CN105422094B - A kind of direct drive type hydraulic transmission coal-winning machine cutting drum height-adjusting system and method - Google Patents
A kind of direct drive type hydraulic transmission coal-winning machine cutting drum height-adjusting system and method Download PDFInfo
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- CN105422094B CN105422094B CN201510783132.0A CN201510783132A CN105422094B CN 105422094 B CN105422094 B CN 105422094B CN 201510783132 A CN201510783132 A CN 201510783132A CN 105422094 B CN105422094 B CN 105422094B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 15
- 230000007423 decrease Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 9
- 239000003245 coal Substances 0.000 description 10
- 238000009412 basement excavation Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000010729 system oil Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of direct drive type hydraulic to be driven coal-winning machine cutting drum height-adjusting system, including the frequency-converting control device being sequentially connected（4）, servomotor（1）, hydraulic pump（2）, hydraulic motor（3）；Described hydraulic motor（3）Output shaft be hinged with rocking arm（5）, rocking arm（5）Top be provided with roller（6）；In the rocking arm（5）On be additionally provided with detection rocking arm（5）Steering, the detection means of rotating speed and dtc signal（7）, the detection means（7）The actual value of detection is sent to frequency-converting control device（4）Preset value be compared, feedback control；Also disclose simultaneously and a kind of heighten method using the system；Present invention hair uses variable frequency hydraulic system, and motor can be directly realized by height-regulating mechanism speed change, deflecting, the function of becoming torque, greatly simplify system hydraulic circuit structure while hydraulic pump is driven；Restriction loss present in hydraulic circuit is eliminated simultaneously, there is obvious energy-saving effect.
Description
Technical field
The present invention relates to a kind of coal-winning machine cutting drum height-adjusting system, specifically a kind of direct drive type hydraulic transmission coal-winning machine is cut
Roller shear system and method is cut, belongs to mine coal cutter technical field.
Background technology
As the fast development of technology and the raising to safety of coal mines importance, down-hole coal excavation working face are real
Now lack people or Manless mining turns into inexorable trend, and its necessary condition is to realize down-hole coal excavation equipment mechanization and automation.
Coal-winning machine is equipped as main coal breakage, and it automatically controls the main intelligence tune including inverter-fed traction and cutting drum
It is high.Wherein, cutting drum automatic adjustment height refers to when shearer haulage moves, and front and rear roller is needed along working face coal-rock interface
Highly automated adjustment, avoid cutting top plate and bottom plate, to obtain maximum recovery ratio.
Meanwhile during coal-winning machine progress cut work, because its cut object is typically coal or the field trash such as coal and rock
Mixture, the change of cut medium will cause roller load to be undergone mutation.Therefore, coal-winning machine in the course of the work, it is necessary to
It is upper and lower in the altitude range of coal seam to adjust roller height to adapt to the change in coal seam, to reach optimal by Roller shear mechanism
Coal cutting effect.
Generally, by Roller shear mechanism valve control hydraulic system, its speed change, deflecting and become torque be by flow control valve,
The high-power dissipative cell such as directional control valve and pressure-control valve realizes control, and system hydraulic circuit structure is complex, liquid
Push back and serious restriction loss in road be present.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of direct drive type hydraulic transmission coal-winning machine cutting drum
Height-adjusting system and method, restriction loss present in hydraulic circuit can be eliminated, simplify system hydraulic circuit structure, and then realized
Obvious energy-saving effect.
To achieve these goals, the technical solution adopted by the present invention is：A kind of direct drive type hydraulic is driven coal-winning machine cut
Roller shear system, it includes：
Frequency-converting control device, servomotor, hydraulic pump, the hydraulic motor being sequentially connected；
The output shaft of described hydraulic motor is hinged with rocking arm, and the top of rocking arm is provided with roller；
The detection means of the steering for detecting rocking arm, rotating speed and dtc signal, the detection dress are additionally provided with the rocking arm
Put by examine by the actual value of detection be sent to frequency-converting control device preset value be compared, feedback control.
The main safety valve for setting up system working pressure is additionally provided with loop between hydraulic pump, hydraulic motor.
Described hydraulic motor is provided with the safety valve for system oil return.
