CN-121995841-A - Automatic slag skimming control method of slag skimming vehicle

CN121995841ACN 121995841 ACN121995841 ACN 121995841ACN-121995841-A

Abstract

The invention discloses an automatic slag-raking control method of a slag-raking vehicle, which comprises the steps that a control system drives a height adjusting component and a pitch angle adjusting component to jointly control a slag-raking shovel to reach a preset depth and angle according to a target working depth, and the control system takes displacement of a height adjusting hydraulic cylinder as a main control variable and displacement of the pitch angle adjusting hydraulic cylinder as a driven compensation variable in a slag-raking stroke, divides the working process into three automatic stages of cutting in, raking and lifting, enables originally complex composite actions to be automatically completed by the system, greatly improves working efficiency, and builds a real-time proportional linkage model LP=k (theta) x LH+b of the height adjusting hydraulic cylinder and the pitch angle adjusting hydraulic cylinder.

Inventors

GUO JUNFENG
SU CANFENG
Wan Lantu
LIANG RUSONG
GUO JUNYANG
YANG CANBIN
HUANG XIAOHUA

Assignees

福建华南重工机械制造有限公司

Dates

Publication Date: 20260508
Application Date: 20260410

Claims (9)

1. An automatic slag skimming control method of a slag skimming vehicle, the slag skimming vehicle comprising: A slag removing shovel; A connecting plate; Rotating the platform; The pitch angle adjusting assembly is used for adjusting the included angle of the slag shovel to the ground and comprises a pitch angle adjusting rod, a first height adjusting rod and a pitch angle adjusting hydraulic cylinder; The height adjusting assembly is used for adjusting the height of the slag removing shovel to the ground and comprises a second height adjusting rod and a height adjusting hydraulic cylinder; A control system; The control method is characterized by comprising the following steps: Step one, driving the height adjusting assembly and the pitch angle adjusting assembly to jointly control the cutting edge of the slag removing shovel to reach a preset depth and angle by the control system according to a target working depth; In the slag removing stroke, the control system takes the displacement of the height-adjusting hydraulic cylinder as a main control variable and takes the displacement of the pitch angle-adjusting hydraulic cylinder as a driven compensation variable, and establishes a proportional linkage model LP=k (theta) X LH+b of the expansion and contraction quantities of the two groups of hydraulic cylinders in real time, wherein LP is the real-time total length of the pitch angle-adjusting hydraulic cylinder, LH is the real-time total length of the height-adjusting hydraulic cylinder, k (theta) is a transmission ratio coefficient, b is a compensation constant in an initial operation state, k 0 is a fixed value within a horizontal line + -10 DEG, alpha is a transmission ratio correction coefficient, when the angle is 10 DEG, alpha=0, when the angle is 20 DEG, theta is more than or equal to 10 DEG, or-10 DEG is more than or equal to 20 DEG, alpha=0.12 k 0 , when the angle is 35 DEG, or-20 DEG is more than or equal to 35 DEG, alpha=0.20 k 0 , and b is a compensation constant in a state in the initial operation state, wherein k 0 is a horizontal direction of the rotating platform, and the angle is a preset horizontal direction, and the angle is a geometrical constraint relation in a second direction of the height-adjusting rod is a preset horizontal direction, and a geometrical relation is a horizontal direction of a shovel in a preset horizontal direction; and thirdly, when the operation stroke is finished or the load reaches a preset threshold value, the control system drives the height adjusting hydraulic cylinder to extend forwards to drive the second height adjusting rod to rotate upwards so as to realize the integral lifting of the slag removing shovel, and synchronously controls the pitch angle adjusting hydraulic cylinder to retract at a response speed higher than the height adjusting speed so as to enable the slag removing shovel to overturn upwards around the connection point of the pitch angle adjusting hydraulic cylinder and the first height adjusting rod to form a closed bearing posture so as to prevent waste slag from falling.
2. The automatic slag-raking control method of the slag-raking vehicle according to claim 1, wherein in the second step, the control system establishes the proportional linkage model based on a preset coordinate system, wherein a hinge point A of a height adjusting hydraulic cylinder and a rotating platform in the height adjusting assembly is used as an origin of coordinates (0, 0), and wherein: the coordinates (XB, YB) of the hinging point B are the hinging point coordinates of the second height adjusting rod and the rotating platform; the coordinates (XC, YC) of the hinge point C are the coordinates of the hinge point of the pitch angle adjusting hydraulic cylinder and the rotating platform.
3. The method for automatically controlling slag skimming of a slag skimming vehicle as set forth in claim 2, wherein said control system obtains the instantaneous tilt angle θ of the second height adjustment lever with respect to the X-axis in real time.
4. The automatic slag control method of a slag removing vehicle according to claim 1, wherein in the first step, the control system firstly obtains a target cutting depth H0, calculates a required total length LH0 of the height adjusting hydraulic cylinder, and then stretches and contracts according to the current length of the height adjusting hydraulic cylinder, and when the height adjusting hydraulic cylinder moves to 0.8XLH0, the synchronous movement of the pitch angle adjusting hydraulic cylinder is triggered, so that the slag removing shovel accurately deflects the cutting angle downwards when reaching the target depth.
5. The method of claim 1, wherein in the second step, the control system corrects the value of b in real time according to the initial height of the slag shovel, so as to ensure that the parallelism error between the movement track of the cutting edge of the slag shovel and the ground is less than +/-2%.
6. The method of claim 1, wherein in the second step, the control system monitors the displacement variation ΔLH of the height adjustment cylinder at a fixed frequency, and calculates the target displacement LP=k (θ) x (LH+ [ DELTA ] LH) +b of the pitch angle adjustment cylinder in real time, thereby realizing synchronous linkage of the height adjustment cylinder and the pitch angle adjustment cylinder.
7. The automatic slag-off control method of a slag-off vehicle according to claim 1, wherein in the third step, the loading threshold PL is set in a manner of PL=Pm+DeltaP, wherein Pm is the hydraulic cavity pressure when the slag-off shovel is empty, deltaP is a pressure increment preset according to the density of waste slag to be treated, and when the pressure values collected by the control system for 0.5 seconds continuously are all greater than PL, the lifting action is automatically triggered.
8. The automatic slag control method of a slag removing vehicle according to claim 7, wherein in the lifting process of the third step, the retraction speed of the pitch angle adjusting hydraulic cylinder is faster than that of the height adjusting hydraulic cylinder, so that the connecting plate drives the slag removing shovel to upwards overturn to an elevation angle attitude with an included angle to the ground of more than 45 degrees.
9. The automatic slag control method of a slag removing vehicle of claim 1, wherein the control system provides a manual and automatic switching mode, and in the automatic mode, the control system automatically and circularly executes the cutting-in, the raking and the lifting stages by reading a step sequence table pre-stored in a PLC memory until a job completion command is received.

