RU2713288C1 - Mining machine actuator control device, mining machine, mining machine control system and data medium - Google Patents

Abstract

FIELD: mining.SUBSTANCE: invention relates to hydraulic means for controlling operation of mining machines. Device comprises hydraulic unit 3, compartment 4 for control facilities, hydraulic distributor 5 intended for connection with actuator, cover 6, unit 7 of device control. Hydraulic unit 3 and compartment 4 are made in the form of single-piece unit.EFFECT: technical result is increase of explosion safety, provision of self-diagnostics.10 cl, 4 dwg

Description

FIELD OF THE INVENTION

The invention relates to means for controlling the operation of mining machines, in particular to hydraulic controls for the executive bodies of treatment, roadheaders and other types of combines, as well as directly to mining machines and their control systems.

State of the art

The prior art knows a large number of tools and control systems of the working bodies of mining machines.

As the closest analogue, the well-known mining machine control device was selected, containing a hydraulic unit, a compartment mechanically attached to it for accommodating fluid control devices and electrical elements, as well as a device operation control unit (WO 2016/155821 A1, published on 10/06/2016). The disadvantage of this known means is the placement of hydraulic and electrical elements in one space and insufficient explosion safety.

SUMMARY OF THE INVENTION

An object of the present invention is to provide an explosion-proof and multi-functional control means for an executive organ of a mining machine.

In the course of solving this problem, the following set of technical results is achieved: increasing the explosion safety of the device due to its implementation as a monoblock, as well as due to the structural separation of hydraulic and electrical elements and placing the latter in a space isolated from the environment and other components; maintainability due to the ability to install or replace hydraulic elements without affecting electrical elements, and vice versa; providing devices with load sensitivity functions, self-diagnosis of hydraulic distribution components and feedback on the position of the executive body.

The above technical results are achieved in that the control device of the executive body of the mining machine comprises a hydraulic unit and a compartment for control means, at least one control valve for connecting to the executive body, a cover, a device control unit;

- the aforementioned hydraulic unit and compartment for controls are made in the form of a monoblock;

- said hydrodistributor is installed in said hydraulic unit, in which at least one inlet and one outlet are made, connected by at least one fluid channel;

- in said compartment, control means of said control valve are connected, connected to said control unit located here;

- said lid closes said compartment, preventing it from communicating with the external environment.

The above technical results are also achieved by the fact that the device comprises at least one blocking valve, at least one additional valve and means for controlling them;

- said blocking valve is designed to prevent the supply of fluid to said valve;

the said additional valve is designed to set the operating pressure of the valve;

- said valve controls are located in said compartment.

The above technical results are also achieved by the fact that said hydraulic unit on the side opposite to said compartment contains openings for mounting said valve and a blocking valve, said valve being made in the form of a spool valve, and said blocking valve is made in the form of a spool type logic element .

The above technical results are also achieved by the fact that the device comprises a plate attached to said hydraulic unit, in which at least one fluid channel is made, connected to said channel of the hydraulic unit, said additional valve is installed in said plate, and, according to at least one logic valve for controlling the pump.

The above technical results are also achieved by the fact that at least one fluid pressure sensor, at least one spool position sensor of said hydraulic distributor, at least one oil leakage sensor are located in said compartment, all of which are connected to said control unit.

The above technical results are also achieved by the fact that the said control unit of the device is made in the form of an electronic board or a single-board computer containing a storage medium on which a software product for controlling the executive body is recorded.

The above technical results are also achieved by the fact that the mining machine contains at least one actuator and an actuator control device, made as described above.

The above technical results are also achieved by the fact that the mining machine is equipped with means for obtaining information about the position of said executive body and means for transmitting this information to said control unit.

The above technical results are also achieved by the fact that the control system of the mining machine contains at least one executive body comprising means for controlling the executive body, means for obtaining information about the position of said executive body, and means for transmitting this information to said control means, characterized in what is the mentioned remedy

- management of the executive body is made in the form of a control device, made as described above.

The above technical results are also achieved by the fact that the storage medium containing a software product for controlling the operation of the control device, made as described above.

The main distinguishing feature of the control device in accordance with the present invention is that it is made in the form of a monoblock with separated hydraulic and electrical elements, while installing or replacing the main elements of the hydraulic unit does not require disassembling the electrical compartment and vice versa.

List of drawings

In FIG. 1 shows a general view of a mining machine.

