CN114132689A - Self-moving tail self-moving control system - Google Patents
Self-moving tail self-moving control system Download PDFInfo
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- CN114132689A CN114132689A CN202210048248.XA CN202210048248A CN114132689A CN 114132689 A CN114132689 A CN 114132689A CN 202210048248 A CN202210048248 A CN 202210048248A CN 114132689 A CN114132689 A CN 114132689A
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- 238000012937 correction Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 239000003245 coal Substances 0.000 description 24
- 238000005065 mining Methods 0.000 description 15
- 238000012546 transfer Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 6
- 239000002390 adhesive tape Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
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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
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
- B65G21/22—Rails or the like engaging sliding elements or rollers attached to load-carriers or traction elements
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- 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
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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
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a from tail from moving control system includes: the system comprises a self-moving tail, a hydraulic control system and an electric control system. Wherein, from moving tail includes: a base frame, the base frame comprising: a head end frame and a tail end frame. The hydraulic control system includes: 4 heightening vertical cylinders and 2 pushing oil cylinders. The electric control system comprises: a controller, at least two height sensors. According to the self-moving tail control system, the hydraulic control system and the electric control system are additionally arranged on the self-moving tail, the controller controls the self-moving process of the self-moving tail, feedback data are obtained through the height sensor, control signals for the controller body are used, the self-moving control of the self-moving tail is achieved, manual operation is not needed, the efficiency is improved, and the personnel safety is guaranteed.
Description
Technical Field
The application relates to the technical field of intelligent coal mining, in particular to a self-moving tail self-moving control system.
Background
The self-moving tail for the belt conveyor is main transportation equipment for a coal mine fully-mechanized coal mining face crossheading, and is arranged between a head of a reversed loader conveyor and the tail of the belt conveyor, wherein the head of the reversed loader conveyor is lapped on a guide rail of a body of the self-moving tail. The coal is unloaded to the self-moving tail through the head of the reversed loader, and then is transferred to the belt conveyor and conveyed to the ground. When fully-mechanized mining is carried out again, each time the coal mining machine cuts one cut of coal, the working face scraper and the crossheading reversed loader are pushed forward by the step pitch of one cut under the thrust action of the hydraulic support, and meanwhile, the head of the reversed loader is also pushed forward by the same displacement along the guide rail of the self-moving tail machine body until the tail end of the guide rail. At the moment, the self-moving tail and the guide rail must move forwards to ensure the subsequent propulsion of the head of the transfer conveyor and the continuous operation of coal mining and coal transportation.
In the prior art, the transfer conveyor is moved and adjusted by adopting manual operation equipment, and personnel stand beside a belt for manual operation during adjustment, so that the efficiency is low, and meanwhile, the risk of smashing by splashed coal blocks is possible.
Disclosure of Invention
The application provides a self-moving tail self-moving control system, realizes the automatic control of self-moving tail self-moving, ensures personnel safety, improves coal mining efficiency.
In a first aspect, the present application provides a self-moving tail self-moving control system, including:
the automatic moving machine tail, the hydraulic control system and the electric control system;
wherein, the tail that moves certainly includes: a base frame, the base frame comprising: a head end frame and a tail end frame;
the hydraulic control system includes: 4 height-adjusting vertical cylinders and 2 pushing cylinders;
the electric control system comprises: a controller, at least two height sensors;
the controller is connected with the height sensor and the position sensor;
two of the 4 height-adjusting vertical cylinders are symmetrically arranged on the head end frame, the other two of the 4 height-adjusting vertical cylinders are symmetrically arranged on the tail end frame, at least one height sensor is arranged on the head end frame, and at least one height sensor is arranged on the tail end frame;
the 2 pushing oil cylinders are symmetrically arranged on two sides of the base frame;
the controller is configured to obtain the self-moving control instruction, and execute a self-moving control logic according to the self-moving control instruction, where the self-moving control logic includes: the controller controls the height-adjusting vertical cylinders to be retracted, when the height stroke data sent by the height sensor is greater than or equal to first preset height stroke data, the controller controls the pushing oil cylinder to act to push the self-moving tail to move automatically, and when the action of the pushing oil cylinder stops, the controller controls the 4 height-adjusting vertical cylinders to extend out to complete the self-moving of the self-moving tail, wherein the self-moving control instruction is used for instructing to execute self-moving control logic of the self-moving tail;
the 4 height-adjusting vertical cylinders are used for lifting the base frame when the height-adjusting vertical cylinders are retracted under the control of the controller, and enabling the base frame to fall to the ground when the height-adjusting vertical cylinders are extended under the control of the controller;
when the base frame is lifted under the control of the 4 height-adjusting vertical cylinders, the pushing oil cylinder pushes the self-moving tail to move automatically, and when the base frame falls to the ground under the control of the 4 height-adjusting vertical cylinders, the self-moving tail is fixed;
the 2 pushing oil cylinders are used for extending under the control of the controller to drive the self-moving tail to move automatically when the 4 height-adjusting vertical cylinders are retracted, and keeping the extending state under the control of the controller when the 4 height-adjusting vertical cylinders extend;
the at least two height sensors are used for detecting height stroke data of the 4 height-adjusting standing cylinders and sending the height stroke data to the controller.
Optionally, the control system further includes: a reversed loader;
the self-moving tail further comprises: a trolley;
the electronic control system further comprises: a first position sensor, a magnetic head;
the trolley is connected with the base frame through the pushing oil cylinder, slides in the track of the base frame, is also connected with the reversed loader, the magnetic head is arranged at an opening of a cylinder body of the pushing oil cylinder, the first position sensor is arranged at a first position of a pushing rod of the pushing oil cylinder, and the controller is connected with the first position sensor;
the reversed loader is used for driving the trolley to move on the base frame from back to front when the reversed loader moves forwards;
the trolley is used for enabling the first position sensor to approach the magnetic head when the trolley is driven by the reversed loader to move on the base frame from back to front;
the first position sensor is further used for sending a self-moving signal to the controller when the magnetic head is coincided with the first position sensor;
the controller is used for receiving the self-moving signal and generating the self-moving control instruction according to the self-moving signal.
