CN103353731A - Self-adaptive hanging-cable control system for cable installation vehicle of underground roadway - Google Patents
Self-adaptive hanging-cable control system for cable installation vehicle of underground roadway Download PDFInfo
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- CN103353731A CN103353731A CN2013102644013A CN201310264401A CN103353731A CN 103353731 A CN103353731 A CN 103353731A CN 2013102644013 A CN2013102644013 A CN 2013102644013A CN 201310264401 A CN201310264401 A CN 201310264401A CN 103353731 A CN103353731 A CN 103353731A
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- 239000004973 liquid crystal related substance Substances 0.000 claims description 13
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- 239000013078 crystal Substances 0.000 claims description 7
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Abstract
The invention discloses a self-adaptive hanging-cable control system for a cable installation vehicle of an underground roadway. The self-adaptive hanging-cable control system comprises a displacement sensor, a driving electromagnetic valve, an MCU unit, an A/D signal collection unit, an output driving unit, a switch-quantity input unit, an LCD unit and a power supply unit, wherein the A/D signal collection unit, the output driving unit, the switch-quantity input unit and the LCD unit are connected with the MCU unit by an I/O interface unit; the power supply unit respectively provides electricity for the MCU unit, the witch-quantity input unit, the LCD unit, the A/D signal collection unit and the output driving unit; and the displacement sensor is connected with the A/D signal collection unit and the driving electromagnetic valve is connected with the output driving unit. The system provided by the invention can control the cable installation vehicle of the underground roadway and realize automation of cable hanging of the underground roadway, work personnel's labor intensity is mitigated and cable-hanging work efficiency is raised.
Description
Technical field
The present invention relates to a kind of underworkings cable installation control system, particularly a kind of underworkings cable installation car self-adaptation lashed cable control system is used for realizing the installation robotization of underworkings cable.
Background technology
Along with improving constantly of coal industry mining mechanization, automaticity, oneself becomes the key factor of restriction coal mine machinery, robotization raising large, the ineffective problem of underworkings cable laying labour intensity.Underworkings cable laying automaticity is very low at present, also rests on the artificial lashed cable stage.At present, most of mines are that cable is launched lay along the tunnel, by one group of workman of mine one section one section on cable are set up on the cable clip again.The shortcoming of doing like this is that labour intensity is large, and cable is easy to wear, inefficiency.Safe, fast, efficient, high-level cable suspending way is the direction that mine automation develops.Underworkings cable installation car self-adaptation lashed cable control system is for reducing labor strength, and increasing work efficiency has very important realistic meaning.People-oriented to realizing coal industry, and sustainable development has important social effect equally.
Summary of the invention
Based on solving underworkings cable laying automation issues, the present invention proposes a kind of underworkings cable installation car self-adaptation lashed cable control system, to solve the automatic suspension problem of underworkings cable.
For achieving the above object, the present invention proposes a kind of underworkings cable installation car self-adaptation lashed cable control system, this technical scheme mainly comprises: comprise displacement transducer, drive solenoid valve, the MCU unit, the A/D signal gathering unit, the output driver element, the switching value input block, liquid crystal display and power supply unit, the A/D signal gathering unit, the output driver element, the switching value input block is connected with the MCU unit by the I/O interface unit with liquid crystal display, power supply unit is respectively the MCU unit, the switching value input block, liquid crystal display, A/D signal gathering unit and the power supply of output driver element, displacement transducer is connected with the A/D signal gathering unit, drives solenoid valve and is connected with the output driver element;
Described displacement transducer is installed in the underworkings cable installation car hydraulic jack, is used for gathering the telescopic displacement of cable installation car hydraulic jack;
Described driving solenoid valve is installed on the valve body, is used for driving the master control valve terminal;
Described MCU unit comprises CPU(U19), reset circuit (U4), crystal oscillator (Y1) and the jtag interface (P1) that is used for debugging, reset circuit (U4) and crystal oscillator (Y1) respectively with CPU(U19) respective pin be connected, the jtag interface (P1) that is used for debugging directly with CPU(U19) the JTAG pin be connected;
Described A/D signal gathering unit be will collect displacement signal through modulate circuit (U1, U2, U3) conditioning, again after holding circuit with CPU(U19) four tunnel 12 A/D mouths be connected;
Described output driver element is by driving circuit (U13), photoelectric isolating circuit (U6, U7, U8, U9, U10, U11) and CPU(U19 by external driving solenoid valve) be connected;
Described switching value input block is 8 free-standing buttons, switching value input and CPU(U19) the I/O mouth be connected;
Described liquid crystal display is the pin (4,5,6,7) and CPU(U19 of TFT480272RS-4.3 LCDs) P7.6, P0.1, P0.0 and P7.7 be connected;
Described power supply unit is to introduce the 12V power supply by socket (J2), (U16, U18) converts 12V to 5V and 3.3V by the voltage transitions chip, 12V converted to 12V and the 5V of isolation by power transfer module (U14) and voltage transitions chip (U15).