In FIG. 2 shows a general view of the control device from the side of the electrical compartment.

In FIG. 3 shows a rear view of the control device.

In FIG. 4 is a bottom view of a control device.

The implementation of the invention

In the course of mining operations related to mechanical destruction of the rock, in order to achieve high performance, efficiency and safety, it is necessary to solve a set of tasks for the optimal management of the cutting organs. Executive bodies providing mechanical destruction of the rock are used in various types of mining machines: roadheaders, drill rigs, etc. For mechanical destruction of the rock, the cutting executive body must have kinematics, providing the required shaping of the output and optimal cutting parameters. During mining operations, the operational properties of the cutting organs and their working conditions are constantly changing - the tool becomes dull, the hardness and density of the rock, the feed parameters of the tool and the cutting speed are subject to fluctuations. In addition, mining is often carried out in explosive atmospheres. In such a situation, specialized means of controlling the movement of executive bodies are needed, which, among other things, have the properties of explosion safety, compactness and reliability.

The device in accordance with the present invention can be used to control the executive bodies of almost any kind (milling cutters, berm cutting devices, disc cutters, drills, etc.) and in various types of mining machines 2. In the framework of the present invention, the concept of "executive body" and "executive mechanism ”are synonyms.

The control device comprises a hydraulic unit 3 and a compartment 4 for placement of electrical controls therein. The device comprises at least one directional control valve 5 intended for connection with a hydraulic power element (for example, a hydraulic cylinder) of the actuator 1.

A distinctive feature of the present invention is that the hydraulic unit 3 and the control compartment 4 are designed as a monoblock, as shown in FIG. 2. A monoblock design means the implementation of the hydraulic unit 3 and compartment 4 in one piece, without the possibility of their separation by non-destructive methods.

Monoblock execution provides reliable separation of electrical and hydraulic elements, as well as complete isolation of electrical elements. The device has a cover 6, covering the compartment 4 and preventing its communication with the external environment. As shown in FIG. 2, the cover 6 can be fastened to the monoblock with screws and have the necessary sealing elements. One of the options for sealing compartment 4 can be a groove in one or both of the mating surfaces, respectively, of the cover 6 and the hydraulic side 6. A sealing element (rubber ring, silicone, etc.) can be installed in this groove.

In FIG. Figures 3 and 4 show the design of the device with five control valves 5, each of which is installed in the hydraulic unit 3. The number of valves is selected depending on the number of executive bodies of a particular mining machine and on their working functions. If the executive body 1 makes complex spatial movements during operation, several hydraulic power elements (for example, hydraulic cylinders) and, correspondingly, the same number of control valves 5 may be required to control its operation.

The compartment 3 of the monoblock houses the necessary electrical and electronic control means of the control valve 5, the operation of which is monitored and controlled by a single control unit 7. As such means, a fluid pressure sensor 10, a hydraulic valve 5 position sensor 11 and a solenoid valve 13 for switching it, an oil leak sensor 12 can be used. These sensors can be used in various combinations and quantities depending on the conditions and tasks of the control, and all of them are connected to the control unit 7. These sensors are designed for automatic self-diagnosis of the technical condition of the device. So, using these measuring instruments at any time, you can determine what position the spool valve 5 is in and which actuators (or mechanisms) are connected to it or are activated or activated from it.

Electric energy is supplied to the compartment 4 by means of, for example, explosion-proof hermetic connectors 18. The design of the means for supplying electric energy depends on the requirements of dust and explosion protection, tightness and other operational requirements.

At least one inlet 8 and one outlet 9 are made in the hydraulic unit 3, connected by at least one fluid channel (not shown). The working fluid, circulating through the channels, passes through the control valve 5 and provides the necessary movement of the actuator 1 with the specified parameters, for example, by means of a power hydraulic cylinder or other suitable means.

The control device includes at least one blocking valve 14, designed to prevent the flow of fluid to the control valve 5. This valve disconnects the control valve 5 from the operating pressure (for example, by including a direct flow of fluid from the inlet 8 into the outlet 9 or by blocking the fluid supply) in the following cases:

- carrying out diagnostics of the device before starting its work. This ensures the supply of working pressure to the actuators and the beginning of their movement only after the safe conditions for starting work are established and the technical condition of the control device is diagnosed;

- a malfunction of the device is diagnosed, for example, an oil leak or a malfunction of the control valve is installed. In this case, the fluid flow through the blocking valve 14 is turned on to a direct flow, bypassing the control valve 5, or its flow is blocked by any known method.

