CN113236766B - Continuous mining machine walking gear control method - Google Patents
Continuous mining machine walking gear control method Download PDFInfo
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- CN113236766B CN113236766B CN202110526197.2A CN202110526197A CN113236766B CN 113236766 B CN113236766 B CN 113236766B CN 202110526197 A CN202110526197 A CN 202110526197A CN 113236766 B CN113236766 B CN 113236766B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005065 mining Methods 0.000 title abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention belongs to the technical field of mining machinery, and particularly relates to a continuous miner walking gear control method which comprises a control module, a speed gear switching device, an operating gear switching device, a left crawler electric walking handle device, a right crawler electric walking handle device, a cutting motor current sensor and a walking speed control module, wherein the speed gear switching device, the operating gear switching device, the left crawler electric walking handle device, the right crawler electric walking handle device and the cutting motor current sensor are connected with the input end of the control module; speed gear auto-change over device is used for setting up the highest speed gear, it is used for setting up gear switching mode to manipulate gear auto-change over device, left side track electric walking handle device and right side track electric walking handle device are used for providing speed amplitude, walking speed control module is used for controlling even the machine walking speed of adopting, has possessed two kinds of modes of automatic/manual switching of walking gear when having realized even the machine walking operation of adopting, can adjust the walking speed that the handle maximum stroke corresponds under the automatic mode according to the operating mode, has convenient operation, high advantage of security.
Description
Technical Field
The invention belongs to the technical field of mining machinery, and particularly relates to a continuous miner walking gear control method.
Background
The traveling speed of the existing continuous mining machine is provided with three gears, namely a high gear, a medium gear and a low gear, and during working, an operator needs to switch the three maximum speeds through a gear switching device, so that when the operator mistakenly operates the high speed as the low gear during operation of the continuous mining machine, accidents are easily caused due to the fact that the speed is too high.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a continuous miner walking gear control method, which is used for realizing manual switching and automatic switching of walking gears of a continuous miner and improving the automation and safety of the continuous miner.
The invention is realized by the following technical scheme: a continuous miner walking gear control method comprises a control module, a speed gear switching device, an operating gear switching device, a left crawler belt electric walking handle device, a right crawler belt electric walking handle device and a cutting motor current sensor; the speed gear switching device, the control gear switching device, the left crawler electric walking handle device, the right crawler electric walking handle device and the cutting motor current sensor are all connected with the input end of the control module, and the output end of the control module is connected with the walking speed control module;
the speed gear switching device is used for setting a highest speed gear; the operating gear shifting device is used for switching an automatic gear and a manual gear; the left crawler electric walking handle device and the right crawler electric walking handle device are used for providing a speed amplitude; the walking speed control module is used for controlling the walking speed of the continuous miner;
the control module receives a signal of the operating gear shifting device to judge whether the operating gear shifting device is in an automatic gear or a manual gear at present;
when the control module judges that the current gear is in a manual gear, the control module performs speed calculation according to an input signal of the speed gear switching device, an input signal of the left crawler electric walking handle device and an input signal of the right crawler electric walking handle device and outputs a speed signal to the walking speed control module;
when the control module judges that the electric walking handle device is currently in an automatic gear, the control module firstly judges whether the directions of an input signal of the left-track electric walking handle device and an input signal of the right-track electric walking handle device are consistent;
if the direction of the input signal of the left crawler electric walking handle device is inconsistent with the direction of the input signal of the right crawler electric walking handle device, the control module performs speed calculation at a low speed gear and outputs a speed signal to the walking speed control module;
if the direction of the input signal of the left track electric walking handle device is consistent with that of the input signal of the right track electric walking handle device, the control module continuously judges whether the input signal of the cutting motor current sensor is larger than a no-load value;
if the input signal of the cutting motor current sensor is greater than the no-load value, the control module performs speed calculation at a low gear and outputs a speed signal to the walking speed control module, and if the input signal of the cutting motor current sensor is less than or equal to the no-load value, the control module performs speed calculation at a high gear and outputs the speed signal to the walking speed control module.
Furthermore, the control module is an industrial control board or a PLC module.
