WO2011063643A1 - Handle centralized control system for alternating current haulage shuttle car - Google Patents

Handle centralized control system for alternating current haulage shuttle car Download PDF

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Publication number
WO2011063643A1
WO2011063643A1 PCT/CN2010/074365 CN2010074365W WO2011063643A1 WO 2011063643 A1 WO2011063643 A1 WO 2011063643A1 CN 2010074365 W CN2010074365 W CN 2010074365W WO 2011063643 A1 WO2011063643 A1 WO 2011063643A1
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WIPO (PCT)
Prior art keywords
control
handle
controller
control system
control relay
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PCT/CN2010/074365
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French (fr)
Chinese (zh)
Inventor
贺志超
许国峰
敦树海
Original Assignee
湖南三一智能控制设备有限公司
三一重型装备有限公司
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Application filed by 湖南三一智能控制设备有限公司, 三一重型装备有限公司 filed Critical 湖南三一智能控制设备有限公司
Priority to AU2010324400A priority Critical patent/AU2010324400B2/en
Priority to RU2012105298/08A priority patent/RU2491598C1/en
Publication of WO2011063643A1 publication Critical patent/WO2011063643A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E21F13/02—Transport of mined mineral in galleries
    • E21F13/025—Shuttle cars
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2641—Fork lift, material handling vehicle

Definitions

  • the invention relates to the technology in the field of coal mine roadway driving mining and transportation, in particular to a handle centralized control system which can be used for a coal mine underground AC electric pick-up shuttle. Background technique
  • the shuttle is a key coal handling equipment used in conjunction with continuous miners in medium-thick coal seam short-wall mechanized mining equipment.
  • the shuttle is a short-distance coal transportation vehicle with a coal transportation distance of less than 200 meters. Its main function is to collect the coal collected by the continuous mining machine, collect the coal in the vehicle, and then drive back to the feeding crusher.
  • the scraper conveyor inside unloads the coal into the hopper of the crusher, and the shuttle after unloading the coal is returned to the continuous mining machine to refill the coal.
  • the shuttles used in coal mines are mainly imported equipment, and are mainly AC traction shuttles.
  • the shuttle has complicated operation, independent functions of each system, scattered operation mechanism, difficult operation, and high requirements for drivers.
  • the object of the present invention is to provide a handle centralized control system which can be used for an underground electric traction shuttle of a coal mine, and to solve the functions of the existing operation devices of the existing AC traction shuttle control system, such as independent function, dispersing, intelligent, integrated, low degree of automation, etc. problem.
  • a handle centralized control system for an AC traction shuttle comprising a manipulation portion, a control portion and an electrical execution portion; the manipulation portion is provided with a manipulation handle, and the control portion is provided with a vehicle-specific controller and a bus isolation module; Some are equipped with traction inverter control relay, oil pump motor control relay, scraper conveyor forward control relay, scraper conveyor reverse control relay, lighting control relay, bell control relay, lift valve, drop valve, steering valve and The frequency converter, the handle is connected to the controller through the bus isolation module; the valves, the control relays and the frequency converter of the electrical execution part are connected with the controller.
  • the handle of the AC traction shuttle is centralized control system, and the handle is connected to the controller through a CA bus isolation module.
  • the handle of the AC traction shuttle is centralized control system, and the control part uses an intrinsically safe circuit.
  • the handle of the AC traction shuttle is centralized control system, the down valve and the lift valve are used for mine explosion-proof electromagnetic on-off valves, and the steering valves are all used for mine explosion-proof electromagnetic proportional valves.
  • the handle of the AC traction shuttle is centralized control system, and the vehicle dedicated controller is a programmable controller.
  • the handle centralized control system of the AC traction shuttle of the present invention can realize the forward, backward, speed increase and deceleration control of the shuttle by pushing the joystick back and forth, and the steering control of the vehicle can be realized by rotating the handle left and right by pressing the button on the handle It can realize the lighting control of the vehicle, the bell control, the start and stop of the oil pump motor, the forward and reverse control of the scraper conveyor, and the lifting or lowering control of the conveyor.
