CN215907845U - Intelligent control system for large-scale wheel bucket excavator of strip mine - Google Patents

Abstract

The utility model discloses an intelligent control system of a large-scale wheel bucket excavator of a strip mine; the intelligent control system device of the large-scale wheel bucket excavator in the strip mine comprises a programmable controller, a digital field bus configuration connection distributed system, a large number of intelligent perception sensor units and an advanced communication mode, wherein the programmable controller is used as a core, the digital field bus configuration connection distributed system is used for integrating the large number of intelligent perception sensor units, and data transmission is completed in the advanced communication mode to realize intelligent control of the wheel bucket excavator; the intelligent control method of the large-scale strip mine wheel bucket excavator comprises automatic linkage control, manual control, maintenance control and remote control; the utility model has the positive effects that: the system realizes full-automatic intelligent operation, accurate positioning of cantilever and walking pose, visual control of human-computer interaction, fault detection and early warning, perception and visibility of working surface environment, reduces labor intensity, reduces people and efficiency, saves energy and efficiency, reduces artificial fault rate, and enhances safety and intelligence of equipment.

Description

Intelligent control system for large-scale wheel bucket excavator of strip mine

Technical Field

The utility model relates to the technical field of intelligent control, in particular to an intelligent control system of a large-scale wheel bucket excavator of an open pit mine.

Background

The wheel bucket excavator mainly comprises a wheel bucket mechanism, a wheel bucket arm belt mechanism, a material discharging arm belt mechanism, a wheel bucket arm hydraulic pitching mechanism, a material discharging arm pitching mechanism, a crawler traveling mechanism, a wheel bucket arm rotating mechanism, a material discharging arm rotating mechanism, a lubricating mechanism, a dust removing mechanism, an electric room, a driver room and a reel power supply system. The material taking process comprises the steps of walking to preset depth of a feed ruler, reciprocating to rotate left and right at a working angle, excavating materials by a bucket wheel in a rotating mode, and conveying the materials to a downstream system through a cantilever belt conveyor and other processes to finish material taking operation.

Under the '30, 60' target requirements of carbon peak reaching and carbon neutralization, the coal industry is accelerating the intelligent construction of coal mines and the intelligent promotion of mining equipment. The wheel bucket excavator is mainly used as strip mine mining equipment, and due to factors such as complexity, working environment and system functions of a mechanism, the existing wheel bucket excavator still generally adopts a large amount of manual operation and intervention, so that the intelligent degree is low, the manual working strength is high, the influence of human factors is large, the fault detection is not timely, and the production efficiency is influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above problems and the disadvantages of the prior art, an object of the present invention is to provide an intelligent control system for a large-sized wheel excavator for a strip mine.

In order to achieve the aim, the utility model provides the following solution, wherein the intelligent control system of the large-scale wheel bucket excavator for the strip mine is characterized in that: the system comprises a controller, and a master control unit and a monitoring unit which are respectively in communication connection with the controller;

the master control unit comprises a master PLC system (P100) and further comprises:

a mobile communication module (P701) connected to the master PLC system (P100) via a 4G network;

a fiber communication module (P800) connected with the main PLC system (P100) through an ETHERNET;

the optical fiber communication module (P800) is also connected with a touch screen display unit (P501), an industrial personal computer control unit (P502), a control unit (P503) and a wireless communication module (P700);

a distributed IO unit, a speed regulation control unit, an accurate positioning unit and a gateway which are connected with a main PLC system (P100) through a PROFIBUS-DP,

the distributed IO units comprise a wheel bucket distributed PLC unit (P101), a cantilever belt drive distributed PLC unit (P102), a track walking drive distributed PLC unit (P103), a rotation drive distributed PLC unit (P104), an auxiliary mechanism distributed PLC unit (P105), a hydraulic pitching sub-control unit (P106) and a lubrication sub-control unit (P107) which are arranged in parallel;

the speed regulation control unit comprises a wheel bucket bus frequency converter unit (P201) which is arranged in parallel; a bucket arm belt bus frequency converter unit (P202, P203); a discharge arm belt bus frequency converter unit (P204, P205); the crawler belt bus frequency converter units (P206 and P207), the upper rotary bus frequency converter unit (P208) and the discharging arm rotary bus frequency converter unit (P209);

