CN108252713A - Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter - Google Patents
Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter Download PDFInfo
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- CN108252713A CN108252713A CN201810272283.3A CN201810272283A CN108252713A CN 108252713 A CN108252713 A CN 108252713A CN 201810272283 A CN201810272283 A CN 201810272283A CN 108252713 A CN108252713 A CN 108252713A
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
The invention discloses the multistage speed of service regulating devices and method under a kind of automatic cutting mode of coalcutter, the device includes coalcutter control module and hand-held adjustment module, hand-held adjustment module includes hand held controller, speed input button, liquid crystal display, alarm module and the first indicator light, the coalcutter control module includes coal mining machine controller, the second radio receiving transmitting module and memory and velocity measuring module, direction of travel detection module, position detecting module, threshold speed input key-press module, coalcutter movable motor and the second indicator light；This method includes the following steps：First, the detection of coalcutter current location；2nd, the judgement of coalcutter current location and the adjusting of the coalcutter speed of service；3rd, the real-time detection and transmission of the speed of service of coalcutter.Reasonable design of the present invention makes the speed of service of the coalcutter under automatic cutting mode adjustable, realizes the optimal velocity control of automation coal cutting, highly practical.
Description
Technical field
The invention belongs to the long-range speed adjustment techniques field of coalcutter, more particularly, to a kind of automatic cutting mode of coalcutter
Under multistage speed of service regulating device and method.
Background technology
At present, domestic and international coalcutter technology is maked rapid progress, and automation, intelligence, unmanned fully-mechanized mining working are no longer dreams
Think, gradually idea comes true.Due to continuous improvement of the client to coalcutter functional requirement, industry competition more swashs
Strong, each Corporation R ＆ D personnel rack one's brains innovative design, coalcutter technology are caused quickly to improve, function is continuously increased, and performance is got over
Hair is stablized, but there are still technology blind areas.Coalcutter can realize automation coal cutting at this stage, but in automatic cutting mode
Under, the coalcutter speed of service immobilizes according to parameter setting, can not be according to coal work in automatic cutting mode operational process
Face real-time conditions change the coalcutter speed of service, unless human intervention is carried out, but automatic coal cutting pattern of just not reruning so, into
For manual control coal cutting.In order to realize that the speed of service under the automatic cutting mode of coalcutter is adjusted, make coalcutter in automatic cutting
The speed of service of coalcutter can be quickly adjusted under pattern according to different coal working face conditions, realizes that the automatic cutting of coalcutter can
Speed governing just seems necessary.Therefore, nowadays lack the multistage fortune under a kind of automatic cutting mode of the coalcutter of reasonable design
Row speed adjusting device and method make coalcutter that can be completed under automatic cutting mode according to different coal working face conditions more
The section speed of service is adjusted, and is realized the optimal velocity control of automation coal cutting, is adjusted, improved by accurate, quick, reliable speed
Coalcutter automatic coal cutting efficiency, enhances the safety of coalcutter automatic running, and coal mine is made to reach volume increase and proposes effect, safety in production
Purpose.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of coalcutter certainly
Multistage speed of service regulating device under dynamic cutting mode, reasonable design and at low cost can be according to coalcutter real time execution work
Skill gives the suitable speed of service so that and it is adjustable in the speed of service of the coalcutter under automatic cutting mode, realize that automation is cut
The optimal velocity control of coal, makes the automatic cutting of coalcutter more stablize, is reliable, efficiently, effectively improving the automatic cutting of coalcutter
Efficiency improves automatic running state, reduces the human intervention in automatic cutting course, highly practical.
In order to solve the above technical problems, the technical solution adopted by the present invention is：Under a kind of automatic cutting mode of coalcutter
Multistage speed of service regulating device, it is characterised in that：It is adopted including the coalcutter control module being arranged on coalcutter and to described
The hand-held adjustment module that the speed of service of coal machine is adjusted, the hand-held adjustment module include hand held controller and with
The first radio receiving transmitting module that hand held controller connects, the input of the hand held controller is terminated with speed input button, described
The output terminal of hand held controller is provided with liquid crystal display, alarm module and the first indicator light, the coalcutter control module packet
The second radio receiving transmitting module and memory for including coal mining machine controller and connecting with coal mining machine controller, the coalcutter control
The input of device is terminated with velocity measuring module, direction of travel detection module and position detecting module and threshold speed input is pressed
Key module, the output of the coal mining machine controller are terminated with coalcutter movable motor and the second indicator light, the hand held controller
Data communication is carried out with coal mining machine controller by the first radio receiving transmitting module and the second radio receiving transmitting module.
Multistage speed of service regulating device under the automatic cutting mode of above-mentioned coalcutter, it is characterised in that：The speed
Threshold value input key-press module includes left operational threshold speed input button, right operational threshold speed input button and intermediate operation speed
Spend threshold value input button, the left operational threshold speed input button, right operational threshold speed input button and intermediate operation speed
Input terminal of the output terminal of degree threshold value input button with coal mining machine controller connects.
Multistage speed of service regulating device under the automatic cutting mode of above-mentioned coalcutter, it is characterised in that：It is described hand-held
Formula controller is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller；The coal mining machine controller is single
Piece machine, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller.
Multistage speed of service regulating device under the automatic cutting mode of above-mentioned coalcutter, it is characterised in that：Described first
Radio receiving transmitting module and the second radio receiving transmitting module are radio frequency transceiving module.