Description

Automatic slag skimming control method of slag skimming vehicle Technical Field The invention relates to an automatic slag skimming control method of a slag skimming vehicle, and belongs to the field of slag skimming vehicles. Background The slag removing machine is a key device for cleaning waste residues and mineral aggregates in metallurgy, mine and tunnel engineering. The existing slag removing machine generally adopts a multi-section mechanical arm to drive a slag removing shovel to complete cutting-in, material removing and lifting actions in cooperation with a hydraulic cylinder. However, in the actual operation process, the existing slag skimming control technology still has the following defects: Because the adjusting mechanism of the slag shovel is usually a nonlinear multi-rod hinged structure, when the hydraulic cylinder drives the connecting rod to do circular rotation, the movement track of the shovel tip is arc-shaped. If the horizontal straight line raking is to be realized, an operator is required to manually compensate the pitch angle and the height at extremely high frequency, so that the phenomenon of 'pricking the ground' or 'floating the shovel' is extremely easy to occur, and the bottom of the slag pool is cleaned unevenly. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide an automatic slag skimming control method of a slag skimming vehicle so as to solve the problems. In order to achieve the aim, the automatic slag raking control method of the slag raking vehicle comprises the following steps of: A slag removing shovel; A connecting plate; the device comprises a rotating platform, a pitch angle adjusting assembly, a first height adjusting rod, a pitch angle adjusting hydraulic cylinder, a second height adjusting rod and a second height adjusting rod, wherein the pitch angle adjusting assembly is used for adjusting the included angle of the slag shovel to the ground; The height adjusting assembly is used for adjusting the height of the slag removing shovel to the ground and comprises a second height adjusting rod and a height adjusting hydraulic cylinder; A control system; The control method comprises the following steps: Step one, driving the height adjusting assembly and the pitch angle adjusting assembly to jointly control the cutting edge of the slag removing shovel to reach a preset depth and angle by the control system according to a target working depth; In the slag removing stroke, the control system takes the displacement of the height-adjusting hydraulic cylinder as a main control variable and takes the displacement of the pitch angle-adjusting hydraulic cylinder as a driven compensation variable, and establishes a proportional linkage model LP=k (theta) X LH+b of the expansion and contraction quantities of the two groups of hydraulic cylinders in real time, wherein LP is the real-time total length of the pitch angle-adjusting hydraulic cylinder, LH is the real-time total length of the height-adjusting hydraulic cylinder, k (theta) is a transmission ratio coefficient, b is a compensation constant in an initial operation state, k 0 is a fixed value within a horizontal line + -10 DEG, alpha is a transmission ratio correction coefficient, when the angle is 10 DEG, alpha=0, when the angle is 20 DEG, theta is more than or equal to 10 DEG, or-10 DEG is more than or equal to 20 DEG, alpha=0.12 k 0, when the angle is 35 DEG, or-20 DEG is more than or equal to 35 DEG, alpha=0.20 k 0, and b is a compensation constant in a state in the initial operation state, wherein k 0 is a horizontal direction of the rotating platform, and the angle is a preset horizontal direction, and the angle is a geometrical constraint relation in a second direction of the height-adjusting rod is a preset horizontal direction, and a geometrical relation is a horizontal direction of a shovel in a preset horizontal direction; and thirdly, when the operation stroke is finished or the load reaches a preset threshold value, the control system drives the height adjusting hydraulic cylinder to extend forwards to drive the second height adjusting rod to rotate upwards so as to realize the integral lifting of the slag removing shovel, and synchronously controls the pitch angle adjusting hydraulic cylinder to retract at a response speed higher than the height adjusting speed so as to enable the slag removing shovel to overturn upwards around the connection point of the pitch angle adjusting hydraulic cylinder and the first height adjusting rod to form a closed bearing posture so as to prevent waste slag from falling. In the second step, the control system establishes the proportional linkage model based on a preset coordinate system, wherein a hinge point A of a height adjusting hydraulic cylinder in the height adjusting assembly and a rotating platform is used as an origin (0, 0), a horizontal direction of the rotating platform is used as an X axis, a slag removing s