the accurate positioning unit comprises a bucket wheel arm rotary encoder (P301), a discharging arm rotary encoder (P302), a bucket wheel arm pitching encoder (P303) and a discharging arm pitching encoder (P304) which are arranged in parallel;

the gateway is connected with an intelligent communication electric energy detection unit (P401) through an MODBUSRTU; a driving pressure detection unit (P402); a drive temperature vibration detection unit (P403); a current detection unit (P404);

the monitoring unit comprises a network switch, and a bucket wheel front-end camera (HC1), a bucket wheel arm camera (HC2), a discharge arm camera (HC3), a rotary camera (HC4), a pitching camera (HC5), a feed opening camera (HC6), an electric room camera (HC7) and a cab camera (HC8) which are in signal connection with the network switch; the network switch is provided with an interface matched with the wireless network bridge and the optical fiber transceiver; the network switch is also connected to a video surveillance system with a video monitor.

The utility model has the advantages that: the utility model relates to an intelligent control system for a large-scale wheel bucket excavator of a strip mine. The intelligent detection and perception of the pose of the wheel bucket system are realized; the mechanism of the wheel bucket system is controlled in a coordinated and automatic mode; monitoring the working environment of the wheel hopper system in real time and early warning faults; the man-machine interaction visualization display of the wheel bucket system fault and running state parameter setting; thereby achieving the purposes of reducing the labor intensity of workers and reducing the number of workers and improving the efficiency.

Drawings

FIG. 1 is a general schematic view of the wheel bucket apparatus of the present invention;

FIG. 2 is a schematic diagram of the power and control architecture of the present invention;

FIG. 3 is a bus network topology of the present invention;

FIG. 4 is a schematic view of video surveillance according to the present invention;

FIG. 5 is a schematic view of the automatic control process of the present invention.

The numbers in the figure illustrate the following: 10 wheel bucket mechanism; 11-wheel bucket arm belt mechanism; 12 a discharge arm belt mechanism; 13 wheel bucket arm hydraulic pitching mechanism; 14 a discharge arm pitch mechanism; 15 crawler traveling mechanisms; a 16-wheel bucket arm slewing mechanism; 17 a discharge arm slewing mechanism; 18 a lubrication system; 19 a dust removal system; 20 low voltage electrical chambers; 21 driver's cab; 22 a high-voltage electric room; 23 reel power supply system; 1000 power supply slip ring box unit; 1001 incoming line medium voltage cabinet unit; 1002 a medium voltage transformer unit; 1003 low-voltage incoming cabinet unit; 1004 wheel bucket MCC cabinet units; 1005 belt MCC cabinet unit; 1006 rotating MCC cabinet units; 1007 walking MCC cabinet unit; 1008 pitching MCC cabinets; 1009 auxiliary system cabinet units; 1010PLC control cabinet; 1011 operating console, 1012 industrial control computer and display; 1013 monitoring system; 1020 an off-screen detection protection element; l1 is PROFIBUS-DP; l2 is MODBUSRTU; l3 is ETHERNET; p100 master PLC system; a P501 touch screen display unit; p502 industrial personal computer control unit; p101 wheel bucket distributed PLC unit; a P201 wheel hopper bus frequency converter unit; p102 cantilever belt drive distributed PLC unit; a P202P203 wheel arm belt bus frequency converter unit; P204P205 discharge arm belt bus frequency converter unit; p103 crawler walking drive distributed PLC unit; a P206 crawler bus frequency converter unit; p207; p104 rotation driving distributed PLC unit; p208 upper slewing bus frequency converter unit; a P209 discharging arm rotary bus frequency converter unit; a P105 auxiliary mechanism distributed PLC unit; p106 hydraulic pitching sub-control unit; p107 lubrication branch control unit; p401 intelligent communication electric energy detection unit; p402 driving pressure detecting unit; p403 drives the temperature vibration detection unit; a P404 current detection unit; p301 bucket wheel arm rotary encoder; p302 discharge arm rotary encoder; a P303 bucket wheel arm pitch encoder; p304 discharge arm pitch encoder; (P700, WB) a wireless communication module; a P701 mobile communication module; (P800, OF) optical fiber communication module. The D video monitoring system comprises a network hard disk video recorder unit; an SE network switch; HC digital high definition camera; an MT video monitor; a WB wireless bridge; an OF optical fiber transceiver; the HC1 digital high-definition camera comprises a bucket wheel front-end camera; HC2 bucket wheel arm camera; HC3 discharge arm camera; HC4 rotary camera; HC5 tilt camera; HC6 feed opening camera; HC7 electric room camera; HC8 cab camera.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings 1 to 5 and examples. The embodiments described herein are merely illustrative of the utility model and are not limiting.

