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CN116477311A - Self-adaptive speed regulation method for scraper conveyor - Google Patents

Self-adaptive speed regulation method for scraper conveyor Download PDF

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Publication number
CN116477311A
CN116477311A CN202310371733.5A CN202310371733A CN116477311A CN 116477311 A CN116477311 A CN 116477311A CN 202310371733 A CN202310371733 A CN 202310371733A CN 116477311 A CN116477311 A CN 116477311A
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Prior art keywords
scraper conveyor
speed
coal
load
state
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CN202310371733.5A
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Chinese (zh)
Inventor
赵欢
范宝冬
范仪龙
陈伟
李致远
马子文
杨登科
李榕
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State-owned Assets Supervision and Administration Commission of the State Council
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State-owned Assets Supervision and Administration Commission of the State Council
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Priority to CN202310371733.5A priority Critical patent/CN116477311A/en
Publication of CN116477311A publication Critical patent/CN116477311A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
    • B65G19/18—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
    • B65G19/18—Details
    • B65G19/22—Impellers, e.g. push-plates, scrapers; Guiding means therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

The invention provides a self-adaptive speed regulation method of a scraper conveyor; reading and recording information such as the position, the process section, the speed and the like of the coal mining machine, and obtaining the running state of the coal mining machine through data analysis; reading and recording the current of a frequency converter of the scraper conveyor, mining height, cutting depth and other information of the coal mining machine, and obtaining the loading state of the scraper conveyor through data analysis; adjusting the operation speed of the scraper conveyor according to the operation state of the coal mining machine and the load state of the scraper conveyor; the coal mining machine state and the scraper conveyor load state in the speed regulation process are automatically analyzed, the efficiency is high, the accuracy is high, and meanwhile, the abrasion loss of the scraper conveyor in no-load operation can be effectively reduced.

Description

一种刮板输送机自适应调速方法A self-adaptive speed regulation method for scraper conveyor

技术领域technical field

本发明涉及用于煤矿井下刮板输送机调速控制领域，具体地说是一种刮板输送机自适应方法。The invention relates to the field of speed regulation control for scraper conveyors in coal mines, in particular to an adaptive method for scraper conveyors.

背景技术Background technique

在综采工作面工作过程中，刮板输送机起着重要的运输作用。随着煤矿智能化相关文件、标准的出台，各个煤矿对于设备智能化的要求越来越高。刮板输送机自适应调速能够有效节约动力能源，减少空载磨损，但目前刮板输送机自适应调速没有高效可靠的应用方案。In the working process of the fully mechanized mining face, the scraper conveyor plays an important role in transportation. With the introduction of relevant documents and standards for coal mine intelligence, various coal mines have higher and higher requirements for equipment intelligence. Adaptive speed regulation of scraper conveyor can effectively save power energy and reduce no-load wear, but there is no efficient and reliable application scheme for adaptive speed regulation of scraper conveyor at present.

发明内容Contents of the invention

本发明提供一种基于采煤机状态与刮板输送机负载状态综合分析的刮板输送机自适应调速方法。The invention provides an adaptive speed regulation method of a scraper conveyor based on comprehensive analysis of the shearer state and the load state of the scraper conveyor.

本发明的技术方案如下：Technical scheme of the present invention is as follows:

获取所述采煤机在所述刮板输送机上的位置、工艺段、速度数据，分析采煤机运行状态，将采煤机运行状态分为常规运行状态、高速运行状态/>与低速运行状态/>；Obtain the position, process section, and speed data of the shearer on the scraper conveyor, analyze the operating state of the shearer, and divide the operating state of the shearer into normal operating states , high-speed running state/> and low-speed operating state /> ;

获取所述刮板输送机变频器的电流、采煤机截深、采高等信息，分析刮板输送机负载状态，将负载状态分为常规负载状态、高负载状态/>与低负载状态/>；Obtain information such as the current of the frequency converter of the scraper conveyor, the cutting depth of the shearer, and the mining height, analyze the load status of the scraper conveyor, and divide the load status into conventional load status , high load state/> with low load state /> ;

综合采煤机运行状态与刮板输送机负载状态，以此为调速依据，对所述刮板输送机进行调速。The operating state of the shearer and the load state of the scraper conveyor are integrated, and the speed of the scraper conveyor is adjusted based on this.