Optionally, the hydraulic control system further includes: 2 lateral moving horizontal oil cylinders;
the electronic control system further comprises: 2 lateral movement stroke sensors and 2 deviation sensors; the 2 lateral movement horizontal oil cylinders are symmetrically arranged on the tail end frame, the 2 deviation sensors are symmetrically arranged on the inner side of the tail end frame, the 2 lateral movement stroke sensors correspond to the 2 lateral movement horizontal oil cylinders one by one, and the controller is connected with the 2 lateral movement stroke sensors and the 2 deviation sensors;
the deviation sensor is used for sending the deviation data to the controller when the deviation data of the tail rubber belt of the belt conveyor are detected;
the controller is configured to, when receiving the offset data, obtain an automatic deviation adjustment control instruction according to the offset data, and execute an automatic deviation adjustment control logic according to the automatic deviation adjustment control instruction, where the automatic deviation adjustment control logic includes: the controller controls the 2 height-adjusting vertical cylinders on the tail end frame to retract so as to drive the tail end frame to lift;
when the height stroke data sent by the at least two height sensors are larger than or equal to first preset height stroke data, the controller controls the lateral shifting horizontal oil cylinder on one side of the shifting direction to extend out by a preset length, and the lateral shifting horizontal oil cylinder on the other side of the shifting direction retracts by the preset length to jointly drive the tail end frame to move by the preset length in the shifting direction;
when the lateral movement stroke data sent by the two lateral movement stroke sensors are larger than or equal to the preset length, the controller controls the 4 height-adjusting vertical cylinders to extend out so as to drive the tail end frame to fall to the ground and finish the deviation correction of the self-moving tail;
when the height stroke data sent by the at least two height sensors are larger than or equal to second preset height stroke data, the controller controls the two lateral shifting horizontal oil cylinders to reset;
and the 2 lateral movement stroke sensors are used for detecting lateral movement stroke data of the corresponding lateral movement horizontal oil cylinder when one lateral movement horizontal oil cylinder of the two lateral movement horizontal oil cylinders extends out and the other lateral movement horizontal oil cylinder retracts, and sending the lateral movement stroke data to the controller.
Optionally, the tail end shelf includes: the tail end frame body, the sliding frame and the sliding seat;
the tail end frame body is connected with the sliding seat through a height-adjusting vertical cylinder on the tail end frame, and the sliding seat is connected with the sliding frame through the two lateral-moving horizontal oil cylinders;
the sliding frame is used for being lifted when the height-adjusting vertical cylinder on the tail end frame is retracted so as to lift the tail end frame, and the sliding frame moves to the offset direction by the preset length under the action of the lateral-moving horizontal oil cylinder;
the sliding seat is used for moving the preset length to the offset direction under the action of the lateral movement horizontal oil cylinder to drive the tail end frame to move the preset length to the offset direction, and the deviation correction of the self-moving tail is completed.
Optionally, the preset length is half of the total length of the pushing rods of the two lateral shifting horizontal oil cylinders extending out of the cylinder body of the lateral shifting horizontal oil cylinder.
Optionally, the tail end shelf further includes: a large drum and a small drum;
the tail rubber belt of the belt conveyor is wound on the large roller and the small roller, and the 2 deviation sensors are arranged on the side of the large roller.
Optionally, the 2 deviation sensors are respectively and symmetrically arranged at the edge positions of the tail rubber belt of the belt conveyor.
Optionally, the 2 deviation sensors are respectively symmetrically arranged at the positions of the tail rubber belts of the belt conveyor, and the distance between the edge of the tail rubber belt of the belt conveyor and the position of the tail rubber belt of the belt conveyor is 100-150 mm.
Optionally, the electronic control system further includes: a second position sensor;
the second position sensor is arranged at a second position of a pushing rod of the pushing cylinder, wherein the first position is closer to the bottom of a cylinder body of the pushing cylinder than the second position, and the controller is connected with the second position sensor;
and the second position sensor is used for sending a self-moving signal to the controller after the magnetic head is overlapped with the first position sensor and the trolley continues to move on the base frame from back to front under the driving of the reversed loader.
Optionally, the first position is a position on the pushing rod corresponding to 2350mm away from the opening of the cylinder body when the pushing rod of the pushing cylinder extends out of the cylinder body; and/or the presence of a gas in the gas,
and the second position is a position corresponding to the position of 2700mm away from the opening of the cylinder body on the pushing rod when the pushing rod of the pushing oil cylinder completely extends out of the cylinder body.
The application provides a move tail from moving control system, move tail from moving control system includes: the system comprises a self-moving tail, a hydraulic control system and an electric control system. Wherein, from moving tail includes: a base frame, the base frame comprising: a head end frame and a tail end frame. The hydraulic control system includes: 4 heightening vertical cylinders and 2 pushing oil cylinders. The electric control system comprises: a controller, at least two height sensors. Two of the 4 vertical cylinders of heightening are symmetrically arranged on a head end frame, the other two of the 4 vertical cylinders of heightening are symmetrically arranged on a tail end frame, at least one height sensor is arranged on the head end frame, and at least one height sensor is arranged on the tail end frame and used for obtaining feedback data of the vertical cylinders of heightening. The 2 pushing oil cylinders are symmetrically arranged on two sides of the base frame. The controller is used for obtaining the self-moving control instruction, is connected with the height sensor and is used for sending feedback data to the controller, so that the controller controls the 4 height-adjusting vertical cylinders and the 2 pushing oil cylinders according to the feedback data, the self-moving control of the self-moving tail is realized, manual operation is not needed, the efficiency is improved, and the personnel safety is guaranteed.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present application is further described in detail by the accompanying drawings and examples.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a self-moving tail self-moving control system according to an embodiment of the present application;
FIG. 2 is a schematic top view of a self-moving tail according to an embodiment of the present application;
FIG. 3 is a schematic front view of a self-propelled tail according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a self-moving tail self-moving control system according to another embodiment of the present application
FIG. 5 is a simplified front view of an end bay according to one embodiment of the present application;
FIG. 6 is a schematic top view of the plane A of FIG. 5 according to an embodiment of the present application;
fig. 7 is a flowchart of a method for adjusting self-moving tail offset according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present application, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In coal mining, the self-moving tail for the belt conveyor is main transportation equipment of a coal mine fully-mechanized mining working face gateway, and is arranged between a head of a reversed loader and the tail of the belt conveyor, wherein the head of the reversed loader is overlapped on a guide rail of a body of the self-moving tail. The coal is unloaded to the self-moving tail through the head of the reversed loader, and then is transferred to the belt conveyor and conveyed to the ground. When fully mechanized coal mining is carried out, each time the coal mining machine cuts one cut of coal, the working face scraper and the crossheading reversed loader are pushed forward by the step pitch of one cut under the thrust action of the hydraulic support, and meanwhile, the head of the reversed loader is also pushed forward by the same displacement along the guide rail of the self-moving tail machine body until reaching the end of the guide rail. At the moment, the self-moving tail and the guide rail must move forwards to ensure the subsequent propulsion of the head of the transfer conveyor and the continuous operation of coal mining and coal transportation.