  • the centralized control system of the handle of the AC traction shuttle can improve the automation, intelligence and integration of the AC traction shuttle. By connecting the corresponding equipment, the automatic control of the underground AC traction shuttle can be realized, in order to realize the underground The foundation of traffic intelligence is laid.
  • the present invention can complete the forward, backward, speed increase, deceleration control and steering control of the shuttle by only one handle, and can realize the vehicle by pressing the button on the handle.
  • the centralized control system reduces the driver's labor intensity and greatly improves work efficiency.
  • the invention can be applied to an environment containing an explosive gas in a coal mine.
  • Figure 1 is a circuit diagram of the present invention.
  • the handle centralized control system of the AC traction shuttle provided by the present invention comprises a manipulation portion (handle), an electric control portion and an electric execution portion.
  • the handle has a handle
  • SOB1 (JC6000), the electrical control part is equipped with CAN bus isolation module Ul (HL-CANIR-A01), programmable controller U2 (SPN-C17); electrical execution part is provided: steering valve (left turn) YV3, steering Valve (right turn) YV4, lift valve YV1, drop valve YV2, 7 control relays and inverter U3, 7 control relays are KA1 ⁇ KA7.
  • the specific connection method is as follows: The handle SOB1 is directly connected to the controller U2 through the bus isolation module U1, and the steering valve YV3, the steering valve YV4, the lift valve YV1, the drop valve YV2, the 7 control relays and the inverter U3 are directly connected to the controller respectively.
  • U2 is connected so that controller U2 can directly control each valve, each relay, and inverter U3.
  • the relays KA1 and KA7 are: a control relay KA4 connected to the traction inverter, a control relay KA1 connected to the oil pump motor, a forward rotation control relay KA2 connected to the squeegee conveyor, and a counter connected to the squeegee conveyor.
  • the control relay KA3, the control relay KA5 connected to the front lamp, the control relay KA6 connected to the rear lamp, and the control relays KA7, KA5 and KA6 connected to the bell form a lighting control relay of the shuttle.
  • the steering valve YV3 (left turn) and the steering valve YV4 (right turn) connected to the shuttle are used for shuttle steering control; the lift valve YV1 (liter) connected to the scraper head is lowered. Valve YV2 (drop) for conveyor head lift control.
  • the manipulating portion uses an intrinsically safe type circuit.
  • the lowering valve YV2 and the lifting valve YV1 are used for the mine explosion-proof electromagnetic switching valve, the steering valve
  • Both YV3 and YV4 use mine explosion-proof electromagnetic proportional valves.
  • the vehicle-dedicated controller U2, the bus isolation module U1, the traction inverter control relay KA4, the oil pump motor control relay KA1, the scraper conveyor forward rotation control relay KA2, the scraper conveyor reverse control relay KA3 are installed in Explosion-proof control box.
  • the electrical control process of the handle centralized control system of the AC traction shuttle of the present invention is as follows:
  • the electrical control part uses the controller U2 to perform a series of important tasks such as signal acquisition, analysis, calculation, processing, etc., and the handle installed on the intrinsically safe operation box is collected in real time.
  • the offset of the handle SOB1 is converted to a digital quantity of 000, and a set of switches is used to distinguish the back and forth movements of the handle SOB 1; the offset of the left and right rotation of the handle SOB1 is converted into a set of 0 1000 Digital quantity, and use another A set of switch quantity distinguishes the left and right rotation of the handle SOB 1; converts the button information on the handle SOB 1 into another set of switch quantity, and communicates the converted information with the controller U2 through the communication mode of the CAN bus, the controller U2 After receiving the data information, the data is analyzed, calculated, and processed, and the digital quantity converted by the front-end motion offset of the handle SOB1 is converted into a frequency signal receivable by the inverter, and transmitted to the inverter through the CAN bus communication.
