CN117088047A - A mining integrated driving device for continuous mining belt machine - Google Patents

Abstract

The invention discloses a mining integrated driving device for continuous mining belt machines, which includes a tensioning module, a driving module, a main control module and a tension detection module. The invention solves the problem of automatic integrated driving of long-distance tape machines, and realizes the function of fully automatically completing the tensioning and driving of the entire tape machine by only receiving a start signal, thereby reducing the number of on-site equipment. It also detects the tension of the tape machine in real time to protect the tape machine from running under excessive tension.

Description

A mining integrated driving device for continuous mining belt machine

Technical field

The invention relates to the field of motor drive technology, and in particular to a mining integrated drive device for continuous mining belt conveyors.

Background technique

At present, in coal mining systems, belt conveyors are generally used for coal transportation. Generally, the driving device of the belt machine uses an electric motor as the power source, and most of its belt tensioning systems use hydraulic tensioning. With the development of informatization and intelligence in coal mines, ordinary belt conveyors cannot meet the practical requirements of rapid mining advancement. However, with the application and promotion of continuous mining belt conveyors with a length greater than 5,000 meters, the hydraulic tensioning system can no longer meet the needs, and its drive The system will inevitably change accordingly, and the improvement direction is to use electric motors to drive the tensioning winch in the tensioning part. The existing variable frequency drive device only drives the operation of the belt conveyor and cannot complete the control of the electric drive tensioning motor. Generally, the head of the tape machine requires 2-3 workers to monitor the operation of various equipment in real time. Maintenance of equipment is large and complex. This brings about problems such as waste of labor and large equipment footprint. The current development direction is that the driver will no longer be left on the head of the tape machine. The existing equipment is low in integration and cannot meet the development requirements of reduced manpower, high integration, and high informatization.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the present invention provides a mining integrated driving device for a continuous mining belt machine.

In order to achieve the above-mentioned object of the invention, the technical solutions adopted by the present invention are:

A mining integrated driving device for continuous mining belt machines, including:

The tensioning module is used to start the tensioning motor according to the tension start signal sent by the main control module to adjust the tension of the belt conveyor to the pre-tension value. After the belt conveyor is started, it is adjusted according to the tension control signal sent by the main control module. The tension of the tape machine is within the set tension range, and the electric energy generated by releasing the tension is fed back to the power grid in real time during the shutdown of the tape machine;

The drive module is used to adjust the frequency and voltage of the input power supply using a dual-channel master-slave inverter drive circuit, and adjust the real-time speed of the master drive motor and the slave drive motor in real time based on the drive control signal sent by the master control module;

The main control module is used to generate a tension start signal according to the host computer start signal and send it to the tension module; it receives the real-time tension of the belt machine collected by the tension detection module, and adopts preset tension control according to the real-time tension of the belt machine. The algorithm generates a tension control signal and sends it to the tensioning module; and detects the real-time operating parameters of the drive module, and uses the preset drive control algorithm to generate a drive control signal based on the real-time operating parameters of the drive module and sends it to the drive module;

The tension detection module is used to collect the real-time tension of the tape machine after the tape machine is started and send it to the main control module.

Further, the tensioning module specifically includes:

The first isolation switch, the first contactor, the improved LCL unit, the controllable rectification unit, the first filter unit, the first inverter unit and the tensioning motor connected in sequence form a tensioning circuit; the two ends of the first contactor End-parallel improved charging unit;

The controllable rectification unit is used to receive the adjustment signal sent by the main control module, and control the IGBT in the controllable rectification unit to turn on and off in sequence according to the adjustment signal, so that the phase angle of the power grid outputs a waveform through the improved LCL unit and the controllable rectification unit. consistent; consistent;

The first inverter unit is used to receive the tension start signal sent by the main control module, adjust the on and off of each IGBT in the first inverter unit according to the tension start signal to control the start of the tension motor; and receive the main control module The tension control signal is sent, and the on-off sequence of each IGBT in the first inverter unit is adjusted according to the tension control signal to control the working state of the tension motor.

Further, the improved charging unit specifically includes:

The first sub-contactor and the second sub-contactor are connected in parallel; the three contacts of the first sub-contactor are electrically connected to the input three-phase respectively;

One of the contacts of the first sub-contactor is connected to the corresponding contact of the second sub-contactor through the rectifier diode; the switch end of the corresponding contact of the second sub-contactor is in contact with the first sub-contact through the second resistor. The switch end of the contact of the device is connected;

The other contact point of the first sub-contactor is connected to the corresponding contact point of the second sub-contactor; the switch terminal of the corresponding contact point of the second sub-contactor passes through the first resistor and the switch terminal of the first sub-contactor. The switch side of this contact is connected.

Further, the improved LCL unit specifically includes:

A first inductor subunit, a second inductor subunit and a first capacitor subunit; the first inductor subunit is electrically connected to the three-phase input, and the second inductor subunit is electrically connected to the three-phase output of the first inductor subunit. Electrical connection; the first capacitor sub-unit is electrically connected to the three-phase output of the first inductor sub-unit through the third resistor, the fourth resistor and the fifth resistor respectively.

