CN115771844A - Slope track deviation detection and control system for underground monorail crane - Google Patents
Slope track deviation detection and control system for underground monorail crane Download PDFInfo
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- CN115771844A CN115771844A CN202211478519.1A CN202211478519A CN115771844A CN 115771844 A CN115771844 A CN 115771844A CN 202211478519 A CN202211478519 A CN 202211478519A CN 115771844 A CN115771844 A CN 115771844A
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Abstract
The invention discloses a slope track deviation detection and control system for an underground monorail crane, which comprises a plate inserting track, a clamping plate track, a bolt tongue, a clamping plate side piezoelectric sensor, a clamping plate bottom piezoelectric sensor and a monorail crane control system, wherein the plate inserting track is provided with a plurality of insertion holes; the single-rail crane slope track self inserting plate, the clamping plate structure and the stress are combined, the piezoelectric sensor is arranged in a connecting groove of the inserting plate and the clamping plate, the slope working condition of a single track is automatically identified, the left and right deviation and the danger of the track are automatically detected, the single-rail crane control system is controlled to further control the electromagnetic valve of the driving part, power distribution protection is carried out, manual intervention is not needed, external additional equipment is not relied on, the structure and the control method are simple, the protection of the slope track is achieved, the continuous operation of the single-rail crane is guaranteed, and the single-rail crane slope track self inserting plate, clamping plate structure and stress have important significance.
Description
Technical Field
The invention relates to the field of monorail crane control, in particular to a slope track deviation detection and control system for an underground monorail crane.
Background
When the underground coal mine monorail crane runs on a horizontal rail, the driving part at the front end of the lifting beam provides pulling force for a locomotive, and the driving part at the rear end of the lifting beam provides pushing force for the locomotive, so that the rail bending phenomenon cannot occur. When the monorail crane runs on an uphill track, the driving force direction of each driving part is consistent with the advancing direction of the locomotive, the driving part at the front end position provides pulling force for the advancing of the locomotive at the high position, and the driving part at the rear end position provides pushing force for the advancing of the locomotive at the low position. When the monorail crane runs downhill, the driving force direction of each driving part is opposite to the advancing direction of the locomotive, the driving part is arranged at the front end of the lifting beam and is positioned at the lower part, and the driving part pushes the lifting beam upwards along the track direction to provide thrust for the running of the locomotive; the rear end of the lifting beam is located at a high position, and the driving part pulls the driving part upwards along the track direction to provide tension for the operation of the locomotive.
Therefore, when the monorail crane runs on a slope track, the driving part above the lifting beam provides pulling force, and the driving part below the lifting beam provides pushing force. However, when the front end driving part is on the roadway track and the rear end driving part is on the slope track, the speed of the front end driving part is suddenly not limited by self weight and load, and the speed of the front end driving part is changed. Especially for the working condition of downhill, the change can lead the speed of the front end driving part to be accelerated and the acting force to be increased, and the speed and the action of the rear end driving part are not changed greatly, at the moment, the front end driving part and the rear end driving part can generate moment to the connection part of the ramp track, so that the risk of deviation and even bending of the ramp track exists.
Meanwhile, the installation deviation of the underground monorail crane ramp track increases the bending risk. Because the chain for the track hangs on the tunnel roof, simultaneously, requires to have the gap between track and the track in the track installation, under the inevitable condition of installation error, the condition of unevenness always can appear between track and the track, will cause the track horizontal hunting to form the Z style of calligraphy when the thrust of heavy object below is too big to make the thrust direction of drive division not on same straight line. According to the requirement of monorail crane installation standard, the deflection angle is not more than 1 degree. The presence of this offset angle results in a lateral component of the force of the drive section on the track during monorail travel, and a lateral component of the force on the track adjacent to the track. Under the combined action of the two lateral component forces, the track can generate a left-right swinging phenomenon, when the monorail crane runs on the track with slope, the driving part needs to overcome not only the rolling friction between the monorail crane and the track, but also the component force of the gravity of the monorail crane and goods in the track direction, so that the driving force of the driving part is very large, and when the resultant force of the two lateral component forces exceeds the yield limit or the rigidity limit of the track, the track can generate plastic deformation, thereby causing the track to bend and fail.