  • the speed of the shuttle is controlled by adjusting the displacement of the handle SOB1.
  • the digital signal converted by the left and right rotation offset of the handle SOB1 is converted into a PWM signal capable of controlling the opening degree of the steering valve, and the operation of each output port of the controller is driven according to each switching amount signal to control the suction of the relay coil and/ Or disconnected, complete the control of each output loop, so as to realize the forward, backward, speed increase, deceleration control of the shuttle, and steering control.
  • the controller U2 After the system is powered on, the controller U2 first initializes each input and output port and the CAN bus communication port. After the initialization is completed, the entire system is self-tested, and then receives the data information sent by the controller SOB1 on the CAN bus, and the data is Perform analysis and calculation. According to the input information of the handle SOB1, the controller U2 controls the operation of each output port to realize the steering control, lighting control, bell control of the vehicle, the start and stop of the oil pump motor, and the forward and reverse control of the scraper conveyor. Conveyor lift or descent control, etc. At the same time, the corresponding data information is sent to the inverter through the CAN bus to realize the forward, backward, speed increase and deceleration control of the shuttle.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Programmable Controllers (AREA)

Abstract

A handle centralized control system for an alternating current traction shuttle car under a coal mine. The centralized control system includes a manipulating portion, a control portion and an electric executing portion. The manipulating portion is arranged with a control handle (1). The control portion is arranged with a controller (4) and a bus isolation module (3). The electric executing portion is arranged with a control relay (KA4) for a traction frequency converter, a control relay (KA1) for an oil pump motor, a control relay (KA2) for corotation of a scraper conveyer, a control relay (KA3) for reversal of the scraper conveyer, control relays (KA5, KA6) for illumination, a control relay (KA7) for an electric bell, a lifting valve (YV1), a falling valve (YV2), turning valves (YV3,YV4), and a frequency converter (2). The handle is connected with the controller through the bus isolation module. The said valves, control relays and frequency converter of the electric executing portion are connected with the controller.

Description

交流电牵引梭车的手柄集中控制系统  Handle centralized control system for AC traction shuttle
本申请要求于 2009 年 11 月 27 日提交中国专利局、 申请号为 200920248925.2、 发明名称为"交流电牵引梭车的手柄集中控制系统"的中国专 利申请的优先权， 其全部内容通过 1用结合在本申请中。 技术领域  This application claims priority to the Chinese Patent Application of the Chinese Patent Office, Application No. 200920248925.2, entitled "Handle Centralized Control System for AC Traction Shuttles" on November 27, 2009, the entire contents of which are incorporated by In this application. Technical field
本发明涉及煤矿巷道掘进开采运输领域的技术，具体为一种可用于煤矿井 下交流电幸引梭车的手柄集中控制系统。 背景技术  The invention relates to the technology in the field of coal mine roadway driving mining and transportation, in particular to a handle centralized control system which can be used for a coal mine underground AC electric pick-up shuttle. Background technique
目前， 在煤矿井下开采运输领域中，梭车是中厚煤层短壁机械化开采设备 中与连续采煤机配套使用的关键运煤设备。梭车是井下短距离运煤用车， 运煤 距离小于 200米， 其主要功能是接收连采机采下的煤后， 将煤收集在车箱内， 随后倒车行驶至给料破碎机， 由车箱内的刮板输送机卸煤至破碎机料斗内， 卸 煤后的梭车再返回至连采机再次装煤。 目前， 煤矿上使用的梭车主要为引进的 进口设备， 且主要为交流电牵引梭车。 该梭车操作复杂、 各系统功能独立， 操 作机构布置分散， 操作难于掌握， 对驾驶人员要求较高。  At present, in the field of underground coal mining and transportation, the shuttle is a key coal handling equipment used in conjunction with continuous miners in medium-thick coal seam short-wall mechanized mining equipment. The shuttle is a short-distance coal transportation vehicle with a coal transportation distance of less than 200 meters. Its main function is to collect the coal collected by the continuous mining machine, collect the coal in the vehicle, and then drive back to the feeding crusher. The scraper conveyor inside unloads the coal into the hopper of the crusher, and the shuttle after unloading the coal is returned to the continuous mining machine to refill the coal. At present, the shuttles used in coal mines are mainly imported equipment, and are mainly AC traction shuttles. The shuttle has complicated operation, independent functions of each system, scattered operation mechanism, difficult operation, and high requirements for drivers.
