CN205827202U - Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition - Google Patents
Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition Download PDFInfo
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- CN205827202U CN205827202U CN201620397684.8U CN201620397684U CN205827202U CN 205827202 U CN205827202 U CN 205827202U CN 201620397684 U CN201620397684 U CN 201620397684U CN 205827202 U CN205827202 U CN 205827202U
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Abstract
Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition, including computer, converter, coal-winning machine model and field controller, coal-winning machine model includes the most horizontally disposed fuselage, testing stand, conduction chain, guide rail and guide slip shoe, guide slip shoe is provided with two, two guide slip shoes are fixed on bottom on front side of fuselage, before and after guide rail and conduction chain, correspondence is fixed on testing stand, is slidably connected on guide rail by guide slip shoe on front side of fuselage；This device can simulate the practical working situation of coal-winning machine in laboratory conditions, and this device demonstrates in the case of various signal input nonlinearities, the stability of Multi-information acquisition method and reliability, owing to this device uses in the lab, so contrasting with actual field working condition, convenient and swift, also save experimental cost, the Study of intelligent development to China's coal-winning machine has certain directive significance.
Description
Technical field
This utility model belongs to intelligence equipment manufacturing technical field, is specifically related to a kind of coal-winning machine for Multi-information acquisition
The experimental provision of Intelligent Control Strategy research.
Background technology
Along with the high speed development of information technology Yu advanced equipment manufacturing technology, the intelligent manufacturing equipment of coal in China industry
The degree of depth and range are put on day by day, and the development of coal comprehensive mining automated arm becomes coal industry and increases yield, improve work
Efficiency, reduces great serious accident and the important means improved working conditions, and the Based Intelligent Control of coal-winning machine is to realize coal-getter
One of key technology of Zuo Mian automatization；But, due to complexity and the multiformity of coal geology structure, underground work condition
Badly, the difficulty of work is big, and labor intensity is big, studies more difficult to coal-winning machine practical working situation, therefore, for this
Situation, needs badly and studies the experimental provision of a kind of coal-winning machine Intelligent Control Strategy research to simulate the practical work process of coal-winning machine,
This has important directive significance to the intelligent development of coal-winning machine.
Utility model content
This utility model is in order to solve weak point of the prior art, it is provided that a kind of intelligence degree is high and can simulate
The practical work process of coal-winning machine, complete research to coal-winning machine working condition in laboratory conditions for Multi-information acquisition
The experimental provision of coal-winning machine Intelligent Control Strategy research.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that the coal-winning machine for Multi-information acquisition
The experimental provision of Intelligent Control Strategy research, including computer, converter, coal-winning machine model and field controller, coal-winning machine mould
Type includes the most horizontally disposed fuselage, testing stand, conduction chain, guide rail and guide slip shoe, and guide slip shoe is provided with two
Individual, two guide slip shoes are fixed on bottom on front side of fuselage, and before and after guide rail and conduction chain, correspondence is fixed on testing stand, before fuselage
Side is slidably connected on guide rail by guide slip shoe, and fuselage is provided with CCD camera, fuselage obliquity sensor, proximity switch, speed
Degree sensor, acceleration transducer and traction electric machine, traction electric machine is provided with the first temperature sensor, the main shaft of traction electric machine
Being provided with driving chain sprocket, driving chain sprocket is meshed with conduction chain, and the fuselage left and right sides is equipped with a series cylinder cutting mechanism, and two
Series cylinder cutting mechanism is symmetrical set；
The cylinder cutting mechanism being positioned at right side includes cutting motor, electric cylinder, rocking arm and cylinder, and cutting motor is built-in fixing
Inside rocking arm, cutting motor is provided with the second temperature sensor, the main shaft of cutting motor is fixed with drive sprocket, rocking arm
Being provided with rocking arm angle sensor, the left part of rocking arm is hinged on fuselage, and the cylinder ends of electric cylinder is hinged on fuselage, electricity
The piston rod of dynamic cylinder is hinged on bottom the left end of rocking arm；Cylinder is rotatably connected on the right part of rocking arm, and the main shaft of cylinder is provided with
Driven sprocket and dynamic torque sensor, drive sprocket is in transmission connection with driven sprocket by chain；
Converter is fixed on fuselage, and converter is connected with traction electric machine and cutting motor by wire respectively；
Field controller is respectively by data wire and CCD camera, fuselage obliquity sensor, velocity sensor, acceleration
Sensor, the first temperature sensor, rocking arm angle sensor, dynamic torque sensor and the second temperature sensor are connected, existing
Field controller is connected with computer by data wire.