Meanwhile the invention also discloses a kind of method and step is simple, reasonable design and realizes that convenient coalcutter is cut automatically
Cut the method that the multistage speed of service under pattern is adjusted, which is characterized in that this method includes the following steps：
Step 1: the detection of coalcutter current location：It is carried out using the position detecting module position current to coalcutter real
When detect, and the current position of the coalcutter detected is sent to coal mining machine controller, direction of travel detection module is to mining
The direction of travel of machine is detected in real time, and the direction of travel of the coalcutter detected is sent to coal mining machine controller；
Step 2: the judgement of coalcutter current location and the adjusting of the coalcutter speed of service, detailed process are as follows：
Step 201, coal mining the machine controller position current to coalcutter judge, when the current position of coalcutter is located at
During the left end of coal working face, step 202 is performed；When the current position of coalcutter is located at the interlude of coal working face,
Perform step 203；When the current position of coalcutter is located at the right end of coal working face, step 204 is performed；Wherein, it is described
Coal working face is divided into left end, interlude and right end from left to right；
Step 202, coal mining machine controller judge coalcutter according to the direction of travel of the current position of coalcutter and coalcutter
Whether it is operated in left end beveling feed and cuts left end Triangle Coal, when coalcutter does not operate in left end beveling feed and cuts a left side
During the Triangle Coal of end, step 2021 is performed；Otherwise, step 2022 is performed；
Step 2021 does not operate in left end beveling feed and when cutting left end Triangle Coal when coalcutter, coalcutter control
Device transfers left speed of service V stored in memoryz, coal mining machine controller passes through coalcutter movable motor and controls coalcutter
The speed of service is left speed of service Vz, and coal mining machine controller control memory hand-held controller send it is defeated by speed
The left speed of service regulated value for entering key-press input does not preserve, so that coalcutter is according to left speed of service VzOperation；Wherein, the left side
Speed of service VzLess than preset left operational threshold speed stored in memory；
Step 2022 is operated in left end beveling feed and when cutting left end Triangle Coal when coalcutter, coal mining machine controller
It transfers left lateral stored in memory and walks acceleration figure Vzj, coal mining machine controller passes through coalcutter movable motor and controls coalcutter
The speed of service walks acceleration figure V for left lateralzj, and coal mining machine controller control memory hand-held controller send pass through speed
The left lateral of input key-press input is walked regulated value is accelerated not preserve, so that coalcutter walks acceleration figure V according to left lateralzjOperation；Wherein, institute
It states left lateral and walks acceleration figure VzjLess than preset left operational threshold speed stored in memory；
Step 203, when the current position of coalcutter is located at the interlude of coal working face, detailed process is as follows：
Step 2031, coal mining machine controller transfer intermediate operation initial velocity V stored in memory0, coalcutter control
It is V that device processed controls the speed of service of coalcutter by coalcutter movable motor0；
Step 2032, when need adjust coalcutter the speed of service when, coal mining machine controller passes through the second wireless receiving and dispatching mould
Block and the first radio receiving transmitting module send speed governing order, and hand held controller receives the speed governing order that coal mining machine controller is sent, work
Make personnel and regulated value V is walked by speed input key-press input center row1, hand held controller receives center row and walks regulated value V1And
Coal mining machine controller is sent to, and coal mining machine controller is to storage by the first radio receiving transmitting module and the second radio receiving transmitting module
The current intermediate operation initial velocity V of coalcutter in memory0Regulated value V is walked by center row1Update, then coalcutter control
Center row is walked regulated value V by device1In memory, coal mining machine controller transfers center row stored in memory and gets out of tune for storage
Section value V1, it is V that coal mining machine controller controls the speed of service of coalcutter by coalcutter movable motor1；Wherein, the interlude
Speed of service regulated value V1Less than preset intermediate operational threshold speed stored in memory；
Step 2033 repeats step 2032, and staff inputs the next center row of key-press input by speed and walks to adjust
Value V2, and coal mining machine controller is sent to, and the center row that coal mining machine controller is current to coalcutter stored in memory
Walk regulated value V1Regulated value V is walked by next center row2Next center row is walked regulated value V by update, then machine controller of mining2
In memory, coal mining machine controller transfers next center row stored in memory and walks regulated value V for storage2, coalcutter
It is V that controller controls the speed of service of coalcutter by coalcutter movable motor2；Wherein, next interlude operation speed
Spend regulated value V2Less than preset intermediate operational threshold speed stored in memory；
Step 2033 is repeated several times in step 2034, and staff inputs k-th of center row of key-press input by speed and gets out of tune
Section value Vk, and coal mining machine controller is sent to, and the kth -1 that coal mining machine controller is current to coalcutter stored in memory
A center row walks regulated value Vk-1Regulated value V is walked by k-th of center rowkUpdate, then machine controller of mining will walk among k-th
Regulated value VkIn memory, coal mining machine controller transfers k-th of center row stored in memory and walks regulated value V for storagek,
It is V that coal mining machine controller controls the speed of service of coalcutter by coalcutter movable motork, until interlude coal mining finishes；Its