Some devices and methods for improving the deviation condition of the slope track by controlling the driving force have been developed at present, but the stress state of the track cannot be mastered in real time, the track deviation condition about the slope track is obtained in real time and the protection of a power system is warned and controlled, the slope condition is automatically recognized without manual intervention and without depending on external additional equipment at the weak position of the slope track switching, the technical problem that the electromagnetic valve of an automatic control driving part is used for power distribution cannot be solved all the time, the track deviation and even bending phenomena occur all the time, the continuous operation efficiency of the monorail crane is seriously influenced, and urgent solution is needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a slope track deviation detection and control system for an underground monorail crane, which mainly combines the structures and the stress of an inserting plate and a clamping plate of a slope track of the monorail crane, a piezoelectric sensor is arranged in a connecting groove of the inserting plate and the clamping plate, the slope working condition of the monorail track is automatically identified, the left-right deviation and the danger of the track are automatically detected, a control system of the monorail crane is controlled to further control an electromagnetic valve of a driving part, power distribution protection is carried out, manual intervention is not needed, external additional equipment is not needed, the structure and the control method are simple, the protection of the slope track is realized, and the continuous operation of the monorail crane is ensured.
The system comprises an inserting plate track, a clamping plate track, a bolt tongue, a clamping plate side piezoelectric sensor, a clamping plate bottom piezoelectric sensor and a monorail crane control system; the piezoelectric sensor at the side surface of the clamping plate and the piezoelectric sensor at the bottom of the clamping plate are arranged at the butt joint groove of the plug board and the clamping plate of the gradient track; the piezoelectric sensors on the side surfaces of the clamping plates comprise a piezoelectric sensor on the left side of the clamping plate and a piezoelectric sensor on the right side of the clamping plate, are embedded into two sides of an inner groove of the clamping plate, are tightly attached to the inserting plate and the clamping plate, monitor left and right deviation of the track in real time and give alarm protection to a monorail crane control system; the piezoelectric sensing bottom the clamping plate is embedded into the bottom side of the inner groove of the clamping plate and is tightly attached to the inserting plate and the clamping plate, when the monorail crane runs to a ramp, the piezoelectric sensing stress at the bottom of the clamping plate sends a signal to the monorail crane control system to serve as a detection signal for the monorail crane to go up and down slope.
The left and right deviation of the track means that the deviation of the track on the slope track exceeds 1 degree, and the left deviation is taken as an example, at the moment, the inserting plate extrudes the piezoelectric sensor on the left side of the clamping plate, the piezoelectric sensor on the left side of the clamping plate is stressed and output, and a signal is sent to a monorail crane control system; because the relationship between the piezoelectric sensing output value on the left side of the clamping plate and the track deviation angle is related to track load and stress, the piezoelectric sensing output value on the left side of the clamping plate is set to be between 0 and 500N, when the piezoelectric sensing output value exceeds a first limit value of 300N, the output value is defined to indicate that the track deviates by more than 1 degree, and when the piezoelectric sensing output value exceeds a second limit value of 500N, the output value is defined to indicate that the track deviates dangers; at the moment, the monorail crane control system outputs a control signal to the power part to control the electromagnetic valve to work, power distribution and even emergency braking are executed, sound and light alarm is given, the phenomenon that the ramp track is bent due to further increase of a deviation angle is avoided, and detection and control of track deviation are realized; signals of the piezoelectric sensors 401 on the left sides of the clamping plates are connected in parallel to enter the monorail crane control system 6 and are independently controlled, and when any one signal of the piezoelectric sensors 401 on the left sides of the clamping plates works, the monorail crane control system 6 considers that the ramp track deviates; right deviation, same direction and left deviation.