发明内容 Summary of the invention
本发明的目的在于提供一种可用于煤矿井下交流电牵引梭车的手柄集中 控制系统，解决现有交流电牵引梭车操纵系统各操作装置功能独立、布置分散， 智能化、 集成化、 自动化程度低等问题。  The object of the present invention is to provide a handle centralized control system which can be used for an underground electric traction shuttle of a coal mine, and to solve the functions of the existing operation devices of the existing AC traction shuttle control system, such as independent function, dispersing, intelligent, integrated, low degree of automation, etc. problem.
本发明的技术方案是：  The technical solution of the present invention is:
一种交流电牵引梭车的手柄集中控制系统， 该集中控制系统包括操纵部 分、 控制部分和电气执行部分； 操纵部分设有操纵用手柄， 控制部分设有车辆 专用控制器和总线隔离模块； 电气执行部分设有牵引变频器控制继电器、 油泵 电机控制继电器、 刮板输送机正转控制继电器、 刮板输送机反转控制继电器、 照明控制继电器、 电铃控制继电器、 举升阀、 下降阀、 转向阀和变频器， 手柄 通过总线隔离模块与控制器相连接； 电气执行部分的所述各阀、 各控制继电器 和变频器与控制器相连接。 所述的交流电牽引梭车的手柄集中控制系统，手柄通过 CA 总线隔离模块 与控制器相连接。 A handle centralized control system for an AC traction shuttle, the centralized control system comprising a manipulation portion, a control portion and an electrical execution portion; the manipulation portion is provided with a manipulation handle, and the control portion is provided with a vehicle-specific controller and a bus isolation module; Some are equipped with traction inverter control relay, oil pump motor control relay, scraper conveyor forward control relay, scraper conveyor reverse control relay, lighting control relay, bell control relay, lift valve, drop valve, steering valve and The frequency converter, the handle is connected to the controller through the bus isolation module; the valves, the control relays and the frequency converter of the electrical execution part are connected with the controller. The handle of the AC traction shuttle is centralized control system, and the handle is connected to the controller through a CA bus isolation module.
所述的交流电牵引梭车的手柄集中控制系统，操纵部分釆用本质安全型电 路。  The handle of the AC traction shuttle is centralized control system, and the control part uses an intrinsically safe circuit.
所述的交流电牵引梭车的手柄集中控制系统， 下降阀、举升阀采用矿用隔 爆型电磁开关阀， 转向阀均采用矿用隔爆型电磁比例阀。  The handle of the AC traction shuttle is centralized control system, the down valve and the lift valve are used for mine explosion-proof electromagnetic on-off valves, and the steering valves are all used for mine explosion-proof electromagnetic proportional valves.
所述的交流电牵引梭车的手柄集中控制系统， 车辆专用控制器、 总线隔离 模块、 牵引变频器控制继电器、 油泵电机控制继电器、 刮板输送机正转控制继 电器、 刮板输送机反转控制继电器安装在隔爆型控制箱内。  The handle centralized control system of the AC traction shuttle, the vehicle dedicated controller, the bus isolation module, the traction inverter control relay, the oil pump motor control relay, the scraper conveyor forward control relay, the scraper conveyor reverse control relay Installed in an explosion-proof control box.
所述的交流电牵引梭车的手柄集中控制系统，车辆专用控制器为可编程控 制器。  The handle of the AC traction shuttle is centralized control system, and the vehicle dedicated controller is a programmable controller.