In, k-th of center row walks regulated value VkRegulated value V is walked with described -1 center row of kthk-1It is respectively less than preset to deposit
The intermediate operational threshold speed of storage in memory；
Step 204, coal mining machine controller judge coalcutter according to the direction of travel of the current position of coalcutter and coalcutter
Whether it is operated in right end beveling feed and cuts right end Triangle Coal, when coalcutter does not operate in right end beveling feed and cuts the right side
During the Triangle Coal of end, step 2041 is performed；Otherwise, step 2042 is performed；
Step 2041 does not operate in right end beveling feed and when cutting right end Triangle Coal when coalcutter, coalcutter control
Device transfers right speed of service V stored in memoryy, coal mining machine controller passes through coalcutter movable motor and controls coalcutter
The speed of service is right speed of service Vy, and coal mining machine controller control memory hand-held controller send it is defeated by speed
The right speed of service regulated value for entering key-press input does not preserve, so that coalcutter is according to right speed of service VyOperation；Wherein, the right side
Speed of service VyLess than preset right operational threshold speed stored in memory；
Step 2042 is operated in right end beveling feed and when cutting right end Triangle Coal when coalcutter, coal mining machine controller
It transfers right lateral stored in memory and walks acceleration figure Vyj, coal mining machine controller passes through coalcutter movable motor and controls coalcutter
The speed of service walks acceleration figure V for right lateralyj, and coal mining machine controller control memory hand-held controller send pass through speed
The right lateral of input key-press input is walked regulated value is accelerated not preserve, so that coalcutter walks acceleration figure V according to right lateralyjOperation；Wherein, institute
State right speed of service VyLess than preset right operational threshold speed stored in memory；
Step 3: the real-time detection and transmission of the speed of service of coalcutter：Velocity measuring module is to the operation speed of coalcutter
Degree is detected in real time, and the speed of service of the coalcutter detected is sent to coal mining machine controller, and coal mining machine controller will
The speed of service for receiving coalcutter is sent to hand-held control by the second radio receiving transmitting module and the first radio receiving transmitting module
Device, hand-held controller control liquid crystal display show the speed of service of coalcutter so that coalcutter is located at left end and coal mining
When machine is operated in left end beveling feed and cuts left end Triangle Coal, the speed of service of coalcutter meets left lateral and walks acceleration figure Vzj,
When coalcutter is located at left end and coalcutter does not operate in left end beveling feed and cuts left end Triangle Coal, the operation of coalcutter
Speed meets left speed of service Vz, coalcutter is located at right end and coalcutter is operated in right end beveling feed and cuts right end three
During the coal of angle, the speed of service of coalcutter meets right lateral and walks acceleration figure Vyj, coalcutter is located at right end and coalcutter does not operate in the right side
End beveled feed and when cutting right end Triangle Coal, the speed of service of coalcutter meets right speed of service Vy, during coalcutter is located at
Between section when, the speed of service of coalcutter meets k-th of center row and walks regulated value Vk。
Above-mentioned method, it is characterised in that：The value model of left operational threshold speed described in step 2021 and step 2022
It encloses for 0.7m/min~23m/min；The value range of intermediate operational threshold speed described in step 203 is 0.7m/min~23m/
min；The value range of right operational threshold speed described in step 204 is 0.7m/min~23m/min.
Compared with the prior art, the present invention has the following advantages：
1st, used speed adjusting device is simple in structure, reasonable design, and can mining to coalcutter interlude, it is remote to carry out
Cheng Sudu is adjusted, and had both been achieved the purpose that the long-range speed of coalcutter interlude coal mining was adjusted, and had been met the automatic cutting mode of coalcutter
The change of lower interlude coal seam conditions and the adjusting of the speed of service to coalcutter, it is highly practical.
2nd, used speed adjusting device includes coalcutter control device and hand-held adjustment module, and using effect is good,
First, hand-held controller carries out remote adjustment to the speed of service of coal working face interlude, is because of coal working face
Interlude is longer, and the long-range speed that can mine at a distance to interlude is adjusted, and facilitates adjusting, and can meet each mining coal seam of interlude
It is different and change the speed of service in real time, so as to give the suitable speed of service according to the real-time coal seam conditions difference of coalcutter so that
It is adjustable in the speed of service of the coalcutter under automatic cutting mode, it realizes the optimal velocity control of automation coal cutting, makes coalcutter
Automatic cutting is more stablized, is reliable, efficiently, effectively improves the automatic cutting efficiency of coalcutter, improves automatic running state；
Second, when coalcutter is operated in left end and right end, hand-held controller cannot be to the operation speed of coalcutter
Degree is adjusted, and ensure that the coalcutter speed of service is run according to the preset speed of service, is realized and is worked in coalcutter
The interim control of position.
3rd, used hand-held adjustment module can carry out multistage speed adjusting, with to the greatest extent to the interlude of coal working face
Various coal seam coal mining conditions may greatly be met, improve coal mining efficiency.
4th, the multistage speed of service regulating step under the automatic cutting mode of used coalcutter is simple, realizes convenient and grasps
Make simplicity, not only ensure that coalcutter can remotely speed be adjusted, but also can repeatedly be adjusted in coalcutter interlude in coal mining interlude
Save the speed of service.