The invention also discloses a kind of direct drive type hydraulic transmission coal-winning machine cutting drum to heighten method, including following controls
Journey：
1) course changing control of rocking arm：
Preset by steering of the frequency-converting control device to rocking arm, control signal is sent by frequency-converting control device, changed
Become the direction of rotation of servomotor, and then change the direction of rotation of hydraulic pump, realize the course changing control of rocking arm；
2) the rotating speed control of rocking arm：
Speed setting preset value by frequency-converting control device to rocking arm, when load change is big, pass through frequency-converting control device
Control signal is sent, raises the rotating speed of servomotor, and then raises the rotating speed of hydraulic pump；When loading decline, pass through
Frequency-converting control device sends control signal, makes the rotating speed of servomotor reduce, and then reduces the rotating speed of hydraulic pump, and realization is shaken
The rotating speed control of arm；
3) direct torque of rocking arm：
Torque settings preset value by frequency-converting control device to rocking arm, when system pressure raises, pass through VFC
Device sends control signal, makes the rotating speed of servomotor reduce, and then reduces the rotating speed of hydraulic pump；When system pressure reduces
When, control signal is sent by frequency-converting control device, raises the rotating speed of servomotor, and then makes the rotating speed liter of hydraulic pump
Height, realize the direct torque of rocking arm；
4) preset value is designed compared with actual value, feedback control：
Detect the actual value of the steering of rocking arm, rotating speed and torque rotary speed by detection means, and by the steering of rocking arm, rotating speed
Frequency-converting control device is transported to the actual value of torque rotary speed, and compared with frequency-converting control device preset value, feedback control.
Compared with existing high-power dissipative cell control system：Converter technique is combined by the present invention with hydraulic system,
Make full use of two particular advantages of big power output/torque of the convenience of Serve Motor Control, flexibility and hydraulic system, composition
Variable frequency hydraulic system, servomotor can be directly realized by height-regulating mechanism speed change, deflecting, become torque while hydraulic pump is driven
Function, greatly simplify system hydraulic circuit structure；
Meanwhile flow control valve, directional control valve and pressure-control valve three are not used in main loop and is consumed energy greatly
Control element, restriction loss present in hydraulic circuit is eliminated, in addition, the motor operation when height-regulating mechanism needs work,
When height-regulating mechanism is stopped, motor shuts down, without the loss of dry run, and the two features can realize obvious energy-conservation effect
Fruit.
Brief description of the drawings
The direct drive type hydraulic that Fig. 1 is the present invention is driven coal-winning machine cutting drum height-adjusting system schematic diagram.
In figure：1st, servomotor；2nd, hydraulic pump；3rd, hydraulic motor；4th, frequency-converting control device；5th, rocking arm；6th, roller；7、
Detection means；8th, fuel tank；9th, filter；10th, main safety valve；11st, safety valve.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention is driven coal-winning machine cutting drum height-adjusting system for a kind of direct drive type hydraulic, it includes：
Frequency-converting control device 4, servomotor 1, hydraulic pump 2, the hydraulic motor 3 being sequentially connected；
The output shaft of described hydraulic motor 3 is hinged with Rocker arm 5, and the top of Rocker arm 5 is provided with roller 6；
The detection means 7 of the steering for detecting Rocker arm 5, rotating speed and dtc signal, the detection are additionally provided with the Rocker arm 5
The preset value that the actual value of detection is sent to frequency-converting control device 4 is compared by device 7, feedback control.
Wherein, the main peace for setting up system working pressure is additionally provided with the loop between the hydraulic pump 2, hydraulic motor 3
Full valve 10, described hydraulic motor 3 are provided with the safety valve 11 for system oil return.
During work：Control signal is sent by frequency-converting control device 4, control servomotor 1 rotates, and drives hydraulic pump 2
By the oil suction from fuel tank 8 of filter 9, so as to drive hydraulic motor 3 to rotate, output shaft and the Rocker arm 5 of hydraulic motor 3 are hinged, from
And Rocker arm 5 is driven to make roller 6 complete to heighten operation；
Because servomotor 1 and hydraulic pump 2 are joined directly together, the i.e. controllable hydraulic pump 2 of steering of control servomotor 1
Steering, also just further control hydraulic motor 3 and Rocker arm 5 steering；The rotating speed of hydraulic pump 2 and hydraulic motor 3 has with flow
Close, by controlling the control of the i.e. achievable Rocker arm 5 rotating speed of the flow of hydraulic pump 2 and hydraulic motor 3, by the control of rotating speed also
The control of Rocker arm 5 torque can be achieved；
Wherein, the operating pressure of main system can be set up by main safety valve 10, and the fluid in loop can be through the oil return of safety valve 11
Case 8.