Current sensor and voltage sensor, current sensor and voltage sensor it is equipped with on traction electric machine and cutting motor
Device is connected with field controller by data wire respectively.
Using technique scheme, this utility model has the advantages that this utility model, when specific experiment, leads to
Crossing cutting motor and drive drive sprocket, drive sprocket passes through chain-driving driven sprocket, thus cylinder rotates and carries out coal body cutting
Cutting, the most in the course of the work, field controller is sensed by the first temperature sensor, the second temperature sensor, fuselage inclination angle
Device, velocity sensor, acceleration transducer, dynamic torque sensor, rocking arm angle sensor and traction electric machine and cut electricity
Voltage sensor and current sensor on machine carry out data acquisition process the input as system, by the fortune of coal-winning machine model
Row attitude, as the output of system, determines input and the membership function of output, and sets up more than one defeated according to input and output
Enter information fusion adaptive nuero-fuzzy inference system (ANFIS) system of output.Then the various sensor signals collected are brought into and be
System, uses mixing least-squares estimation back-propagation algorithm, learns the input/output data of signal, and then adjust
The parameter of the variable membership degree function in ANFIS, is allowed to adapt to the best of breed of fuzzy inference system input/output relation, from
And realize to coal-winning machine attitude real-time, accurately control；The purpose of CCD camera is to the coal petrography after cut in experimentation
Interface is identified, and next step sequence pose adjustment for coal-winning machine provides reference；This device can simulate the work of actual coal-winning machine
During all can be collected signal, especially merged rocker arm of coal mining machine vibration signal, cylinder cut torque signals with
And the work surface image after cut, and combine the voltage in coal-winning machine work process, electric current, speed, acceleration, temperature, incline
The information such as angle, position, provides coal-winning machine running parameter and adjusts and running orbit planning.
Research difficulty is big with carrying out in coal-winning machine working site, and the situation that risk factor is high is compared, and this device can be in reality
Under the conditions of testing room, utilizing this device to simulate the practical working situation of coal-winning machine, and this device demonstrates at various signals defeated
In the case of entering interference, the stability of Multi-information acquisition method and reliability, owing to this device uses in the lab, institute
To contrast with actual field working condition, convenient and swift, also save experimental cost, the Study of intelligent of China's coal-winning machine is sent out
Exhibition has certain directive significance.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the fundamental diagram of cylinder cutting mechanism of the present utility model.
Detailed description of the invention
As shown in Figure 1-2, the experiment of the coal-winning machine Intelligent Control Strategy research for Multi-information acquisition of the present utility model
Device, including computer, converter, coal-winning machine model and field controller, coal-winning machine model includes that level sets in left-right direction
Fuselage 2, testing stand 30, conduction chain 31, guide rail 3 and the guide slip shoe 20 put, guide slip shoe 20 is provided with two, and two guide sliding
Before and after boots 20 are fixed on bottom on front side of fuselage 2, guide rail 3 and conduction chain 31, correspondence is fixed on testing stand 30, logical on front side of fuselage 2
Crossing guide slip shoe 20 and be slidably connected on guides 3, fuselage 2 is provided with CCD camera 21, fuselage obliquity sensor 4, proximity switch
19, velocity sensor 5, acceleration transducer 6 and the traction electric machine 7 walked for driving fuselage 2 to slide, traction electric machine 7 is pacified
Equipped with the first temperature sensor 8, the main shaft of traction electric machine 7 is provided with driving chain sprocket 32, driving chain sprocket 32 and conduction chain 31 phase
Engagement, fuselage 2 left and right sides is equipped with a series cylinder cutting mechanism, and two series cylinder cutting mechanisms are symmetrical set；
Computer and converter are this area routine techniquess, not shown on figure.