In the prior art, the self-moving tail is moved by adopting manual operation equipment to adjust, and personnel stands beside the equipment to manually operate during adjustment, so that the efficiency is low, and meanwhile, the risk of smashing by splashed coal blocks is possible.
Therefore, in order to solve the technical problem existing in the prior art, the present application provides a self-moving tail self-moving control system, self-moving tail, hydraulic control system, wherein, the self-moving tail includes: a base frame, the base frame comprising: head end frame and tail end frame, the hydraulic control system includes: 4 heighten standing cylinders and 2 thrust oil cylinders, the electric control system comprises: a controller, at least two height sensors. By adding the hydraulic control system and the electric control system to the self-moving tail, the self-moving process of the self-moving tail is controlled by the controller, the self-moving control of the self-moving tail is realized, manual operation is not needed, the efficiency is improved, and the personnel safety is also ensured.
Fig. 1 is a schematic structural diagram of a self-moving tail self-moving control system according to an embodiment of the present application. As shown in fig. 1, the control system includes: the self-moving tail 300, the hydraulic control system 400 and the electric control system 500.
Wherein, self-moving tail 300 includes: the base frame 310, the base frame 310 includes: a head end shelf 311 and a tail end shelf 312.
The hydraulic control system 400 includes: 4 heightening vertical cylinders 410 and 2 pushing cylinders 420.
The electronic control system comprises 500: a controller 510, at least two height sensors 520.
The controller 510 is connected to a height sensor 520.
Two of the 4 elevation cylinders 410 are symmetrically arranged on the head end frame 311, the other two elevation cylinders 410 of the 4 elevation cylinders 410 are symmetrically arranged on the tail end frame 312, at least one height sensor 520 is arranged on the head end frame 311, and at least one height sensor 520 is arranged on the tail end frame 312.
The 2 pushing cylinders 420 are symmetrically arranged at both sides of the base frame 310.
A controller 510, configured to obtain a self-moving control instruction and execute self-moving control logic according to the self-moving control instruction, the self-moving control logic including: the controller 510 controls the heightening vertical cylinders 410 to retract, when the height stroke data sent by the height sensor 520 is larger than or equal to first preset height stroke data, the controller 510 controls the pushing oil cylinder 420 to act to push the self-moving tail 300 to move automatically, and when the pushing oil cylinder 420 stops acting, the controller 510 controls the 4 heightening vertical cylinders 410 to extend to finish the self-moving of the self-moving tail 300. The self-moving control instruction is used for instructing the execution of the self-moving control logic of the self-moving tail 300.
And 4 lifting vertical cylinders 410 for lifting the base frame 310 when retracted under the control of the controller 510 and for landing the base frame 310 when extended under the control of the controller 510.
When the base frame 310 is lifted under the control of the 4 heightening vertical cylinders 410, the pushing cylinder 420 pushes the self-moving tail 300 to move by itself, and when the base frame falls under the control of the 4 heightening vertical cylinders 410, the self-moving tail 300 is fixed.
And the 2 pushing cylinders 420 are used for extending under the control of the controller 510 when the 4 heightening vertical cylinders 410 are retracted to drive the self-moving tail 300 to move self, and keeping the extending state under the control of the controller 510 when the 4 heightening vertical cylinders 410 extend.
And at least two height sensors 520 for detecting height stroke data of the 4 height-adjusting vertical cylinders 410 and transmitting the height stroke data to the controller 510.
In this embodiment, as shown in fig. 2 and 3, the self-propelled tail 300 includes a base frame 310, the base frame 310 includes a head end frame 311 and a tail end frame 312 (not shown in fig. 2), and two elevation standing cylinders 410 are symmetrically disposed on the head end frame 311 and the tail end frame 312, respectively. Note that, reference numeral 700 in fig. 2 is a tape groove.
One elevation cylinder 410 of the two elevation cylinders 410 is provided with a height sensor 520 on the head end frame 311 and the tail end frame 312.
Optionally, one end of the height sensor 520 on the head end frame 311 is connected to the frame body of the head end frame 311, and the other end is connected to the cylinder body of the height-adjusting vertical cylinder 410 arranged on the head end frame 311.
Optionally, one end of the height sensor 520 on the tail end frame 312 is connected to the frame body of the tail end frame 312, and the other end is connected to the cylinder body of the height-adjusting cylinder 410 arranged on the tail end frame 312.
Optionally, each height-adjusting vertical cylinder 410 may be provided with a height sensor 520, so that the height stroke data of the corresponding height-adjusting vertical cylinder 410 can be accurately obtained through the height sensor 520, and the control precision of the controller 510 is improved, thereby improving the self-moving precision of the self-moving tail 300.
The 2 pushing cylinders 420 are symmetrically arranged at both sides of the base frame 310.
The controller 510 is provided with a button, and when the self-moving tail needs to move automatically, the button is manually pressed, and the controller 510 obtains an automatic moving control instruction. After receiving the self-moving control command, the controller 510 executes the self-moving control logic according to the self-moving control command. The self-moving control logic is specifically as follows:
the controller 510 controls the 4 elevation cylinders 410 to retract simultaneously, so that the 2 elevation cylinders 410 installed on the head end frame 311 and the tail end frame 312 drive the head end frame 311 and the tail end frame 312 to lift up, and move away from the ground, so as to lift up the base frame 310.
When the 4 elevation cylinders 410 are retracted, height stroke data of the elevation cylinders 410 mounted on the head end frame 311 and the tail end frame 312 are acquired by the height sensors 520, and the height stroke data are transmitted to the controller 510. The controller 510 receives the feedback data, that is, receives the height stroke data sent by the height sensor 520, and when the height stroke data is judged to be greater than or equal to the first preset height stroke data, the controller 510 controls the pushing cylinder 420 to move.
It should be noted that the first preset height stroke data may be a height value corresponding to the base frame 310 when the base frame 310 moves freely, that is, when the pushing rod of the height-adjusting vertical cylinder 410 retracts upwards by the first preset height stroke data, the base frame 310 may move freely. The first preset height stroke data is, for example, corresponding height stroke data when all the pushing rods of the height-adjusting vertical cylinder 410 are retracted into the cylinder body.