The control device also contains at least one additional valve 15, which is designed to set the operating pressure of the valve 5. Since the load on the actuator 1 can vary significantly during operation, different power is required at different times. An additional valve 15 is hydraulically connected to the control valve 5 so that it allows the installation of the working fluid pressure of the desired size. If the device contains several directional valves 5, it is advisable to each of them provide its additional valve 15 or several (for example, two) additional valves.

Depending on the operating conditions of specific control systems, the blocking valve 14 and the additional valve 15 may have their own controls (position switches, diagnostic sensors, etc.) that can be located in compartment 4. The present invention provides that such controls located outside compartment 4. In this case, only control signals can be transmitted to the monoblock control unit. The ability to connect external controls expands the functionality, since the limited volume of compartment 4 in this case does not limit the number of controls.

The hydraulic unit 3 from the side opposite to the compartment 4 contains openings for mounting the control valve 5 and the blocking valve 14, as shown in FIG. 3. This allows them to be replaced without affecting the electrical components. It is advisable to make the valve 5 in the form of a spool valve, and the blocking valve 14 to perform in the form of a logic element of the spool type.

Additional valves 15 are not required for the operation of the device and can be installed as needed. For this reason, it is advisable to install them in a separate removable node. For this purpose, the device may include a plate 16 attached to the hydraulic unit 3. In this plate, channels for the fluid medium are connected to the channels of the hydraulic unit 3. The fluid from the channels of the hydraulic unit 3 enters the channels of the plate 16, passes through additional valves 15 and returns to the hydraulic unit. This provides a hydraulic connection of each additional valve 15 with the corresponding valve 5.

One or more logic valves 19 may also be installed in the plate to control pump capacity (not shown).

In the hydraulic unit 3, also on the side opposite to compartment 4, a compensation valve 17 can be installed, designed to maintain a constant flow of fluid passing through the valve 5. If necessary, each valve can be provided with such a compensation valve 5. Control means for compensation valves 17, in case necessary, can also be placed in compartment 4.

The use of additional valves 15, compensation valves 17 and logic valves 19 allows you to implement the principle of operation "load sensing" (load sensing). The LS hydraulic system can be made in two versions: with an open center and an unregulated pump, and with a closed center and an adjustable pump. In load-sensitive control systems, the flow and output pressure of the pump are controlled by a hydraulic signal that carries information about the actual load at a particular point in time. Mining machines of various types can have several hydraulic functions, such as lifting and tilting one or several actuators, controlling the movement of the machine itself, etc., and thus, the magnitude of the required flow and working pressure of the fluid at different times may vary. As a rule, actuators contain linear motors in the form of hydraulic cylinders.

The principle of the LS system is based on the independence of the flow distribution between consumers from the load pressures of these consumers, implemented with the help of pressure compensators installed in front of variable chokes (slots of the spools). When the pump is operating, the instantaneous load pressure serves as a feedback signal for the control device, which in turn sets the required pump pressure. The pump pressure is maintained equal to the load pressure of the most loaded consumer, plus a constant control pressure. With the help of pressure compensators, a constant pressure drop across the spools of the control valves is maintained, which determines the absence of a dependence of the consumer speed on its load. This is the basic principle of the LS system. The pump gives the flow rate and pressure determined by the actual need.

A constant pressure drop across the slots of the spool is maintained, which ensures a constant flow rate on the actuator.

The LS system has a proportional relationship between the stroke of the spool and the magnitude of the flow. In LS systems, the pressure drop across the gap is always kept constant. Thus, there is a proportional relationship between the cross section of the opening of the valve spool and the flow.

In the control system in accordance with the present invention, the amount of fluid flow to the consumer is constant regardless of its external load and has the ability to proportionally vary depending on the stroke value of the spool, which is achieved by control algorithms and appropriate means of computerization.

The control unit 7 can be made on the basis of a programmable industrial controller in the form of an electronic board or a single-board computer (for example, Pico ITX, Jrex, PC / 104 models, etc.). Such a controller or computer must contain an electronic storage medium on which a software product is recorded that provides control of the executive body in accordance with the above-described functionality.

The subject of the present invention is also a mining machine comprising at least one actuator 1 and an actuator control device made in accordance with the above description.