5th, the easy to operate and using effect of multistage speed of service adjusting under the automatic cutting mode of used coalcutter is good,
First to the detection of coalcutter current location, the control of coalcutter speed of service adjusting is judged according to coalcutter current location；So
Afterwards, it when coalcutter is operated in left end and right end, is not protected by the long-range speed regulated value that hand-held adjustment module inputs
Depositing in memory, makes the speed of service of coalcutter be run according to the speed set；When coalcutter is operated in interlude
Long-range speed adjusting is carried out to coalcutter by hand-held adjustment module, and long-range speed regulated value is made to preserve in memory,
The speed of service for making coalcutter is the updated speed of service, and then can repeatedly adjust the interlude speed of service, realizes coalcutter
The multistage speed of service under automatic cutting mode is adjusted, easy to adjust.
In conclusion reasonable design of the present invention and at low cost, can give suitable fortune according to coalcutter real time execution technique
Scanning frequency degree so that it is adjustable in the speed of service of the coalcutter under automatic cutting mode, realize the optimal velocity control of automation coal cutting
System makes the automatic cutting of coalcutter more stablize, is reliable, efficiently, effectively improving the automatic cutting efficiency of coalcutter, improves automatic fortune
Row state reduces the human intervention in automatic cutting course, highly practical.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Fig. 1 is the schematic block circuit diagram of the multistage speed of service regulating device under the automatic cutting mode of coalcutter of the present invention.
Fig. 2 is the flow diagram of the multistage speed of service adjusting method under the automatic cutting mode of coalcutter of the present invention.
Reference sign:
1-coal mining machine controller；2-memory；3-hand held controller；
4-alarm module；5-liquid crystal display；6-speed inputs button；
7-the first indicator light；8-the first radio receiving transmitting module；9-the second radio receiving transmitting module；
10-left operational threshold speed input button；11-right operational threshold speed input button；
12-centre operational threshold speed input button；13-direction of travel detection module；
14-position detecting module；15-the second indicator light；16-coalcutter movable motor；
17-velocity measuring module.
Specific embodiment
Multistage speed of service regulating device under the automatic cutting mode of a kind of coalcutter as shown in Figure 1, including being arranged on
Coalcutter control module on coalcutter and the hand-held adjustment module that the speed of service of the coalcutter is adjusted, it is described
Hand-held adjustment module includes hand held controller 3 and the first radio receiving transmitting module 8 to connect with hand held controller 3, the hand
The input for holding controller 3 is terminated with speed input button 6, the output terminal of the hand held controller 3 be provided with liquid crystal display 5,
4 and first indicator light 7 of alarm module, the coalcutter control module include coal mining machine controller 1 and with coal mining machine controller 1
The second radio receiving transmitting module 9 and memory 2 to connect, the input of the coal mining machine controller 1 be terminated with velocity measuring module 17,
Direction of travel detection module 13 and position detecting module 14 and threshold speed input key-press module, the coal mining machine controller 1
Output be terminated with 16 and second indicator light 15 of coalcutter movable motor, the hand held controller 3 passes through the first wireless receiving and dispatching mould
8 and second radio receiving transmitting module 9 of block and coal mining machine controller 1 are into row data communication.
In the present embodiment, the threshold speed input key-press module includes left operational threshold speed input button 10, right fortune
Row threshold speed inputs button 11 and intermediate operational threshold speed inputs button 12, the left operational threshold speed input button
10th, the output terminal of right operational threshold speed input button 11 and intermediate operational threshold speed input button 12 is controlled with coalcutter
The input terminal of device 1 connects.
In the present embodiment, button 10 is inputted by left operational threshold speed and pre-enters left operational threshold speed, and will be left
Operational threshold speed is stored in memory 2, and inputting button 11 by right operational threshold speed pre-enters operational threshold speed,
And operational threshold speed is stored in memory 2, inputting button 12 by intermediate operational threshold speed pre-enters intermediate fortune
Row threshold speed, and intermediate operational threshold speed is stored in memory 2.
In the present embodiment, the hand-held controller 3 is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM
Microcontroller；The coal mining machine controller 1 is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller.
In the present embodiment, 8 and second radio receiving transmitting module 9 of the first radio receiving transmitting module is radio transceiver mould
Block.
