 | 2022-04-28 | 三一重机有限公司 | Excavator and control method for excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990059486A (en) * | 1997-12-30 | 1999-07-26 | 토니헬샴 | Automatic Excavator and Method of Construction Machinery |
| KR20100072432A (en) * | 2008-12-22 | 2010-07-01 | 두산인프라코어 주식회사 | Apparatus for controlling bucket position of wheel loader |
| WO2019116451A1 (en) * | 2017-12-12 | 2019-06-20 | 住友重機械工業株式会社 | Excavator |
| US20190211526A1 (en) * | 2016-09-30 | 2019-07-11 | Sumitomo Heavy Industries, Ltd. | Shovel |
| US20190249399A1 (en) * | 2017-03-29 | 2019-08-15 | Hitachi Construction Machinery Co., Ltd. | Operation guide device |
| JP2019173362A (en) * | 2018-03-28 | 2019-10-10 | コベルコ建機株式会社 | Construction machine |
| CN212248470U (en) * | 2020-04-27 | 2020-12-29 | 徐州徐工铁路装备有限公司 | Intelligent resistance reduction control system of underground carry scraper |
-
2020
- 2020-04-27 CN CN202010341746.4A patent/CN111395441A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990059486A (en) * | 1997-12-30 | 1999-07-26 | 토니헬샴 | Automatic Excavator and Method of Construction Machinery |
| KR20100072432A (en) * | 2008-12-22 | 2010-07-01 | 두산인프라코어 주식회사 | Apparatus for controlling bucket position of wheel loader |
| US20190211526A1 (en) * | 2016-09-30 | 2019-07-11 | Sumitomo Heavy Industries, Ltd. | Shovel |
| US20190249399A1 (en) * | 2017-03-29 | 2019-08-15 | Hitachi Construction Machinery Co., Ltd. | Operation guide device |
| WO2019116451A1 (en) * | 2017-12-12 | 2019-06-20 | 住友重機械工業株式会社 | Excavator |
| JP2019173362A (en) * | 2018-03-28 | 2019-10-10 | コベルコ建機株式会社 | Construction machine |
| CN212248470U (en) * | 2020-04-27 | 2020-12-29 | 徐州徐工铁路装备有限公司 | Intelligent resistance reduction control system of underground carry scraper |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022083186A1 (en) * | 2020-10-19 | 2022-04-28 | 三一重机有限公司 | Excavator and control method for excavator |
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