An intelligent control system of a large-scale wheel bucket excavator of a strip mine comprises a controller, and a master control unit and a monitoring unit which are respectively in communication connection with the controller;

the master control unit comprises a master PLC system P100 and further comprises:

a mobile communication module P701 connected to the master PLC system P100 through a 4G network;

an optical fiber communication module P800 connected to the main PLC system P100 through an ETHERNET;

the optical fiber communication module P800 is also connected with a touch screen display unit P501, an industrial personal computer control unit P502, a control unit P503 and a wireless communication module P700;

a distributed IO unit, a speed regulation control unit, an accurate positioning unit and a gateway which are connected with the main PLC system P100 through PROFIBUS-DP,

the distributed IO units comprise a wheel bucket distributed PLC unit P101, a cantilever belt driving distributed PLC unit P102, a crawler walking driving distributed PLC unit P103, a rotation driving distributed PLC unit P104, an auxiliary mechanism distributed PLC unit P105, a hydraulic pitching sub-control unit P106 and a lubricating sub-control unit P107 which are arranged in parallel;

the speed regulation control unit comprises a wheel bucket bus frequency converter unit P201 which is arranged in parallel; bucket arm belt bus frequency converter units P202 and P203; discharge arm belt bus frequency converter units P204, P205; crawler bus frequency converter units P206 and P207, an upper rotary bus frequency converter unit P208 and a discharge arm rotary bus frequency converter unit P209;

the accurate positioning unit comprises a bucket wheel arm rotary encoder P301, a discharging arm rotary encoder P302, a bucket wheel arm pitch encoder P303 and a discharging arm pitch encoder P304 which are arranged in parallel;

the gateway is connected with an intelligent communication electric energy detection unit P401 through an MODBUSRTU; a driving pressure detection unit P402; a driving temperature vibration detection unit P403; a current detection unit P404;

the monitoring unit comprises a network switch, and a bucket wheel front-end camera (HC1), a bucket wheel arm camera (HC2), a discharge arm camera (HC3), a rotary camera (HC4), a pitching camera (HC5), a feed opening camera (HC6), an electric room camera (HC7) and a cab camera (HC8) which are in signal connection with the network switch; the network switch is provided with an interface matched with the wireless network bridge and the optical fiber transceiver; the network switch is also connected to a video surveillance system with a video monitor.

The utility model also discloses an intelligent control method of the large-scale wheel bucket excavator of the strip mine, which comprises the following steps:

step 1: the control mode is selected to be an automatic control mode; setting working parameters;

step 2: system troubleshooting is carried out to remove real faults of the system;

and step 3: judging whether the real fault is cleared or not, if the unlocking program is in the soft holding fault, if the soft fault is unlocked, the real fault is cleared, and executing the step 4; the soft fault is not unlocked, the real fault is not cleared, and the step 2 is continuously executed;

and 4, step 4: judging whether the automatic ready condition is met; if yes, the system can run, and step 5 is executed; otherwise, executing the step 1-4;

and 5: sending an application with running conditions to a master control room;

step 6: judging whether to receive an operation interlocking signal of downstream tandem equipment; receiving and executing the step 7; step 5 is executed without receiving;

and 7: one-key automatic starting, and starting the system to automatically take materials from the first layer;

and 8: starting walking and automatically addressing a working surface; stopping walking after reaching the working surface;

and step 9: the starter gives an audible and visual alarm, and the program is preset for 10 seconds; then operating the automatic wheel bucket excavator;