根据采煤机采煤工艺，将刮板输送机运行状态分为不同工况段，刮板输送机机头、机尾割三角煤部分按采煤工艺方向分别定为不同工况段，其余部分按需要进行划分，建立采煤机/刮板输送机/转载机运行速度图。According to the coal mining process of the shearer, the operating state of the scraper conveyor is divided into different working conditions. The head of the scraper conveyor and the triangular coal cutting part of the tail of the scraper conveyor are determined as different working conditions according to the direction of the coal mining process.

刮板输送机以额定速度初始化运行，判断刮板输送机负载发生变化，调整刮板输送机速度使其处于常规负载状态，记录该工况段采煤机速度、转载机速度、刮板输送机调整后速度及调整次数，当调整次数超过设定值，修正速度图。实现采煤机/刮板输送机/转载机运行速度图自修正。The scraper conveyor is initialized to run at the rated speed. It is judged that the load of the scraper conveyor has changed, and the speed of the scraper conveyor is adjusted to make it in the normal load state. Record the speed of the shearer, the speed of the loader, the adjusted speed of the scraper conveyor and the number of adjustments. When the number of adjustments exceeds the set value, the speed diagram is corrected. Realize the self-correction of the operating speed diagram of the shearer/scraper conveyor/reloader.

以电机电流、煤量估算为依据，对所述刮板输送机负载分析方法为：Based on the estimation of motor current and coal quantity, the load analysis method for the scraper conveyor is as follows:

将刮板输送机以每一节中部槽为单位对煤量进行量化，计算实际煤量与额定总煤量占比，公式如下：Quantify the amount of coal in the unit of the middle trough of each section of the scraper conveyor, and calculate the ratio of the actual amount of coal to the rated total amount of coal. The formula is as follows:

其中：in:

：每节中部槽实际煤量与额定煤量比值 : Ratio of actual coal volume to rated coal volume in the middle tank of each section

：采煤机当前速度 : The current speed of the shearer

：中部槽长度 : length of middle slot

：刮板输送机当前速度 : current speed of scraper conveyor

：当前采高 : current mining height

：当前截深 : current cut depth

：刮板输送机长度 : length of scraper conveyor

：额定采高 : Rated mining height

：额定截深 : Rated cutting depth

可计算出刮板输送机全长实际总煤量与额定总煤量占比：The ratio of the actual total coal volume to the rated total coal volume in the full length of the scraper conveyor can be calculated:

其中：n为中部槽数量。Among them: n is the number of slots in the middle.

计算实时电流占比，公式如下：Calculate the real-time current ratio, the formula is as follows:

其中：in:

：电机实时电流 : Motor real-time current

：电机额定电流 : Motor rated current

综合电机电流及煤量估算，将刮板输送机负载值进行量化可得：Based on the estimation of the motor current and coal quantity, the load value of the scraper conveyor can be quantified to obtain:

其中：in:

：煤量占比权重 : Coal proportion weight

：电流占比权重 : current proportion weight

当0.9<<1时，刮板输送机处于高负载状态/>；When 0.9< <1, the scraper conveyor is in a high load state/> ;

当0.7<≤0.9时，刮板输送机处于常规负载状态/>；When 0.7< When ≤0.9, the scraper conveyor is in a normal load state/> ;

当≤0.7时，刮板输送机处于低负载状态/>。when ≤0.7, the scraper conveyor is in a low load state /> .

