CN203440862U - Intelligent control system of underground scraper - Google Patents

Intelligent control system of underground scraper Download PDF

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Publication number
CN203440862U
CN203440862U CN201320518823.4U CN201320518823U CN203440862U CN 203440862 U CN203440862 U CN 203440862U CN 201320518823 U CN201320518823 U CN 201320518823U CN 203440862 U CN203440862 U CN 203440862U
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China
Prior art keywords
control
controller
central controller
control system
engine
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Expired - Fee Related
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CN201320518823.4U
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Chinese (zh)
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曲军
隋自清
权惠君
徐延岗
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YANTAI XINGYE MACHINERY CO Ltd
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YANTAI XINGYE MACHINERY CO Ltd
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Abstract

The utility model discloses an intelligent control system of an underground scraper. The intelligent control system of the underground scraper is characterized by mainly comprising monitoring and controlling of the state of an engine, controlling of a gearbox, controlling of a remote control and controlling of actions of a whole vehicle hydraulic system. The intelligent control system of the underground scraper comprises a central controller (1) and an auxiliary controller (2), wherein the central controller (1) and the auxiliary controller (2) are in both-way connection. The central controller (1) is in both-way connection with an intelligent engine controller (3) and a gearbox controller (4) through CAN buses respectively. The central controller (1) is connected with a remote control system (5) and an intelligent display (6) respectively. The central controller (1) is connected with an operating mechanism sensor (7) and an action actuator I (8) through lines respectively. The auxiliary controller (2) is connected with an operating mechanism (9) and an action actuator II (10) through lines respectively. A whole vehicle electronic control system controls walking, steering, working mechanism actions, an engine throttle and the like, a man-machine terminal interface is matched for displaying relevant state information in real time, operation and system debugging and maintaining can be conveniently performed, labor intensity is reduced, and a remote wireless remote technology is used for operating.