step 10: and after the acousto-optic alarm is finished for 10 seconds, starting the belt conveyor of the discharging arm to operate. Starting fault interlocking protection, and executing the step 11 if the fault is not triggered; triggering failure, and executing step 23;

step 11: and (4) operating the discharge arm belt conveyor, and starting the pulley bucket arm belt conveyor to operate after the program is preset to operate for 10 seconds. Starting fault interlocking protection, and executing the step 12 if the fault is not triggered; triggering failure, and executing step 23;

step 12: and starting the wheel hopper to operate after the bucket wheel arm belt conveyor operates for 10 seconds. Starting fault interlocking protection, and executing the step 13 if the fault is not triggered; triggering failure, and executing step 23;

step 13: after the bucket wheel runs for 10 seconds, the bucket wheel arm is started to rotate, and the program has the functions of judgment and memory; firstly, judging whether the equipment is operated for the first time, if so, starting to automatically rotate according to a preset program direction; if the cutting machine is not operated for the first time, the program memorizes the rotary cutting direction before the last stop, the rotary starting is operated according to the memorized direction, the rotary cutting machine is rotated to a preset working boundary angle, and the rotary cutting machine stops rotating; the rotation also has a speed regulation function, and the rotation speed can regularly change the speed according to the different angles and a preset algorithm so as to ensure that the material taking amount is relatively constant; meanwhile, starting fault interlocking protection, and executing the step 14 when the fault is not triggered; triggering failure, and executing step 23;

step 14: after the rotation is stopped for 8 seconds, the robot walks forwards, and stops walking after reaching the preset footage cutting depth; meanwhile, starting fault interlocking protection, and executing the step 15 if the fault is not triggered; triggering failure, and executing step 23;

step 15: when walking forward stops for 10 seconds, starting rotation, wherein the rotation direction is the reverse direction of the initial rotation direction, and rotating to a preset rotation boundary; judging the fault interlocking protection, if the fault is not triggered, executing the step 16; triggering failure, and executing step 23;

step 16: and reversely rotating to a preset working boundary. Judging whether the preset first-layer working distance is reached; when the step 17 is reached, the step is executed; if not, executing step 18;

and step 17: circularly and repeatedly running, revolving and walking, namely executing the steps 13-16 until the preset first-layer working distance is reached, and executing the step 18;

step 18: when the current walking is finished until the preset first-layer walking distance is reached, judging that the first-layer material in the first stage is completely taken out, and stopping walking and rotating; starting walking and then walking to an initial position; stopping walking;

step 19: after 8 seconds of backward movement stop, starting the arm of the wheel bucket to descend to the preset second-layer height of the wheel bucket; stopping descending; meanwhile, starting fault interlocking protection, and executing the step 20 if the fault is not triggered; triggering failure, go to step 23

Step 20: and when the wheel bucket arm descends and stops for 8 seconds, the second layer automatically operates. The second layer of operation sequence steps are identical to the first layer of steps except that the preset parameters are changed. Judging whether the second layer is in place and is taken out completely; and 8-16 are executed without taking the materials out, and the operation is carried out in a reciprocating mode. If the fetching is finished, executing step 21;

step 21: when the second layer of material taking is finished, stopping walking and rotating; and starting walking, moving to the initial position, and stopping walking. And starting the wheel bucket to descend to the preset height of the third layer, and stopping descending. Taking materials at the third layer, and judging whether the third layer is in place and is taken out completely; and 8-16 are executed without taking the materials out, and the operation is carried out in a reciprocating mode. If the fetching is finished, executing step 22;

step 22: repeating the operation until all the layers are taken out, sending a material taking-out instruction by the equipment, and automatically stopping the equipment; or manually sending an automatic stop instruction in the midway, and automatically stopping the equipment; the automatic stop sequence is that the walking is stopped, the rotation is stopped, the wheel bucket is stopped, the arm belt of the wheel bucket is stopped, and the belt of the discharging arm is stopped;

step 23: the system controller receives the first-stage shutdown fault feedback, and automatically performs fault emergency shutdown; all mechanisms are immediately powered off and shut down, and the process is terminated.