The working condition of automatically identifying the gradient means that after the monorail crane runs to the gradient track, the self-load is linked with the gradient track to be tightly connected, the inserting plate of the inserting plate track is tightly attached to the bottom of the inner groove of the clamping plate, the inserting plate extrudes the piezoelectric sensor at the bottom of the clamping plate at the moment, the piezoelectric sensor at the bottom of the clamping plate is stressed and output, and a signal is sent to a control system of the monorail crane; the output value of the piezoelectric sensing at the bottom of the clamping plate is related to the load and the stress of the track, so that the output value of the piezoelectric sensing at the bottom of the clamping plate is set to be a switch limit value, the output value of the piezoelectric sensing at the bottom of the clamping plate is defined to be more than 300N between 0N and 300N and indicates that the monorail crane runs to a slope track, a plurality of piezoelectric sensing signals at the bottom of the clamping plate are connected in parallel to enter a monorail crane control system, in order to avoid misoperation, when the piezoelectric sensing signals at the bottom of the clamping plate exceed 2 working conditions, the monorail crane control system considers that the monorail crane enters a ramp working condition, automatic identification is realized, manual intervention is not needed, external additional equipment is not needed, and a driving part electromagnetic valve is controlled to distribute power.
Combining single track and hanging slope track self picture peg and splint structure and atress, the slope operating mode of automatic identification monorail, the skew danger about the automated inspection track controls single track and hangs the control system solenoid valve, carries out the power distribution protection, and the slope track that forms deviates from and detects and the control method includes the following step:
and 4, if the piezoelectric sensing of the side surface of the clamping plate exceeds a second limit value of 500N, the track deviates dangers, the control system of the monorail crane outputs an emergency braking signal, all the electromagnetic valves of the driving part are cut off, and a protection program is started.
The invention has the beneficial effects that: the single-rail crane slope track self inserting plate, the clamping plate structure and the stress are combined, the piezoelectric sensor is arranged in a connecting groove of the inserting plate and the clamping plate, the slope working condition of a single track is automatically identified, the left and right deviation and the danger of the track are automatically detected, the single-rail crane control system is controlled to further control the electromagnetic valve of the driving part, power distribution protection is carried out, manual intervention is not needed, external additional equipment is not relied on, the structure and the control method are simple, the protection of the slope track is achieved, the continuous operation of the single-rail crane is guaranteed, and the single-rail crane slope track self inserting plate, clamping plate structure and stress have important significance.
Drawings
FIG. 1 is a schematic view of a sensor for detecting deviation of a grade rail according to the present invention;
FIG. 2 is a schematic diagram of a sensor arrangement for detecting deviation of a grade track (such as a downhill slope) in accordance with the present invention;
FIG. 3 is a schematic illustration of a grade track deviation of the present invention;
FIG. 4 is a schematic diagram of the automatic identification of grade track according to the present invention;
fig. 5 is a schematic diagram of automatic identification of a power system distribution diagram (10 drives are taken as an example) of the monorail crane.
Description of reference numerals:
1. a board inserting track; 2. a clamp plate track; 3. a bolt tongue; 4. piezoelectric sensing is carried out on the side surface of the clamping plate; 5. piezoelectric sensing is carried out at the bottom of the clamping plate; 6. a monorail crane control system; 7. a gate way track; 8. a grade track; 9. a rail butt joint; 101. inserting plates; 201. a splint; 401. piezoelectric sensing on the left side of the clamping plate; 402. piezoelectric sensing on the right side of the clamping plate; 601. a front cab; 602. a rear cab; 603. a front 1 driving part; 604. a rear 1 drive section; 605. a front 2 driving part; 606. a rear 2 driving part; 607. an intermediate drive section.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. 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 invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, "a plurality" means two or more. In addition, technical solutions between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be nonexistent.