Multistage speed of service adjusting method under the automatic cutting mode of a kind of coalcutter as shown in Figure 2, this method include
Following steps：
Step 1: the detection of coalcutter current location：It is carried out using the position current to coalcutter of position detecting module 14
Detection in real time, and the current position of the coalcutter detected is sent to coal mining machine controller 1, direction of travel detection module 13 is right
The direction of travel of coalcutter is detected in real time, and the direction of travel of the coalcutter detected is sent to coal mining machine controller 1；
Step 2: the judgement of coalcutter current location and the adjusting of the coalcutter speed of service, detailed process are as follows：
Step 201, coal mining machine controller 1 position current to coalcutter judge, when the current position position of coalcutter
When the left end of coal working face, step 202 is performed；When the current position of coalcutter is located at the interlude of coal working face
When, perform step 203；When the current position of coalcutter is located at the right end of coal working face, step 204 is performed；Wherein, institute
It states coal working face and is divided into left end, interlude and right end from left to right；
Step 202, coal mining machine controller 1 judge coalcutter according to the direction of travel of the current position of coalcutter and coalcutter
Whether it is operated in left end beveling feed and cuts left end Triangle Coal, when coalcutter does not operate in left end beveling feed and cuts a left side
During the Triangle Coal of end, step 2021 is performed；Otherwise, step 2022 is performed；
Step 2021 does not operate in left end beveling feed and when cutting left end Triangle Coal when coalcutter, coalcutter control
Device 1 transfers the left speed of service V being stored in memory 2z, coal mining machine controller 1 by coalcutter movable motor 16 control adopt
The speed of service of coal machine is left speed of service Vz, and 1 control memory of coal mining machine controller 2 hand-held controller 3 is sent
The left speed of service regulated value that the input of button 6 is inputted by speed does not preserve, so that coalcutter is according to left speed of service VzOperation；
Wherein, the left speed of service VzLess than the preset left operational threshold speed being stored in memory 2；
Step 2022 is operated in left end beveling feed and when cutting left end Triangle Coal when coalcutter, coal mining machine controller 1
It transfers the left lateral being stored in memory 2 and walks acceleration figure Vzj, coal mining machine controller 1 pass through coalcutter movable motor 16 control mine
The speed of service of machine walks acceleration figure V for left lateralzj, and 1 control memory of coal mining machine controller 2 hand-held controller 3 is sent
The left lateral that the input of button 6 is inputted by speed walks to accelerate regulated value not preserve, so that coalcutter walks acceleration figure V according to left lateralzjFortune
Row；Wherein, the left lateral walks acceleration figure VzjLess than the preset left operational threshold speed being stored in memory 2；
Step 203, when the current position of coalcutter is located at the interlude of coal working face, detailed process is as follows：
Step 2031, coal mining machine controller 1 transfer the intermediate operation initial velocity V being stored in memory 20, coalcutter
It is V that controller 1 controls the speed of service of coalcutter by coalcutter movable motor 160；
Step 2032, when need adjust coalcutter the speed of service when, coal mining machine controller 1 passes through the second wireless receiving and dispatching mould
9 and first radio receiving transmitting module 8 of block sends speed governing order, and hand held controller 3 receives the speed governing life that coal mining machine controller 1 is sent
It enables, hand held controller 3 controls the first indicator light 7 bright, and staff inputs the input center row of button 6 by speed and walks regulated value
V1, hand held controller 3 receives center row and walks regulated value V1And pass through the first radio receiving transmitting module 8 and the second radio receiving transmitting module 9
It is sent to coal mining machine controller 1, and the intermediate operation current to the coalcutter being stored in memory 2 of coal mining machine controller 1 is just
Beginning speed V0Regulated value V is walked by center row1Center row is walked regulated value V by update, then machine controller 1 of mining1It is stored in memory 2
In, coal mining machine controller 1 controls 15 liang of the second indicator light, and coal mining machine controller 1 transfers the intermediate walking being stored in memory 2
Regulated value V1, it is V that coal mining machine controller 1 controls the speed of service of coalcutter by coalcutter movable motor 161；Wherein, in described
Between section speed of service regulated value V1Less than the preset intermediate operational threshold speed being stored in memory 2；
Step 2033 repeats step 2032, and staff inputs next center row by speed input button 6 and walks to adjust
Value V2, and coal mining machine controller 1 is sent to, and the centre that coal mining machine controller 1 is current to the coalcutter being stored in memory 2
Walk regulated value V1Regulated value V is walked by next center row2Next center row is walked regulated value by update, then machine controller 1 of mining
V2It is stored in memory 2, coal mining machine controller 1 transfers the next center row being stored in memory 2 and walks regulated value V2, adopt
It is V that coal machine controller 1 controls the speed of service of coalcutter by coalcutter movable motor 162；Wherein, next interlude
Speed of service regulated value V2Less than the preset intermediate operational threshold speed being stored in memory 2；
Step 2033 is repeated several times in step 2034, and staff inputs button 6 by speed and inputs walking among k-th
Regulated value Vk, and coal mining machine controller 1 is sent to, and coal mining machine controller 1 is to the coalcutter being stored in memory 2 current
- 1 center row of kth walks regulated value Vk-1Regulated value V is walked by k-th of center rowkUpdate, then machine controller 1 of mining will be in k-th
Between walking regulated value VkIt is stored in memory 2, coal mining machine controller 1 is transferred and walked among k-th be stored in memory 2
Regulated value Vk, it is V that coal mining machine controller 1 controls the speed of service of coalcutter by coalcutter movable motor 16k, until interlude
Coal mining finishes；Wherein, k-th of center row walks regulated value VkRegulated value V is walked with described -1 center row of kthk-1It is respectively less than pre-
The intermediate operational threshold speed being stored in memory 2 first set；
In the present embodiment, the preset intermediate operational threshold speed being stored in memory 2 is by passing through
Two radio receiving transmitting modules 9 and the first radio receiving transmitting module 8 are sent to hand held controller 3.
In the present embodiment, alarm module 4 is set, is for k-th in staff by the speed input input of button 6
Center row walks regulated value VkDuring more than preset intermediate operational threshold speed, hand held controller 3 controls alarm module 4 to report
It is alert to remind, improve the safety of coalcutter work.
