SU1456560A1 - Method of controlling the advance of stoping unit - Google Patents

Abstract

The invention relates to methods for the accident-free movement of a sewage treatment plant in the plane of the soil of the formation (PP) and allows for improved control accuracy during automatic shifting. According to the method of shifting the conveyor racks, unloading the lining sections, tightening the lining sections to the pan, veyer pan and thrust sections of the lining sections, set the coordinates of the control points (CT) on the lining sections and the lattices of the conveyor in the PCB plane before and after moving, pull out slide. hydraulic cylinders stroke (GC) for a given. the magnitude as well as the allowable twist angle of the conveyor pans. Measure the angles of inclination of the bases of the sections of the GC support and the conveyor racks with respect to the axis of applicate, as well as the angles of mutual rotation of the conveyor poles in the plane of the PP. The coordinates of the CT projections of the lining sections and pods of the Zeuer are determined, compared with the set points and displaced coordinates of the CT projections of the conveyor pans of the conveyor are eliminated by moving the GC stock with the loosening sections of the lining, and with the CT sections protruding. The tilt angles of the conveyor racks are measured relative to the axis of the applicate, their twist angle is determined, compared to the set one, and the error is resolved by moving the conveyor racks with the support sections unpacked. Again, the mismatch between the measured and specified coordinates of the CT projections of the lining sections, the conveyor pans and the tilt angle of the conveyor pads is eliminated. The mismatch between the measured and set coordinates of the CT projections is determined and taken into account in the next cycle of movement of the cleaning complex by changing the set value of the GC stem advancement. 4 il. IS CL 4; ai SP Od El Od

Description

one

The invention relates to the automation of the management of sewage treatment plants in the mining industry, and

namely, to the methods of automatic control of the movement of the sections of the mechanized support and the pans of the scraper face-bottom conveyor of the cleaning combine complexes in the plane of the formation.

The aim of the invention is to improve the accuracy by taking into account the spatial position of the complex and adjusting its position in each movement cycle.

lining relative to the axis of the applicat, sensor 16 of the angle of inclination of the ram hydraulic cylinder relative to the axis of the applicate, microcomputer 17, performing the necessary calculations and driving the control signals to other nodes of the unit h cut buffer amplifier 18 to the hydraulic valves 19 and 2C hydroelectric mounts

Figure 1 - shows the layout of the support and the hydraulic cylinders stroke corresponding

1D56560

fixture with respect to the axis applicate, sensor 16 of the angle of inclination of the hydraulic cylinder stroke relative to the axis applicate, microcomputer 17, performing the necessary calculations and driving control signals to other nodes of the unit via buffer amplifier 18 to electrohydraulic valves 19 and 2C hydroelectric

Oh lining and hydraulic cylinders stroke

position relative to the axis of ordinates and the axis of applicate, emitted into the straight lines of the pan of the conveyor, the hydraulic cylinder of the stroke and the base of the support section, which has a raised bottom side relative to the bump; Fig. 2 is the same, the hydraulic cylinders of the stroke and the base of the lining section, in which the block side of the elevation is relatively downhole} in Fig. 3 is a layout with respect to the axis of the ordinate and the abscissa axis of several conveyor bars; figure 4 is a functional diagram of the device that implements the proposed

The method of controlling the movement of the cleaning-25 conveyor.

complex

1, 2 and 2 dots mark the bottom side 1 of the base of the support section, the assembly 2 for fastening the hydraulic cylinder stroke to the base of the support section, the bottom side 3 of the base for the support section, the assembly 4 for securing the hydraulic cylinder for the conveyor tray, the bottom side 5 of the platform, location 6 The crepe method is implemented as follows.

Before starting work in an arbitrary location, for example, on the zavalny 30 side at the outer end of the haulage drift of the lining section, the control panel 25 (FIG. 4) starts the counting of the fixed three-dimensional coordinate system. Through the same

the inclination of the angle sensor to the base 35; the control panel 25 controls the specific

The lining of the securing sensor on the hydraulic cylinder of the stroke is shown below, L shows the angle of inclination of the base of the securing section relative to the axis of the applicate, U is the angle of inclination of the hydraulic cylinder of the stroke relative to the axis of applicati, CO is the angle of inclination of the conveyor grid relative to the axis of the applicator. In FIG. 3, dots mark the angles 8 and 9 of the bottom side of the pan, the angles 10 and 11 of the bottom hole side of the pan, the middle of the bottom side of the pan 5, and also show the angle (f is the angle of mutual rotation of the pan in the soil plane of the formation.