As shown in fig. 1, a slope track deviation detection and control system facing an underground monorail crane comprises a plate inserting track 1, a clamping plate track 2, a bolt tongue 3, a clamping plate side piezoelectric sensor 4, a clamping plate bottom piezoelectric sensor 5 and a monorail crane control system 6;
an inserting plate 101 is fixed at the lower end of the inserting plate track 1, a clamping plate 201 is fixed at the lower end of the clamping plate track 2, the upper parts of the inserting plate track 1 and the clamping plate track 2 are in inserted pin butt joint through an inserting pin tongue 3, the lower parts of the inserting plate track 1 and the clamping plate track 2 are in inclined sliding butt joint through the inserting plate 101 and the clamping plate 201, and a movable space is reserved around the inserting plate track and the clamping plate track;
the piezoelectric sensor 4 on the side surface of the clamping plate and the piezoelectric sensor 5 on the bottom of the clamping plate are arranged at the butt joint groove of the plug board and the clamping plate of the gradient track;
the clamp plate side surface piezoelectric sensors 4 comprise clamp plate left side piezoelectric sensors 401 and clamp plate right side piezoelectric sensors 402, are embedded into two sides of an inner groove of the clamp plate 201, are tightly attached to the inserting plate 101 and the clamp plate 201, monitor left and right deviation of a track in real time, and give alarm protection to the monorail crane control system 6;
the bottom piezoelectric sensor 5 of the clamping plate is embedded into the bottom side of the inner groove of the clamping plate 201 and is tightly attached to the inserting plate 101 and the clamping plate 201, and when the monorail crane runs to a ramp, the bottom piezoelectric sensor 5 of the clamping plate is stressed to send a signal to a monorail crane control system to serve as a detection signal of the monorail crane in an up-down slope state.
As shown in fig. 1 and fig. 2, at the transition between the drift track 7 and the gradient track 8 and at the track butt joint 9 between the gradient tracks 8, the clamp plate side piezoelectric sensor 4 and the clamp plate bottom piezoelectric sensor 5 need to be arranged to detect the weak point of the gradient track deviation or even bending; according to the size and the length of the gradient, the butt joint 9 of the track is provided with a plurality of positions, corresponding quantity of clamp plate side piezoelectric sensors 4 and clamp plate bottom piezoelectric sensors 5 are arranged, and signals are output to a monorail crane control system 6 in parallel.
In one embodiment, as shown in fig. 3, the track left-right deviation refers to the track deviation exceeding 1 ° on the slope track, taking the left deviation as an example, at this time, the inserting plate 101 presses the clamp plate left side piezoelectric sensor 401, the clamp plate left side piezoelectric sensor 401 is output in a stress manner, and a signal is sent to the monorail crane control system 6; because the relationship between the output value of the clamp plate left piezoelectric sensor 401 and the track deviation angle is related to track load and stress, the output value of the clamp plate left piezoelectric sensor 401 is set to be between 0 and 500N, when the output value exceeds a first limit value of 300N, the output value is defined to indicate that the track deviation exceeds 1 degree, and when the output value exceeds a second limit value of 500N, the output value is defined to indicate that the track deviation is dangerous; at the moment, the monorail crane control system 6 outputs a control signal to the power part to control the electromagnetic valve to work, executes power distribution and even emergency braking, gives an audible and visual alarm, avoids the bending of the ramp track caused by further increase of the deviation angle, and realizes the detection and control of the track deviation; signals of the piezoelectric sensors 401 on the left sides of the clamping plates are connected in parallel to enter the monorail crane control system 6 and are independently controlled, and when any one signal of the piezoelectric sensors 401 on the left sides of the clamping plates works, the monorail crane control system 6 considers that the ramp track deviates; right deviation, same direction and left deviation.