Among the present invention, the cable installation car is by the six-freedom degree of three lashed cable oil cylinder control mechanical arms in the locus, displacement transducer gathers the positional information of each oil cylinder, give single-chip microcomputer through signal conditioning circuit with signal, single-chip microcomputer is through computing output control signal, control signal drives the action of solenoid valve through overdrive circuit control, and then controls the position of lashed cable oil cylinder.Because the subsurface environment complexity is difficult to again realize accurately location, so underworkings realizes that the technology of robotization lashed cable most critical is exactly to determine the relative position of hook and cable installation car.Among the present invention, employing is manual to be controlled and automatically controls combination, manually controls preferential control mode, has incorporated the thought of mnemonic learning, and the manual result who controls is as the automatic foundation of controlling, and automatic control is again the basis of manual control, and the two complements each other all the time.The position of memory lashed cable last time, as basis, the position amount of next lashed cable, the lashed cable mechanical arm can move to the position of a front lashed cable automatically, and operating personnel's manual fine-tuning can accurate lashed cable.
The beneficial effect of underworkings cable installation car self-adaptation lashed cable control system proposed by the invention is, the mnemonic learning theory is introduced in the middle of the automatic lashed cable control system, adopt automatically control and manually control in conjunction with, manually control preferential control mode, automatically detect the location parameter of each oil cylinder, the work of control solenoid valve, and in modes such as data, literal, the action message of Real time dynamic display oil cylinder has realized the robotization of underworkings cable suspension.
Description of drawings
Fig. 1 is general structure block diagram of the present invention;
Fig. 2 is MCU unit construction principle figure of the present invention;
Fig. 3 is A/D signal gathering unit structure principle chart of the present invention;
Fig. 4 is output structure of driving unit schematic diagram of the present invention;
Fig. 5 is switching value input block structure principle chart of the present invention;
Fig. 6 is liquid crystal display interface structure schematic diagram of the present invention;
Fig. 7 is power supply unit structure principle chart of the present invention.
Embodiment
With specific embodiment the alleged underworkings cable installation car self-adaptation lashed cable control system of the present invention is described in further detail below in conjunction with accompanying drawing, the technician in described field is after having read this specific embodiment, technical solutions according to the invention can be realized, also advantage of the present invention and good effect can be embodied simultaneously.
As shown in Figure 1, underworkings cable installation car self-adaptation lashed cable control system, whole system comprises displacement transducer, drive solenoid valve, the MCU unit, the A/D signal gathering unit, the output driver element, the switching value input block, liquid crystal display and power supply unit, the A/D signal gathering unit, the output driver element, the switching value input block is connected with the MCU unit by the I/O interface unit with liquid crystal display, power supply unit is respectively the MCU unit, the switching value input block, liquid crystal display, A/D signal gathering unit and the power supply of output driver element, displacement transducer is connected with the A/D signal gathering unit, drives solenoid valve and is connected with the output driver element.Wherein: displacement transducer is installed in the underworkings cable installation car hydraulic jack, is used for gathering the telescopic displacement of cable installation car hydraulic jack; Drive solenoid valve and be installed on the valve body, be used for driving the master control valve terminal.
As shown in Figure 2, in the process that the MCU unit is implemented, the MCU unit comprises CPU(U19), reset circuit (U4), crystal oscillator (Y1) and the jtag interface (P1) that is used for debugging, reset circuit (U4) and crystal oscillator (Y1) respectively with CPU(U19) respective pin be connected, the jtag interface (P1) that is used for debugging directly with CPU(U19) the JTAG pin be connected; CPU(U19) the mixed signal SOC type single-chip microcomputer C8051F020 that has adopted U.S. Cygnal company to produce, this system integration two hyperchannel ADC subsystems, two Voltage-output DAC, two voltage comparators, UART, spi bus interface, 5 16 general bit timing devices, 88 general digital I/O ports and 64KB FLASH program storage and with the High Speed Microcontroller kernel of 8051 compatibilities.In native system, minimum system comprises reset circuit (U4) and crystal oscillator (Y1), all with CPU(U19) corresponding pin is connected, JTAG(P1) directly with CPU(U19) the JTAG pin be connected.
As shown in Figure 3, A/D signal gathering unit (X1) is the modulate circuit that the displacement signal that collects is nursed one's health and enters CPU(U19) front holding circuit.In the A/D signal gathering unit implementation process, displacement transducer signal is nursed one's health by U1, U2 and U3, after protecting through D1, D2, D3, D4, D5 and D6, with single-chip microcomputer C8051F020(U19) 12 A/D mouths directly be connected.
As shown in Figure 4, the output driver element comprises photoelectric isolating circuit and driving circuit.In output driver element implementation process, output drives chip (U13) by level shifting circuit (U12), photoelectric isolating circuit (U6, U7, U8, U9, U10, U11) and C8051F020(U19) the I/O mouth be connected, its opposite side is connected with reversal valve.C8051F020(U19) output signal is 0 or the 3.3V voltage signal, and driving force is little, through an OC door with drive chip and just can drive reversal valve; Isolation can stop the external high pressure invasion through photoelectricity first in signal output, plays a protective role.