The device for controlling the movement of the cleaning complex (Fig. 4) consists of taller blocks 12 and a drift block 13. The laval blocks 12 are the same for all sections of the support on which they are mounted. The main unit 12 i contains a sensor 14 of the magnitude of the extraction of the stroke of the hydraulic cylinder rod stroke, the sensor 15 of the angle of inclination of the base of the section

by means of which the actuators of the hydraulic posts and the hydraulic cylinders are controlled, respectively, 21 and 22. Stretkovy 13 and

The 12 blocks contain telemechanical communication modules 23 for maintaining information exchange between the micro-computer.

Stroke unit 13 contains the same as in the main unit 12, the microcomputer 24, the control panel 25, the memory element 26 for storing information about the spatial position of the conveyor slats and the node 27 for entering data about the spatial position of the slits

The method is implemented as follows.

Before starting work in an arbitrary location, for example, on the zavalny 30 side at the outer end of the haulage drift of the lining section, the control panel 25 (FIG. 4) starts the counting of the fixed three-dimensional coordinate system. Through the same

The locations of the control points of the treatment complex, for example, for the conveyor, are in the middle of the bottomhole side of each pan, and for sections

lining - on the bottom of the base. Through the control panel 25, the controllers enter into the gateway 24 and the main 17 micro-computers initial values of the coordinates of the control points of the support relative to

abscissa and ordinate. In the same way, the maximum value of the twist angles of the conveyor pans is set, based on the design data and technological requirements for each

type of complex.

For each section of the support, sensors of 15 and 16 of the angle of inclination of the base of the section of support and of the angle of the stroke hydraulic cylinder measure the values of these angles relative to the axis of applicate. Then the sensor 14 of the advance of the stroke of the hydraulic cylinder stroke measure the value of this advance. The measurement results are recorded in the microcomputer 17

Corresponding section of the support. Then, manually or by means of a measuring carriage, which is driven along the lava along the conveyor, measure the inclination angles of the conveyor racks relative to the axis of applicate and the angles of the relative rotation of the pan in the plane of the soil of the formation. Through the data entry node 27, this information is entered into the memory element 26, and from there, using a drift microcomputer 24 and communication modules 23, it is transmitted to the respective main microcomputer 17.

Each lavna of microcomputer 17 calculates the coordinates of its control sockets. According to the method, these calculations are performed for the coordinates of the to-check projections relative to the ordinate axis, for example, as follows:

Woo y + ip sin + 1. sin +

+ 1 ,, sinco

de y - the coordinate of the projection of the control point of the conveyor pan

y, is the coordinate of the projection of the control point on the basis of the lining section, specified at the initial stage or determined at the stage of pushing up the lining section;

1p is the distance from the bottom of the support section of the support section to the mount of the hydraulic cylinder of the stroke to this base (the value is known for each type of support); 1 - the angle of inclination of the base of the support section relative to the axis of applicate;

1 - the length of the hydraulic cylinder stroke with the rod extended to the measured value | U - the angle of inclination of the hydraulic cylinder stroke relative to the axis applicate;

1., on the 45th side of the haulage roadway (points 8-11, figure 3). Then, according to the measured angles of mutual rotation of the pan in the plane of the soil of the reservoir and the known coordinates of the corner points of one of the conveyor bars

(the value known each is determined for all the pan

conveyor coordinates of the projections of control points 5 (fig.Z) and corner points, for example, according to the following formulas

dogo type of downhole conveyor);

tilt angle of the pan of the conveyor relative to the axis of applicati.