The mining machine may be equipped with means for obtaining information about the position of the said executive body 1 and means for transmitting this information to the control unit. This will allow you to create a full-fledged feedback management of the executive body 1 on the basis of direct information about its position, and not only on the basis of indirect information (for example, the magnitude of the pressure of the fluid).

The mining machine may be equipped with a common computerized control system, including a control device of the executive body 1, as described above. Such a control system may contain means for obtaining information about the position of the executive body 1 and means for transmitting this information to the control device, as described above. The control system may also include means for displaying visual information (for example, in the form of a dipole), means for sound and light indication, and other functions known from the prior art. The device operates as follows.

Before starting work, a program with control algorithms is loaded into the control unit 7 from an electronic medium. When the hydraulic pump (not shown) is turned on, the blocking valve 14 provides either blocking the supply of fluid to the control valves 5 or the flow of fluid from the inlet 8 to the outlet 9 (direct overflow). At this time, the control unit 7 receives data from the available sensors and determines in which position the valve spool 5 is located (or the valve of each of the valves, if there are several). Also, the control unit 7 can receive additional information about the position of the executive body 1 from external measuring means.

If the valve spool 5 is in the neutral position and there is no diagnostic data on malfunctions, the blocking valve 14 is switched, the fluid enters the valve spool 5. According to the signal from the control means, the valve spool 5 occupies one of the operating positions and the fluid begins to flow under a certain pressure on the power cylinders of the actuator 1, setting it in motion. The computer program controls the switching of the spool valves 5 in accordance with the work task.

If a malfunction of the control valve 5 is diagnosed during operation, a breakdown of the actuator 1 or other situation that impedes the safe operation of the machine, the blocking valve 14 again either turns on the direct flow of the fluid or blocks the flow of the working fluid to the control valves 5, and the movement of the actuator stops.

In the process, the compensation valves 17 provide equalization and maintaining a constant flow rate of the fluid, and additional valves 15 and logic valves 19 control the parameters of the hydraulic pump depending on the actual working load on the actuator 1.

Thus, the claimed devices, in accordance with the invention, provide explosion-proof devices and control systems for mining machines, as well as the mining machines themselves, and effective self-diagnosis and control based on load sensitivity.

Claims (17)

1. The control device of the executive body of the mining machine, comprising a hydraulic unit and a compartment for control means, at least one control valve for connecting with the executive body, a cover, a device control unit; - the aforementioned hydraulic unit and compartment for controls are made in the form of a monoblock; - said hydrodistributor is installed in said hydraulic unit, in which at least one inlet and one outlet are made, connected by at least one fluid channel; - in said compartment, control means of said control valve are connected, connected to said control unit located here; - said lid closes said compartment, preventing it from communicating with the external environment. 2. The device according to p. 1, characterized in that it contains at least one blocking valve, at least one additional valve and means for controlling them; - said blocking valve is designed to prevent the supply of fluid to said valve; - the said additional valve is designed to set the working pressure of the valve; - said valve controls are located in said compartment. 3. The device according to claim 2, characterized in that said hydraulic unit on the side opposite to said compartment contains openings for installing said valve and a blocking valve, said valve being made in the form of a spool valve, and said blocking valve is made in the form of a logical spool type element. 4. The device according to claim 1, characterized in that it comprises a plate attached to said hydraulic unit, in which at least one fluid channel is made, connected to said channel of the hydraulic unit, said additional valve is installed in said plate, and at least one logic valve for controlling the pump, for example, by supplying a feedback signal to the pump control mechanism. 5. The device according to p. 3, characterized in that at least one fluid pressure sensor, at least one spool position sensor of said valve, at least one oil leakage sensor is located in said compartment, all the sensors are connected to said control unit. 6. The device according to claim 1, characterized in that the said control unit of the device is made in the form of an electronic board or a single-board computer containing a storage medium on which a software product for controlling the executive body is recorded. 7. A mining machine comprising at least one executive body and an executive body control device according to any one of the preceding paragraphs. 8. A mining machine according to claim 7, characterized in that it is equipped with means for obtaining information about the position of said executive body and means for transmitting this information to said control unit. 9. The control system of a mining machine, comprising at least one executive body, comprising means for controlling the executive body, means for obtaining information about the position of said executive body, and means for transmitting this information to said control means, characterized in that said executive means made in the form of a control device according to any one of paragraphs. 1-6. 10. A storage medium containing a software product for controlling a control device according to any one of paragraphs. 1-6.

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