Step 204, coal mining machine controller 1 judge coalcutter according to the direction of travel of the current position of coalcutter and coalcutter
Whether it is operated in right end beveling feed and cuts right end Triangle Coal, when coalcutter does not operate in right end beveling feed and cuts the right side
During the Triangle Coal of end, step 2041 is performed；Otherwise, step 2042 is performed；
Step 2041 does not operate in right end beveling feed and when cutting right end Triangle Coal when coalcutter, coalcutter control
Device 1 transfers the right speed of service V being stored in memory 2y, coal mining machine controller 1 by coalcutter movable motor 16 control adopt
The speed of service of coal machine is right speed of service Vy, and 1 control memory of coal mining machine controller 2 hand-held controller 3 is sent
The right speed of service regulated value that the input of button 6 is inputted by speed does not preserve, so that coalcutter is according to right speed of service VyOperation；
Wherein, the right speed of service VyLess than the preset right operational threshold speed being stored in memory 2；
Step 2042 is operated in right end beveling feed and when cutting right end Triangle Coal when coalcutter, coal mining machine controller 1
It transfers the right lateral being stored in memory 2 and walks acceleration figure Vyj, coal mining machine controller 1 pass through coalcutter movable motor 16 control mine
The speed of service of machine walks acceleration figure V for right lateralyj, and 1 control memory of coal mining machine controller 2 hand-held controller 3 is sent
The right lateral that the input of button 6 is inputted by speed walks to accelerate regulated value not preserve, so that coalcutter walks acceleration figure V according to right lateralyjFortune
Row；Wherein, the right speed of service VyLess than the preset right operational threshold speed being stored in memory 2；
Step 3: the real-time detection and transmission of the speed of service of coalcutter：Operation of the velocity measuring module 17 to coalcutter
Speed is detected in real time, and the speed of service of the coalcutter detected is sent to coal mining machine controller 1, coal mining machine controller
The speed of service for receiving coalcutter is sent to hand-held by 1 by the second radio receiving transmitting module 9 and the first radio receiving transmitting module 8
Controller 3, hand-held controller 3 control the speed of service of the display coalcutter of liquid crystal display 5 so that coalcutter is located at left end
And coalcutter is operated in left end beveling feed and when cutting left end Triangle Coal, the speed of service of coalcutter meets left lateral and walks acceleration
Value Vzj, when coalcutter is located at left end and coalcutter does not operate in left end beveling feed and cuts left end Triangle Coal, coalcutter
The speed of service meet left speed of service Vz, coalcutter is located at right end and coalcutter is operated in right end beveling feed and cuts the right side
During the Triangle Coal of end, the speed of service of coalcutter meets right lateral and walks acceleration figure Vyj, coalcutter is located at right end and the non-work of coalcutter
Make when right end chamfers feed and cuts right end Triangle Coal, the speed of service of coalcutter meets right speed of service Vy, coalcutter
During positioned at interlude, the speed of service of coalcutter meets k-th of center row and walks regulated value Vk。
In the present embodiment, the value range of left operational threshold speed described in step 2021 and step 2022 is 0.7m/min
The value range of intermediate operational threshold speed described in~23m/min steps 203 is 0.7m/min~23m/min；In step 204
The value range of the right operational threshold speed is 0.7m/min~23m/min.
In the present embodiment, kth -1 center row current to the coalcutter being stored in memory 2 of coal mining machine controller 1
Walk regulated value Vk-1Regulated value V is walked by k-th of center rowkK-th of center row is walked regulated value V by update, then machine controller 1 of miningk
It is stored in memory 2, coal mining machine controller 1 transfers k-th of center row being stored in memory 2 and walks regulated value Vk, mine
It is V that machine controller 1 controls the speed of service of coalcutter by coalcutter movable motor 16k, so that coalcutter is being cut automatically
The adjusting of the interlude speed of service under pattern is cut, is because existing automation coalcutter is using coalcutter master controller PLC
Realize the automatic cutting of coalcutter, in the automatic cutting course of coalcutter, the coalcutter speed of service is given in advance by parameter setting module
Fixed, the speed of service of coalcutter will not change the coalcutter speed of service in real time according to working face of coal seam section coal seam conditions, unless into
Row human intervention changes the coalcutter speed of service, but coalcutter can be caused to exit automatic cutting operational mode in this way, when artificial
After governing speed is complete, coalcutter restarts automatic cutting operational mode, and coal shearer speed can revert to parameter setting module again
Previously given speed will not keep the velocity amplitude of manual adjustment.
The above is only presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and the equivalent structure that technical spirit makees above example change, and still fall within skill of the present invention
In the protection domain of art scheme.
Claims (6)
1. a kind of multistage speed of service regulating device under automatic cutting mode of coalcutter, it is characterised in that：It is adopted including being arranged on
Coalcutter control module on coal machine and the hand-held adjustment module that the speed of service of the coalcutter is adjusted, the hand
It holds formula adjustment module and includes hand held controller (3) and the first radio receiving transmitting module (8) to connect with hand held controller (3), institute
The input for stating hand held controller (3) is terminated with speed input button (6), and the output terminal of the hand held controller (3) is provided with liquid
Crystal display screen (5), alarm module (4) and the first indicator light (7), the coalcutter control module include coal mining machine controller (1)
And the second radio receiving transmitting module (9) and memory (2) to connect with coal mining machine controller (1), the coal mining machine controller (1)
Input be terminated with velocity measuring module (17), direction of travel detection module (13) and position detecting module (14) and speed
Threshold value inputs key-press module, and the output of the coal mining machine controller (1) is terminated with coalcutter movable motor (16) and the second instruction
Lamp (15), the hand held controller (3) pass through the first radio receiving transmitting module (8) and the second radio receiving transmitting module (9) and coalcutter
Controller (1) is into row data communication.