Before the pushing cylinder 420 is operated, the pushing cylinder 420 is in a retracted state, that is, the pushing rod of the pushing cylinder 420 is retracted, and thus, the controller 510 controls the pushing rod of the pushing cylinder 420 to be extended. In the process that the pushing rod of the pushing cylinder 420 extends, the base frame 310 is driven to move forward, so that the self-moving tail 300 is driven to move forward.
When the pushing cylinder 420 is actuated, that is, the cylinder body of the pushing cylinder 420 moves forward, so that the pushing rod of the pushing cylinder 420 extends out of the cylinder body of the pushing cylinder 420, and when the cylinder body of the pushing cylinder 420 moves forward so that the action of extending the pushing rod out of the cylinder body is completed, the pushing cylinder 420 stops actuating, which means that the stroke of the pushing cylinder 420 driving the self-moving tail 300 to move forward reaches the set safety stroke, if the pushing cylinder 420 continues to actuate, the distance of the self-moving tail 300 moving forward may be large, and a potential safety hazard exists, therefore, when the pushing cylinder 420 stops actuating, that is, the action of moving the self-moving tail forward is completed. At this time, the 4 raising vertical cylinders 410 are controlled to extend, so that the head end frame 311 and the tail end frame 312 fall to the ground, the ground is supported, the base frame 310 falls to the ground, and the self-moving of the self-moving tail is completed.
In this embodiment, the self-moving tail self-moving control system includes: the self-moving tail 300, the hydraulic control system 400 and the electric control system 500. Wherein, self-moving tail 300 includes: the base frame 310, the base frame 310 includes: a head end shelf 311 and a tail end shelf 312. The hydraulic control system 400 includes: 4 heightening vertical cylinders 410 and 2 pushing cylinders 420. The electronic control system comprises 500: a controller 510, at least two height sensors 520. The controller 510 is used for obtaining a self-moving control instruction, two of the 4 height-adjusting vertical cylinders 410 are symmetrically arranged on the head end frame 311, the other two of the 4 height-adjusting vertical cylinders 410 are symmetrically arranged on the tail end frame 312, at least one height sensor 520 is arranged on the head end frame 311, and at least one height sensor 520 is arranged on the tail end frame 312 and used for obtaining feedback data of the height-adjusting vertical cylinders 410. The 2 pushing cylinders 420 are symmetrically arranged at both sides of the base frame 310. The controller 510 is connected with the height sensor 520 and is used for sending feedback data to the controller 510, so that the controller 510 controls the 4 height-adjusting vertical cylinders 410 and the 2 pushing oil cylinders 420 according to the feedback data, the self-moving control of the self-moving tail is achieved, manual operation is not needed, the efficiency is improved, and the personnel safety is guaranteed.
The self-moving of the self-moving tail 300 can be triggered manually by a human, for example, when the self-moving tail 300 is judged to start to move automatically manually according to actual conditions in the field, for example, the reversed loader is moved completely, the pushing cylinder 420 is fully retracted, the controller 510 is operated manually, and a self-moving control instruction is input to the controller 510. In some embodiments, the controller 510 may also obtain actual conditions in the field based on feedback data sent by the sensors, thereby actively obtaining the self-moving control commands.
Therefore, optionally, as shown in fig. 4, the control system further includes: the reversed loader 600, the self-moving tail 300 further comprises: cart 320, electronic control system 500 further includes: a first position sensor 531, a head 560.
The trolley 320 is connected with the base frame 310 through the push cylinder 420, the trolley 320 slides in the track of the base frame 310, the trolley 320 is further connected with the reversed loader, the magnetic head 560 is arranged at the opening of the cylinder body of the push cylinder 420, the first position sensor 531 is arranged at the first position of the push rod of the push cylinder 420, and the controller 510 is connected with the first position sensor 531.
A transfer conveyor for driving the cart 320 from the rear to the front from the base frame 310 when moving forward.
The cart 320 is used for enabling the first position sensor 531 to approach the magnetic head 560 when moving from the rear to the front on the base frame 310 by the transfer conveyor.
The first position sensor 531 is further configured to send a self-moving signal to the controller 510 when the magnetic head 560 is coincident with the first position sensor 531.
And a controller 510 for receiving the self-moving signal and generating a self-moving control instruction according to the self-moving signal.
In this embodiment, the transfer conveyor 600 is connected to the trolley 320, so that when the transfer conveyor 600 moves forward under the driving of the hydraulic support, the trolley 320 is pushed to slide forward and backward in the track of the base frame 310. Since the cart 320 is connected to the base frame 310 through the push cylinder 420, when the cart 320 slides from the rear to the front in the track of the base frame 310, the push rod of the push cylinder 420 is gradually pressed into the cylinder. Since the first position sensor 531 is located at the first position of the pushing rod of the pushing cylinder 420 and the magnetic head 560 is disposed at the opening of the cylinder body of the pushing cylinder 420, when the cart 320 slides from the rear to the front in the track of the base frame 310 and the pushing rod of the pushing cylinder 420 is gradually pressed into the cylinder body, the first position sensor 531 gradually approaches the magnetic head 560, and when the first position sensor 531 overlaps the magnetic head 560, it indicates that the condition that the moving tail 300 moves forward is satisfied, and the first position sensor 531 sends a self-moving signal to the controller 510.
The controller 510 generates a self-moving control command according to the self-moving signal after receiving the self-moving signal. The controller 510 executes the self-moving control logic according to the self-moving control instruction.
In this embodiment, by providing the transfer conveyor 600, providing the cart 320 on the self-moving tail 300, providing the magnetic head at the opening of the cylinder body of the pushing cylinder 420, providing the first position sensor 531 at the first position of the pushing rod of the pushing cylinder 420, and driving the cart 320 to slide forward and backward in the track of the base frame 310 by the transfer conveyor 600, the pushing rod of the pushing cylinder 420 is pushed to be gradually pressed into the cylinder body, so that the first position sensor 531 coincides with the magnetic head 560, the triggering condition for the self-moving tail to start self-moving is obtained, the first position sensor 531 at the position B on the base frame 310 is caused to send a self-moving signal to the controller 510, so that the self-moving control command is finally obtained, and the self-moving control logic is executed according to the self-moving control command. Therefore, the automatic triggering of the self-moving tail 300 is realized, and the intelligent degree of coal mining is improved.