Meanwhile it is driven what coal-winning machine cutting drum height-adjusting system was carried out using direct drive type hydraulic the invention also discloses a kind of
Method is heightened, specifically includes procedure below：
1) course changing control of Rocker arm 5：
Preset by steering of the frequency-converting control device 4 to Rocker arm 5, control signal sent by frequency-converting control device 4,
Change the direction of rotation of servomotor 1, and then change the direction of rotation of hydraulic pump 2, realize the course changing control of Rocker arm 5；
2) the rotating speed control of Rocker arm 5：
Speed setting preset value by frequency-converting control device 4 to Rocker arm 5, the output flow Q of hydraulic pump 2pFor：
Qp=qpnp-klppp
Wherein, qpFor the discharge capacity of hydraulic pump 2；npFor the rotating speed of hydraulic pump 2；klpppFor the leakage rate of hydraulic pump 2；ppTo be
System pressure；
When load change is big, system pressure ppRise, leakage rate klpppNecessarily increase, in order to ensure output flow QpIt is constant,
Then qpnpIt must raise, i.e. the rotating speed n of hydraulic pump 2p(the discharge capacity q of constant displacement pump must be raisedpFor constant), now pass through frequency conversion control
Device 4 processed sends control signal, raises the rotating speed of servomotor 1, and then raises the rotating speed of hydraulic pump 2；
Similarly, when loading decline, system pressure ppReduce, leakage rate klpppReduce, in order to ensure output flow QpIt is permanent
Determine, then qpnpIt must decline, i.e. the rotating speed n of hydraulic pump 2p(the discharge capacity q of constant displacement pump must be declinedpFor constant), pass through VFC
Device 4 sends control signal, makes the rotating speed of servomotor 1 reduce, and then reduces the rotating speed of hydraulic pump 2, so as to realize
The rotating speed control of Rocker arm 5；
3) direct torque of Rocker arm 5：
Torque settings preset value by frequency-converting control device 4 to Rocker arm 5, the power output P of hydraulic pump 2 are：
P=qpnppp-klppp 2
Due to klppp 2Relative to qpnpppIt is smaller, as system pressure ppDuring rise, in order to ensure that power output P is constant, hydraulic pressure
The rotating speed n of pump 2pIt must decline, control signal is sent by frequency-converting control device 4, make the rotating speed of servomotor 1 reduce, from
And reduce the rotating speed of hydraulic pump 2；Similarly, as system pressure ppDuring reduction, in order to ensure that power output P is constant, hydraulic pump 2
Rotating speed npIt must raise, control signal is sent by frequency-converting control device 4, raise the rotating speed of servomotor 1, so that liquid
The rotating speed rise of press pump 2, so as to which the direct torque of Rocker arm 5 can be realized；
4) preset value is designed compared with actual value, feedback control：
Detect the actual value of the steering of Rocker arm 5, rotating speed and torque rotary speed by detection means 7, and by the steering of Rocker arm 5,
The actual value of rotating speed and torque rotary speed is transported to frequency-converting control device 4, and compared with preset value, feedback control.
In summary：Converter technique is combined by the present invention with hydraulic system, the convenience for making full use of servomotor 1 to control
Property, two particular advantages of big power output/torque of flexibility and hydraulic system, form variable frequency hydraulic system, servomotor 1 is driving
While hydrodynamic press pump, height-regulating mechanism speed change, deflecting, the function of becoming torque can be directly realized by, greatly simplifies system hydraulic circuit
Structure；
Meanwhile flow control valve, directional control valve and pressure-control valve three are not used in main loop and is consumed energy greatly
Control element, restriction loss present in hydraulic circuit is eliminated, in addition, the motor operation when height-regulating mechanism needs work,
When height-regulating mechanism is stopped, motor shuts down, without the loss of dry run, and the two features can realize obvious energy-conservation effect
Fruit.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Described above, only presently preferred embodiments of the present invention is not intended to limit the invention, every skill according to the present invention
Any trickle amendment, equivalent substitution and the improvement that art is substantially made to above example, should be included in technical solution of the present invention
Protection domain within.