Further, the driving module specifically includes:

The second isolating switch, the second contactor, the rectifier unit, the filter unit, the second inverter unit and the first drive motor are connected in sequence to form a first drive circuit;

The third isolation switch, the third contactor, the rectifier unit, the filter unit, the third inverter unit and the second drive motor are connected in sequence to form a second drive circuit;

The second inverter unit and the third inverter unit are used to receive the drive control signal sent by the main control module, and respectively control the IGBTs in the second inverter unit and the third inverter unit to turn on and off in sequence according to the drive control signal. Cut off, output variable AC power, drive the first drive motor and the second drive motor to start from 0 speed and rise to the rated speed within the acceleration time.

Further, the main control module specifically includes:

Main control unit, first auxiliary control unit, first optical fiber distribution unit, second auxiliary control unit, second optical fiber distribution unit, third auxiliary control unit, third optical fiber distribution unit, fourth auxiliary control unit and fourth optical fiber distribution unit;

The main control unit is used to generate a tension start signal according to the host computer start signal and send it to the first auxiliary control unit; receive the real-time tension of the tape machine collected by the tension detection module, and use the preset according to the real-time tension of the tape machine. The tension control algorithm generates a tension control signal and sends it to the second auxiliary control unit; it receives the real-time operating parameters of the second inverter unit and the third inverter unit detected by the third optical fiber distribution unit and the fourth optical fiber distribution unit, and according to the second The real-time operating parameters of the inverter unit and the third inverter unit use a preset drive control algorithm to generate drive control signals and send them to the third auxiliary control unit and the fourth auxiliary control unit;

The first auxiliary control unit is used to communicate with the first optical fiber distribution unit and send the tensioning start signal to the first optical fiber distribution unit;

The first optical fiber distribution unit is used to control the on-off sequence of the IGBT in the controllable rectifier unit according to the tensioning start signal;

The second auxiliary control unit is used to communicate with the second optical fiber distribution unit and send the tension control signal to the second optical fiber distribution unit;

The second optical fiber distribution unit is used to adjust the on-off sequence of each IGBT in the first inverter unit according to the tension control signal;

The third auxiliary control unit and the fourth auxiliary control unit are used to communicate with the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively, and send drive control signals to the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively; Receive the real-time operating parameters of the second inverter unit and the third inverter unit sent by the third optical fiber distribution unit and the fourth optical fiber distribution unit and send them to the main control unit;

The third optical fiber distribution unit and the fourth optical fiber distribution unit are used to control the IGBT on-off sequence in the second inverter unit and the third inverter unit respectively according to the drive control signal; and detect the second inverter unit and the third inverter unit. The real-time operating parameters of the three inverter units are sent to the third auxiliary control unit and the fourth auxiliary control unit respectively.

Further, generating the tensioning start signal according to the host computer start signal specifically includes the following steps:

A1. Generate a tensioning pre-start signal according to the host computer start signal to control the forward rotation of the tensioning motor;

A2. Receive the real-time tension of the tape machine collected by the tension detection module, and determine whether the real-time tension reaches the pre-tension value; if so, perform step A3; otherwise, continue to step A2;

A3. Use the main control unit to send a tensioning health signal to the host computer controller, and control the tensioning circuit to keep the machine from shutting down.

Further, using a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine specifically includes the following steps:

B1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is started, and determine whether the real-time tension of the belt machine has decreased; if so, proceed to step B2; otherwise, continue to step B1;

B2. Use the main control unit to control the forward rotation of the tensioning motor so that the tensioning force of the belt conveyor slowly rises to the rated tensioning value;

B3. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

Further, using a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine also includes the following steps:

C1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the real-time tension of the belt machine exceeds the tension range; if the real-time tension exceeds the upper limit of the tension range, execute Step C2; if the real-time tension exceeds the lower limit of the tension interval, execute step C3; otherwise, continue to execute step C1;

C2. Use the main control unit to control the brake brake control power supply to loosen the brake brake, and control the tensioning motor to reverse to reduce the tension to the rated tension;

C3. Use the main control unit to control the brake brake control power supply to release the brake brake, and control the tensioning motor to rotate forward to increase the tension to the rated tension;

C4. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the tensioning motor output speed to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

Further, using a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine also includes the following steps:

D1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the change in the real-time tension of the belt machine exceeds the set condition; if so, proceed to step D2; otherwise, continue to step D1;

D2. Use the main control unit to control the forward rotation of the tensioning motor, and at the same time control the brake brake control power supply to loosen the brake brake so that the tension force is reduced to the rated tension force;

D3. When the tension force of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

The invention has the following beneficial effects:

(1) The device of the present invention solves the problem of automated integrated driving of long-distance tape conveyors, and realizes the function of fully automatically completing the tensioning and driving of the entire tape conveyor by only receiving a start signal, thereby reducing the number of on-site equipment. It also detects the tension of the tape machine in real time to protect the tape machine from running under excessive tension.

(2) The present invention solves the problem that the four-quadrant frequency converter LCL system is prone to resonance with the power system during operation, and prevents the frequency converter from overvoltage failure caused by resonance.

(3) Solve the problem of charging failure caused by the slow charging speed of the charging circuit, causing the inverter to fail to complete charging within a certain period of time.

(4) The present invention reduces the number of driver positions at the head of the tape machine. In the past, 2-3 drivers were required. Now the equipment operates automatically and operates remotely, eliminating the driver position and saving production costs.

