CN217681846U - Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail - Google Patents
Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail Download PDFInfo
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- CN217681846U CN217681846U CN202222037233.1U CN202222037233U CN217681846U CN 217681846 U CN217681846 U CN 217681846U CN 202222037233 U CN202222037233 U CN 202222037233U CN 217681846 U CN217681846 U CN 217681846U
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Abstract
The utility model discloses a colliery tunnelling equipment and crawler-type move from cooperative control device of tail, including electric cabinet, two flow sensor and four pressure sensor, two flow sensor install respectively on two hydraulic motor advance oil pipe, and four pressure sensor install respectively on two hydraulic motor advance oil pipe and return oil pipe, are provided with controller and data acquisition module in the electric cabinet, and the electromagnetic directional valve passes through controller control, and flow sensor and pressure sensor pass through data acquisition module and are connected with the controller. The utility model has the advantages of reasonable design, realize colliery heading equipment and crawler-type from the coordinated control who moves the tail, can select whether to carry out colliery heading equipment and crawler-type from the coordinated control who moves the tail simultaneously according to colliery heading equipment's running state, can effectively avoid colliery heading equipment and crawler-type from the collision that moves the tail or drag to can effectively improve the safety in production efficiency in colliery.
Description
Technical Field
The utility model belongs to the technical field of the automation is equipped in the colliery tunnelling, concretely relates to colliery tunnelling equipment and crawler-type from controlling means that moves tail.
Background
With the improvement of the automation degree of the tunneling working face, the tunneling equipment is also developed to the aspects of high power, automation and the like. In order to improve the tunneling efficiency, the coal mine enterprises gradually replace the existing pulling type belt conveyer with a crawler type self-moving tail. However, in the underground practical use of the crawler-type self-moving tail, the matching mode of the tunneling equipment and the crawler-type self-moving tail has a great problem, the tunneling equipment and the crawler-type self-moving tail are often collided or dragged, the underground operation needs at least two or three persons, the number of operators is not reduced, the automatic following cannot be realized, the workload is large, and the potential safety hazard exists.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem lie in to above-mentioned prior art not enough, provide a colliery heading equipment and crawler-type from the cooperative control device who moves the tail, its structural design is reasonable, realize colliery heading equipment and crawler-type from the coordinated control who moves the tail, can be according to colliery heading equipment's running state simultaneously, whether select to carry out colliery heading equipment and crawler-type from the coordinated control who moves the tail, can effectively avoid colliery heading equipment and crawler-type from the collision that moves the tail or drag, and can effectively improve the safety in production efficiency in colliery.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a colliery heading equipment and crawler-type from cooperative control device who moves tail, colliery heading equipment's left side walking portion and right walking portion are provided with a hydraulic motor respectively, be provided with on the walking portion that the crawler-type moves the tail certainly and be used for controlling it to advance and the solenoid directional valve that moves back, its characterized in that: the hydraulic control system comprises an electric cabinet, two flow sensors and four pressure sensors, wherein the two flow sensors are respectively arranged on oil inlet pipes of two hydraulic motors, and the four pressure sensors are respectively arranged on the oil inlet pipes and oil return pipes of the two hydraulic motors;
the electric control box is internally provided with a controller and a data acquisition module, the electromagnetic directional valve is controlled by the controller, and the flow sensor and the pressure sensor are connected with the controller by the data acquisition module.
The cooperative control device for the coal mine heading equipment and the crawler-type self-moving tail is characterized in that: and two radar distance measuring instruments for measuring the distance between the crawler-type self-moving tail and the coal mine tunneling equipment are arranged at the tail of the coal mine tunneling equipment.
The cooperative control device of the coal mine tunneling equipment and the crawler-type self-moving tail is characterized in that: the radar range finder is connected with the controller through the data acquisition module.
The cooperative control device for the coal mine heading equipment and the crawler-type self-moving tail is characterized in that: the electric cabinet is arranged on the coal mine tunneling equipment.