In the above embodiment, when the first position sensor 531 and the magnetic head 560 are overlapped, the triggering condition for starting self-moving of the self-moving tail is obtained, the first position sensor 531 at the position B on the base frame 310 is prompted to send a self-moving signal to the controller 510, so that a self-moving control instruction is finally obtained, and the self-moving control logic is executed according to the self-moving control instruction. However, in some embodiments, if the trolley 320 travels faster, so that the first position sensor 531 and the magnetic head 560 are overlapped and then move away quickly, the first position sensor 531 does not capture the signal of the magnetic head 560, which causes the trolley 320 to drive the pushing rod of the pushing cylinder 420 to continue to press into the cylinder. If the pushing rod of the pushing cylinder 420 is continuously pressed into the cylinder body, the distance of the self-moving tail 300 moving forwards is large, and potential safety hazards exist.
Therefore, optionally, as shown in fig. 4, the electronic control system 500 further includes: a second position sensor 532.
The second position sensor 532 is provided at a second position of the push rod of the push cylinder 420, wherein the first position is closer to the bottom of the cylinder body of the push cylinder 420 than the second position, and the controller 510 is connected to the second position sensor 532.
And the second position sensor 532 is used for sending a self-moving signal to the controller 510 when the magnetic head 560 is overlapped with the first position sensor 531 and the trolley 320 continues to move on the base frame 310 from back to front under the driving of the reversed loader 600.
In this embodiment, the second position sensor 532 is provided at the second position of the push rod of the push cylinder 420, and the first position is closer to the cylinder body of the push cylinder 420 than the second position, so that the first position sensor 531 overlaps the magnetic head 560 first as the push rod of the push cylinder 420 is gradually retracted into the cylinder body.
If the first position sensor 531 is overlapped with the magnetic head 560, the self-moving tail 300 does not move by itself due to the damage of the first position sensor 531, or the magnetic head 560 is not sensed by the first position sensor 531, and the pushing rod of the pushing cylinder 420 continues to retract to the cylinder.
If the pushing rod of the pushing cylinder 420 retracts towards the interior of the cylinder body all the time, the pushing cylinder 520 is damaged, and even the self-moving tail 300 moves forwards for a large distance, so that coal mining safety accidents are caused. Therefore, the second position sensor 532 is provided at a second position of the push lever of the push cylinder 420. When the first position sensor 531 coincides with the head 560 and the self-moving tail 300 does not self-move, the second position sensor 532 sends a self-moving signal to the controller 510 when the second position sensor 532 coincides with the head 560. Therefore, a guarantee is equivalently set, the self-moving tail 300 can be triggered to move automatically, and coal mining safety is guaranteed.
Optionally, the first position is a position on the pushing rod corresponding to 2350mm away from the opening of the cylinder body when the pushing rod of the pushing cylinder 420 is fully extended.
Optionally, the second position is a position corresponding to a position on the pushing rod which is spaced from the 2700mm of the opening of the cylinder body when the pushing rod of the pushing cylinder 420 is completely extended.
The self-moving tail 300 can cause the self-moving tail 300 and the rubber belt of the belt conveyor to form deviation and dislocation because the smooth groove bottom plate is not flat or the pushing rod of the lateral moving horizontal oil cylinder arranged on the base frame extends out asynchronously in the self-moving process, and a serious person can cause the rubber belt to be torn. Therefore, the self-moving tail 300 needs to be adjusted.
In the prior art, the center line of the self-moving tail 300 and the center line of the rubber belt of the belt conveyor are aligned by adopting manual operation equipment, wherein during adjustment, a person stands beside the belt for manual operation, the efficiency is low, and meanwhile, the risk of smashing by splashed coal blocks is possible.
Therefore, optionally, as shown in fig. 4, the hydraulic control system 400 further includes: 2 lateral shifting horizontal cylinders 430; the electronic control system 500 further includes: 2 lateral movement stroke sensors 540 and 2 deviation sensors 550.
The 2 side-shifting horizontal oil cylinders 430 are symmetrically arranged on the tail end frame 312, the 2 deviation sensors 550 are symmetrically arranged on the inner side of the tail end frame 312, the 2 side-shifting stroke sensors 540 are in one-to-one correspondence with the 2 side-shifting horizontal oil cylinders 430, and the controller 510 is connected with the 2 side-shifting stroke sensors 540 and the 2 deviation sensors 550.
The deviation sensor 550 is configured to send the deviation data to the controller 510 each time the deviation data of the tail rubber belt of the belt conveyor is detected.
The controller 510 is configured to, when receiving offset data, obtain an automatic adjustment control instruction according to the offset data, and execute a deviation automatic adjustment control logic according to the deviation automatic adjustment control instruction, where the deviation automatic adjustment control logic includes: the controller 510 controls the 4 raising vertical cylinders 410 to retract, so as to lift the tail end frame 312.
When the height stroke data sent by the at least two height sensors 520 is greater than or equal to the first preset height stroke data, the controller 510 controls the side shift horizontal cylinder 430 on one side of the offset direction to extend out by a preset length, and the side shift horizontal cylinder 430 on the other side of the offset direction to retract by a preset length, so as to jointly drive the tail end frame 312 to move by the preset length in the offset direction.
When the side shift stroke data sent by the two side shift stroke sensors 540 is greater than or equal to the preset length, the controller 510 controls the 4 height-adjusting vertical cylinders 410 to extend out so as to drive the tail end frame 312 to land, and the deviation correction of the self-moving tail 300 is completed.
When the height stroke data sent by the at least two height sensors 520 is greater than or equal to the second preset height stroke data, the controller 510 controls the two side shift horizontal cylinders 430 to reset.
And 2 side shift stroke sensors 540 for detecting side shift stroke data of the corresponding side shift horizontal cylinder 430 and transmitting the side shift stroke data to the controller 510 when one side shift horizontal cylinder 430 of the two side shift horizontal cylinders 430 is extended and the other side shift horizontal cylinder 430 is retracted.
In this embodiment, as shown in fig. 5 and 6, 2 side shift horizontal cylinders 430 are symmetrically disposed on the tail end frame 312, wherein the moving direction of the pushing rods of the side shift horizontal cylinders 430 is perpendicular to the moving direction of the self-moving tail 300, and the moving directions of the pushing rods of the two side shift horizontal cylinders 430 are opposite, that is, when the pushing rods of the two side shift horizontal cylinders 430 move in the same direction, the pushing rod of one side shift horizontal cylinder 430 extends, and the pushing rod of the other side shift horizontal cylinder 430 retracts.
