CN-122009769-A - Mining belt conveyor self-moving machine tail pose leveling control method

CN122009769ACN 122009769 ACN122009769 ACN 122009769ACN-122009769-A

Abstract

The invention relates to the technical field of self-moving tail leveling, and discloses a self-moving tail pose leveling control method of a mining belt conveyor, which comprises the following steps of collecting a pitch angle in the length direction and a roll angle in the width direction of the self-moving tail; the method comprises the steps of taking the supporting height of one hydraulic cylinder of the self-moving tail as a reference standard, calculating a pitch correction quantity by using the pitch angle and the distance between two hydraulic cylinders in the length direction of the self-moving tail, calculating a roll correction quantity by using a roll angle and the distance between two hydraulic cylinders in the width direction of the self-moving tail, calculating the total relative height deviation of supporting points of all the hydraulic cylinders relative to the reference standard in a linear superposition mode according to the pitch correction quantity and the roll correction quantity, and calculating the height adjustment quantity of all the hydraulic cylinders relative to the reference standard according to the total relative height deviation.

Inventors

WANG BO
ZHANG TIANLIANG
JI CHAO
ZHANG SIRUI
YANG HUAN
ZHAI LINA
CAO XIANGANG
ZHAO JIANGBIN
XIE YILIN
ZHOU HAO
SUN YIQUN

Assignees

西安重装蒲白煤矿机械有限公司
西安科技大学

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (8)

1. A mining belt conveyor self-moving machine tail pose leveling control method is characterized by comprising the following steps: collecting a pitch angle in the length direction of the self-moving tail and a roll angle in the width direction; calculating a pitch correction amount by taking the supporting height of one hydraulic cylinder of the self-moving tail as a reference standard and the sine value of the pitch angle and the distance between two hydraulic cylinders in the length direction of the self-moving tail; Calculating the total relative height deviation of each hydraulic cylinder supporting point relative to a datum point in a linear superposition mode according to the pitch correction quantity and the roll correction quantity; calculating the height adjustment quantity of each hydraulic cylinder relative to the reference datum according to the total relative height deviation; and adjusting each hydraulic cylinder according to each height adjustment amount so as to realize leveling of the self-moving tail.
2. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein the mining belt conveyor self-moving tail pose leveling control method is characterized in that when the pitch angle and the roll angle of the self-moving tail are collected, the mining belt conveyor self-moving tail pose leveling control method is collected through a double-shaft inclination angle sensor arranged at one group of diagonal positions of the self-moving tail.
3. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein displacement sensors are arranged on all the hydraulic cylinders of the self-moving tail, and each displacement sensor is used for monitoring displacement data of each hydraulic cylinder in real time.
4. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein when the reference datum is selected, the hydraulic cylinder with the smallest supporting height is selected as the reference datum according to the total relative height deviation of each hydraulic cylinder.
5. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein a hydraulic cylinder serving as a reference standard in the leveling process does not participate in height adjustment.
6. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein four hydraulic cylinders are independently controlled through an integrated electrohydraulic control valve group when leveling control is performed, and the integrated electrohydraulic control valve group is a mining intrinsic safety type valve group.
7. The method for controlling the leveling of the tail pose of the self-moving machine of the mining belt conveyor according to claim 1, wherein the total relative height deviation of each hydraulic cylinder is a linear superposition of a pitching correction amount and a rolling correction amount according to the position of the hydraulic cylinder, and the total relative height deviation of a reference hydraulic cylinder is 0.
8. The mining belt conveyor self-moving tail pose leveling control method according to claim 1, wherein a PLC is adopted in leveling control, the PLC is connected with an electrohydraulic proportional pilot valve through a proportional amplifier, and the electrohydraulic proportional pilot valve controls a main reversing valve to drive a hydraulic cylinder to stretch out and draw back.

Description

Mining belt conveyor self-moving machine tail pose leveling control method Technical Field The invention relates to the technical field of self-moving tail leveling, in particular to a mining belt conveyor self-moving tail pose leveling control method based on displacement and double-shaft inclination angle sensors. Background In underground mining operation of coal mine, the belt conveyor is core material conveying equipment, the self-moving tail is used as a key matching device thereof, functions of self-moving, deviation adjustment, height adjustment and the like are integrated, the requirement of frequent position adjustment of a coal mining working face can be met, cooperative operation with a reversed loader is realized, and the belt conveyor is an important component of a modern high-yield high-efficiency fully-mechanized mining working face. However, the underground coal mine environment is complex, and is influenced by factors such as coal seam fluctuation, uneven bottom plate, unbalanced load and the like, and longitudinal pitching, transverse offset, compound distortion and other pose deviations easily occur in the self-moving tail advancing process. As a heavy-duty platform, the pose stability of the heavy-duty platform directly influences the cooperative work of the belt conveyor and the reversed loader, the deviation not only can aggravate the deviation and abrasion of the conveying belt and reduce the conveying efficiency, but also can cause potential safety hazards such as equipment clamping stagnation and material scattering, and restrict the intelligent mining level lifting of the coal mine. The existing leveling technology is mainly divided into two types, namely position error control and angle error control, but any strategy is difficult to meet the requirement of the complex working condition of the self-moving tail by singly adopting, and the problems of insufficient leveling precision, response lag and the like exist. Meanwhile, the traditional scheme cannot fully reflect the space distortion state, the control logic is usually subjected to step-by-step serial leveling, coupling interference is easy to generate, the control algorithm is mainly subjected to simple threshold feedback, the support of an accurate mathematical model is lacked, and the leveling error is large. In summary, the prior art has the defects of monitoring one side, logic coupling and insufficient precision, can not meet the requirements of quick, accurate and stable leveling of the self-moving tail under the complex underground working condition, and research and development of a leveling method with stronger suitability becomes a key for improving the intelligent mining level of a coal mine. Disclosure of Invention The invention provides a self-moving tail pose leveling control method of a mining belt conveyor, which aims to solve the defects in the prior art, simplifies a control algorithm, reduces calculation redundancy, improves leveling response speed, solves the problems of poor adaptability and insufficient accuracy of the existing leveling method, and ensures the stability and safety of coal transportation. The technical scheme of the invention is that the self-moving tail pose leveling control method of the mining belt conveyor comprises the following steps: collecting a pitch angle in the length direction of the self-moving tail and a roll angle in the width direction; calculating a pitch correction amount by taking the supporting height of one hydraulic cylinder of the self-moving tail as a reference standard and the sine value of the pitch angle and the distance between two hydraulic cylinders in the length direction of the self-moving tail; Calculating the total relative height deviation of each hydraulic cylinder supporting point relative to a datum point in a linear superposition mode according to the pitch correction quantity and the roll correction quantity; calculating the height adjustment quantity of each hydraulic cylinder relative to the reference datum according to the total relative height deviation; and adjusting each hydraulic cylinder according to each height adjustment amount so as to realize leveling of the self-moving tail. In at least one embodiment of the invention, the pitch angle and the roll angle of the self-moving tail are acquired by installing a double-shaft inclination sensor at one group of diagonal angles of the self-moving tail. In at least one embodiment of the present invention, each of the hydraulic cylinders at the tail of the self-moving machine is provided with a displacement sensor, and each of the displacement sensors is used for monitoring displacement data of each of the hydraulic cylinders in real time so as to verify the execution precision of the system. In at least one embodiment of the present invention, when the reference standard is selected, the hydraulic cylinder with the smallest supporting height is selected as the reference standard according to the