本发明的有益效果是：  The beneficial effects of the invention are:
1、 本发明交流电牵引梭车的手柄集中控制系统可以通过前后推动操纵手 柄实现梭车的前进、 后退、 增速、 减速控制， 左右转动手柄可实现车辆的转向 控制， 通过按动手柄上的按钮可实现车辆的照明控制、 电铃控制、 油泵电机的 起停、 刮板输送机的正反转控制及输送机举升或下降控制等。  1. The handle centralized control system of the AC traction shuttle of the present invention can realize the forward, backward, speed increase and deceleration control of the shuttle by pushing the joystick back and forth, and the steering control of the vehicle can be realized by rotating the handle left and right by pressing the button on the handle It can realize the lighting control of the vehicle, the bell control, the start and stop of the oil pump motor, the forward and reverse control of the scraper conveyor, and the lifting or lowering control of the conveyor.
2、 本发明交流电牵引梭车的手柄集中控制系统可以提高交流电牽引梭车 的自动化、 智能化、 集成化程度， 通过连接相应的设备， 可以实现井下交流电 牵引梭车的自动化控制， 为实现井下的交通智能化奠定基础。  2. The centralized control system of the handle of the AC traction shuttle can improve the automation, intelligence and integration of the AC traction shuttle. By connecting the corresponding equipment, the automatic control of the underground AC traction shuttle can be realized, in order to realize the underground The foundation of traffic intelligence is laid.
3、 与传统煤矿井下梭车操纵系统相比， 本发明可以仅通过一个手柄即可 完成梭车的前进、 后退、 增速、 减速控制、 转向控制， 通过按动手柄上的按钮 可实现车辆的照明控制、 电铃控制、 电机的起停、 正反转控制， 集成化、 智能 化程度高， 操作筒单方便， 改变了以前梭车操纵机构复杂， 功能独立、 布置分 散， 难于操作的局面。 该集中控制系统降低了驾驶员的劳动强度， 极大地提高 了工作效率。  3. Compared with the traditional underground coal mine shuttle control system, the present invention can complete the forward, backward, speed increase, deceleration control and steering control of the shuttle by only one handle, and can realize the vehicle by pressing the button on the handle. Lighting control, bell control, motor start and stop, positive and negative control, integration, high degree of intelligence, easy operation of the cylinder, changed the previous shuttle control mechanism complex, independent function, scattered layout, difficult to operate. The centralized control system reduces the driver's labor intensity and greatly improves work efficiency.
4、 本发明可以应用在煤矿井下含有爆炸性气体的环境。  4. The invention can be applied to an environment containing an explosive gas in a coal mine.
附图说明 DRAWINGS
图 1为本发明的电路图。  Figure 1 is a circuit diagram of the present invention.
图 2为本发明的软件流程图。 具体实施方式 2 is a software flow diagram of the present invention. detailed description
如图 1所示， 本发明提供的交流电牵引梭车的手柄集中控制系统包括操纵 部分 （手柄） 、 电气控制部分和电气执行部分。 操纵部分设有手柄 As shown in Fig. 1, the handle centralized control system of the AC traction shuttle provided by the present invention comprises a manipulation portion (handle), an electric control portion and an electric execution portion. The handle has a handle
SOB1(JC6000), 电气控制部分设有 CAN总线隔离模块 Ul ( HL-CANIR-A01 ) 、 可编程的控制器 U2 ( SPN-C17 ) ； 电气执行部分设有： 转向阀 （左转） YV3、 转向阀 （右转） YV4、 举升阀 YV1、 下降阀 YV2、 7个控制继电器和变频器 U3 , 7个控制继电器分别为 KA1〜KA7。 具体连接方式为： 手柄 SOB1直接通过总线 隔离模块 U1与控制器 U2相连接， 转向阀 YV3、 转向阀 YV4、 举升阀 YV1、 下 降阀 YV2、 7个控制继电器和变频器 U3分别直接与控制器 U2相连接， 以使控制 器 U2能够直接控制各阀、 各继电器和变频器 U3。 SOB1 (JC6000), the electrical control part is equipped with CAN bus isolation module Ul (HL-CANIR-A01), programmable controller U2 (SPN-C17); electrical execution part is provided: steering valve (left turn) YV3, steering Valve (right turn) YV4, lift valve YV1, drop valve YV2, 7 control relays and inverter U3, 7 control relays are KA1~KA7. The specific connection method is as follows: The handle SOB1 is directly connected to the controller U2 through the bus isolation module U1, and the steering valve YV3, the steering valve YV4, the lift valve YV1, the drop valve YV2, the 7 control relays and the inverter U3 are directly connected to the controller respectively. U2 is connected so that controller U2 can directly control each valve, each relay, and inverter U3.