Each lateral shift horizontal cylinder 430 corresponds to a lateral shift stroke sensor 540.
The 2 deviation sensors 550 are symmetrically arranged on the inner side of the tail end frame 312 and used for detecting whether the tail rubber belt of the belt conveyor deviates or not. Optionally, as shown in fig. 5 and 6, the tail end frame 312 further includes: the tail rubber belt of the belt conveyor is wound on the large roller 121 and the small roller 122, and 2 deviation sensors 550 are arranged on the large roller side.
Therefore, optionally, the 2 deviation sensors 550 are respectively symmetrically arranged at the edge positions of the tail rubber belt of the belt conveyor, so that the detection accuracy is improved, and errors are avoided. For example, the 2 deviation sensors 550 are symmetrically arranged at the positions of the tail rubber belt of the belt conveyor and the distance between the edge of the tail rubber belt of the belt conveyor is 100 mm-150 mm.
It should be noted that 2 deviation sensors 550 are symmetrically arranged, and fig. 5 is a front view, so that only one deviation sensor 550 is shown in fig. 5.
When the self-moving tail 300 deviates, the tail rubber belt of the belt conveyor can deviate, and 2 deviation sensors 550 which are symmetrically arranged detect the deviation direction and the deviation data of the tail rubber belt.
When the self-moving tail 300 deviates to one direction, the deviation sensor 550 corresponding to the direction detects that the self-moving tail 300 deviates to the direction, obtains deviation data, and sends the deviation data to the controller 510.
When the controller 510 receives the offset data, it obtains an off-tracking automatic adjustment control instruction according to the offset data, and executes an off-tracking automatic adjustment control logic according to the off-tracking automatic adjustment control instruction. The automatic deviation adjusting control logic comprises:
the controller 510 controls the 4 elevation cylinders 410 to retract simultaneously, so that the 2 elevation cylinders 410 installed on the head end frame 311 and the tail end frame 312 drive the head end frame 311 and the tail end frame 312 to lift up, and move away from the ground, so as to lift up the base frame 310.
When the 4 elevation cylinders 410 are retracted, height stroke data of the elevation cylinders 410 mounted on the head end frame 311 and the tail end frame 312 are acquired by the height sensors 520, and the height stroke data are transmitted to the controller 510.
The controller 510 receives the feedback data, that is, receives the height stroke data sent by the height sensor 520, and when the height stroke data is judged to be greater than or equal to the first preset height stroke data, the controller 510 controls the side shift horizontal cylinder 430 on one side of the offset direction to extend out by a preset length. Moreover, since the moving directions of the pushing rods of the two lateral movement horizontal cylinders 430 are opposite, the rear end frame 312 is moved to the offset direction by a preset length, and the lateral movement horizontal cylinder 430 on the other side of the offset direction is retracted by the preset length, so that the rear end frame 312 is driven to move to the offset direction by the preset length together.
It should be noted that the preset length is preset, and the length of the lateral shift horizontal cylinder 430 on the side of the control shift direction is controlled by the controller 510 to be fixed and to be the preset length no matter what the actual shift data of the lateral shift tail 300 shifted in one direction is. The preset length is, for example, half of the length of the pushing rod of the side shift horizontal cylinder 430 extending out of the cylinder body, and in practical application, half of the length of the pushing rod of the side shift horizontal cylinder 430 extending out of the cylinder body is set to be 100 mm.
When the 2 side shift horizontal cylinders 430 are operated, the side shift stroke data of the side shift horizontal cylinders 430 corresponding to the side shift stroke sensors 540, respectively, are transmitted to the controller 510 as feedback data.
After the controller 510 receives the side shift stroke data, when the side shift stroke data is judged to be greater than or equal to the preset length, the 2 side shift horizontal oil cylinders 430 drive the self-moving tail 300 to move in the offset direction once, and the 4 height-adjusting vertical cylinders 410 are controlled to extend out, so that the head end frame 311 and the tail end frame 312 fall to the ground, the ground is supported, and the base frame 310 falls to the ground.
After the controller 510 receives the height moving stroke data, when the height moving stroke data is judged to be greater than or equal to the second preset height stroke data, it indicates that the extension of the 4 height-adjusting vertical cylinders 410 is completed, and the controller 510 controls the two side-shifting horizontal cylinders 430 to reset.
The deviation sensor 550 detects that the deviation distance of the adhesive tape relative to the main upper is Δ d, and the direction of the adhesive tape is close to the main upper, and the deviation data is recorded as + Δ d. If the compensation displacement of the self-moving tail 300 relative to the front wall is Δ D, the calculation formula of the relative displacement Δ l of the self-moving tail 300 relative to the adhesive tape is formula one:
Δ l ═ Δ D- (+ Δ D) formula one
In an ideal state, the relative displacement Δ l of the self-moving tail 300 relative to the adhesive tape should be 0, and therefore, according to the formula two:
Δ D ═ (+ Δ D) formula two
Therefore, the offset displacement of the self-moving tail 300 to the offset direction is the offset data + Δ d detected by the deviation sensor 550. Therefore, when the side shift horizontal cylinder 430 is reset, if the data Δ D of the offset of the self-moving tail 300 is large, after the self-moving tail 300 moves to the offset direction for a preset length once, the corresponding off-tracking sensor 550 still detects the offset direction and the offset data of the tail tape, and sends the offset data to the controller 510, so that the above steps are performed in a loop until the off-tracking sensor 550 does not detect the offset of the tail tape.
In this embodiment, the hydraulic control system 400 further includes: 2 lateral shifting horizontal cylinders 430; the electronic control system 500 further includes: 2 lateral movement stroke sensors 540 and 2 deviation sensors 550. The 2 side-shifting horizontal oil cylinders 430 are symmetrically arranged on the tail end frame 312, the 2 deviation sensors 550 are symmetrically arranged on the inner side of the tail end frame 312, the 2 side-shifting stroke sensors 540 are in one-to-one correspondence with the 2 side-shifting horizontal oil cylinders 430, and the controller 510 is connected with the 2 side-shifting stroke sensors 540 and the 2 deviation sensors 550. The data detected by the side shift stroke sensor 540 and the deviation sensor 550 are used as feedback data, the side shift horizontal cylinder 430 drives the tail rubber belt to move towards the deviation direction under the control of the controller 510, and the self-moving tail 300 is driven by the machine to move towards the deviation direction, so that the deviation of the self-moving tail 300 is automatically adjusted, the coal mining intelligence degree is improved, the CIA failure rate is further improved, and the personnel safety is guaranteed.