Preferably: and the started fault interlocking protection comprises two threshold protection functions of early warning protection and alarm protection, when the early warning protection threshold is reached, only an alarm is given and the machine is not stopped, and when the fault protection threshold is reached, the step 23 is executed, and the machine is automatically and emergently stopped.

The manual control means that a button switch on an operation table manually controls the wheel bucket excavator in a single action mode, and the manual control is applied to an automatic operation mode which cannot be used for emergency operation and a remote moving mode. The manual control mode is flexible in operation, and the operation of each mechanism can be flexibly controlled on an operation table and an operation picture.

The on-site maintenance control means that the corresponding driving operation of the wheel bucket excavator is controlled on site at an on-site maintenance button station, and the control device is arranged on the site of the on-site driving for facilitating the start and stop of the maintenance control equipment in an operation mode during maintenance.

The remote control refers to the field control of the wheel bucket excavator through a remote controller, and the operation mode has the advantages that an operator can flexibly walk to control and observe the operation of equipment when patrolling and examining the equipment and moving the equipment.

The embodiment of the present invention will be described in detail below.

The utility model discloses an intelligent control system of a large-scale bucket excavator in an open pit mine, which is an automatic control system for realizing full-digital information exchange and sharing, accurate pose positioning, variable-frequency remote speed regulation, real-time equipment health state sensing and human-computer visual interaction by connecting a field bus with a scattered detection and control unit on the basis of a distributed programmable logic controller, and controlling the intelligent operation of the bucket excavator.

The wheel bucket excavator mainly comprises a wheel bucket mechanism 10, a wheel bucket arm belt mechanism 11, a discharging arm belt mechanism 12, a wheel bucket arm hydraulic pitching mechanism 13, a discharging arm pitching mechanism 14, a crawler traveling mechanism 15, a wheel bucket arm slewing mechanism 16, a discharging arm slewing mechanism 17, a lubricating system 18, a dust removal system 19, a low-voltage electric room 20, a driver room 21, a high-voltage electric room 22, a reel power supply system 23 and an external protection element 1020. The material taking process comprises the steps of reciprocating rotation at a working angle through walking preset depth of a feed ruler, digging materials by rotating a bucket wheel, and conveying the materials to a downstream system through processes such as a cantilever belt conveyor and the like to finish material taking operation.

The power supply system comprises a power supply slip ring box unit 1000, an incoming line medium voltage cabinet unit 1001, a medium voltage transformer unit 1002, a low voltage incoming line cabinet unit 1003, a wheel bucket MCC cabinet unit 1004, a belt MCC cabinet unit 1005, a rotary MCC cabinet unit 1006, a walking MCC cabinet unit 1007, a pitching MCC cabinet 1008 and an auxiliary system cabinet unit 1009, a PLC control cabinet 1010, an operation control console 1011, an industrial personal computer and a display 1012, a monitoring system 1013, an off-screen detection protection element 1020, a centralized control upper computer system cabinet and elements such as a power supply breaker and a contactor in the cabinet. The electrical slip ring box is characterized in that 1000 of the electrical slip ring box is arranged beside an on-site on-board cable reel 23, and the on-board voltage is 10KV and 50 HZ; the medium-voltage cable is a three-core cross-linked polyethylene insulated armored power cable YJV22-6/10 KV. The medium-voltage incoming cabinet 1001 is arranged in the high-voltage air chamber 22 on the machine, and the cabinet comprises a circuit breaker unit, a metering unit, a microcomputer unit, a lightning arrester unit and a direct-current screen unit. The medium voltage transformer unit 1002 is installed in a field rotary platform, and the medium voltage transformer selects SCB series resin casting dry type transformer SCB13 series. The low-voltage incoming cabinet unit is arranged in a low-voltage electric room 20, and comprises an incoming circuit breaker, an instrument and other elements which are used for powering off and protecting a low-voltage loop. The wheel bucket MCC cabinet unit 1004, the belt MCC cabinet unit 1005, the rotary MCC cabinet unit 1006 and the walking MCC cabinet unit 1007 are arranged in the low-voltage electric room 20, and the cabinets comprise a frequency converter, a power supply element, a control element and the like and are used for providing power and controlling the operation of each mechanism drive of the wheel bucket excavator. The pitching MCC cabinet 1008 provides power and control for hydraulic pitching and is arranged in the rotary box girder. The auxiliary system cabinet unit 1009 is disposed near the drive, and mainly includes an auxiliary system control cabinet for lubrication, dust removal, and the like. The PLC cabinet 1010 comprises a main PLC cabinet unit P100 arranged in a driver cab and PLC cabinet units P101-P107 arranged in substations of various mechanisms in a low-voltage electric room. The operation console 1011 is arranged in the cab, and includes an operation button box indicator lamp, and an industrial personal computer and a display 1012 are arranged. The industrial personal computer and the display 1012 are used for facilitating operation of the operating equipment, visually displaying equipment state and fault information, setting human-computer interaction parameters and the like. The video monitoring system 1013 is provided with a thermal imaging camera and a video camera arranged at the main part of the wheel bucket excavator to monitor the field situation. The off-screen detection protection element 1020 comprises protection detection of a limit, a material level, a height, an angle, a distance, a belt, vibration, a temperature, a wind speed, a liquid level, pressure and the like, and the protection detection element meets the outdoor protection level.