本发明中， 继电器 KA1 KA7分别为： 与牵引变频器连接的控制继电器 KA4、 与油泵电机连接的控制继电器 KA1、 与刮板输送机连接的正转控制继电 器 KA2、 与刮板输送机连接的反转控制继电器 KA3、 与前车灯连接的控制继电 器 KA5和与后车灯连接的控制继电器 KA6和与电铃连接的控制继电器 KA7， KA5和 KA6形成梭车的照明控制继电器。  In the present invention, the relays KA1 and KA7 are: a control relay KA4 connected to the traction inverter, a control relay KA1 connected to the oil pump motor, a forward rotation control relay KA2 connected to the squeegee conveyor, and a counter connected to the squeegee conveyor. The control relay KA3, the control relay KA5 connected to the front lamp, the control relay KA6 connected to the rear lamp, and the control relays KA7, KA5 and KA6 connected to the bell form a lighting control relay of the shuttle.
本发明中， 与梭车连接的转向阀 YV3 (左转） 、 转向阀 YV4 (右转） ， 用 于梭车转向控制； 与刮板输送机机头连接的举升阀 YV1 (升） 、 下降阀 YV2 (降） ， 用于输送机机头升降控制。  In the present invention, the steering valve YV3 (left turn) and the steering valve YV4 (right turn) connected to the shuttle are used for shuttle steering control; the lift valve YV1 (liter) connected to the scraper head is lowered. Valve YV2 (drop) for conveyor head lift control.
本发明中， 操纵部分釆用本质安全型电路。  In the present invention, the manipulating portion uses an intrinsically safe type circuit.
本发明中， 下降阀 YV2、 举升阀 YV1采用矿用隔爆型电磁开关阀， 转向阀 In the present invention, the lowering valve YV2 and the lifting valve YV1 are used for the mine explosion-proof electromagnetic switching valve, the steering valve
YV3和 YV4均采用矿用隔爆型电磁比例阀。 Both YV3 and YV4 use mine explosion-proof electromagnetic proportional valves.
本发明中， 车辆专用控制器 U2、 总线隔离模块 Ul、 牵引变频器控制继电 器 KA4、 油泵电机控制继电器 KA1、 刮板输送机正转控制继电器 KA2、 刮板输 送机的反转控制继电器 KA3安装在隔爆型控制箱内。  In the present invention, the vehicle-dedicated controller U2, the bus isolation module U1, the traction inverter control relay KA4, the oil pump motor control relay KA1, the scraper conveyor forward rotation control relay KA2, the scraper conveyor reverse control relay KA3 are installed in Explosion-proof control box.