Optionally, as shown in fig. 5 and 6, the tail end frame 312 further includes: a tail end shelf body 123, a carriage 124, and a slide 125.
The rear end frame body 123 is connected with the sliding base 125 through an elevation vertical cylinder 410 on the rear end frame 312, and the sliding base 125 is connected with the sliding base 124 through two lateral shifting horizontal cylinders 430.
And a carriage 124 for lifting up when the elevation cylinder 410 on the rear end frame 312 is retracted to lift up the rear end frame 312 and moving a predetermined length in the offset direction by a lateral shift horizontal cylinder 430.
And the sliding base 125 is used for moving a preset length in the offset direction under the action of the lateral-moving horizontal oil cylinder 430, and driving the tail end frame 312 to move the preset length in the offset direction, so that the deviation correction of the self-moving tail 300 is completed.
In this embodiment, the sliding base 125 is connected to the height-adjusting vertical cylinder 410 and the two lateral-moving horizontal cylinders 430 through the shaft pins 126.
On the basis of the above embodiment, the controller 510 controls the 4 raising vertical cylinders 410 to be simultaneously retracted, so that after the base frame 310 is raised, the controller 510 controls the side shift horizontal cylinder 430 on one side of the shifting direction to extend by a preset length, so that the side shift horizontal cylinder 430 drives the carriage 124 to move by the preset length in the shifting direction.
And when the controller 510 receives the side shift stroke data and determines that the side shift stroke data is greater than or equal to the preset length, the controller 510 controls the raising cylinder 410 on the rear end frame 312 to extend, so that the carriage 124 lands to support the rear end frame 312.
After the controller 510 receives the height moving stroke data, when the height moving stroke data is judged to be greater than or equal to the second preset height stroke data, it indicates that the extension of the 4 height-adjusting vertical cylinders 410 is completed, and the controller 510 controls the two side-shifting horizontal cylinders 430 to reset.
Then, the controller 510 controls the side shift horizontal cylinder 430 controlling one side of the offset direction to extend a preset length, so that the side shift horizontal cylinder 430 drives the slider 125 to move a preset length in the offset direction.
After the controller 510 receives the height moving stroke data, when the height moving stroke data is judged to be greater than or equal to the second preset height stroke data, it indicates that the extension of the 4 height-adjusting vertical cylinders 410 is completed, and the controller 510 controls the two side-shifting horizontal cylinders 430 to reset.
Thus, the self-moving tail 300 is moved in the offset direction by a predetermined length. At this time, if the deviation sensor 550 on the side of the deviation direction can still detect the deviation of the self-propelled tail 300 to the direction, the above process needs to be repeated until the deviation sensor 550 on the side of the deviation direction cannot detect the deviation of the self-propelled tail 300 to the direction.
Fig. 1 and 4 are schematic diagrams of connection relationships established according to signal transmission, and the connection relationships in mechanical angles are illustrated in fig. 2, 3, 5 and 6.
Fig. 7 is a flowchart of a method for adjusting self-moving tail offset according to an embodiment of the present disclosure. As shown in fig. 7, the method includes:
s701, detecting whether a tail rubber belt of the belt conveyor deviates by a deviation sensor, and if so, executing S702; if not, S707 is executed.
S702, the controller receives offset data sent by the deviation sensor, obtains an automatic deviation adjusting control instruction according to the offset data, and controls the height-adjusting vertical cylinder of the tail end frame to retract according to the dynamic adjusting control instruction.
And S703, retracting the height-adjusting vertical cylinder of the tail end frame to drive the sliding frame to lift.
S704, the lateral-moving horizontal oil cylinder corresponding to the tail end frame drives the sliding frame to slide for a preset length in the offset direction.
S705, the controller controls the height-adjusting vertical cylinder of the tail end frame to extend out, so that the sliding frame falls to the ground, and the lateral-moving horizontal cylinder corresponding to the tail end frame is reset.
And S706, the controller controls the corresponding lateral movement horizontal oil cylinder of the tail end frame to drive the sliding frame to slide in the offset direction for a preset length so as to drive the self-moving machine to slide in the offset direction for the preset length, and then the step returns to S701.
And S707, finishing the self-moving tail offset adjustment.
The preset stroke is, for example, the maximum stroke of the side shift stroke sensor, i.e., 200 mm.
For the method for adjusting offset of self-moving tail in this embodiment, reference may be made to the foregoing embodiments for technical solutions and technical effects, which are not described herein again.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A self-moving tail self-moving control system is characterized by comprising: from moving tail, hydraulic control system and electric control system, move the tail certainly and include: a base frame, the base frame comprising: head end frame and tail end frame, the hydraulic control system includes: 4 heighten standing cylinders and 2 thrust oil cylinders, the electric control system comprises: a controller, at least two height sensors;
the controller is connected with the height sensors, two of the height-adjusting vertical cylinders are symmetrically arranged on the head end frame, the other two of the height-adjusting vertical cylinders are symmetrically arranged on the tail end frame, at least one height sensor is arranged on the head end frame, at least one height sensor is arranged on the tail end frame, and the 2 pushing oil cylinders are symmetrically arranged on two sides of the base frame;
the controller is configured to obtain a self-moving control instruction and execute a self-moving control logic according to the self-moving control instruction, where the self-moving control logic includes: controlling the height-adjusting vertical cylinders to be retracted, controlling the pushing oil cylinders to act to push the self-moving tail to move automatically when the height stroke data sent by the at least two height sensors are greater than or equal to first preset height stroke data, and controlling the 4 height-adjusting vertical cylinders to extend out to complete the self-moving of the self-moving tail when the action of the pushing oil cylinders is stopped, wherein the self-moving control instruction is used for instructing to execute self-moving control logic of the self-moving tail;
the height-adjusting vertical cylinder is used for lifting the base frame when the height-adjusting vertical cylinder is retracted and enabling the base frame to fall to the ground when the height-adjusting vertical cylinder is extended out;
the base frame is used for enabling the pushing oil cylinder to push the self-moving tail to move automatically when the self-moving tail is lifted, and fixing the self-moving tail when the self-moving tail falls to the ground;
the pushing oil cylinder is used for extending out and driving the self-moving tail to move when the 4 heightening vertical cylinders are retracted, and keeping the extending state when the 4 heightening vertical cylinders extend out.