Description

A kind of intelligence control system of underground carry scraper
Technical field
The utility model relates to underground carry scraper technical field, is a kind of intelligence control system of underground carry scraper specifically, comprises the operated from a distance of walking, work, braking, belongs to mine mechanism.
Background technology
The motor of the scraper that at present underground mine is used, gearbox, complete machine hydraulic system etc. are all to adopt machinery or hydraulic control, only have manually in bit manipulation, could realize each action; When motor, gearbox, complete machine hydraulic system break down, the method that all phenomena of the failure, operating state signal all show with indicator lamp or instrument shows, in the time will fixing a breakdown, completely by artificial judgment, sometimes need to get rid of item by item by exclusive method the effort of taking a lot of work.Along with the increase of underground mine exploitation, mining condition is more and more severe, and execute-in-place person's security threat and labour intensity are also increasing.
Utility model content
The purpose of this utility model is the deficiency that overcomes above-mentioned prior art, and a kind of intelligence control system of underground carry scraper is provided, and mainly solves the problems such as effort, security threat and labour intensity are large of taking a lot of work when existing underground carry scraper is fixed a breakdown.
The technical solution of the utility model is: a kind of intelligence control system of underground carry scraper, and its special character is, mainly comprises: the control of engine condition monitoring and control, gearbox, the control of remote controller and car load hydraulic system action control; It comprises central controller and from controller, the two two-way connection; Described central controller by CAN bus respectively with engine intelligent controller, gearbox control is two-way is connected, central controller is connected with intelligent display with remote control system respectively, and central controller is connected with action actuating mechanism I with operating mechanism sensor respectively by circuit; Described is connected with action actuating mechanism II with operating mechanism respectively by circuit from controller.
Further, described action actuating mechanism I is valve, lamp and alarm.
Further, described action actuating mechanism II is relay.
Further, described engine condition monitoring and control comprise central controller, engine intelligent controller and intelligent display, and central controller is connected with liquid level sensor, engine oil door sensor and engine start, shutdown switch respectively by circuit; Engine intelligent controller is connected by circuit and engine speed sensor are two-way, by circuit, is connected with oil temperature sensor, engine oil pressure pickup and intelligent display.
Further, the control of described gearbox comprises central controller, gearbox control and intelligent display; Central controller is connected with gear signal by circuit; Gearbox control, is connected with torque-converters temperature pick up, torque converter pressure sensor and gear electromagnetic valve by circuit respectively with drum speed probe, fault locator with pump impeller speed probe is two-way is connected by circuit.
Further, the control of described remote controller comprises central controller, engine intelligent controller, gearbox control, remote control system, intelligent display and action actuating mechanism; Described remote control system comprises receiver of remote-control sytem and remote control transmitter, the two two-way connection.
Further, described car load hydraulic system action control comprises central controller, gearbox control and intelligent display, and described central controller is connected with steering mechanism with arrestment mechanism, light control, operating mechanism, detection signal respectively by circuit; Described gearbox control is connected with walking mechanism by circuit.
Compared with the prior art the intelligence control system of a kind of underground carry scraper described in the utility model has following good effect, is convenient to operation and system debug maintenance; For solving the security threat of down-hole mal-condition to execute-in-place person, so handling, car load adopts remote control and two kinds of pattern compatibilities of hand control, can mutually change, do not interfere with each other; Hand control electric control handle, laborsaving light and flexible, greatly reduces labour intensity; Remote operation has adopted long-distance wireless remote control technology.
Accompanying drawing explanation:
Fig. 1 is intelligent electric control system block diagram;
Fig. 2 is engine condition monitoring and control system block diagram;
Fig. 3 is gearbox condition monitoring and control system block diagram;
Fig. 4 is remote controller control block diagram;
Fig. 5 is car load hydraulic system action control block diagram.
Drawing explanation:
A central controller, two from the controller, intelligent controller 3 engine, gearbox controller 4, 5 remote control systems, smart displays 6, 7 operating mechanism sensors, actuators 8 action Ⅰ,, 9 operating mechanism, the actuator 10 is operated Ⅱ,, 21 level sensor, engine throttle sensor 22, and 23 engine start, stop switch, the engine speed sensor 24, and 25 oil temperature sensor, oil pressure sensors 26, 31 stall signal, drum speed sensors 32, 33 fault detector, pump wheel speed sensors 34, 35 converter temperature sensors, pressure sensors 36 converter, shift solenoid valves 37, 41 remote receiver, the remote transmitter 42, the brake mechanism 51, the lighting control 52, the work mechanism 53, the detection signal 54, the steering mechanism 55, the running gear 56.
The specific embodiment:
Below in conjunction with drawings and Examples, the utility model is done at length and explained; Illustrated embodiment is only for explaining the utility model, not for limiting scope of the present utility model.
Embodiment 1, referring to Fig. 1, 2, 3, 4, 5, by central controller 1 with from the two-way connection of controller 2, again by central controller 1 by CAN bus respectively with engine intelligent controller 3, the two-way connection of gearbox control 4, central controller 1 is connected with intelligent display 6 with remote control system 5 respectively, central controller 1 is connected with action actuating mechanism I 8 with operating mechanism sensor 7 respectively by circuit, action actuating mechanism I 8 is valve, lamp and alarm, to by circuit, be connected with action actuating mechanism II 10 with operating mechanism 9 respectively from controller 2, action actuating mechanism II 10 is relay, form intelligent electric control system,
Central controller 1 is connected with liquid level sensor 21, engine oil door sensor 22 and engine start, shutdown switch 23 respectively by circuit, engine intelligent controller 3 is connected with engine speed sensor 24 is two-way by circuit, by circuit, be connected with oil temperature sensor 25, engine oil pressure pickup 26 and intelligent display 6 again, form engine condition monitoring and control system; Central controller DCRI CPU carries out by CAN bus and Engine ECU the status data that communication obtains motor, gathers fuel liquid level information, and dynamically show each parameter of motor or state by intelligent display by liquid level sensor (variable resistor);