2. the multistage speed of service regulating device under the automatic cutting mode of coalcutter described in accordance with the claim 1, feature exist
In：The threshold speed input key-press module includes left operational threshold speed input button (10), the input of right operational threshold speed
Button (11) and intermediate operational threshold speed input button (12), the left operational threshold speed input button (10), right operation
Threshold speed input button (11) and intermediate operational threshold speed input the output terminal of button (12) with coal mining machine controller (1)
Input terminal connect.
3. according to the multistage speed of service regulating device under the automatic cutting mode of coalcutter described in claims 1 or 2, feature
It is：The hand-held controller (3) is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller；It is described
Coal mining machine controller (1) is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller.
4. according to the multistage speed of service regulating device under the automatic cutting mode of coalcutter described in claims 1 or 2, feature
It is：First radio receiving transmitting module (8) and the second radio receiving transmitting module (9) are radio frequency transceiving module.
5. a kind of multistage speed of service using device as described in claim 1 to coalcutter under automatic cutting mode is adjusted
The method of section, which is characterized in that this method includes the following steps：
Step 1: the detection of coalcutter current location：In the automatic cutting mode course of work of coalcutter, using position detection mould
Block (14) position current to coalcutter is detected in real time, and the current position of the coalcutter detected is sent to coalcutter
Controller (1), direction of travel detection module (13) detects the direction of travel of coalcutter in real time, and the coal mining that will be detected
The direction of travel of machine is sent to coal mining machine controller (1)；
Step 2: the judgement of coalcutter current location and the adjusting of the coalcutter speed of service, detailed process are as follows：
Step 201, coal mining machine controller (1) position current to coalcutter judge, when the current position of coalcutter is located at
During the left end of coal working face, step 202 is performed；When the current position of coalcutter is located at the interlude of coal working face,
Perform step 203；When the current position of coalcutter is located at the right end of coal working face, step 204 is performed；Wherein, it is described
Coal working face is divided into left end, interlude and right end from left to right；
Step 202, coal mining machine controller (1) judge that coalcutter is according to the direction of travel of the current position of coalcutter and coalcutter
It is no to be operated in left end beveling feed and cut left end Triangle Coal, when coalcutter does not operate in left end beveling feed and cuts left end
During head Triangle Coal, step 2021 is performed；Otherwise, step 2022 is performed；
Step 2021 does not operate in left end beveling feed and when cutting left end Triangle Coal when coalcutter, coal mining machine controller (1)
Transfer the left speed of service V being stored in memory (2)z, coal mining machine controller (1) pass through coalcutter movable motor (16) control
The speed of service of coalcutter is left speed of service Vz, and coal mining machine controller (1) control memory (2) hand-held controller (3)
The left speed of service regulated value that button (6) input is inputted by speed sent does not preserve, so that coalcutter is according to left operation
Speed VzOperation；Wherein, the left speed of service VzLess than the preset left speed of service threshold being stored in memory (2)
Value；
Step 2022, when coalcutter is operated in left end beveling feed and when cutting left end Triangle Coal, coal mining machine controller (1) is adjusted
The left lateral being stored in memory (2) is taken to walk acceleration figure Vzj, coal mining machine controller (1) pass through coalcutter movable motor (16) control
The speed of service of coalcutter walks acceleration figure V for left lateralzj, and coal mining machine controller (1) control memory (2) hand-held controller
(3) left lateral that button (6) input is inputted by speed sent walks to accelerate regulated value not preserve, so that coalcutter is according to left lateral
Walk acceleration figure VzjOperation；Wherein, the left lateral walks acceleration figure VzjLess than the preset left fortune being stored in memory (2)
Row threshold speed；
Step 203, when the current position of coalcutter is located at the interlude of coal working face, detailed process is as follows：
Step 2031, coal mining machine controller (1) transfer the intermediate operation initial velocity V being stored in memory (2)0, coalcutter control
It is V that device (1) processed controls the speed of service of coalcutter by coalcutter movable motor (16)0；
Step 2032, when need adjust coalcutter the speed of service when, coal mining machine controller (1) passes through the second radio receiving transmitting module
(9) and the first radio receiving transmitting module (8) sends speed governing order, and hand held controller (3) receives the tune that coal mining machine controller (1) is sent
Speed order, staff input button (6) input center row by speed and walk regulated value V1, during hand held controller (3) receives
Between walking regulated value V1And pass through the first radio receiving transmitting module (8) and the second radio receiving transmitting module (9) is sent to coalcutter control
Device (1), and the intermediate operation initial velocity V that coal mining machine controller (1) is current to the coalcutter being stored in memory (2)0Quilt
Center row walks regulated value V1Center row is walked regulated value V by update, then machine controller (1) of mining1It is stored in memory (2), mines
Machine controller (1) transfers the center row being stored in memory (2) and walks regulated value V1, coal mining machine controller (1) passes through coalcutter
The speed of service of movable motor (16) control coalcutter is V1；Wherein, the interlude speed of service regulated value V1Less than setting in advance
The fixed intermediate operational threshold speed being stored in memory (2)；