The cooperative control device for the coal mine heading equipment and the crawler-type self-moving tail is characterized in that: an emergency stop switch is connected in series in a control loop of the controller for controlling the electromagnetic directional valve.
Compared with the prior art, the utility model has the following advantage:
1. the pressure sensors are respectively arranged on the oil inlet pipe and the oil return pipe of the two hydraulic motors, so that the coal mine tunneling equipment can be judged to be in a forward state or a backward state through the pressure of hydraulic oil measured by the pressure sensors, and the linkage of the coal mine tunneling equipment and the crawler-type self-moving tail is convenient to realize.
2. The utility model discloses a controller comes control solenoid directional valve to change the fluid flow direction, and then realizes advancing and retreating of crawler-type self-moving tail, can effectively realize colliery heading equipment and crawler-type from the coordinated control of moving the tail, avoids colliery heading equipment and crawler-type from the collision of moving the tail or dragging.
3. The utility model discloses an install a flow sensor on two hydraulic motor's the oil pipe that advances respectively, can be unanimous through the flow that judges two flow sensor and record, judge whether colliery heading equipment turns, and then select in a flexible way colliery heading equipment and crawler-type from moving the tail whether carry out coordinated control.
To sum up, the utility model has the advantages of reasonable design, realize colliery heading equipment and crawler-type from the coordinated control who moves the tail, can select whether to carry out colliery heading equipment and crawler-type from the coordinated control who moves the tail simultaneously according to colliery heading equipment's running state, can effectively avoid colliery heading equipment and crawler-type from the collision that moves the tail or drag to can effectively improve the safety in production efficiency in colliery.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Description of the reference numerals:
1-coal mine tunneling equipment; 2-a hydraulic motor; 3-oil inlet pipe;
4-oil return pipe; 5, crawler-type self-moving tail; 6-electromagnetic directional valve;
7-a controller; 8, a data acquisition module; 9-a flow sensor;
10-a pressure sensor; 11-radar rangefinder; 12, an electric cabinet;
13-scram switch.
Detailed Description
As shown in fig. 1, the utility model relates to a colliery heading equipment and crawler-type from cooperative control device who moves tail works as when colliery heading equipment 1 adopts hydraulic drive, colliery heading equipment 1's left side walking portion and right walking portion are provided with a hydraulic motor 2 respectively, the crawler-type is provided with the solenoid directional valve 6 that is used for controlling it to advance and move back, its characterized in that from moving on the walking portion of tail 5: the hydraulic control system comprises an electric cabinet 12, two flow sensors 9 and four pressure sensors 10, wherein the two flow sensors 9 are respectively arranged on the oil inlet pipes 3 of the two hydraulic motors 2, and the four pressure sensors 10 are respectively arranged on the oil inlet pipes 3 and the oil return pipes 4 of the two hydraulic motors 2;
a controller 7 and a data acquisition module 8 are arranged in the electric cabinet 12, the electromagnetic directional valve 6 is controlled by the controller 7, and the flow sensor 9 and the pressure sensor 10 are connected with the controller 7 by the data acquisition module 8.
When the hydraulic motor is actually used, the forward rotation or the reverse rotation of the hydraulic motor 2 depends on the flow direction of hydraulic oil, and when the hydraulic oil enters the oil inlet pipe 3, the hydraulic motor 2 rotates forwards; when hydraulic oil enters the oil return pipe 4, the hydraulic motor 2 rotates reversely; the coal mine excavation equipment 1 is advanced and retreated by forward rotation and reverse rotation of the hydraulic motor 2, and turning is realized by controlling the speed of the hydraulic motor 2 by controlling the flow rate of hydraulic oil flowing into the hydraulic motor 2.