Field controller is PLC or integrated circuit or single-chip microcomputer, is this area routine techniques, and concrete structure no longer describes in detail.
The cylinder cutting mechanism being positioned at right side includes cutting motor 9, electric cylinder 10, rocking arm 11 and cylinder 12, cutting motor 9
The built-in rocking arm 11 that is fixed on is internal, and cutting motor 9 is provided with the second temperature sensor 14, the main shaft of cutting motor 9 is fixed with
Drive sprocket 15, rocking arm 11 is provided with rocking arm angle sensor 16, and the left part of rocking arm 11 is hinged on fuselage 2, electric cylinder 10
Cylinder ends be hinged on fuselage 2, the piston rod of electric cylinder 10 is hinged on bottom the left end of rocking arm 11；Cylinder 12 is rotationally connected
In the right part of rocking arm 11, the main shaft of cylinder 12 is provided with driven sprocket 17 and dynamic torque sensor 13, and drive sprocket 15 leads to
Cross chain 18 to be in transmission connection with driven sprocket 17；
Converter is fixed on fuselage 2, and converter is connected with traction electric machine 7 and cutting motor 9 by wire respectively；
Field controller respectively by data wire and fuselage obliquity sensor 4, CCD camera 21, velocity sensor 5, add
Velocity sensor the 6, first temperature sensor 8, rocking arm angle sensor 16, dynamic torque sensor 13 and the second temperature sensor
14 are connected.
It is equipped with current sensor and voltage sensor, current sensor and voltage on traction electric machine 7 and cutting motor 9 to pass
Sensor is respectively by data wire and field controller data cube computation.Field controller is connected with computer by data wire.
Traction electric machine 7 drives the specific works process of fuselage 2 to be: traction electric machine 7 drives driving chain sprocket 32 to rotate, owing to leading
Draw sprocket wheel 32 to be meshed with conduction chain 31, so driving chain sprocket 32 drives fuselage to travel on conduction chain 31；In this practicality
Novel when specific experiment, drive drive sprocket 15, drive sprocket 15 to drive driven sprocket by chain 18 by cutting motor 9
17, thus cylinder 12 rotates and coal body carries out cut, the most in the course of the work, field controller passes through the first temperature sensor
8, the second temperature sensor 14, fuselage obliquity sensor 4, velocity sensor 5, acceleration transducer 6, dynamic torque sensor
13, the voltage sensor on rocking arm angle sensor 16 and traction electric machine 7 and cutting motor 9 and current sensor carry out data
Acquisition process the input as system, using the operation attitude of coal-winning machine model as the output of system, determine input and output
Membership function, and set up the information fusion adaptive nuero-fuzzy inference system of a Multiinputoutput according to input and output
(ANFIS) system.Then the various sensor signals collected are brought into system, uses mixing least-squares estimation back propagation
Algorithm, learns the input/output data of signal, and then the parameter of the variable membership degree function in adjustment ANFIS, is allowed to
Adapt to fuzzy inference system input/output relation best of breed, thus realize to coal-winning machine attitude real-time, accurately control.
Shape of the present utility model, material, structure etc. are not made any pro forma restriction, every foundation by the present embodiment
Any simple modification, equivalent variations and the modification that above example is made by technical spirit of the present utility model, belongs to this reality
Protection domain by new technique scheme.