2. The control system of claim 1, further comprising: the elevating conveyor, the tail still includes from moving: a trolley; the electronic control system further comprises: a first position sensor, a magnetic head;
the trolley is connected with the base frame through the pushing oil cylinder, slides in the track of the base frame, is also connected with the reversed loader, the magnetic head is arranged at an opening of a cylinder body of the pushing oil cylinder, the first position sensor is arranged at a first position of a pushing rod of the pushing oil cylinder, and the controller is connected with the first position sensor;
the reversed loader is used for driving the trolley to move on the base frame from back to front when the reversed loader moves forwards;
the trolley is used for enabling the first position sensor to approach the magnetic head when the trolley is driven by the reversed loader to move on the base frame from back to front;
the first position sensor is further used for sending a self-moving signal to the controller when the magnetic head is coincided with the first position sensor;
the controller is used for receiving the self-moving signal and generating the self-moving control instruction according to the self-moving signal.
3. The control system of claim 2, wherein the pilot-controlled system further comprises: 2 lateral moving horizontal oil cylinders;
the electronic control system further comprises: 2 lateral movement stroke sensors and 2 deviation sensors; the 2 lateral movement horizontal oil cylinders are symmetrically arranged on the tail end frame, the 2 deviation sensors are symmetrically arranged on the inner side of the tail end frame, the 2 lateral movement stroke sensors correspond to the 2 lateral movement horizontal oil cylinders one by one, and the controller is connected with the 2 lateral movement stroke sensors and the 2 deviation sensors;
the deviation sensor is used for sending the deviation data to the controller when the deviation data of the tail rubber belt of the belt conveyor are detected;
the controller is configured to, when receiving the offset data, obtain an automatic deviation adjustment control instruction according to the offset data, and execute an automatic deviation adjustment control logic according to the automatic deviation adjustment control instruction, where the automatic deviation adjustment control logic includes: controlling the height-adjusting vertical cylinder on the tail end frame to retract so as to drive the tail end frame to lift;
when the height stroke data sent by the at least two height sensors are larger than or equal to first preset height stroke data, controlling the lateral movement horizontal oil cylinder on one side of the offset direction to extend out of a preset length, and controlling the lateral movement horizontal oil cylinder on the other side of the offset direction to retract into the preset length to jointly drive the tail end frame to move towards the offset direction by the preset length;
when the lateral movement stroke data sent by the two lateral movement stroke sensors are larger than or equal to the preset length, the controller controls the heightening vertical cylinder to extend out so as to drive the tail end frame to fall to the ground and finish the deviation correction of the self-moving tail;
when the height stroke data sent by the at least two height sensors are larger than or equal to second preset height stroke data, the controller controls the two lateral shifting horizontal oil cylinders to reset;
and the 2 lateral movement stroke sensors are used for detecting lateral movement stroke data of the corresponding lateral movement horizontal oil cylinder when one lateral movement horizontal oil cylinder of the two lateral movement horizontal oil cylinders extends out and the other lateral movement horizontal oil cylinder retracts, and sending the lateral movement stroke data to the controller.
4. The control system of claim 3, wherein the tail end shelf comprises: the tail end frame body, the sliding frame and the sliding seat;
the tail end frame body is connected with the sliding seat through a height-adjusting vertical cylinder on the tail end frame, and the sliding seat is connected with the sliding frame through the two lateral-moving horizontal oil cylinders;
the sliding frame is used for being lifted when the height-adjusting vertical cylinder on the tail end frame is retracted so as to lift the tail end frame, and the sliding frame moves to the offset direction by the preset length under the action of the lateral-moving horizontal oil cylinder;
the sliding seat is used for moving the preset length to the offset direction under the action of the lateral movement horizontal oil cylinder to drive the tail end frame to move the preset length to the offset direction, and the deviation correction of the self-moving tail is completed.
5. The control system according to claim 3, wherein the preset length is half of a total length of the push rod of the side-shift horizontal cylinder extending out of the cylinder body of the side-shift horizontal cylinder.
6. The control system of claim 4, wherein the tail end shelf further comprises: a large drum and a small drum;
the tail rubber belt of the belt conveyor is wound on the large roller and the small roller, and the 2 deviation sensors are arranged on the side of the large roller.
7. The control system of claim 3, wherein the 2 deviation sensors are symmetrically arranged at the edge position of a tail rubber belt of the belt conveyor respectively.
8. The control system of claim 7, wherein the 2 deviation sensors are symmetrically arranged at the positions of the tail rubber belts of the belt conveyors respectively and have a distance of 100-150 mm from the edges of the tail rubber belts of the belt conveyors.
9. The control system of any one of claims 2-7, wherein the electronic control system further comprises: a second position sensor;
the second position sensor is arranged at a second position of a pushing rod of the pushing cylinder, wherein the first position is closer to the bottom of a cylinder body of the pushing cylinder than the second position, and the controller is connected with the second position sensor;
and the second position sensor is used for sending a self-moving signal to the controller after the magnetic head is overlapped with the first position sensor and the trolley continues to move on the base frame from back to front under the driving of the reversed loader.
10. The control system of claim 9, wherein the first position is a position on the pushing rod corresponding to 2350mm away from the opening of the cylinder body when the pushing rod of the pushing cylinder is fully extended out of the cylinder body; and/or the presence of a gas in the gas,
and the second position is a position corresponding to the position of 2700mm away from the opening of the cylinder body on the pushing rod when the pushing rod of the pushing oil cylinder completely extends out of the cylinder body.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114955448A (en) * | 2022-08-01 | 2022-08-30 | 山东新矿信息技术有限公司 | Intelligent control system and method for self-moving tail of tunneling working face |
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| CN111689168A (en) * | 2020-06-03 | 2020-09-22 | 宁夏天地奔牛实业集团有限公司 | Remote control type belt self-moving tail control system |
| CN213355947U (en) * | 2020-09-29 | 2021-06-04 | 郑州煤矿机械集团股份有限公司 | Electro-hydraulic automatic control system for belt conveyor tail self-moving device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955448A (en) * | 2022-08-01 | 2022-08-30 | 山东新矿信息技术有限公司 | Intelligent control system and method for self-moving tail of tunneling working face |
| CN114955448B (en) * | 2022-08-01 | 2022-11-11 | 山东新矿信息技术有限公司 | Intelligent control system and method for self-moving tail of tunneling working face |
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