During specific implementation, the pressure sensors 10 are respectively arranged on the oil inlet pipe 3 and the oil return pipe 4 of the two hydraulic motors 2, and the coal mine tunneling equipment 1 can be judged to be in a forward state or a backward state through the pressure of hydraulic oil measured by the pressure sensors 10, so that the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5 can be conveniently linked, and the safety production efficiency of a coal mine can be effectively improved.
It should be noted that the controller 7 controls the electromagnetic directional valve 6 to change the flow direction of the fluid, so as to advance and retreat the crawler-type self-moving tail 5, effectively realize linkage control of the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5, and avoid collision or dragging between the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5.
When the device is actually used, the flow sensors 9 are respectively arranged on the oil inlet pipes 3 of the two hydraulic motors 2, so that whether the coal mine tunneling equipment 1 turns or not can be judged by judging whether the flow measured by the two flow sensors 9 is consistent or not, and whether the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5 are in linkage control or not can be flexibly selected; when the flow measured by the two flow sensors 9 is inconsistent, namely when the coal mine tunneling equipment 1 turns, stopping the linkage control of the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5; the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5 can advance and retreat simultaneously after being linked, equivalently, the coal mine tunneling equipment and the crawler-type self-moving tail 5 are combined to form a longer whole, the turning radius of the whole is larger than that of the coal mine tunneling equipment 1 or the crawler-type self-moving tail 5 which is a single piece of equipment, the space in an underground roadway is limited, if the coal mine tunneling equipment and the crawler-type self-moving tail 5 are linked in a turning way, the crawler-type self-moving tail 5 can collide with a coal wall, and the risk of colliding miners can occur, so that the linkage control of the coal mine tunneling equipment 1 and the crawler-type self-moving tail 5 needs to be stopped when the coal mine tunneling equipment and the crawler-type self-moving tail 5 are turned.
In specific implementation, the pressure sensor 10 is a mining intrinsic safety type pressure sensor with the model of GPD60 (B), the flow sensor 9 is a mining intrinsic safety type flow sensor with the model of GLW25/10, the radar range finder 11 is an intrinsic safety type laser sensor with the model of GUJ, and the controller 7 is an InterControl DCFI controller.
In this embodiment, when the coal mine heading device 1 adopts a frequency conversion driving mode, the moving direction of the coal mine heading device 1 CAN be directly obtained from a frequency converter of the coal mine heading device 1 at this time, the controller 7 obtains a signal of the frequency converter and then controls the electromagnetic directional valve 6 to change the flow direction of the fluid, so that the crawler-type self-moving tail 5 moves forward or backward, and the controller 7 and the frequency converter of the coal mine heading device 1 adopt a CAN bus communication mode to send the rotating speed and the rotating direction of the traction motor of the coal mine heading device 1 to the controller 7 at this time in real time.
In this embodiment, two radar distance meters 11 for measuring the distance between the crawler-type self-moving machine tail 5 and the coal mine heading equipment 1 are installed at the machine tail of the coal mine heading equipment 1.
During the in-service use, radar range finder 11 is installed in the tail below of colliery heading equipment 1, radar range finder 11 installs just to crawler-type one side from moving tail 5 on colliery heading equipment 1 promptly, through two radar range finder 11 of tail installation at colliery heading equipment 1, can measure colliery heading equipment 1 and crawler-type from moving the distance between tail 5 through two radar range finder 11, when having one in two radar range finder 11 measuring distances to be less than safe distance, colliery heading equipment 1 does not link with crawler-type from moving tail 5, scram switch 13 disconnection promptly.
In this embodiment, the radar distance measuring instrument 11 is connected to the controller 7 through the data acquisition module 8.
In this embodiment, the electric cabinet 12 is installed on the coal mine heading equipment 1.
During the in-service use, electric cabinet 12 is explosion-proof electric cabinet, is provided with the power module who is used for the power supply in electric cabinet 12.
In this embodiment, an emergency stop switch 13 is connected in series in a control loop of the controller 7 for controlling the electromagnetic directional valve 6.