本发明交流电牵引梭车的手柄集中控制系统的电气控制过程为： 电气控制部分采用控制器 U2进行信号采集、 分析、 运算、 处理等一系列 重要工作，安装在本安操作箱上的手柄实时采集外部的各种信息，将手柄 SOB1 前后动的偏移量转换为 000的数字量， 并用一组开关量区分手柄 SOB 1的前 后动作； 将手柄 SOB1左右转动的偏移量转换为一组 0 1000的数字量， 并用另 一组开关量区分手柄 SOB 1的左右转动；将手柄 SOB 1上的按钮信息转换为另一 组开关量， 并将转换后的信息通过 CAN总线的通讯方式与控制器 U2进行通讯， 控制器 U2接到数据信息后， 对数据进行分析、 计算、 处理， 将手柄 SOB1的前 后动作偏移量转换后的数字量变换成变频器可接收的频率信号， 并通过 CAN 总线通信传送给变频器， 实现通过调节手柄 SOB1的位移， 控制梭车速度的快 慢。 将手柄 SOB1的左右转动偏移量转换后的数字量信号变换成可控制转向阀 开度的 PWM信号， 并根据各开关量信号驱动控制器各输出端口的动作， 控制 继电器线圏的吸和 /或断开， 完成对各输出回路的控制， 从而实现梭车的前进、 后退、 增速、 减速控制， 转向控制， 通过按动手柄 SOB1上的按钮可实现车辆 的照明控制、 电机的起停、 正反转控制及输送机举升或下降控制等。 The electrical control process of the handle centralized control system of the AC traction shuttle of the present invention is as follows: The electrical control part uses the controller U2 to perform a series of important tasks such as signal acquisition, analysis, calculation, processing, etc., and the handle installed on the intrinsically safe operation box is collected in real time. Various external information, the offset of the handle SOB1 is converted to a digital quantity of 000, and a set of switches is used to distinguish the back and forth movements of the handle SOB 1; the offset of the left and right rotation of the handle SOB1 is converted into a set of 0 1000 Digital quantity, and use another A set of switch quantity distinguishes the left and right rotation of the handle SOB 1; converts the button information on the handle SOB 1 into another set of switch quantity, and communicates the converted information with the controller U2 through the communication mode of the CAN bus, the controller U2 After receiving the data information, the data is analyzed, calculated, and processed, and the digital quantity converted by the front-end motion offset of the handle SOB1 is converted into a frequency signal receivable by the inverter, and transmitted to the inverter through the CAN bus communication. The speed of the shuttle is controlled by adjusting the displacement of the handle SOB1. The digital signal converted by the left and right rotation offset of the handle SOB1 is converted into a PWM signal capable of controlling the opening degree of the steering valve, and the operation of each output port of the controller is driven according to each switching amount signal to control the suction of the relay coil and/ Or disconnected, complete the control of each output loop, so as to realize the forward, backward, speed increase, deceleration control of the shuttle, and steering control. By pressing the button on the handle SOB1, the lighting control of the vehicle, the start and stop of the motor, Positive and negative control and conveyor lift or descent control.
如图 2所示， 本发明的软件流程如下：  As shown in FIG. 2, the software flow of the present invention is as follows:
系统上电运行后， 控制器 U2首先对各输入、 输出端口及 CAN总线通讯端 口进行初始化， 初始化完成后， 对整个系统进行自检， 然后接收 CAN总线上由 手柄 SOB1发送的数据信息， 对数据进行分析、 计算， 根据手柄 SOB1的输入信 息， 控制器 U2控制各输出端口的动作， 实现车辆的转向控制、 照明控制、 电 铃控制、 油泵电机的起停、刮板输送机的正反转控制及输送机举升或下降控制 等。 同时， 将相应的数据信息通过 CAN总线发送给变频器， 实现梭车前进、 后 退、 增速、 减速控制。  After the system is powered on, the controller U2 first initializes each input and output port and the CAN bus communication port. After the initialization is completed, the entire system is self-tested, and then receives the data information sent by the controller SOB1 on the CAN bus, and the data is Perform analysis and calculation. According to the input information of the handle SOB1, the controller U2 controls the operation of each output port to realize the steering control, lighting control, bell control of the vehicle, the start and stop of the oil pump motor, and the forward and reverse control of the scraper conveyor. Conveyor lift or descent control, etc. At the same time, the corresponding data information is sent to the inverter through the CAN bus to realize the forward, backward, speed increase and deceleration control of the shuttle.