当刮板输送机处于高负载状态时，刮板输送机切换至高一级速度，若刮板输送机已处于最高级速度运行，则需采煤机降速以降低刮板输送机负载；When the scraper conveyor is in a high-load state, the scraper conveyor switches to a higher speed. If the scraper conveyor is running at the highest speed, the shearer needs to slow down to reduce the load of the scraper conveyor;

当刮板输送机处于常规负载状态时，采煤机进入高速运行状态，刮板输送机负载升高则切换至高一级速度，其余工况继续保持常规速度运行；When the scraper conveyor is in the normal load state, the shearer enters the high-speed operation state, and the load of the scraper conveyor will switch to a higher speed, and the rest of the working conditions will continue to operate at the normal speed;

当刮板输送机处于低负载状态时，采煤机进入低速运行状态，刮板输送机负载降低则切换至低一级速度，其余工况继续保持常规速度运行。When the scraper conveyor is in a low-load state, the shearer enters a low-speed operation state, and when the load of the scraper conveyor decreases, it switches to a lower speed, and the rest of the working conditions continue to maintain normal speed operation.

当采煤机停机，根据采煤机停机位置至刮板输送机机头距离及当前刮板输送机速度/>，计算刮板输送机待机延时时间/>，即采煤机停机/>秒后，刮板输送机以待机速度运行。当刮板输送机进入待机速度运行后，根据转载机长度/>及转载机当前速度/>，计算转载机待机延时时间/>，即刮板输送机进入待机速度/>秒后，转载机以待机速度运行。When the shearer is stopped, according to the distance from the stop position of the shearer to the head of the scraper conveyor and current scraper conveyor speed/> , calculate the scraper conveyor standby delay time /> , that is, the shearer is shut down /> Seconds later, the scraper conveyor runs at standby speed. When the scraper conveyor enters the standby speed operation, according to the length of the transfer machine /> And the current speed of the loader/> , calculate the delay time of the reprinter standby /> , that is, the scraper conveyor enters the standby speed /> Seconds later, the reloader runs at standby speed.

本发明设计合理，能够自动调整刮板输送机的运行速度，起到了节省动力能源和减少刮板输送机空载磨损的作用。The invention has reasonable design, can automatically adjust the running speed of the scraper conveyor, and has the functions of saving power energy and reducing no-load wear of the scraper conveyor.

结合附图阅读本发明的具体实施方式后，本发明的特点及实用性将更加清晰。After reading the specific implementation manner of the present invention in conjunction with the accompanying drawings, the characteristics and practicability of the present invention will become clearer.

附图说明：Description of drawings:

图1是本发明具体实施控制方法流程图；Fig. 1 is a flow chart of the specific implementation control method of the present invention;

图2是本发明刮板输送机调速流程图。Fig. 2 is a flow chart of the speed regulation of the scraper conveyor of the present invention.

具体实施方式：Detailed ways:

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述；The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention;

如图1所述，本实施例提出了一种刮板输送机自适应调速方法，对该方法具体说明如下：As shown in Figure 1, this embodiment proposes a method for adaptive speed regulation of a scraper conveyor, which is specifically described as follows:

步骤一、刮板输送机自适应调速运行模式Step 1. Self-adaptive speed regulation operation mode of scraper conveyor

如图1所述，根据采煤机采煤工艺，将刮板输送机运行状态分为不同工况段，刮板输送机机头、机尾割三角煤部分按采煤工艺方向分别定为不同工况段，其余部分按需要进行划分，建立采煤机/刮板输送机运行速度图。As shown in Figure 1, according to the coal mining process of the shearer, the operating state of the scraper conveyor is divided into different working conditions. The head of the scraper conveyor and the triangle coal cutting part at the tail of the scraper conveyor are respectively defined as different working conditions according to the direction of the coal mining process.

刮板输送机以额定速度初始化运行，判断刮板输送机负载发生变化，调整刮板输送机速度使其处于常规负载状态，记录该工况段采煤机速度、转载机速度、刮板输送机调整后速度及调整次数，当调整次数超过设定值，修正速度图。The scraper conveyor is initialized to run at the rated speed. It is judged that the load of the scraper conveyor has changed, and the speed of the scraper conveyor is adjusted to make it in the normal load state. Record the speed of the shearer, the speed of the loader, the adjusted speed of the scraper conveyor and the number of adjustments. When the number of adjustments exceeds the set value, the speed diagram is corrected.