The control system comprises a main system, substation control systems of all mechanisms and an intelligent electric energy detection unit, wherein an intelligent motor health monitoring unit and an accurate encoder positioning unit are connected with a distributed management centralized control system and a remote control reserved interface through buses; the field bus is PROFIBUS-DP, MODBUS RTU, ETHERNET bus; l1 is PROFIBUS-DP, L2 is MODBUSRTU, L3 is ETHERNET, L4 is 4G mobile network communication. The main system is installed in a control cabinet of a cab 21. The main system comprises a main PLC system P100, a touch screen display unit P501, an industrial personal computer control unit P502 and an operation panel unit P503, wherein the main PLC system P100 is composed of a power supply module, a CPU module, a DI/DO module, an AI/AO module and an expansion IO module. The substation control system of each mechanism comprises a wheel bucket substation control system which comprises a driving distributed PLC unit P101 and a wheel bucket bus frequency converter unit P201, and the wheel bucket substation control system is installed in a wheel bucket 20 control cabinet of an electric room at the lower part. The cantilever belt substation control system comprises a driving distributed PLC unit P102, wheel bucket arm belt bus frequency converter units P202 and P203 and discharging arm belt bus frequency converter units P204 and P205, and is respectively installed in a lower electric room 20 wheel bucket arm belt and discharging arm belt control cabinet. The crawler walking substation control system comprises a crawler walking drive distributed PLC unit P103 and crawler bus frequency converter units P206 and P207, and is arranged in a crawler walking control cabinet of the lower electric room 20. The rotary substation control system comprises a rotary driving distributed PLC unit P104, an upper rotary bus frequency converter unit P208 and a discharge arm rotary bus frequency converter unit P209, and is respectively arranged on a discharge arm rotary and receiving arm electric control cabinet of the lower electric room 20. And the auxiliary mechanism distributed PLC unit P105, the hydraulic pitching sub-control unit P106 and the lubricating sub-control unit P107 are arranged beside a field drive and are informed with a main system bus. The intelligent detection system comprises an intelligent communication electric energy detection unit P401, a driving pressure detection unit P402, a driving temperature vibration detection unit P403, a current detection unit P404, a scanning detection unit and a laser radar ultrasonic ranging detection unit; the intelligent detection unit adopts an MODBUS RTU bus, and PROFIBUS-DP bus is converted into PROFIBUS through a P600 gateway to communicate with the main PLC system. The intelligent accurate positioning unit comprises a bucket wheel arm rotary encoder P301, a discharging arm rotary encoder P302, a bucket wheel arm pitch encoder P303, a discharging arm pitch encoder P304, a crawler belt encoder and a satellite positioning unit, and is used for feeding detection data back to a PLC (programmable logic controller) system in real time to acquire, classify, analyze and operate and make a decision to execute through bus full digital stream communication. The remote control reserved interface comprises wireless communication modules P700 and WB, a mobile communication module P701, optical fiber communication modules P800 and OF, and channel redundant transmission media, so that the stability OF a control signal is ensured. The mobile network communication-based online diagnosis reserves an interface for remote service.