The invention has the beneficial effects that: the control method realizes two modes of automatic and manual switching of the walking gears during walking operation of the continuous miner, can adjust the walking speed corresponding to the maximum stroke of the handle according to working conditions in the automatic mode, and has the advantages of convenience in operation and high safety.
Drawings
FIG. 1 is a schematic block diagram of a continuous miner walking gear control method of the present invention;
FIG. 2 is a schematic diagram illustrating the method for controlling the travel gears of the continuous miner according to the present invention;
FIG. 3 is a flowchart illustrating the method for controlling the travel gears of the continuous miner according to the present invention;
in the figure: 1. the device comprises a control module, 2, a speed gear switching device, 3, an operation gear switching device, 4, a left crawler electric walking handle device, 5, a right crawler electric walking handle device, 6, a cutting motor current sensor, 7 and a walking speed control module.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
As shown in fig. 1 to 3, a continuous miner walking gear control method comprises a control module 1, a speed gear switching device 2, a control gear switching device 3, a left crawler electric walking handle device 4, a right crawler electric walking handle device 5 and a cutting motor current sensor 6; the speed gear switching device 2, the operating gear switching device 3, the left crawler electric walking handle device 4, the right crawler electric walking handle device 5 and the cutting motor current sensor 6 are all connected with the input end of the control module 1, and the output end of the control module 1 is connected with the walking speed control module 7; fig. 2 is a schematic view of the arrangement positions of the respective devices or modules on the continuous miner;
the speed gear switching device 2 is used for setting a highest speed gear; the operating gear shifting device 3 is used for shifting an automatic gear and a manual gear; the left crawler electric walking handle device 4 and the right crawler electric walking handle device 5 are used for providing a speed amplitude; the walking speed control module 7 is used for controlling the walking speed of the continuous miner;
specifically, the control module 1 may adopt, but is not limited to, an industrial control board or a PLC module; the industrial control board can be an stm32 processor core industrial control board.
The specific control flow of the continuous miner walking gear control method is as follows: the control module 1 receives a signal of the operating gear switching device 3 and judges whether the current gear is an automatic gear or a manual gear;
when the control module 1 judges that the current gear is in a manual gear, the control module 1 calculates the speed according to the input signal of the speed gear switching device 2, the input signal of the left crawler electric walking handle device 4 and the input signal of the right crawler electric walking handle device 5 and outputs the speed signal to the walking speed control module 7;
when the control module 1 judges that the current gear is in the automatic gear, the control module 1 firstly judges whether the directions of the input signal of the left crawler electric walking handle device 4 and the input signal of the right crawler electric walking handle device 5 are consistent;
if the directions of the input signal of the left crawler electric walking handle device 4 and the input signal of the right crawler electric walking handle device 5 are not consistent, the control module 1 performs speed calculation at a low gear and outputs a speed signal to the walking speed control module 7;
if the directions of the input signal of the left track electric walking handle device 4 and the input signal of the right track electric walking handle device 5 are consistent, the control module 1 continuously judges whether the input signal of the cutting motor current sensor 6 is larger than a no-load value;
if the input signal of the current sensor 6 of the cutting motor is larger than the no-load value, the control module 1 performs speed calculation by a low-speed gear and outputs a speed signal to the walking speed control module 7;
if the input signal of the cutting motor current sensor 6 is less than or equal to the no-load value, the control module 1 performs speed calculation at a high gear and outputs a speed signal to the walking speed control module 7; and the traveling speed control module 7 receives the input signal of the control module 1 and controls the speed of the continuous miner.