Central controller 1 is connected with gear signal 31 with intelligent display 6 by circuit; By gearbox control 4 by circuit respectively with drum speed probe 32, fault locator 33 with pump impeller speed probe 34 is two-way is connected; By circuit, be connected with bending moment temperature pick up 35, torque converter pressure sensor 36 and gear electromagnetic valve 37 again, form gearbox condition monitoring and control system; Gearbox and central controller DCRI CPU are by CAN1.2 communication, and central controller DCRI CPU reads torque converter pressure, oil temperature, and the speed of a motor vehicle, torque-converters rotating speed etc., and dynamically show each parameter of motor or state by intelligent display;
Remote control system 5 comprises receiver of remote-control sytem 41 and remote control transmitter 42, by the two two-way connection, forms remote controller control with central controller 1, engine intelligent controller 3, gearbox control 4, remote control system 5, intelligent display 6 and action actuating mechanism; Scaling signal on remote controller, switching value signal sends to DCRI CPU central controller by CAN bus, and central controller DCRI CPU carries out after the processing of logical relation, from controller DCRI I/O output, controls executing agency;
Central controller 1 is connected with arrestment mechanism 51, light control 52, operating mechanism 53, detection signal 54He steering mechanism 55 respectively by circuit; Again gearbox control 4 is connected with walking mechanism 56 by circuit, with the common car load hydraulic system action control that forms of intelligent display 6; Central controller DCRI CPU is to carrying out after the processing of logical relation from the various command signals of outside, from the work of controller DCRI I/O output car load, walk, turn to, the control of braking, various light the signal by various sensor feedback be in the dynamically various duties of demonstration and warning etc. of intelligent display.
Above-mentioned car load intelligence control system adopts microcomputerized control, by CAN bus communication complete walking, turn to, the control of operating mechanism's action and engine throttle etc., be equipped with man-machine terminal interface and show in real time relevant status information, be convenient to operation and system debug maintenance.Remote operation has adopted long-distance wireless remote control technology, can complete walking, turns to, action and the light of braking, operating mechanism controls, within effectively remote control distance can reach 150m scope.
1, engine condition monitoring and control (accompanying drawing 2)
Scraper adopts electric-control motor;
1) engine condition monitoring (virtual instrument demonstration)
System central controller DCRI CPU carries out communication by CAN bus and Engine ECU and obtains the status data of motor, by liquid level sensor (variable resistor), gathers fuel liquid level information, and intelligent display dynamically shows each parameter of motor or state.
Monitoring content:
---engine speed (rpm);
---oil temperature (℃);
---engine oil pressure (kPa);
---fuel liquid level (%), lower oil level overload alarm.
2) startup of motor and stop controlling
On driver's cabin and telecontrol panel, be equipped with startup and the shutdown switch of motor, the enabling signal input central controller DCRI CPU of motor, central controller DCRI CPU is by bus communication ato unit.Engine halt signal input central controller DCRI CPU, central controller DCRI CPU stops by slave controller DCRI I/O output control engine.
3) engine oil gate control
Gas pedal is controlled:
The voltage signal that gas pedal (Self-resetting) provides is to central controller DCRI CPU, and central controller DCRI CPU is by the rotating speed of CAN bus control engine; Throttle output signal has buffer protection, prevents that engine speed from changing too fast.
2, gearbox condition monitoring and control (accompanying drawing 3)
Gearbox control and central controller DCRI CPU are by CAN1.2 communication, and central controller DCRI CPU reads torque converter pressure, torque-converters temperature, the speed of a motor vehicle, torque-converters rotating speed etc.
The driving switch amount of travelling signal on remote controller sends to central controller DCRI CPU by CAN bus, central controller DCRI CPU sends to gearbox control APC122 by CAN1.2 communication, after gearbox control APC122 carries out the processing of logical relation, gearbox-gear operating valve group is controlled in output.
3, remote controller is controlled (accompanying drawing 4)
1) scaling signal on remote controller, switching value signal sends to DCRI CPU master controller by CAN bus, and master controller carries out after the processing of logical relation, and the executing agency of car is controlled in slave controller DCRI I/O output.
2) remote controller is controlled:
Telecontrol panel is provided with swing arm, scraper bowl ratio handle, controls direction of action and the speed of swing arm, scraper bowl.
Throttle control handle: control throttle size.
Left and right turn ratio handle: control left and right turn direction of action and speed (combination throttle size is controlled)
Service brake ratio handle: control service brake;
Switching signal: the startup of motor, stop
Parking braking, revolution are reported to the police
Illumination, the electric horn of front and back headlight.
4, the work of car load, walk, turn to, control and the oil circuit of braking, various light stop up alarm indication etc.
1) boom cylinder proportional control:
Handle Y-axis is controlled swing arm direction of action and speed;
2) bucket cylinder proportional control:
Handle X-axis is controlled bucket cylinder direction of action and speed.
3) service brake is controlled:
Scaling signal on remote controller, by the signal reading on receiver of remote-control sytem, through CAN bus, send to central controller DCRI CPU, central controller DCRI CPU carries out after the processing of logical relation, and service brake (brake) action is controlled in slave controller DCRI I/O output.
4) parking braking
The switching value signal reading on receiver of remote-control sytem sends to central controller DCRI CPU by CAN bus, and central controller DCRI CPU carries out after the processing of logical relation, and slave controller DCRI I/O is exported and controlled parking braking by relay.
5) front running light, rear running light, electric horn, revolution warning (light, sound) are controlled
Before and after realizing by relay, headlight, electric horn, revolution warning light (sound) switch are controlled
6) oil circuit stops up alarm indication
Return filter stops up and reports to the police, filter-press stops up and reports to the police.Controller signals gathers after central controller DCRI CPU processes, and sends to intelligent display show by CAN bus.
7) fuel oil, engine oil pressure signal are processed
Fuel oil, engine oil pressure signal enter central controller DCRI CPU, carry out Data Comparison with normal, warning, the alarm threshold of central controller DCRI CPU inner setting, and comparing result is sent to intelligent display show.