Description of the drawings

Figure 1 is a schematic structural diagram of a combined mining integrated driving device in an embodiment of the present invention;

Figure 2 is a schematic structural diagram of an improved charging unit and an improved LCL unit in an embodiment of the present invention;

Figure 3 is a schematic structural diagram of the tension detection module in the embodiment of the present invention.

Detailed ways

The specific embodiments of the present invention are described below to facilitate those skilled in the art to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the technical field, as long as various changes These changes are obvious within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions and creations utilizing the concept of the invention are protected.

An embodiment of the present invention provides a combined mining integrated driving device for integrated driving of a continuous mining belt conveyor on an underground coal mine excavation working surface. The invention can solve the following existing problems: 1. The head part of the continuous mining tape machine has various equipment and complicated maintenance. The tape machine driver needs to have multiple abilities and has high requirements on the driver; 2. On the basis of reducing the ability of the tape machine driver , cancel the permanent staff position at the machine head; 3. The speed regulating device must have the function of automatically and intelligently adjusting the speed of the tape machine. Based on the above needs, an integrated drive device was invented to realize the function of automating and reducing people. Secondly, this equipment should have the functions of automatically tensioning the tape, automatically driving the operation of the tape machine and having intelligent speed regulation. The power supply voltage of the general mining explosion-proof and intrinsically safe mining integrated drive device is 1140V.

As shown in Figures 1 to 3, an embodiment of the present invention provides a mining integrated driving device for a continuous mining belt machine, including:

The tensioning module is used to start the tensioning motor according to the tension start signal sent by the main control module to adjust the tension of the belt conveyor to the pre-tension value. After the belt conveyor is started, it is adjusted according to the tension control signal sent by the main control module. The tension of the tape machine is within the set tension range, and the electric energy generated by releasing the tension is fed back to the power grid in real time during the shutdown of the tape machine;

The drive module is used to adjust the frequency and voltage of the input power supply using a dual-channel master-slave inverter drive circuit, and adjust the real-time speed of the master drive motor and the slave drive motor in real time based on the drive control signal sent by the master control module;

The main control module is used to generate a tension start signal according to the host computer start signal and send it to the tension module; it receives the real-time tension of the belt machine collected by the tension detection module, and adopts preset tension control according to the real-time tension of the belt machine. The algorithm generates a tension control signal and sends it to the tensioning module; and detects the real-time operating parameters of the drive module, and uses the preset drive control algorithm to generate a drive control signal based on the real-time operating parameters of the drive module and sends it to the drive module;

The tension detection module is used to collect the real-time tension of the tape machine after the tape machine is started and send it to the main control module.

In an optional embodiment of the present invention, after receiving the start signal, the tension module of this embodiment must monitor the tension value in real time to ensure that the tension is within an appropriate range before the start-up phase of the tape machine. When the main drive motor starts, the tension module The driving roller does not slip, ensuring the pre-tensioning force of the belt machine and maintaining the dynamic stability of the belt tension in real time. When the belt conveyor reaches the rated operating speed after starting, the tension is monitored in real time, and when the tension value deviates from the reference value by a certain amount, the speed of the motor is adjusted to change the tension to ensure that it is within a reasonable tension range. Quickly release the tension during the shutdown of the tape machine to protect the structural stability of the tape machine head. When the tensioning system is working, the tension releasing process is the motor braking process. At this stage, power generation will occur, and the device needs to feed back energy to the power grid in real time.

The tensioning module of this embodiment specifically includes:

The first isolation switch, the first contactor, the improved LCL unit, the controllable rectification unit, the first filter unit, the first inverter unit and the tensioning motor connected in sequence form a tensioning circuit; the two ends of the first contactor End-parallel improved charging unit;

The controllable rectification unit is used to receive the adjustment signal sent by the main control module, and control the IGBT in the controllable rectification unit to turn on and off in sequence according to the adjustment signal, so that the phase angle of the power grid outputs a waveform through the improved LCL unit and the controllable rectification unit. consistent; consistent;

The first inverter unit is used to receive the tension start signal sent by the main control module, adjust the on and off of each IGBT in the first inverter unit according to the tension start signal to control the start of the tension motor; and receive the main control module The tension control signal is sent, and the on-off sequence of each IGBT in the first inverter unit is adjusted according to the tension control signal to control the working state of the tension motor.

The main control unit in this embodiment sends commands to the first auxiliary control module through CANOPEN. The first auxiliary control module communicates with the first optical fiber distribution unit through optical fiber. The first optical fiber distribution unit controls the IGBTs in the controllable rectification unit to turn on in sequence. Turn off, so that the phase angle of the grid is consistent with the output waveform of the controllable rectifier unit through LCL, which means that the controllable rectifier unit and the grid are guaranteed to be in the same system. At this time, the DC voltage in the filter unit of the tensioning loop cooperates with the grid, and the tension The power generated during the motor braking process is connected to the grid through the filter unit. The main control unit sends commands to the second auxiliary control module to control the first inverter unit to adjust the on and off of each IGBT and drive the tensioning motor to work, in which the load tensioning motor is a high-speed permanent magnet motor. The first inverter unit and the controllable rectifier unit both contain three independently controllable double-tube IGBTs with a withstand voltage of 3300V.