55

Have

"

+ 0.51

sin g; ;

For each section, lining the coordinates of the projection of its control point on the y-axis at each stage of movement

(pull-ups) is determined by the formula

Y, Y4 Ic sin X - l., (2)

y, is the coordinate of the projection of the control point of the cramping section, the coordinate of the projection of the mount of the hydraulic cylinder for the conveyor to the rack

(

U. U U, + - sin A + If

sin I

(3)

15 20

25

thirty

but in formula (3) y, the values of D, C | , 1 measured at this stage of the conveyor movement.

The digital indices given in formulas (1) - (3) with the coordinates of the projections of the control points correspond to the digital numbers of the points in Figures 1 and 2. The values of, / k and 1 correspond to the parameters 7i, (u and 1, measured at the step of pushing the support to conveyor belt rack

The angle of inclination of the bases of the support sections, stroke cylinders and conveyor racks relative to the axis of applicate at some of their values, such as zero, do not allow to fully determine the position of the pan-control points due to the presence of backlashes in the joints of the pan and hydraulic cylinders. To eliminate possible error coordinates calculated. The projections of the control points of the pan are adjusted to the measured angles of mutual rotation of the pan in the soil plane of the formation. To do this, in each cycle of the movement of the complex, the coordinates of the angular POINTS of any pan, for example, the extreme

45 side haul road (points 8-11, figure 3). Then, according to the measured angles of mutual rotation of the pan in the plane of the soil of the reservoir and the known coordinates of the corner points of one solution

five

Have

"

y

+ 0.51

+ 1

R

R

sin cr

sin g; ;

(four)

UCH Uv

+ 1,

81П (Ур У „1у COS сГ for the case t„ У,

y "th -

L |. cos c for the case Ud Y, j

de y

five,

the corresponding coordinates of the projections of points 5, 8; 9-11 of the axis pan under consideration

Hetj

y is the corresponding coordinate of the projections of points 9 and 10 of the previous pan on the ordinate axis 1p — the length of the pan and J 2 — the angle defined for

under consideration

 , (5) de () angle of mutual rotation

the considered and previous pan in the plane of the soil of the reservoir, t is the angle between the straight line parallel to the ordinate axis passing through the interface node of the considered and re-adjusting the coordinates of the projections of control points and, if

previous pan and side

Side (in width) of this view are the twist angles will not be preg.

the pan, adjacent to the previous pan; angle D defined for the previous pair of pan, At the beginning of the calculation for the first pair of pan, the angle C is equal to zero in the formula (5) before the angle (a plus sign is put if the angle corresponds to the same type of opening (on the face or on the dam)) otherwise, if the angles are turned in different directions, in front of the angle (a minus sign is put).

Thus, applying formulas (1), (A) and (5), calculate the initial values of the coordinates of the projections of the control points of the conveyor pans.

The coordinates of the projections of the control points of the conveyor and the support sections for the next cycle of movement of the complex are set. From each lava microcomputer 17 (Fig. 4), control signals are supplied to actuating mechanisms of hydraulic cylinders 21 and 22 through buffer amplifiers 18 and electro-valves 19 and 20. At the end of the movement of the complex, the coordinates of the projections are determined by formulas (1) (5) control

565608

conveyor points and lining. The mismatch values of the specified and measured coordinates of the projections of the control points of the conveyor and the support are determined. In the same cycle, displacements are eliminated. For this, supplying control signals from the respective microcomputers through buffer amplifiers

10 and electrohydraulic valves for actuators of hydraulic rails and hydraulic cylinders, move pan pan and lining sections to the bottom or to the dam. After that, using the sensors again

15, measure the angles from the slope of the conveyor pan with respect to the axis of applicate. The reciprocal tilt angles of the pan are calculated by determining the difference in inclination angles of the adjacent pan.

20 They compare the obtained value with a predetermined maximum value of the mutual twist angle and, if necessary, by giving control signals to the actuators of the corresponding stroke hydraulic cylinders 22, move the pan to the bottom or to the back again. Repeat the process.

corrections of the coordinates of the projections of control points and, if after

five

0

If the maximum value is reached, then the current process of moving the cleaning complex ends. Otherwise, the angles of mutual torsion of the pan by moving them again reduce to the allowable value. The mismatch between the specified and measured coordinates of the projections of the control points of the conveyor and the support is determined, and this value is taken into account when setting the amount of lag of the stroke of the hydraulic cylinder for the next cycle of movement of the complex.