Claims (7)

1. an intelligence control system for underground carry scraper, is characterized in that, mainly comprises: the control of engine condition monitoring and control, gearbox, the control of remote controller and car load hydraulic system action control; It comprises central controller (1) and from controller (2), the two two-way connection; Described central controller (1) by CAN bus respectively with engine intelligent controller (3), two-way connection of gearbox control (4), central controller (1) is connected with intelligent display (6) with remote control system (5) respectively, and central controller (1) is connected with action actuating mechanism I (8) with operating mechanism sensor (7) respectively by circuit; Described is connected with action actuating mechanism II (10) with operating mechanism (9) respectively by circuit from controller (2).
2. the intelligence control system of a kind of underground carry scraper according to claim 1, is characterized in that, described action actuating mechanism I (8) is valve, lamp and alarm.
3. the intelligence control system of a kind of underground carry scraper according to claim 1, is characterized in that, described action actuating mechanism II (10) is relay.
4. the intelligence control system of a kind of underground carry scraper according to claim 1, it is characterized in that, described engine condition monitoring and control comprise central controller (1), engine intelligent controller (3) and intelligent display (6), and central controller (1) is connected with liquid level sensor (21), engine oil door sensor (22) and engine start, shutdown switch (23) respectively by circuit; Engine intelligent controller (3), by circuit and two-way connection of engine speed sensor (24), is connected with oil temperature sensor (25), engine oil pressure pickup (26) and intelligent display (6) by circuit.
5. the intelligence control system of a kind of underground carry scraper according to claim 1, is characterized in that, the control of described gearbox comprises central controller (1), gearbox control (4) and intelligent display (6); Central controller (1) is connected with gear signal (31) by circuit; Gearbox control (4) by circuit respectively with drum speed probe (32), fault locator (33) and two-way connection of pump impeller speed probe (34), by circuit, be connected with torque-converters temperature pick up (35), torque converter pressure sensor (36) and gear electromagnetic valve (37).
6. the intelligence control system of a kind of underground carry scraper according to claim 1, it is characterized in that, the control of described remote controller comprises central controller (1), engine intelligent controller (3), gearbox control (4), remote control system (5), intelligent display (6) and action actuating mechanism; Described remote control system (5) comprises receiver of remote-control sytem (41) and remote control transmitter (42), the two two-way connection.
7. the intelligence control system of a kind of underground carry scraper according to claim 1, it is characterized in that, described car load hydraulic system action control comprises central controller (1), gearbox control (4) and intelligent display (6), and described central controller (1) is connected with steering mechanism (55) with arrestment mechanism (51), light control (52), operating mechanism (53), detection signal (54) respectively by circuit; Described gearbox control (4) is connected with walking mechanism (56) by circuit.
CN201320518823.4U 2013-08-24 2013-08-24 Intelligent control system of underground scraper Expired - Fee Related CN203440862U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103422528A (en) * 2013-08-24 2013-12-04 烟台兴业机械股份有限公司 Intelligent control system for underground carry-scraper
CN104141326A (en) * 2014-07-11 2014-11-12 徐州徐工挖掘机械有限公司 Energy-saving control system for excavator
CN104965424A (en) * 2015-06-17 2015-10-07 北京矿冶研究总院 Fixed-point unloading autonomous control system of underground scraper
CN105544642A (en) * 2015-12-29 2016-05-04 徐州赫思曼电子有限公司 Remote control system and method for small excavator
CN106499810A (en) * 2016-10-18 2017-03-15 南京奥联汽车电子电器股份有限公司 The circuit of the manual/automatic integratedization selector communicated based on CAN
CN106600943A (en) * 2016-12-15 2017-04-26 电子科技大学 Transmission control method of underground wireless remote control load-haul-dump machine airborne equipment signals
CN106759618A (en) * 2016-12-15 2017-05-31 电子科技大学 A kind of wireless remote control method of underground carry scraper
US10114370B2 (en) 2016-11-21 2018-10-30 Caterpillar Inc. Machine automation system with autonomy electronic control module
CN109610549A (en) * 2018-11-29 2019-04-12 湖南工贸技师学院 A kind of hydraulic excavating machine electric appliance frequency conversion intelligent control system and control method