Among them, the improved charging unit specifically includes:

The first sub-contactor and the second sub-contactor are connected in parallel; the three contacts of the first sub-contactor are electrically connected to the input three-phase respectively;

One of the contacts of the first sub-contactor is connected to the corresponding contact of the second sub-contactor through the rectifier diode; the switch end of the corresponding contact of the second sub-contactor is in contact with the first sub-contact through the second resistor. The switch end of the contact of the device is connected;

The other contact point of the first sub-contactor is connected to the corresponding contact point of the second sub-contactor; the switch terminal of the corresponding contact point of the second sub-contactor passes through the first resistor and the switch terminal of the first sub-contactor. The switch side of this contact is connected.

The improved charging unit and the improved LCL unit are located between the isolation switch and the controllable rectification unit of the tensioning circuit shown in Figure 1. Because there is an LCL loop in the downstream stage of the charging circuit, and there is a three-phase AC capacitor in the LCL, so after the second sub-contactor KM2 charging contactor is closed, energy will be absorbed by the capacitor, which is equivalent to applying 1140V AC power to the charging resistor and capacitor. During this time, the filter unit cannot be charged. As shown in Figure 2, the improved charging circuit adds a V1 rectifier diode to one of the phase charging lines. The unidirectional conductivity of the rectifier diode is used to ensure that energy only flows from the power supply direction to the rectification direction. In addition, R1/R2 charging resistors are configured to limit the charging current to prevent excessive current from damaging the first sub-contactor KM2. When the bus voltage reaches 1200V, the second sub-contactor KM2 is disconnected and the first sub-contact is closed. Device KM1 completes the charging logic.

The improved charging unit of this embodiment can make the bus voltage rise rapidly when the tensioned frequency conversion circuit is charged. This eliminates the possibility that when there is a capacitor in the subsequent stage, the energy is absorbed by the capacitor, causing the bus voltage to rise very slowly, leading to charging failure.

Among them, the improved LCL unit specifically includes:

A first inductor subunit, a second inductor subunit and a first capacitor subunit; the first inductor subunit is electrically connected to the three-phase input, and the second inductor subunit is electrically connected to the three-phase output of the first inductor subunit. Electrical connection; the first capacitor sub-unit is electrically connected to the three-phase output of the first inductor sub-unit through the third resistor, the fourth resistor and the fifth resistor respectively.

The improved LCL unit adds three absorption resistors R3, R4, and R5 on the basis of the original L1, L2, and C1. Their resistance values should be as small as possible, and the power should be large enough, because when the LCL is working, its current is generally the same as the motor power. Directly proportional. When the normal tensioning circuit is in the standby state, the first sub-contactor KM1 is in the closed state and the controllable rectifier circuit is in the stopped state. At this time, there may be an oscillation circuit composed of the power transformer, power supply line, contactor, and LCL circuit, causing the power supply to malfunction. Voltage resonance causes the bus voltage in the filter unit to increase until the frequency conversion circuit reports an overvoltage fault. The existence of the three resistors R3, R4, and R5 destroys the conditions for resonance generation, that is, the circuit is improved so that the resonance state does not occur.

The improved LCL unit of this embodiment can prevent the tensioning system from rising the bus voltage due to resonance caused by the power supply side. As shown in Figure 2, the capacitor C of the feedback device is connected in series with the resistors R1, R2, and R3 to destroy the conditions for resonance, suppress sudden changes in current, and reduce interference to the power supply voltage.

In an optional embodiment of the present invention, when the host computer start signal is given to the mining integrated drive device, the tensioning system works first. When the tension value is at a level that allows starting the main drive motor, the drive module of this embodiment automatically starts , the main drive system load is two low-speed direct drive motors, and the main drive frequency conversion part of the present invention is a 2-way inverter drive system, master-slave operation. The main controller issues a start command, and its third auxiliary control unit and fourth auxiliary control unit receive the command, control the optical fiber distribution module to drive each drive unit through the optical fiber, control the IGBT to complete SPWM modulation, and complete the frequency and voltage regulation process. The current and voltage are monitored in real time by the optical fiber distribution module and uploaded to the third auxiliary control unit and the fourth auxiliary control unit. During this process, the main controller needs to detect the real-time speed, torque, and current of the two inverter units in real time. According to the torque difference between the master and the slave, adjust the following speed of the slave to ensure that the torque difference between the master and the slave is less than 5%. As shown in the figure, the main drive circuit of the present invention shares a rectification unit and a filter unit, which ensures that when the master and slave power of the drive circuit is unbalanced, the energy generated by the back-drag power generation is absorbed and the bus voltage is suppressed from rising.

The driver module in this embodiment specifically includes:

The second isolating switch, the second contactor, the rectifier unit, the filter unit, the second inverter unit and the first drive motor are connected in sequence to form a first drive circuit;

The third isolation switch, the third contactor, the rectifier unit, the filter unit, the third inverter unit and the second drive motor are connected in sequence to form a second drive circuit;

The second inverter unit and the third inverter unit are used to receive the drive control signal sent by the main control module, and respectively control the IGBTs in the second inverter unit and the third inverter unit to turn on and off in sequence according to the drive control signal. Cut off, output variable AC power, drive the first drive motor and the second drive motor to start from 0 speed and rise to the rated speed within the acceleration time.