The video monitoring system 1013 monitors the main positions of the bucket-wheel excavator and displays the images in the cab; a reserved interface is transmitted with a remote centralized control picture; the video monitoring system comprises a network video recorder unit D, a network switch SE, a digital high-definition camera HC, a video monitor MT, a wireless bridge WB and an optical fiber transceiver OF; the digital high-definition camera comprises a bucket wheel front end camera HC1, a bucket wheel arm camera HC2, a discharge arm camera HC3, a rotary camera HC4, a pitching camera HC5, a feed opening camera HC6, an electric room camera HC7 and a cab camera HC 8; the camera is a high-definition windshield wiper type gun bolt network camera; the video monitor is arranged in the cab and used for on-site display; the wireless network bridge and the optical fiber communication redundancy mutual backup transmission and the remote centralized control reserved interface.

In the implementation process of the utility model, the scheme of the utility model also comprises a power supply system of the wheel bucket excavator, an external screen protection element system 1020, an intelligent dry fog dust suppression system and an intelligent centralized lubrication system; the power supply system of the wheel bucket excavator comprises a medium-voltage transformer system, a medium-voltage incoming line and feeder line system, a low-voltage transformer system, a low-voltage incoming line power supply system, a control transformer unit, a direct-current power supply unit, an MCC cabinet unit driven by each mechanism and an uninterruptible power supply system; the intelligent dry fog dust removal system is a self-forming system and is reserved with a passive dry contact signal communication interface with the wheel hopper main system; the intelligent dry fog dust suppression system is composed of an independent control system and hardware; the intelligent dry fog dust suppression system control system integrates a power loop, a controller, a protection circuit, a relay and other elements, and is divided into automatic and manual control modes, namely a remote mode and a local mode; the interface signals of the dry fog dust suppression system comprise start-stop control signals, fault signals and alarm signals; the hardware components of the dry fog dust suppression system comprise a dry fog dust suppression machine, an air compressor, a storage tank, a sprayer and the like; the intelligent dry fog dust suppression system can realize automatic dust suppression, and the generated micron-sized water fog can effectively suppress dust; the intelligent centralized lubricating system is a self-forming system and is reserved with a passive dry contact signal communication interface with the wheel hopper main system; the interface signals of the intelligent centralized lubricating system comprise start-stop control signals, comprehensive fault signals, overpressure overload signals and oil level low alarm signals; the intelligent dry centralized lubricating system consists of an independent control system and hardware; the intelligent centralized lubrication system control system integrates a power loop, a controller, a protection circuit, a relay and other elements, and is divided into automatic and manual control modes, namely a remote mode and a local mode; the hardware components of the centralized lubricating system comprise an oil pump, a distributor, a storage tank, a pipeline and other devices; the intelligent centralized system can realize automatic oiling; the hydraulic pitching system comprises a bucket wheel arm pitching system and a discharging arm pitching system; the hydraulic pitching system is a self-forming system, and a passive dry contact signal communication interface is reserved between the hydraulic pitching system and the wheel bucket main system; the interface signals of the intelligent centralized lubricating system comprise an ascending signal and a descending signal control signal, and further comprise a comprehensive fault signal, an overpressure overload signal, an alarm signal, an oil level low signal, a temperature overhigh signal and a temperature overlow signal; the intelligent hydraulic pitching system is composed of an independent control system and hardware; the intelligent hydraulic pitching system control system integrates a power loop, a controller, a protection circuit, a relay and other elements, and is divided into automatic and manual control modes, namely a remote mode and a local mode; the hydraulic pitching system comprises hardware components including an oil pump, an oil tank, a distributor, various valve blocks, a temperature and pressure detector and the like; the intelligent hydraulic pitching system can realize automatic remote control; the off-screen protection detection system comprises a wheel bucket over-moment protection device, a belt protection detection device, a rotation protection detection device, a walking protection detection device, a blanking port anti-blocking device and a bucket wheel arm anti-collision device; the belt protection detection device comprises protection devices such as a slipping device, a material flow device, a deviation device and a pull rope; the rotation protection detection device comprises a back zero position protection, a limit protection, a working limit protection and an intelligent rotation encoder angle detection; the walking protection detection device comprises a walking deviation prevention device and a closed-loop encoder; the pitching protection detection device comprises an upper limit, a lower limit, an upper working limit and a lower working limit, and further comprises a pitching angle encoder device; the blocking device adopts a heavy hammer type contact blocking device and is arranged at the feed opening, so that excessive blocking is prevented.