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103422528B (en) * 2013-08-24 2015-04-01 烟台兴业机械股份有限公司 Intelligent control system for underground carry-scraper
CN103422528A (en) * 2013-08-24 2013-12-04 烟台兴业机械股份有限公司 Intelligent control system for underground carry-scraper
CN104141326B (en) * 2014-07-11 2017-05-03 徐州徐工挖掘机械有限公司 Energy-saving control system for excavator
CN104141326A (en) * 2014-07-11 2014-11-12 徐州徐工挖掘机械有限公司 Energy-saving control system for excavator
CN104965424B (en) * 2015-06-17 2017-12-12 北京矿冶研究总院 Fixed-point unloading autonomous control system of underground scraper
CN104965424A (en) * 2015-06-17 2015-10-07 北京矿冶研究总院 Fixed-point unloading autonomous control system of underground scraper
CN105544642A (en) * 2015-12-29 2016-05-04 徐州赫思曼电子有限公司 Remote control system and method for small excavator
CN106499810A (en) * 2016-10-18 2017-03-15 南京奥联汽车电子电器股份有限公司 The circuit of the manual/automatic integratedization selector communicated based on CAN
CN106499810B (en) * 2016-10-18 2018-07-03 南京奥联汽车电子电器股份有限公司 The circuit of manual/automatic integratedization selector based on CAN bus communication
US10114370B2 (en) 2016-11-21 2018-10-30 Caterpillar Inc. Machine automation system with autonomy electronic control module
CN106600943A (en) * 2016-12-15 2017-04-26 电子科技大学 Transmission control method of underground wireless remote control load-haul-dump machine airborne equipment signals
CN106759618A (en) * 2016-12-15 2017-05-31 电子科技大学 A kind of wireless remote control method of underground carry scraper
CN109610549A (en) * 2018-11-29 2019-04-12 湖南工贸技师学院 A kind of hydraulic excavating machine electric appliance frequency conversion intelligent control system and control method
CN109610549B (en) * 2018-11-29 2021-05-07 湖南工贸技师学院 Frequency conversion intelligent control system and control method for hydraulic excavator electric appliance

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140219

Termination date: 20170824

CF01 Termination of patent right due to non-payment of annual fee