结果表明， 釆用本发明交流电牵引梭车的手柄集中控制系统， 可以仅通过 手柄完成对梭车的各种控制。 该系统操作简单实用， 智能化、 集成化程度高， 降低了驾驶员的劳动强度， 极大地提高了工作效率。  The results show that with the handle centralized control system of the AC traction shuttle of the present invention, various control of the shuttle can be completed only by the handle. The system is simple and practical to operate, intelligent and highly integrated, which reduces the driver's labor intensity and greatly improves work efficiency.

Claims

权 利 要 求 Rights request
1、 一种交流电牵引梭车的手柄集中控制系统， 其特征在于： 该集中控制 系统包括操纵部分、 控制部分和电气执行部分； 操纵部分设有手柄， 控制部分 设有控制器和总线隔离模块； 电气执行部分设有牵引变频器的控制继电器、 油 泵电机的控制继电器、刮板输送机正转的控制继电器、刮板输送机反转的控制 继电器、 照明控制继电器、 电铃的控制继电器、 举升阀、 下降阀、 转向阀和变 频器； 手柄通过总线隔离模块与控制器相连接， 电气执行部分的举升阀、 下降 阀、 转向阀、 各控制继电器和变频器分别与控制器相连接。  A handle centralized control system for an AC traction shuttle, characterized in that: the centralized control system comprises a manipulation portion, a control portion and an electrical execution portion; the manipulation portion is provided with a handle, and the control portion is provided with a controller and a bus isolation module; The electrical execution part is provided with a control relay of the traction inverter, a control relay of the oil pump motor, a control relay of the scraper conveyor forward rotation, a control relay of the scraper conveyor reverse rotation, a lighting control relay, a control relay of the electric bell, a lift valve , the drop valve, the steering valve and the frequency converter; the handle is connected to the controller through the bus isolation module, and the lift valve, the drop valve, the steering valve, the control relays and the frequency converter of the electric execution part are respectively connected with the controller.
2、 按照权利要求 1所述的交流电牵引梭车的手柄集中控制系统， 其特征 在于： 所述手柄通过 CAN总线隔离模块与所述控制器相连接。  2. The handle centralized control system for an AC traction shuttle according to claim 1, wherein: said handle is coupled to said controller via a CAN bus isolation module.
3、 按照权利要求 1所述的交流电牵引梭车的手柄集中控制系统， 其特征 在于： 所述操纵部分采用本质安全型电路。  A handle centralized control system for an AC traction shuttle according to claim 1, wherein: said manipulating portion employs an intrinsically safe type circuit.
4、 按照权利要求 1所述的交流电牵引梭车的手柄集中控制系统， 其特征 在于： 所述下降阀、 举升阀釆用矿用隔爆型电磁开关阀， 所述转向阀釆用矿用 隔爆型电磁比例阀。  4. The handle centralized control system for an AC traction shuttle according to claim 1, wherein: said descending valve and said lift valve are mine explosion-proof electromagnetic switch valves, and said steering valve is used for mining. Flameproof electromagnetic proportional valve.
5、 按照权利要求 1所述的交流电牵引梭车的手柄集中控制系统， 其特征 在于： 所述控制器、 总线隔离模块、 牵引变频器的控制继电器、 油泵电机的控 制继电器、刮板输送机正转的控制继电器、刮板输送机反转的控制继电器安装 在隔爆型控制箱内。  5. The handle centralized control system for an AC traction shuttle according to claim 1, wherein: the controller, the bus isolation module, the control relay of the traction inverter, the control relay of the oil pump motor, and the scraper conveyor are positive The control relay of the rotating control relay and the scraper conveyor is installed in the explosion-proof control box.
6、 按照权利要求 1所述的交流电牵引梭车的手柄集中控制系统， 其特征 在于： 所述控制器为可编程控制器。  6. The handle centralized control system for an AC traction shuttle according to claim 1, wherein: said controller is a programmable controller.
PCT/CN2010/074365 2009-11-27 2010-06-24 Handle centralized control system for alternating current haulage shuttle car WO2011063643A1 (en)

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