Claims (2)
1. for the experimental provision of coal-winning machine Intelligent Control Strategy research of Multi-information acquisition, it is characterised in that: include computer,
Converter, coal-winning machine model and field controller, coal-winning machine model include the most horizontally disposed fuselage, testing stand,
Conduction chain, guide rail and guide slip shoe, guide slip shoe is provided with two, and two guide slip shoes are fixed on bottom, guide rail on front side of fuselage
It is fixed on testing stand with correspondence before and after conduction chain, is slidably connected on guide rail by guide slip shoe on front side of fuselage, on fuselage
It is provided with CCD camera, fuselage obliquity sensor, proximity switch, velocity sensor, acceleration transducer and traction electric machine, traction
Being provided with the first temperature sensor on motor, the main shaft of traction electric machine is provided with driving chain sprocket, driving chain sprocket and conduction chain phase
Engagement, the fuselage left and right sides is equipped with a series cylinder cutting mechanism, and two series cylinder cutting mechanisms are symmetrical set；
The cylinder cutting mechanism being positioned at right side includes cutting motor, electric cylinder, rocking arm and cylinder, and built-in being fixed on of cutting motor is shaken
Inside arm, cutting motor is provided with the second temperature sensor, the main shaft of cutting motor is fixed with drive sprocket, rocking arm sets
Having rocking arm angle sensor, the left part of rocking arm is hinged on fuselage, and the cylinder ends of electric cylinder is hinged on fuselage, electric cylinder
Piston rod be hinged on bottom the left end of rocking arm；Cylinder is rotatably connected on the right part of rocking arm, and the main shaft of cylinder is provided with driven
Sprocket wheel and dynamic torque sensor, drive sprocket is in transmission connection with driven sprocket by chain；
Converter is fixed on fuselage, and converter is connected with traction electric machine and cutting motor by wire respectively；
Field controller is respectively by data wire and CCD camera, fuselage obliquity sensor, velocity sensor, acceleration sensing
Device, the first temperature sensor, rocking arm angle sensor, dynamic torque sensor and the second temperature sensor are connected, on-the-spot control
Device processed is connected with computer by data wire.
The experimental provision of the coal-winning machine Intelligent Control Strategy research for Multi-information acquisition the most according to claim 1, its
It is characterised by: be equipped with current sensor and voltage sensor, current sensor and voltage on traction electric machine and cutting motor and pass
Sensor is connected with field controller by data wire respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620397684.8U CN205827202U (en) | 2016-05-05 | 2016-05-05 | Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620397684.8U CN205827202U (en) | 2016-05-05 | 2016-05-05 | Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition |
Publications (1)
| Publication Number | Publication Date |
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| CN205827202U true CN205827202U (en) | 2016-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620397684.8U Expired - Fee Related CN205827202U (en) | 2016-05-05 | 2016-05-05 | Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105781544A (en) * | 2016-05-05 | 2016-07-20 | 河南理工大学 | Experimental facility for research on coal mining machine intelligent control strategy based on multi-information fusion |
| CN111155996A (en) * | 2020-01-08 | 2020-05-15 | 辽宁工程技术大学 | Coal rock automatic identification method based on multi-sensor data fusion |
| CN115949405A (en) * | 2023-03-14 | 2023-04-11 | 三一重型装备有限公司 | Coal mining machine control method and system, coal mining machine, electronic equipment and computer medium |
-
2016
- 2016-05-05 CN CN201620397684.8U patent/CN205827202U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105781544A (en) * | 2016-05-05 | 2016-07-20 | 河南理工大学 | Experimental facility for research on coal mining machine intelligent control strategy based on multi-information fusion |
| CN105781544B (en) * | 2016-05-05 | 2018-03-09 | 河南理工大学 | Experimental provision for the coal-winning machine Intelligent Control Strategy research of Multi-information acquisition |
| CN111155996A (en) * | 2020-01-08 | 2020-05-15 | 辽宁工程技术大学 | Coal rock automatic identification method based on multi-sensor data fusion |
| CN115949405A (en) * | 2023-03-14 | 2023-04-11 | 三一重型装备有限公司 | Coal mining machine control method and system, coal mining machine, electronic equipment and computer medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20180505 |
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| CF01 | Termination of patent right due to non-payment of annual fee |