Claims (1)
1. a kind of direct drive type hydraulic transmission coal-winning machine cutting drum heightens method, the height-adjusting system that this method is used includes：
Frequency-converting control device (4), servomotor (1), hydraulic pump (2), the hydraulic motor (3) being sequentially connected；Described hydraulic pressure
The output shaft of motor (3) is hinged with rocking arm (5), and the top of rocking arm (5) is provided with roller (6)；Inspection is additionally provided with the rocking arm (5)
Steering, the detection means (7) of rotating speed and dtc signal of rocking arm (5) are surveyed, the detection means (7) transmits the actual value of detection
To frequency-converting control device (4), and compared with preset value, feedback control；
It is characterised in that it includes following control process：
1) course changing control of rocking arm (5)：
Preset by steering of the frequency-converting control device (4) to rocking arm (5), control letter is sent by frequency-converting control device (4)
Number, change the direction of rotation of servomotor (1), and then change the direction of rotation of hydraulic pump (2), realize the steering of rocking arm (5)
Control；
2) the rotating speed control of rocking arm (5)：
Speed setting preset value by frequency-converting control device (4) to rocking arm (5), when load change is big, filled by VFC
Put (4) and send control signal, raise the rotating speed of servomotor (1), and then raise the rotating speed of hydraulic pump (2)；Work as load
During decline, control signal is sent by frequency-converting control device (4), makes the rotating speed of servomotor (1) reduce, and then makes hydraulic pump
(2) rotating speed reduces, and realizes the rotating speed control of rocking arm (5)；
3) direct torque of rocking arm (5)：
Torque settings preset value by frequency-converting control device (4) to rocking arm (5), when system pressure raises, pass through frequency conversion control
Device (4) processed sends control signal, makes the rotating speed of servomotor (1) reduce, and then reduces the rotating speed of hydraulic pump (2)；When
When system pressure reduces, control signal is sent by frequency-converting control device (4), raises the rotating speed of servomotor (1), and then
The rotating speed of hydraulic pump (2) is raised, realizes the direct torque of rocking arm (5)；
4) preset value is designed compared with actual value, feedback control：
Detect the actual value of steering, rotating speed and the torque of rocking arm (5) by detection means (7), and by the steering of rocking arm (5), turn
Speed and the actual value of torque are transported to frequency-converting control device (4), and compared with preset value, feedback control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510783132.0A CN105422094B (en) | 2015-11-16 | 2015-11-16 | A kind of direct drive type hydraulic transmission coal-winning machine cutting drum height-adjusting system and method |
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| CN201510783132.0A CN105422094B (en) | 2015-11-16 | 2015-11-16 | A kind of direct drive type hydraulic transmission coal-winning machine cutting drum height-adjusting system and method |
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| CN105422094A CN105422094A (en) | 2016-03-23 |
| CN105422094B true CN105422094B (en) | 2017-12-19 |
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| CN108890404A (en) * | 2018-08-06 | 2018-11-27 | 安徽工程大学 | A kind of submissive grinding and polishing operating system and its operational method |
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|---|---|---|---|---|
| PL189722B1 (en) * | 1998-09-14 | 2005-09-30 | Zabrzanskie Zaklady Mechaniczn | Longwall mechanical coal miner arm swinging system |
| CN101201069A (en) * | 2007-12-18 | 2008-06-18 | 浙江大学 | Variable frequency pump-control-motor closed circuit based on energy regulation |
| CN201363332Y (en) * | 2009-03-05 | 2009-12-16 | 中国矿业大学 | Large inertia variable frequency volume bypass throttling speed governing system |
| CN101887273A (en) * | 2010-04-20 | 2010-11-17 | 中国矿业大学 | Automatic height-adjusting test device of coal mining machine roller and control method |
| CN102108862A (en) * | 2010-12-30 | 2011-06-29 | 三一重型装备有限公司 | Coal mining equipment and roller electrical speed regulating system |
| CN103982181A (en) * | 2014-05-27 | 2014-08-13 | 重庆大学 | High-reliability electromechanical-hydraulic short-range cutting transmission system of coal mining machine and control method |
-
2015
- 2015-11-16 CN CN201510783132.0A patent/CN105422094B/en active Active
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|---|---|---|---|---|
| PL189722B1 (en) * | 1998-09-14 | 2005-09-30 | Zabrzanskie Zaklady Mechaniczn | Longwall mechanical coal miner arm swinging system |
| CN101201069A (en) * | 2007-12-18 | 2008-06-18 | 浙江大学 | Variable frequency pump-control-motor closed circuit based on energy regulation |
| CN201363332Y (en) * | 2009-03-05 | 2009-12-16 | 中国矿业大学 | Large inertia variable frequency volume bypass throttling speed governing system |
| CN101887273A (en) * | 2010-04-20 | 2010-11-17 | 中国矿业大学 | Automatic height-adjusting test device of coal mining machine roller and control method |
| CN102108862A (en) * | 2010-12-30 | 2011-06-29 | 三一重型装备有限公司 | Coal mining equipment and roller electrical speed regulating system |
| CN103982181A (en) * | 2014-05-27 | 2014-08-13 | 重庆大学 | High-reliability electromechanical-hydraulic short-range cutting transmission system of coal mining machine and control method |
Non-Patent Citations (1)
| Title |
|---|
| 采煤机调高液压***等效负载分析;苏秀平等;《液压与气动》;20131231;第69-71页 * |
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