常规运行状态下，刮板输送机与转载机均按照速度图运行，当采煤机停机时，根据采煤机停机位置至刮板输送机机头距离及当前刮板输送机速度/>，计算刮板输送机待机延时时间/>，即采煤机停机/>秒后，刮板输送机以待机速度运行。根据转载机长度/>及当前转载机速度/>，可计算出转载机待机延时时间/>，即刮板输送机进入待机状态/>秒后，转载机以待机速度运行。当采煤机恢复常规运行状态时，刮板输送机与转载机同步按照速度图运行。Under normal operating conditions, both the scraper conveyor and the reloader operate according to the speed diagram. When the shearer stops, the distance from the stop position of the shearer to the head of the scraper conveyor and current scraper conveyor speed/> , calculate the scraper conveyor standby delay time /> , that is, the shearer is shut down /> Seconds later, the scraper conveyor runs at standby speed. According to the length of the reprinter /> and the current loader speed/> , can calculate the delay time of reprinter standby/> , that is, the scraper conveyor enters the standby state /> Seconds later, the reloader runs at standby speed. When the shearer returns to the normal operating state, the scraper conveyor and the reloading machine run synchronously according to the speed diagram.

步骤二、刮板输送机的自适应调速：Step 2. Adaptive speed regulation of scraper conveyor:

如图2所述，刮板输送机根据负载状态及采煤机运行状态进行自适应调速。As shown in Figure 2, the scraper conveyor performs adaptive speed regulation according to the load status and the operating status of the shearer.

当刮板输送机处于高负载状态时，刮板输送机切换至高一级速度，若刮板输送机已处于最高级速度运行，则需采煤机降速以降低刮板输送机负载；When the scraper conveyor is in a high-load state, the scraper conveyor switches to a higher speed. If the scraper conveyor is running at the highest speed, the shearer needs to slow down to reduce the load of the scraper conveyor;

当刮板输送机处于常规负载状态时，采煤机进入高速运行状态，刮板输送机负载升高则切换至高一级速度，其余工况继续保持常规速度运行；When the scraper conveyor is in the normal load state, the shearer enters the high-speed operation state, and the load of the scraper conveyor will switch to a higher speed, and the rest of the working conditions will continue to operate at the normal speed;

当刮板输送机处于低负载状态时，采煤机进入低速运行状态，刮板输送机负载降低则切换至低一级速度，其余工况继续保持常规速度运行。When the scraper conveyor is in a low-load state, the shearer enters a low-speed operation state, and when the load of the scraper conveyor decreases, it switches to a lower speed, and the rest of the working conditions continue to maintain normal speed operation.

本实施例能够实现刮板输送机的自动调速，减少动力能源消耗及设备空载磨损，延长设备使用寿命，降低使用成本，提高刮板输送机智能化水平。This embodiment can realize the automatic speed regulation of the scraper conveyor, reduce power energy consumption and equipment no-load wear, prolong the service life of the equipment, reduce the use cost, and improve the intelligent level of the scraper conveyor.

Claims (6)