The load of the main drive system in this embodiment is two low-speed direct drive motors, and the main drive frequency conversion part of the present invention is a 2-way variable frequency drive system with master-slave operation. As shown in Figure 1: the main controller issues a start command, and its third auxiliary control unit and fourth auxiliary control unit receive the command, control the optical fiber distribution module to drive each drive unit through the optical fiber, control the IGBT to turn on and off in sequence, and output Variable AC power supply, the drive motor starts from 0 speed and rises to the rated speed within the acceleration time. The current and voltage are monitored in real time by the optical fiber distribution module and uploaded to the third auxiliary control unit and the fourth auxiliary control unit. During this process, the main controller needs to detect the real-time speed, torque, and current of the two inverter units in real time. According to the torque difference between the master and the slave, adjust the slave's following speed to ensure that the torque difference between the master and the slave is less than 5%. The collected speed and current are used to monitor real-time data. As shown in the figure, the main drive circuit of the present invention shares a rectification unit and a filter unit, which ensures that when the master and slave power of the drive circuit is unbalanced, the energy generated by the back-drag power generation is absorbed and the bus voltage is suppressed from rising. The power supply voltage of the variable frequency drive circuit is 1140V.

In an optional embodiment of the present invention, the main control module of this embodiment specifically includes:

Main control unit, first auxiliary control unit, first optical fiber distribution unit, second auxiliary control unit, second optical fiber distribution unit, third auxiliary control unit, third optical fiber distribution unit, fourth auxiliary control unit and fourth optical fiber distribution unit;

The main control unit is used to generate a tension start signal according to the host computer start signal and send it to the first auxiliary control unit; receive the real-time tension of the tape machine collected by the tension detection module, and use the preset according to the real-time tension of the tape machine. The tension control algorithm generates a tension control signal and sends it to the second auxiliary control unit; it receives the real-time operating parameters of the second inverter unit and the third inverter unit detected by the third optical fiber distribution unit and the fourth optical fiber distribution unit, and according to the second The real-time operating parameters of the inverter unit and the third inverter unit use a preset drive control algorithm to generate drive control signals and send them to the third auxiliary control unit and the fourth auxiliary control unit;

The first auxiliary control unit is used to communicate with the first optical fiber distribution unit and send the tensioning start signal to the first optical fiber distribution unit;

The first optical fiber distribution unit is used to control the on-off sequence of the IGBT in the controllable rectifier unit according to the tensioning start signal;

The second auxiliary control unit is used to communicate with the second optical fiber distribution unit and send the tension control signal to the second optical fiber distribution unit;

The second optical fiber distribution unit is used to adjust the on-off sequence of each IGBT in the first inverter unit according to the tension control signal;

The third auxiliary control unit and the fourth auxiliary control unit are used to communicate with the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively, and send drive control signals to the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively; Receive the real-time operating parameters of the second inverter unit and the third inverter unit sent by the third optical fiber distribution unit and the fourth optical fiber distribution unit and send them to the main control unit;

The third optical fiber distribution unit and the fourth optical fiber distribution unit are used to control the IGBT on-off sequence in the second inverter unit and the third inverter unit respectively according to the drive control signal; and detect the second inverter unit and the third inverter unit. The real-time operating parameters of the three inverter units are sent to the third auxiliary control unit and the fourth auxiliary control unit respectively.

This embodiment generates a tensioning start signal based on the host computer's start signal, which specifically includes the following steps:

A1. Generate a tensioning pre-start signal according to the host computer start signal to control the forward rotation of the tensioning motor;

A2. Receive the real-time tension of the tape machine collected by the tension detection module, and determine whether the real-time tension reaches the pre-tension value; if so, perform step A3; otherwise, continue to step A2;

A3. Use the main control unit to send a tensioning health signal to the host computer controller, and control the tensioning circuit to keep the machine from shutting down.

This embodiment uses a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine, which specifically includes the following steps:

B1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is started, and determine whether the real-time tension of the belt machine has decreased; if so, proceed to step B2; otherwise, continue to step B1;

B2. Use the main control unit to control the forward rotation of the tensioning motor so that the tensioning force of the belt conveyor slowly rises to the rated tensioning value;

B3. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

This embodiment uses a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine and also includes the following steps:

C1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the real-time tension of the belt machine exceeds the tension range; if the real-time tension exceeds the upper limit of the tension range, execute Step C2; if the real-time tension exceeds the lower limit of the tension interval, execute step C3; otherwise, continue to execute step C1;

C2. Use the main control unit to control the brake brake control power supply to loosen the brake brake, and control the tensioning motor to reverse to reduce the tension to the rated tension;

C3. Use the main control unit to control the brake brake control power supply to release the brake brake, and control the tensioning motor to rotate forward to increase the tension to the rated tension;

C4. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the tensioning motor output speed to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

This embodiment uses a preset tension control algorithm to generate a tension control signal based on the real-time tension of the tape machine and also includes the following steps:

D1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the change in the real-time tension of the belt machine exceeds the set condition; if so, proceed to step D2; otherwise, continue to step D1;

D2. Use the main control unit to control the forward rotation of the tensioning motor, and at the same time control the brake brake control power supply to loosen the brake brake so that the tension force is reduced to the rated tension force;

D3. When the tension force of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .

Specifically, this embodiment automatically realizes tensioning logic control, including loose tape and tight tape, with the set tension reference value as the tensioning target; the forward rotation of the tensioning motor tightens the wire rope to tighten the tape. As the force increases, the tensioning motor reverses to loosen the wire rope and reduce the tape tension. The mining integrated drive device will repeatedly cycle through the following four states: a, b, c, and d.

a. Tension start stage: First, when the mining integrated drive device receives an external start signal (the signal comes from the switch closing signal of the host computer), it enters the tension pre-start state. The main control unit controls the tension circuit for the second time. The output frequency of the auxiliary control unit causes the tensioning motor to rotate forward and the tensioning force increases to reach the pre-tensioning state (generally the pre-tensioning force is greater than the rated tensioning force). At this time, the main control unit senses the tension through the tension detection system. When the tension reaches the pre-tension value, it sends a tension health signal (the tension health signal is a switch signal) to the host computer controller. The main control unit controls the tensioning loop. downtime. The purpose of pre-tensioning is to ensure that the tension is within the appropriate range before the start-up phase of the belt conveyor, that the tension is sufficient when the main drive motor starts, and that the friction between the main drive roller and the tape is sufficient without slipping.

b. Drive circuit starting stage: After the main control unit controls the tensioning motor to tighten the tension to the pre-tensioning force, the main control unit controls the third auxiliary control unit and the fourth auxiliary control unit, so that the third auxiliary control unit and the fourth auxiliary control unit The main drive circuit corresponding to the auxiliary control unit controls the rotation of the drive motor. After the main drive drum rotates, the tension force will drop rapidly. The main control unit controls the tension circuit to immediately enter the belt tensioning mode, that is, the tension circuit controls the tension motor to rotate forward, so that The tension of the tape machine increases rapidly, and the tension is monitored at all times (the tension is detected in real time by the tension detection system), so that the tension slowly rises to the rated tension value. As the belt conveyor reaches the rated belt speed, the tensioning circuit dynamically adjusts the tension to the rated range. At this time, when the tension force is closer to the rated tension value, the output speed of the tension motor gradually decreases to 0 speed. After a delay, the output of the tension circuit is cut off, and the main control unit controls the brake to brake the output shaft of the tension motor. After the tensioning circuit is shut down, use the brake to ensure that the tensioning motor is not pulled reversely by the tension of the tape.

c. Operation stage:

During the normal operation stage of the belt conveyor, the tension of the entire belt conveyor is always changing slowly due to changes in the amount of coal loaded on the belt conveyor, changes in elasticity, and changes in the position of the head continuous miner, and may exceed the tension range. The upper limit is or lower than the lower limit of the tension range. At this time, the tension needs to be adjusted to the rated tension to ensure stable tension of the belt machine. A general example: if the tension force is set to 50KN, the upper limit of the tension force range is set to 55KN, and the lower limit of the tension force range is set to 45KN.

1) During the operation of the main drive circuit (that is, the tension circuit is in standby state), when the main control unit detects that the tension force slowly drops to the lower limit of the rated range through the tension detection system, the main control unit controls the power supply by controlling the brake brake. Loosen the brake brake and control the tensioning motor to rotate forward. The forward rotation process is the belt tightening process, and the belt is tightened to the rated tension. At this time, the tensioning motor is stopped and the brake brake is held. After that, the tensioning circuit enters standby mode. During this process, the main drive circuit operates normally.

2) During the operation of the main drive circuit (that is, the tension circuit is in standby state), when the main control unit detects that the tension slowly rises to the upper limit of the rated range through the tension detection system, the main control unit controls the power supply by controlling the brake brake. Release the brake brake and control the tensioning motor to reverse. The reversal process is the belt loosening process, and the belt is loosened to the rated tension. At this time, the tensioning motor is stopped and the brake brake is held. After that, the tensioning circuit enters standby mode. During this process, the main drive circuit operates normally.

d. Emergency shutdown stage of the belt conveyor: During the normal operation of the drive circuit, the main control unit of the mining integrated drive device detects a rapid rise in tension through the tension detection system (for example: the tension rises rapidly to exceed 1.5 times the rated tension within 3 seconds) force), the main control unit controls the second auxiliary control unit to drive the tensioning motor to reverse, and at the same time controls the brake brake control power supply to release the brake brake and enter the quick release mode (quick release means the tensioning motor rotates at the maximum speed speed operation), after a certain time delay, it is judged whether the tension has entered the rated range. If the tension slowly drops to the rated tension, the output speed of the tensioning motor is 0 speed at this time, the main control unit will brake through The brake power supply controls the brake brake. After the brake is applied, the tensioning circuit stops and the integrated drive device enters standby state.

In an optional embodiment of the present invention, as shown in Figure 3, the tension detection module of this embodiment passes through the A3 tension sensor, A2 signal conversion device (converting 0-25mV to 4-20mA), A4 local operation box, The entire set of devices, including the main control unit of the A1 mining integrated drive device, monitors the tension value in real time and feeds it back to the variable frequency drive device to dynamically adjust the motor output speed to ensure that the tension value is within the appropriate range. Its A3 tension sensor has a measuring range of 200KN and a signal of 0-25mV. The A2 signal conversion device converts the 0-25mV signal into a 4-20mA signal and transmits it to the local operation box, and the local operation box needs to provide a 12V power signal to the signal conversion device. The signal conversion device supplies power to the tension sensor. In addition, the local operation box is equipped with local/automatic control state switching. When the local/automatic knob of the local operation box is turned to the local state, the local tightening and loosening operations are effective. When the local/automatic knob of the local operation box is turned on, When the automatic knob is turned to the automatic state, the control rights of the tight belt and loose belt are transferred to the main control unit of the variable frequency drive device. All signals communicate with the main controller of the mining integrated drive unit.

