WO2011063643A1 - Système de commande centralisé à poignée pour navette de transport en courant alternatif - Google Patents

Système de commande centralisé à poignée pour navette de transport en courant alternatif 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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WO
WIPO (PCT)
Prior art keywords
control
handle
controller
control system
control relay
Prior art date
Application number
PCT/CN2010/074365
Other languages
English (en)
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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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/ru
Publication of WO2011063643A1 publication Critical patent/WO2011063643A1/fr

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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.

Landscapes

  • 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

L'invention porte sur un système de commande centralisé à poignée pour une navette de traction en courant alternatif dans une mine de charbon. Le système de commande centralisé comprend une partie manipulation, une partie commande et une partie exécution électrique. La partie manipulation est réalisée avec une poignée de commande (1). La partie commande est agencée avec un dispositif de commande (4) et un module d'isolation de bus (3). La partie de l'exécution électrique est agencée avec un relais de commande (KA4) pour un convertisseur de fréquence de traction, un relais de commande (KA1) pour un moteur de pompe à huile, un relais de commande (KA2) pour une co-rotation d'un transporteur à raclettes, un relais de commande (KA3) pour inverser le transporteur à raclettes, des relais de commande (KA5, KA6) pour l'éclairage, un relais de commande (KA7) pour une cloche électrique, une vanne de levage (YV1), une vanne de chute (YV2), des vannes de mise en rotation (YV3, YV4) et un convertisseur de fréquence (2). La poignée est reliée au dispositif de commande à travers le module d'isolation du bus. Lesdites vannes, lesdits relais de commande et ledit convertisseur de fréquence de la partie de l'exécution électrique sont reliés au dispositif de commande.
PCT/CN2010/074365 2009-11-27 2010-06-24 Système de commande centralisé à poignée pour navette de transport en courant alternatif WO2011063643A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2010324400A AU2010324400B2 (en) 2009-11-27 2010-06-24 Handle centralized control system for alternating current haulage shuttle car
RU2012105298/08A RU2491598C1 (ru) 2009-11-27 2010-06-24 Централизованная система управления при помощи ручки для транспортировочной челночной вагонетки на переменном токе

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN200920248925.2 2009-11-27
CN 200920248925 CN201573652U (zh) 2009-11-27 2009-11-27 交流电牵引梭车的手柄集中控制系统

Publications (1)

Publication Number Publication Date
WO2011063643A1 true WO2011063643A1 (fr) 2011-06-03

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ID=42693529

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Country Status (3)

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CN (1) CN201573652U (fr)
RU (1) RU2491598C1 (fr)
WO (1) WO2011063643A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105717895A (zh) * 2016-03-02 2016-06-29 中国煤炭科工集团太原研究院有限公司 煤矿井下连采工作面多设备协同控制方法
CN107572214A (zh) * 2017-10-12 2018-01-12 太原惠特科技有限公司 刮板输送机变频调速控制装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103527195B (zh) * 2013-10-23 2016-04-13 中国矿业大学 一种厚夹矸煤层分采分运矸石回填采空区方法

Citations (5)

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US5393937A (en) * 1993-08-02 1995-02-28 Dosco Overseas Engineering Ltd. Vehicle control system
AU759965B2 (en) * 1998-02-24 2003-05-01 Paul Ronald Zettl Shuttle car cable protection system
CN101050703A (zh) * 2007-05-11 2007-10-10 煤炭科学研究总院太原研究院 一种煤矿井下连续掘采机
CN101108638A (zh) * 2007-08-20 2008-01-23 煤炭科学研究总院太原研究院 一种短壁采煤无轨胶轮梭车
CN201503549U (zh) * 2009-06-26 2010-06-09 太原矿机电气发展有限公司 一种井下牵引梭车的控制装置

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DE69030253T2 (de) * 1990-01-04 1997-06-26 Crc Pipeline Int Inc Verteiltes steuerungssystem für automatische schweissarbeiten
US6400996B1 (en) * 1999-02-01 2002-06-04 Steven M. Hoffberg Adaptive pattern recognition based control system and method
RU68723U1 (ru) * 2007-01-09 2007-11-27 Ооо "Нпп "Югпромавтоматизация" Комплекс программно-аппаратных средств автоматизации технического диагностирования и мониторинга устройств и управления технологическими процессами

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5393937A (en) * 1993-08-02 1995-02-28 Dosco Overseas Engineering Ltd. Vehicle control system
AU759965B2 (en) * 1998-02-24 2003-05-01 Paul Ronald Zettl Shuttle car cable protection system
CN101050703A (zh) * 2007-05-11 2007-10-10 煤炭科学研究总院太原研究院 一种煤矿井下连续掘采机
CN101108638A (zh) * 2007-08-20 2008-01-23 煤炭科学研究总院太原研究院 一种短壁采煤无轨胶轮梭车
CN201503549U (zh) * 2009-06-26 2010-06-09 太原矿机电气发展有限公司 一种井下牵引梭车的控制装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105717895A (zh) * 2016-03-02 2016-06-29 中国煤炭科工集团太原研究院有限公司 煤矿井下连采工作面多设备协同控制方法
CN107572214A (zh) * 2017-10-12 2018-01-12 太原惠特科技有限公司 刮板输送机变频调速控制装置

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Publication number Publication date
CN201573652U (zh) 2010-09-08
AU2010324400A1 (en) 2012-02-23
RU2491598C1 (ru) 2013-08-27

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