Claims (2)
1. A continuous miner walking gear control method is characterized by comprising the following steps: the electric walking device comprises a control module, a speed gear switching device, an operating gear switching device, a left crawler electric walking handle device, a right crawler electric walking handle device and a cutting motor current sensor; the speed gear switching device, the control gear switching device, the left crawler electric walking handle device, the right crawler electric walking handle device and the cutting motor current sensor are all connected with the input end of the control module, and the output end of the control module is connected with the walking speed control module;
the speed gear switching device is used for setting a highest speed gear; the operating gear shifting device is used for switching an automatic gear and a manual gear; the left crawler electric walking handle device and the right crawler electric walking handle device are used for providing a speed amplitude; the walking speed control module is used for controlling the walking speed of the continuous miner;
the control module receives a signal of the operating gear shifting device to judge whether the operating gear shifting device is in an automatic gear or a manual gear at present;
when the control module judges that the current gear is in a manual gear, the control module performs speed calculation according to an input signal of the speed gear switching device, an input signal of the left crawler electric walking handle device and an input signal of the right crawler electric walking handle device and outputs a speed signal to the walking speed control module;
when the control module judges that the electric walking handle device is currently in an automatic gear, the control module firstly judges whether the directions of an input signal of the left-track electric walking handle device and an input signal of the right-track electric walking handle device are consistent;
if the direction of the input signal of the left crawler electric walking handle device is inconsistent with the direction of the input signal of the right crawler electric walking handle device, the control module performs speed calculation at a low speed gear and outputs a speed signal to the walking speed control module;
if the direction of the input signal of the left track electric walking handle device is consistent with that of the input signal of the right track electric walking handle device, the control module continuously judges whether the input signal of the cutting motor current sensor is larger than a no-load value;
if the input signal of the cutting motor current sensor is greater than the no-load value, the control module performs speed calculation at a low gear and outputs a speed signal to the walking speed control module, and if the input signal of the cutting motor current sensor is less than or equal to the no-load value, the control module performs speed calculation at a high gear and outputs the speed signal to the walking speed control module.
2. The continuous miner walking gear control method according to claim 1, characterized by comprising the following steps: the control module is an industrial control board or a PLC module.
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| CN202110526197.2A CN113236766B (en) | 2021-05-14 | 2021-05-14 | Continuous mining machine walking gear control method |
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| CN202110526197.2A CN113236766B (en) | 2021-05-14 | 2021-05-14 | Continuous mining machine walking gear control method |
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| CN113236766A CN113236766A (en) | 2021-08-10 |
| CN113236766B true CN113236766B (en) | 2022-02-22 |
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| CN115826465B (en) * | 2022-12-02 | 2024-06-04 | 中国煤炭科工集团太原研究院有限公司 | Visual remote control system and method for multi-stage walking of continuous miner |
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| CN102359587A (en) * | 2011-08-31 | 2012-02-22 | 贵州詹阳动力重工有限公司 | Manual and automatic integrated speed change system for wheel type hydraulic excavator |
| CN102808434A (en) * | 2012-08-07 | 2012-12-05 | 中联重科股份有限公司渭南分公司 | Traveling speed control method and system for engineering machinery |
| CN103206214A (en) * | 2013-03-29 | 2013-07-17 | 三一重型装备有限公司 | Continuous milling machine and traveling and loading control system |
| CN105863632A (en) * | 2016-06-14 | 2016-08-17 | 株洲中车时代装备技术有限公司 | Method and system for controlling automatic gear shifting of boom-type roadheader cutting frequency converter |
| CN111075922A (en) * | 2019-11-19 | 2020-04-28 | 贵州詹阳动力重工有限公司 | Walking automatic gear shifting control method of wheel excavator |
| CN111119015A (en) * | 2020-01-20 | 2020-05-08 | 徐州徐工筑路机械有限公司 | Automatic switching control system and control method for travelling gears of milling machine |
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- 2021-05-14 CN CN202110526197.2A patent/CN113236766B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359587A (en) * | 2011-08-31 | 2012-02-22 | 贵州詹阳动力重工有限公司 | Manual and automatic integrated speed change system for wheel type hydraulic excavator |
| CN102808434A (en) * | 2012-08-07 | 2012-12-05 | 中联重科股份有限公司渭南分公司 | Traveling speed control method and system for engineering machinery |
| CN103206214A (en) * | 2013-03-29 | 2013-07-17 | 三一重型装备有限公司 | Continuous milling machine and traveling and loading control system |
| CN105863632A (en) * | 2016-06-14 | 2016-08-17 | 株洲中车时代装备技术有限公司 | Method and system for controlling automatic gear shifting of boom-type roadheader cutting frequency converter |
| CN111075922A (en) * | 2019-11-19 | 2020-04-28 | 贵州詹阳动力重工有限公司 | Walking automatic gear shifting control method of wheel excavator |
| CN111119015A (en) * | 2020-01-20 | 2020-05-08 | 徐州徐工筑路机械有限公司 | Automatic switching control system and control method for travelling gears of milling machine |
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