The control method comprises automatic control, manual control, maintenance control and wireless local remote control according to modes; the control mode can be freely switched by a change-over switch arranged on the operation table. The control modes have a locking function, namely when in an automatic mode, buttons beside the manual operation button box machine cannot control the equipment to run.

The automatic control method is that the wheel bucket excavator is automatically and sequentially started according to a process program edited in advance, all protection element units, the detection unit and the positioning sensor unit of the system are fed back to the controller control unit, and all executing mechanisms are controlled through operation comparison to finish material taking operation.

According to the control method, manual control, machine-side maintenance control, remote control and the like are supplemented, wherein the manual control refers to manual single-action control over the wheel bucket excavator through a button switch on an operation table, and is an operation mode which is applied when an emergency operation mode cannot be operated in automatic operation and long-distance moving is carried out. The manual control mode is flexible in operation, and the operation of each mechanism can be flexibly controlled on an operation table and an operation picture. The on-site maintenance control means that the corresponding driving operation of the wheel bucket excavator is controlled on site at an on-site maintenance button station, and the control device is arranged on the site of the on-site driving for facilitating the start and stop of the maintenance control equipment in an operation mode during maintenance. The remote control refers to the field control of the wheel bucket excavator through a remote controller, and the operation mode has the advantages that an operator can flexibly walk to control and observe the operation of equipment when patrolling and examining the equipment and moving the equipment.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present invention should be covered by the present invention.

Claims (1)

1. The utility model provides a large-scale wheel bucket excavator intelligence control system of strip mine which characterized in that: the system comprises a controller, and a master control unit and a monitoring unit which are respectively in communication connection with the controller;

the master control unit comprises a master PLC system (P100) and further comprises:

a mobile communication module (P701) connected to the master PLC system (P100) via a 4G network;

a fiber communication module (P800) connected with the main PLC system (P100) through an ETHERNET;

the optical fiber communication module (P800) is also connected with a touch screen display unit (P501), an industrial personal computer control unit (P502), a control unit (P503) and a wireless communication module (P700);

a distributed IO unit, a speed regulation control unit, an accurate positioning unit and a gateway which are connected with a main PLC system (P100) through a PROFIBUS-DP,

the distributed IO units comprise a wheel bucket distributed PLC unit (P101), a cantilever belt drive distributed PLC unit (P102), a track walking drive distributed PLC unit (P103), a rotation drive distributed PLC unit (P104), an auxiliary mechanism distributed PLC unit (P105), a hydraulic pitching sub-control unit (P106) and a lubrication sub-control unit (P107) which are arranged in parallel;

the speed regulation control unit comprises a wheel bucket bus frequency converter unit (P201) which is arranged in parallel; a bucket arm belt bus frequency converter unit (P202, P203); a discharge arm belt bus frequency converter unit (P204, P205); the crawler belt bus frequency converter units (P206 and P207), the upper rotary bus frequency converter unit (P208) and the discharging arm rotary bus frequency converter unit (P209);

the accurate positioning unit comprises a bucket wheel arm rotary encoder (P301), a discharging arm rotary encoder (P302), a bucket wheel arm pitching encoder (P303) and a discharging arm pitching encoder (P304) which are arranged in parallel;

the gateway is connected with an intelligent communication electric energy detection unit (P401) through an MODBUSRTU; a driving pressure detection unit (P402); a drive temperature vibration detection unit (P403); a current detection unit (P404);

the monitoring unit comprises a network switch, and a bucket wheel front-end camera (HC1), a bucket wheel arm camera (HC2), a discharge arm camera (HC3), a rotary camera (HC4), a pitching camera (HC5), a feed opening camera (HC6), an electric room camera (HC7) and a cab camera (HC8) which are in signal connection with the network switch; the network switch is provided with an interface matched with the wireless network bridge and the optical fiber transceiver; the network switch is also connected to a video surveillance system with a video monitor.

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