In this embodiment, the tension value is monitored in real time through a tension sensor, a signal conversion device (converted to 4-20mA), a local operation box, and a main controller of the mining integrated drive device to feed back to the main control unit of the mine integrated drive device. , dynamically adjust the motor output speed to ensure that the tension value is within the appropriate range.

In an optional embodiment of the present invention, this embodiment is also configured with multiple auxiliary power frequency output circuits (1140V) to provide power to corresponding cooling fans and cooling systems. In addition, the mining integrated drive device supports MODBUS/TCP and modbus RTU protocols, which can communicate with the host computer to complete the speed regulation of the drive system, reset faults, and realize remote automated operation.

The invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, based on this The idea of the invention will be subject to change in the specific implementation and scope of application. In summary, the contents of this description should not be understood as limiting the invention.

Those of ordinary skill in the art will appreciate that the embodiments described here are provided to help readers understand the principles of the present invention, and it should be understood that the scope of the present invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and these modifications and combinations are still within the protection scope of the present invention.

Claims (10)

1. A mining integrated driving device for continuous mining belt machine, which is characterized in that it includes: The tensioning module is used to start the tensioning motor according to the tension start signal sent by the main control module to adjust the tension of the belt conveyor to the pre-tension value. After the belt conveyor is started, it is adjusted according to the tension control signal sent by the main control module. The tension of the tape machine is within the set tension range, and the electric energy generated by releasing the tension is fed back to the power grid in real time during the shutdown of the tape machine; The drive module is used to adjust the frequency and voltage of the input power supply using a dual-channel master-slave inverter drive circuit, and adjust the real-time speed of the master drive motor and the slave drive motor in real time based on the drive control signal sent by the master control module; The main control module is used to generate a tension start signal according to the host computer start signal and send it to the tension module; it receives the real-time tension of the belt machine collected by the tension detection module, and adopts preset tension control according to the real-time tension of the belt machine. The algorithm generates a tension control signal and sends it to the tensioning module; and detects the real-time operating parameters of the drive module, and uses the preset drive control algorithm to generate a drive control signal based on the real-time operating parameters of the drive module and sends it to the drive module; The tension detection module is used to collect the real-time tension of the tape machine after the tape machine is started and send it to the main control module. 2. A mining integrated driving device for continuous mining belt machines according to claim 1, characterized in that the tensioning module specifically includes: The first isolation switch, the first contactor, the improved LCL unit, the controllable rectification unit, the first filter unit, the first inverter unit and the tensioning motor connected in sequence form a tensioning circuit; the two ends of the first contactor End-parallel improved charging unit; The controllable rectification unit is used to receive the adjustment signal sent by the main control module, and control the IGBT in the controllable rectification unit to turn on and off in sequence according to the adjustment signal, so that the phase angle of the power grid outputs a waveform through the improved LCL unit and the controllable rectification unit. consistent; consistent; The first inverter unit is used to receive the tension start signal sent by the main control module, adjust the on and off of each IGBT in the first inverter unit according to the tension start signal to control the start of the tension motor; and receive the main control module The tension control signal is sent, and the on-off sequence of each IGBT in the first inverter unit is adjusted according to the tension control signal to control the working state of the tension motor. 3. A mining integrated driving device for continuous mining belt machines according to claim 2, characterized in that the improved charging unit specifically includes: The first sub-contactor and the second sub-contactor are connected in parallel; the three contacts of the first sub-contactor are electrically connected to the input three-phase respectively; One of the contacts of the first sub-contactor is connected to the corresponding contact of the second sub-contactor through the rectifier diode; the switch end of the corresponding contact of the second sub-contactor is in contact with the first sub-contact through the second resistor. The switch end of the contact of the device is connected; The other contact point of the first sub-contactor is connected to the corresponding contact point of the second sub-contactor; the switch terminal of the corresponding contact point of the second sub-contactor passes through the first resistor and the switch terminal of the first sub-contactor. The switch side of this contact is connected. 4. A mining integrated driving device for continuous mining belt machines according to claim 3, characterized in that the improved LCL unit specifically includes: A first inductor subunit, a second inductor subunit and a first capacitor subunit; the first inductor subunit is electrically connected to the three-phase input, and the second inductor subunit is electrically connected to the three-phase output of the first inductor subunit. Electrical connection; the first capacitor sub-unit is electrically connected to the three-phase output of the first inductor sub-unit through the third resistor, the fourth resistor and the fifth resistor respectively. 