According to the proposed control method, two situations are distinguished when the misalignment of the measured and given coordinates of the projections of control points is eliminated: the under-movement of the measured coordinates of the projections of the control points

Q to given and shifting. The first situation occurs when the downhole side of the base of the support section is raised relative to the bottom, and the second - vice versa. Different situations caused the different directions of movement of the rod of the hydraulic cylinders of the stroke. When such an order is implemented, the stroke cylinders must have a stock of movement of the rod in both directions.

five

Repeated adjustments of the measured and given coordinates of the projections of the control points and bringing to the allowable value of the reciprocal tilt angles of the pan are caused by a violation of the measured and given coordinates of the projections of the control points in the previous adjustment due to the matching of the twist angles. If it is impossible to simultaneously resolve the mismatch of the coordinates of the projections and reduce to the allowable value of the twist angles, the mismatch of the coordinates is taken into account in the next cycle of movement of the complex.

In the method, in each cycle of movement of the complex, the error caused by the angular displacement of the elements of the complex from the plane of the soil of the formation is eliminated, which makes it possible to increase the reliability of the cleaning complex and the permeability of the excavation machine.

Claims (1)

Formula of gain A method for controlling the movement of a sewage complex, including setting a fixed rectangular coordinate system on a formation bed in which the abscissa axis is directed along the length of the lava, and the ordinate axis on moving the bottom, determining control points on the conveyor gratings, setting the coordinates of the control points on the conveyor gratings after moving the complex, setting the size of the spindle stroke of the hydraulic cylinders of the stroke, moving the complex consisting of moving the conveyor pans, unloading the lining sections, moving the lining sections to to the conveyor sacks and strut of the support sections, measuring the coordinates of control points after moving the cleaning complex, determining the magnitude of the mismatch between the specified and measured coordinates of the control points on the conveyor grates and setting the corrected, extension of the stroke of the hydraulic cylinders for the next cycle of the cleaning complex, characterized in that in order to increase accuracy by taking into account the spatial position of the complex and adjusting its position in each cycle of movement, Q: Apply, determine which ordinates of control points on the web. x supports, set the coordinates of control points on the support sections after moving the complex, set the maximum value of the tilt angles of the conveyor pans, measure the inclination angles of the bases of the support sections and the stroke hydraulic cylinders relative to the axis of the applicate; coordinates in the plane of the soil layer, taking into account these measurements, determine the coordinates of the control points of the conveyor and support and the mismatch of the measured and given coordinates of the data projections x checkpoint conveyor and the roof supports in the plane of the soil then, in the same cycle of displacement of the complex with the loosened sections of the lining, pushing the rod of the hydraulic cylinders of the stroke when the measured coordinates of the projections of the control points of the conveyor pods were not sufficiently extended to the set points and pulled in when moving the measured coordinates of the projections of the resh. such is the conveyor for the given, move the panes to eliminate the mismatch of the measured and given coordinates of the projections of the control points of the conveyor pan, then with the unloaded corresponding sections of the support similarly, the support sections are moved until the misalignment of the measured and given coordinates of the projections of the control points of the support supports is eliminated; the tilt angles of the conveyor pads are measured relative to the axis applicator, which determine the angles of mutual twisting of the pan, and when these angles exceed a predetermined maximum value, push the rod corresponding stroke hydraulic cylinders, move the pan, and thereby reduce their mutual twisting angles to a value equal to or less than the maximum specified, again the adjustment of the measured and given coordinates of the projections of the control points, measure the tilt angles of the pans relative to the axis of applicate and determine their angles of mutual twist, and if these angles are greater than the specified maximum value, reduce them to this value, and after this the misalignment value of the measured and given coordinates of the projections of control points  1456560 2 the conveyor and the support are taken into account in the following changes in the specified value of the outgoing cycle of movement of the launching rod complex of the hydraulic cylinders of the stroke. Shig.1 FIG. g Фt / S.i 2 25 X5 Lj FIG.