1. A self-adaptive speed regulation method of a scraper conveyor is characterized in that:
acquiring position, process section and speed data of the coal cutter on the scraper conveyor, analyzing the running state of the coal cutter, and dividing the running state of the coal cutter into conventional running statesHigh-speed operation state->And a low-speed operating state->；
The method comprises the steps of obtaining information such as current of a scraper conveyor frequency converter, cutting depth of a coal mining machine, mining height and the like, analyzing the load state of the scraper conveyor, and dividing the load state into conventional load statesHigh load condition->And low load state->；
And integrating the running state of the coal mining machine and the loading state of the scraper conveyor, and adjusting the speed of the scraper conveyor based on the running state and the loading state of the coal mining machine.
2. The method for adaptively adjusting speed of a scraper conveyor according to claim 1, wherein a coal cutter/scraper conveyor/reversed loader operation speed diagram is established:
according to the coal mining process of the coal mining machine, the operation state of the scraper conveyor is divided into different working condition sections, the head and tail cutting triangular coal parts of the scraper conveyor are respectively defined into the different working condition sections according to the coal mining process direction, the rest parts are divided according to the requirements, and the operation speed diagram of the coal mining machine/the scraper conveyor/the reversed loader is built.
3. The self-adaptive speed regulation method of a scraper conveyor according to claim 2, wherein the self-correction method of the operation speed diagram of the coal mining machine/scraper conveyor/reversed loader comprises the following steps:
the scraper conveyor is initialized to run at a rated speed, the load of the scraper conveyor is judged to change, the speed of the scraper conveyor is adjusted to be in a normal load state, the speed of the coal mining machine, the speed of the reversed loader, the speed of the scraper conveyor after adjustment and the adjustment times are recorded in the working condition section, when the adjustment times exceed a set value, the speed map is corrected, and the self correction of the running speed map of the coal mining machine/the scraper conveyor/the reversed loader is realized.
4. The method for adaptively adjusting the speed of the scraper conveyor according to claim 1, wherein: based on the analysis of the operation state of the scraper conveyor, the operation speed of the scraper conveyor is divided into 4 states:
1. rated speed (3 stages): the scraper conveyor operates at a rated speed;
2. conventional run speed (stage 2): under the normal coal mining process of the coal mining machine, the operation speed of the scraper conveyor in each working condition section;
3. low speed (stage 1): when the coal mining machine is lower than the normal running speed, the running speed of the scraper conveyor in each working condition section is lower than the normal running speed;
4. standby speed (level 0): the coal mining machine is stopped, and the scraper conveyor runs at a speed when no load exists.
5. The self-adaptive speed regulation method of the scraper conveyor according to claim 1, wherein the method for analyzing the load of the scraper conveyor based on the current of a motor and the estimation of the coal amount is as follows:
the scraper conveyor is used for quantifying the coal quantity by taking each section of middle groove as a unit, and the ratio of the actual coal quantity to the rated total coal quantity is calculated according to the following formula:wherein:
: ratio of actual coal quantity to rated coal quantity of each frame
: current speed of coal cutter
: length of middle groove
: current speed of scraper conveyor
: current mining height
: current depth of cut
: scraper conveyor length
: rated mining height
: rated depth of cut
The ratio of the actual total coal amount to the rated total coal amount can be calculated:
wherein: n is the number of middle grooves;
the real-time current duty cycle is calculated as follows:
wherein:
: real-time current of motor
: rated current of motor
And (3) estimating the current and the coal quantity of the motor, and quantifying the load value of the scraper conveyor to obtain:
wherein:
: weight of coal
: current weight
When 0.9<<1, the scraper conveyor is in a high load state +.>；
When 0.7<When the load is less than or equal to 0.9, the scraper conveyor is in a normal load state>；
When (when)When the load is less than or equal to 0.7, the scraper conveyor is in a low load state>。
6. The adaptive speed regulation method of a scraper conveyor according to claim 4, wherein:
when the scraper conveyor is in a high-load state, the scraper conveyor is switched to a high primary speed, and if the scraper conveyor is already in the highest-stage speed operation, the coal mining machine is required to be decelerated to reduce the load of the scraper conveyor;
when the scraper conveyor is in a normal load state, the coal mining machine enters a high-speed running state, the load of the scraper conveyor is switched to a first-stage speed higher than that of the scraper conveyor when the load of the scraper conveyor is increased, and the other working conditions continue to keep the normal speed running;
when the scraper conveyor is in a low-load state, the coal mining machine enters a low-speed running state, the load of the scraper conveyor is reduced, the scraper conveyor is switched to a first-stage speed, and the other working conditions continue to keep the normal-speed running;
when the coal mining machine is stopped, the distance from the stopping position of the coal mining machine to the scraper conveyor head is according toCurrent scraper conveyor speedCalculating standby delay time of scraper conveyor>I.e. coal cutter is stopped->After second, the scraper conveyor runs at a standby speed, and when the scraper conveyor enters the standby speed to run, the scraper conveyor is +_ according to the length of the reversed conveyor>Current speed of reversed loaderCalculating standby delay time of reversed loader>I.e. scraper conveyor enters standby speed +.>After seconds, the reversed loader is run at standby speed.
CN202310371733.5A 2023-04-10 2023-04-10 Self-adaptive speed regulation method for scraper conveyor Pending CN116477311A (en)

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