As shown in Figure 5, the switching value input block is 8 free-standing buttons, is used for the action of control cables installation car oil cylinder.S2, S3, S4, S5, S6, S7 are respectively the six direction key of three lashed cable oil cylinders, namely upper and lower, left and right, lean forward, hypsokinesis, S8 is for determining key, S9 is automatic key.
As shown in Figure 6, in the middle of the liquid crystal display implementation process, the pin of TFT480272RS-4.3 LCDs (4,5,6,7) and CPU(U19) P7.6, P0.1, P0.0 and P7.7 be connected, CPU(U19) displaying contents of control TFT480272RS-4.3 LCDs, the action message that comprises numbering, displacement and the current oil cylinder of lashed cable oil cylinder, build human-computer interaction interface, for operating personnel provide operating basis.
As shown in Figure 7, the power supply unit of whole system comprises 12V voltage (U14), the 5V voltage (U15) of 12V voltage (J2), 5V voltage (U16), 3.3V voltage (U18) and the isolation of using in the whole circuit.The 12V voltage of power supply unit is introduced from installing the outside by socket (J2), 3.3V come by the 12V voltage transition by voltage transitions chip (U18, U16) with 5V voltage, the 12V of isolation and 5V voltage are come by the 12V voltage transition by power transfer module (U14) and voltage transitions chip (U15).
The present invention is on the hardware configuration basis of above-mentioned a kind of underworkings cable installation car self-adaptation lashed cable control system, those skilled in the art can obtain the combination of corresponding system software and software, and the robotization that can realize underworkings cable installation car lashed cable is controlled, relating in this manual other technology contents and technical term should understand and enforcement according to common practise and the habitual technological means of this area, also can enforcement be set by rational analysis ratiocination.
Claims (1)
1. underworkings cable installation car self-adaptation lashed cable control system, it is characterized in that: comprise displacement transducer, drive solenoid valve, the MCU unit, the A/D signal gathering unit, the output driver element, the switching value input block, liquid crystal display and power supply unit, the A/D signal gathering unit, the output driver element, the switching value input block is connected with the MCU unit by the I/O interface unit with liquid crystal display, power supply unit is respectively the MCU unit, the switching value input block, liquid crystal display, A/D signal gathering unit and the power supply of output driver element, displacement transducer is connected with the A/D signal gathering unit, drives solenoid valve and is connected with the output driver element;
Described displacement transducer is installed in the underworkings cable installation car hydraulic jack, is used for gathering the telescopic displacement of cable installation car hydraulic jack;
Described driving solenoid valve is installed on the valve body, is used for driving the master control valve terminal;
Described MCU unit comprises CPU(U19), reset circuit (U4), crystal oscillator (Y1) and the jtag interface (P1) that is used for debugging, reset circuit (U4) and crystal oscillator (Y1) respectively with CPU(U19) respective pin be connected, the jtag interface (P1) that is used for debugging directly with CPU(U19) the JTAG pin be connected;
Described A/D signal gathering unit be will collect displacement signal through modulate circuit (U1, U2, U3) conditioning, again after holding circuit with CPU(U19) four tunnel 12 A/D mouths be connected;
Described output driver element is by driving circuit (U13), photoelectric isolating circuit (U6, U7, U8, U9, U10, U11) and CPU(U19 by external driving solenoid valve) be connected;
Described switching value input block is 8 free-standing buttons, switching value input and CPU(U19) the I/O mouth be connected; Described liquid crystal display is the pin (4,5,6,7) and CPU(U19 of TFT480272RS-4.3 LCDs) P7.6, P0.1, P0.0 and P7.7 be connected;
Described power supply unit is to introduce the 12V power supply by socket (J2), (U16, U18) converts 12V to 5V and 3.3V by the voltage transitions chip, 12V converted to 12V and the 5V of isolation by power transfer module (U14) and voltage transitions chip (U15).
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| CN201310264401.3A CN103353731B (en) | 2013-06-28 | 2013-06-28 | Underworkings cable installation car self-adaptation lashed cable control system |
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| CN201310264401.3A CN103353731B (en) | 2013-06-28 | 2013-06-28 | Underworkings cable installation car self-adaptation lashed cable control system |
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| CN103353731B CN103353731B (en) | 2016-01-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105305326A (en) * | 2015-12-04 | 2016-02-03 | 国家电网公司 | Automatic laying apparatus for underground cable |
| CN110067754A (en) * | 2018-12-18 | 2019-07-30 | 中山铭科压缩机有限公司 | A kind of automatic control system of underground mine use screw air compressor |
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2013
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110067754A (en) * | 2018-12-18 | 2019-07-30 | 中山铭科压缩机有限公司 | A kind of automatic control system of underground mine use screw air compressor |
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