In one embodiment, as shown in fig. 4, the automatic slope identification working condition means that after the monorail crane runs to the slope track, due to the fact that the self-load is linked with the slope track to be tightly connected, the inserting plate 101 of the inserting plate track 1 is tightly attached to the bottom of the groove in the clamping plate 201, the inserting plate 101 extrudes the piezoelectric sensor 5 at the bottom of the clamping plate, the piezoelectric sensor 5 at the bottom of the clamping plate is subjected to force output, and a signal is sent to the monorail crane control system 6; because the output value of the piezoelectric sensor 5 at the bottom of the clamping plate is related to the load and the stress of the track, the output value of the piezoelectric sensor 5 at the bottom of the clamping plate is set to be a switching limit value, the output value of the piezoelectric sensor 5 at the bottom of the clamping plate is defined to be more than 300N between 0N and 300N, and the output value indicates that the monorail crane runs to the gradient track, a plurality of signals of the piezoelectric sensor 5 at the bottom of the clamping plate are connected in parallel to enter a monorail crane control system 6, in order to avoid misoperation, when the signals of the piezoelectric sensor 5 at the bottom of 2 clamping plates work, the monorail crane control system 6 considers that the monorail crane enters the ramp working condition, automatic identification is realized, manual intervention is not needed, no additional equipment is needed, and the driving part electromagnetic valve is controlled to distribute power.
As shown in fig. 5, the monorail crane control system 6 is arranged between a front 2 driving part 605 and a middle driving part 607 of the monorail crane system, the monorail crane is provided with a front cab 601 and a rear cab 602 in the front and at the back, a front 1 driving part 603 and a front 2 driving part 605 near the front cab 601, a rear 1 driving part 604 and a rear 2 driving part 606 near the rear cab 602, each driving part is provided with an independent electromagnetic valve and is independently controlled by an output signal of the monorail crane control system 6, so that power distribution is realized; the power distribution is realized by the throwing drive of the driving part, namely the electromagnetic valve is closed, so that the corresponding driving part does not work.
Preferably, the slope track deviation detection and control method provided by the invention is combined with the self inserting plate and clamping plate structure and stress of the slope track of the monorail crane, the slope working condition of the single track is automatically identified, the left and right deviation danger of the track is automatically detected, the electromagnetic valve of the monorail crane control system is controlled, and power distribution protection is carried out, and the formed slope track deviation detection and control method comprises the following steps:
step 2, when the monorail crane enters a slope working condition, namely runs on a slope track, taking a downhill working condition shown in fig. 2 as an example, when the monorail crane runs on the downhill working condition, the piezoelectric sensor 5 at the bottom of the clamping plate acts, and the monorail crane control system 6 automatically identifies the slope working condition, and the running speed of the driving part is low due to self weight and load; at the moment, working signals of the piezoelectric sensor 4 on the side surface of the clamping plate are detected, if the piezoelectric sensor 4 on the side surface of the clamping plate does not perform output, the slope track does not deviate and bend, but in order to improve the stress condition of the slope track, the monorail crane control system 6 outputs signals to control the corresponding electromagnetic valves of the front 1 driving part 603 and the rear 1 driving part 604 close to the front cab 601 and the rear cab 602 to be cut off, and slope working condition swing driving is performed, so that the stress is improved, and the phenomenon that when the front 1 driving part 603 close to the front cab 601 is transferred to the drift track 7 from the slope track 8, the speed is accelerated without self-weight and load action, so that the track butt joint 9 generates bending moment, and the track butt joint 9 deviates is avoided;
and 4, if the action output of the piezoelectric sensor 4 on the side surface of the clamping plate exceeds a second limit value of 500N, the track deviates dangerously, the control system 6 of the monorail crane outputs an emergency braking signal, all the electromagnetic valves of the driving part are cut off, and a protection program is started.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. The utility model provides a slope track deviation detection and control system towards monorail crane in pit which characterized in that: the device comprises an inserting plate track, a clamping plate track, a bolt tongue, a clamping plate side piezoelectric sensor, a clamping plate bottom piezoelectric sensor and a monorail crane control system;