Step 2033 repeats step 2032, and staff inputs the next center row of button (6) input by speed and walks regulated value
V2, and coal mining machine controller (1) is sent to, and coal mining machine controller (1) is to the coalcutter being stored in memory (2) current
Center row walks regulated value V1Regulated value V is walked by next center row2It updates, then machine controller (1) of mining will next intermediate walking
Regulated value V2It is stored in memory (2), coal mining machine controller (1) transfers the next center row being stored in memory (2)
Walk regulated value V2, it is V that coal mining machine controller (1) controls the speed of service of coalcutter by coalcutter movable motor (16)2；Wherein,
Next interlude speed of service regulated value V2Less than the preset intermediate speed of service being stored in memory (2)
Threshold value；
Step 2033 is repeated several times in step 2034, and staff inputs button (6) k-th of center row of input by speed and gets out of tune
Section value Vk, and coal mining machine controller (1) is sent to, and coal mining machine controller (1) works as the coalcutter being stored in memory (2)
Preceding -1 center row of kth walks regulated value Vk-1Regulated value V is walked by k-th of center rowkUpdate, then machine controller (1) of mining is by the
K center row walks regulated value VkIt is stored in memory (2), coal mining machine controller (1) transfers be stored in memory (2)
K center row walks regulated value Vk, coal mining machine controller (1) pass through coalcutter movable motor (16) control coalcutter the speed of service
For Vk, until interlude coal mining finishes；Wherein, k-th of center row walks regulated value VkIt gets out of tune with described -1 center row of kth
Section value Vk-1The respectively less than preset intermediate operational threshold speed being stored in memory (2)；
Step 204, coal mining machine controller (1) judge that coalcutter is according to the direction of travel of the current position of coalcutter and coalcutter
It is no to be operated in right end beveling feed and cut right end Triangle Coal, when coalcutter does not operate in right end beveling feed and cuts right end
During head Triangle Coal, step 2041 is performed；Otherwise, step 2042 is performed；
Step 2041 does not operate in right end beveling feed and when cutting right end Triangle Coal when coalcutter, coal mining machine controller (1)
Transfer the right speed of service V being stored in memory (2)y, coal mining machine controller (1) pass through coalcutter movable motor (16) control
The speed of service of coalcutter is right speed of service Vy, and coal mining machine controller (1) control memory (2) hand-held controller (3)
The right speed of service regulated value that button (6) input is inputted by speed sent does not preserve, so that coalcutter is according to right operation
Speed VyOperation；Wherein, the right speed of service VyLess than the preset right speed of service threshold being stored in memory (2)
Value；
Step 2042, when coalcutter is operated in right end beveling feed and when cutting right end Triangle Coal, coal mining machine controller (1) is adjusted
The right lateral being stored in memory (2) is taken to walk acceleration figure Vyj, coal mining machine controller (1) pass through coalcutter movable motor (16) control
The speed of service of coalcutter walks acceleration figure V for right lateralyj, and coal mining machine controller (1) control memory (2) hand-held controller
(3) right lateral that button (6) input is inputted by speed sent walks to accelerate regulated value not preserve, so that coalcutter is according to right lateral
Walk acceleration figure VyjOperation；Wherein, the right speed of service VyLess than the preset right operation speed being stored in memory (2)
Spend threshold value；
Step 3: the real-time detection and transmission of the speed of service of coalcutter：Velocity measuring module (17) is to the operation speed of coalcutter
Degree is detected, and the speed of service of the coalcutter detected is sent to coal mining machine controller (1), coal mining machine controller in real time
(1) speed of service for receiving coalcutter is sent to by the second radio receiving transmitting module (9) and the first radio receiving transmitting module (8)
Hand-held controller (3), hand-held controller (3) control liquid crystal display (5) show the speed of service of coalcutter so that mine
When machine is located at left end and coalcutter is operated in left end beveling feed and cuts left end Triangle Coal, the speed of service of coalcutter expires
Sufficient left lateral walks acceleration figure Vzj, coalcutter is located at left end and coalcutter does not operate in left end beveling feed and cuts left end triangle
During coal, the speed of service of coalcutter meets left speed of service Vz, coalcutter be located at right end and coalcutter to be operated in right end oblique
With when cutting right end Triangle Coal, the speed of service of coalcutter meets right lateral and walks acceleration figure V cutting-in toolyj, coalcutter is located at right end
And coalcutter does not operate in right end beveling feed and when cutting right end Triangle Coal, it is fast that the speed of service of coalcutter meets right operation
Spend Vy, when coalcutter is located at interlude, the speed of service of coalcutter meets k-th of center row and walks regulated value Vk。
6. according to the method for claim 5, it is characterised in that：Left speed of service threshold described in step 2021 and step 2022
The value range of value is 0.7m/min~23m/min；The value range of operational threshold speed is among described in step 203
0.7m/min~23m/min；The value range of right operational threshold speed described in step 204 is 0.7m/min~23m/min.
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Address after: 710200 No. 7, Middle Section of Jingpu Road, Jingwei New City, Jingkai District, Xi'an City, Shaanxi Province Applicant after: XI'AN COAL MINING MACHINERY Co.,Ltd. Applicant after: HUANGLING MINING (GROUP) Co.,Ltd. Address before: 710021 No. 8 Shangji Road, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Applicant before: XI'AN COAL MINING MACHINERY Co.,Ltd. Applicant before: HUANGLING MINING (GROUP) Co.,Ltd. |
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