In practical use, when the emergency stop switch 13 is switched off, the coal mine tunneling device 1 and the crawler-type self-moving tail 5 are not subjected to linkage control, and when the emergency stop switch 13 is switched on, the coal mine tunneling device 1 and the crawler-type self-moving tail 5 are subjected to linkage control.
When the device is actually used, the distance between the coal mine heading equipment 1 and the crawler-type self-moving tail 5 is measured through the radar distance measuring instruments 11, when the distances measured by the two radar distance measuring instruments 11 are not smaller than the safe distance and the flows measured by the flow sensor 9 are consistent, the emergency stop switch 13 is closed, and the coal mine heading equipment 1 is linked with the crawler-type self-moving tail 5; measuring the hydraulic oil pressure of an oil inlet pipe 3 and an oil return pipe 4 of the hydraulic motor 2 through a pressure sensor 10; when the hydraulic oil pressure of the oil inlet pipe 3 is greater than the hydraulic oil pressure of the oil return pipe 4, the coal mine tunneling equipment 1 is in an advancing state, and the crawler-type self-moving tail 5 is advanced by controlling the electromagnetic directional valve 6 through the controller 7; when the hydraulic oil pressure of the oil inlet pipe 3 is smaller than the hydraulic oil pressure of the oil return pipe 4, the coal mine tunneling equipment 1 is in a retreating state, and the controller 7 controls the electromagnetic directional valve 6 to annularly move the crawler-type self-moving tail 5 backwards.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (5)
1. The utility model provides a colliery tunnelling equipment and crawler-type move from cooperative control device of tail, the left side walking portion and the right walking portion of colliery tunnelling equipment (1) are provided with a hydraulic motor (2) respectively, be provided with on the walking portion of crawler-type move from tail (5) and be used for controlling it to advance and electromagnetic directional valve (6) that move back, its characterized in that: the hydraulic control system comprises an electric cabinet (12), two flow sensors (9) and four pressure sensors (10), wherein the two flow sensors (9) are respectively arranged on oil inlet pipes (3) of two hydraulic motors (2), and the four pressure sensors (10) are respectively arranged on the oil inlet pipes (3) and oil return pipes (4) of the two hydraulic motors (2);
the device is characterized in that a controller (7) and a data acquisition module (8) are arranged in the electric cabinet (12), the electromagnetic directional valve (6) is controlled by the controller (7), and the flow sensor (9) and the pressure sensor (10) are connected with the controller (7) through the data acquisition module (8).
2. The cooperative control device of the coal mine tunneling equipment and the crawler-type self-moving tail according to claim 1 is characterized in that: two radar distance measuring instruments (11) used for measuring the distance between the crawler-type self-moving tail (5) and the coal mine tunneling equipment (1) are installed at the tail of the coal mine tunneling equipment (1).
3. The cooperative control device of the coal mine tunneling equipment and the crawler-type self-moving tail as claimed in claim 2, is characterized in that: the radar range finder (11) is connected with the controller (7) through the data acquisition module (8).
4. The cooperative control device of the coal mine tunneling equipment and the crawler-type self-moving tail according to claim 1 is characterized in that: the electric cabinet (12) is arranged on the coal mine tunneling equipment (1).
5. The cooperative control device of the coal mine tunneling equipment and the crawler-type self-moving tail according to claim 1 is characterized in that: and an emergency stop switch (13) is connected in series in a control loop of the controller (7) for controlling the electromagnetic directional valve (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222037233.1U CN217681846U (en) | 2022-08-03 | 2022-08-03 | Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222037233.1U CN217681846U (en) | 2022-08-03 | 2022-08-03 | Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217681846U true CN217681846U (en) | 2022-10-28 |
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ID=83726051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222037233.1U Active CN217681846U (en) | 2022-08-03 | 2022-08-03 | Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217681846U (en) |
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2022
- 2022-08-03 CN CN202222037233.1U patent/CN217681846U/en active Active
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