the piezoelectric sensor at the side surface of the clamping plate and the piezoelectric sensor at the bottom of the clamping plate are arranged at the butt joint groove of the plug board and the clamping plate of the gradient track; the piezoelectric sensors on the side surfaces of the clamping plates comprise piezoelectric sensors on the left side of the clamping plate and piezoelectric sensors on the right side of the clamping plate, are embedded into two sides of an inner groove of the clamping plate, are tightly attached to the inserting plate and the clamping plate, monitor left and right deviation of the track in real time and give alarm protection to a monorail crane control system; the piezoelectric sensor at the bottom of the clamping plate is embedded into the bottom side of the inner groove of the clamping plate and is tightly attached to the inserting plate and the clamping plate, and when the monorail crane runs to a ramp, the piezoelectric sensor at the bottom of the clamping plate is stressed to send a signal to a control system of the monorail crane to serve as a detection signal of the monorail crane in an up-down slope state;
combine single track to hang slope track self picture peg and splint structure and atress, in the spread groove of picture peg and splint, set up piezoelectric sensor, the ramp operating mode of automatic identification monorail, skew and danger about the automated inspection track, control single track hangs control system and then control drive division solenoid valve, carry out the power distribution protection, need not artificial intervention, do not rely on external additional equipment, structure and control method are simple, the realization is to the orbital protection of ramp, the serialization operation of guarantee single track hanging, the skew detection of slope track that forms and control include following step:
step 1, when the monorail crane does not enter a slope working condition, namely does not run on a slope track, the piezoelectric sensing output of the side surface of the clamping plate and the piezoelectric sensing output of the bottom of the clamping plate do not exceed a limit value, and the power distribution system does not work to output;
step 2, when the monorail crane enters a slope working condition, namely when the monorail crane runs on a slope track, the piezoelectric sensors at the bottom of the clamping plate act for more than 2 times, the control system of the monorail crane automatically identifies the slope working condition, and the running speed of the driving part is low due to self weight and load; at the moment, detecting a piezoelectric sensing signal on the side surface of the clamping plate, if the piezoelectric sensing signal on the side surface of the clamping plate does not act for output, the slope track does not deviate and bend, but in order to improve the stress condition of the slope track, the single-rail crane control system outputs a signal to control the corresponding electromagnetic valve of each driving part close to the front cab and the rear cab to be cut off, and slope working condition swing driving is carried out, so that the stress is improved, and the phenomenon that when the driving part close to the front cab is transferred from the slope track to the drift track, the speed is accelerated without the action of dead weight and load, so that the bending moment is generated at the butt joint of the track, and the butt joint of the track deviates is avoided;
step 3, if the piezoelectric sensing action output of the side surface of the clamping plate exceeds a first limit value of 300N, slope track deviation is automatically identified, a monorail crane control system outputs signals, corresponding electromagnetic valves of two driving parts close to a front cab and a rear cab are controlled to be completely cut off, the driving force degree under the slope working condition is increased, the stress is further improved, and the track butt joint is prevented from deviating and even bending;
and 4, if the piezoelectric sensing of the side surface of the clamping plate exceeds a second limit value of 500N, the track deviates dangers, the control system of the monorail crane outputs an emergency braking signal, all the electromagnetic valves of the driving part are cut off, and a protection program is started.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211478519.1A CN115771844A (en) | 2022-11-23 | 2022-11-23 | Slope track deviation detection and control system for underground monorail crane |
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| CN202211478519.1A CN115771844A (en) | 2022-11-23 | 2022-11-23 | Slope track deviation detection and control system for underground monorail crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566600A (en) * | 2024-01-16 | 2024-02-20 | 山东鑫鹏宇矿业装备有限公司 | Mining monorail crane safe operation control system based on Internet of things |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566600A (en) * | 2024-01-16 | 2024-02-20 | 山东鑫鹏宇矿业装备有限公司 | Mining monorail crane safe operation control system based on Internet of things |
| CN117566600B (en) * | 2024-01-16 | 2024-03-29 | 山东鑫鹏宇矿业装备有限公司 | Mining monorail crane safe operation control system based on Internet of things |
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