5. A mining integrated driving device for continuous mining belt machines according to claim 4, characterized in that the driving module specifically includes: The second isolating switch, the second contactor, the rectifier unit, the filter unit, the second inverter unit and the first drive motor are connected in sequence to form a first drive circuit; The third isolation switch, the third contactor, the rectifier unit, the filter unit, the third inverter unit and the second drive motor are connected in sequence to form a second drive circuit; The second inverter unit and the third inverter unit are used to receive the drive control signal sent by the main control module, and respectively control the IGBTs in the second inverter unit and the third inverter unit to turn on and off in sequence according to the drive control signal. Cut off, output variable AC power, drive the first drive motor and the second drive motor to start from 0 speed and rise to the rated speed within the acceleration time. 6. A mining integrated driving device for continuous mining belt machines according to claim 5, characterized in that the main control module specifically includes: Main control unit, first auxiliary control unit, first optical fiber distribution unit, second auxiliary control unit, second optical fiber distribution unit, third auxiliary control unit, third optical fiber distribution unit, fourth auxiliary control unit and fourth optical fiber distribution unit; The main control unit is used to generate a tension start signal according to the host computer start signal and send it to the first auxiliary control unit; receive the real-time tension of the tape machine collected by the tension detection module, and use the preset according to the real-time tension of the tape machine. The tension control algorithm generates a tension control signal and sends it to the second auxiliary control unit; it receives the real-time operating parameters of the second inverter unit and the third inverter unit detected by the third optical fiber distribution unit and the fourth optical fiber distribution unit, and according to the second The real-time operating parameters of the inverter unit and the third inverter unit use a preset drive control algorithm to generate drive control signals and send them to the third auxiliary control unit and the fourth auxiliary control unit; The first auxiliary control unit is used to communicate with the first optical fiber distribution unit and send the tensioning start signal to the first optical fiber distribution unit; The first optical fiber distribution unit is used to control the on-off sequence of the IGBT in the controllable rectifier unit according to the tensioning start signal; The second auxiliary control unit is used to communicate with the second optical fiber distribution unit and send the tension control signal to the second optical fiber distribution unit; The second optical fiber distribution unit is used to adjust the on-off sequence of each IGBT in the first inverter unit according to the tension control signal; The third auxiliary control unit and the fourth auxiliary control unit are used to communicate with the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively, and send drive control signals to the third optical fiber distribution unit and the fourth optical fiber distribution unit respectively; Receive the real-time operating parameters of the second inverter unit and the third inverter unit sent by the third optical fiber distribution unit and the fourth optical fiber distribution unit and send them to the main control unit; The third optical fiber distribution unit and the fourth optical fiber distribution unit are used to control the IGBT on-off sequence in the second inverter unit and the third inverter unit respectively according to the drive control signal; and detect the second inverter unit and the third inverter unit. The real-time operating parameters of the three inverter units are sent to the third auxiliary control unit and the fourth auxiliary control unit respectively. 7. A mining integrated driving device for continuous mining belt conveyor according to claim 6, characterized in that generating a tension start signal according to the host computer start signal specifically includes the following steps: A1. Generate a tensioning pre-start signal according to the host computer start signal to control the forward rotation of the tensioning motor; A2. Receive the real-time tension of the tape machine collected by the tension detection module, and determine whether the real-time tension reaches the pre-tension value; if so, perform step A3; otherwise, continue to step A2; A3. Use the main control unit to send a tensioning health signal to the host computer controller, and control the tensioning circuit to keep the machine from shutting down. 8. A mining integrated driving device for continuous mining belt conveyor according to claim 7, characterized in that the step of using a preset tension control algorithm to generate a tension control signal according to the real-time tension of the belt conveyor specifically includes: Following steps: B1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is started, and determine whether the real-time tension of the belt machine has decreased; if so, proceed to step B2; otherwise, continue to step B1; B2. Use the main control unit to control the forward rotation of the tensioning motor so that the tensioning force of the belt conveyor slowly rises to the rated tensioning value; B3. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. . 9. A mining integrated driving device for continuous mining belt machine according to claim 8, characterized in that the step of using a preset tension control algorithm to generate a tension control signal according to the real-time tension of the belt machine further includes: Following steps: C1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the real-time tension of the belt machine exceeds the tension range; if the real-time tension exceeds the upper limit of the tension range, execute Step C2; if the real-time tension exceeds the lower limit of the tension interval, execute step C3; otherwise, continue to execute step C1; C2. Use the main control unit to control the brake brake control power supply to loosen the brake brake, and control the tensioning motor to reverse to reduce the tension to the rated tension; C3. Use the main control unit to control the brake brake control power supply to release the brake brake, and control the tensioning motor to rotate forward to increase the tension to the rated tension; C4. When the tension of the belt conveyor reaches the rated tension value, use the main control unit to control the tensioning motor output speed to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. . 10. A mining integrated driving device for continuous mining belt conveyor according to claim 9, characterized in that the step of using a preset tension control algorithm to generate a tension control signal according to the real-time tension of the belt conveyor further includes: Following steps: D1. Receive the real-time tension of the belt machine collected by the tension detection module when the belt machine is running, and determine whether the change in the real-time tension of the belt machine exceeds the set condition; if so, proceed to step D2; otherwise, continue to step D1; D2. Use the main control unit to control the forward rotation of the tensioning motor, and at the same time control the brake brake control power supply to loosen the brake brake so that the tension force is reduced to the rated tension force; D3. When the tension force of the belt conveyor reaches the rated tension value, use the main control unit to control the output speed of the tensioning motor to gradually reduce to 0 speed, and after delaying the set time, use the main control unit to control the tensioning motor brake. .