Design And Research On Continuous Change Device Of Crawler Traction Head Rope

With the economic development and the increasing demand for energy extraction,the shallow coal mine resources are nearly exhausted,and the mining direction needs to go deeper.However,the increasing mining depth is often accompanied by larger hoisting system,which increases the difficulty of replacing the first rope.With the continuous upgrading and progress of the hoisting system,the corresponding rope changing process is still in a relatively backward state,which has became a dangerous point for coal mine safety production.Imported foreign devices not only have high cost,but also can not well adapt to domestic mines.Therefore,it is urgent to promote the innovation of rope replacement and supporting equipment.Based on the analysis and summary of the rope changing process methods and equipment in existing projects,this paper proposes a new continuous rope changing device in view of the pain points and shortcomings in the current rope changing process.The device innovatively uses the crawler traction driving device,and applies enough reliable traction force through the friction pad arranged on it to continuously feed or lower the first rope.The whole process is automated,which innovates the traditional rope changing process and is innovative.In addition,in order to ensure the safety of rope replacement,the whole process is also equipped with rope clamping device and rope anti-running device,respectively to provide continuous protection and backup protection in the process of rope replacement.This process is compared with the old and new rope binding and mutual belt process method which is widely used in practice.Through the process comparison,equipment comparison and elastic static comprehensive equation analysis,it is proved that the new process section proposed in this paper has the advantages of high automation,high efficiency,and can release the additional torsional load of the new rope in the process of changing the rope,so as to protect the new rope.As the rope changing device belongs to large mining equipment,the working environment is relatively poor.Therefore,combined with the actual operating conditions,this paper proposes a special hydraulic circuit for rope changing under heavy load and harsh environment.The multi domain modeling software Simulation X is used to simulate and analyze the hydraulic system.The simulation results show that the rope changing device has certain adaptability in each load range,can cope with various working conditions,and the rope changing speed is kept below 1m/s,the rope changing process is stable and will not have a large impact.Under different loads,the clamping circuit can realize reliable clamping within a certain time,and the piston speed fluctuates little and the impact is small during return.When rope slip occurs,the rope anti-running device can provide backup protection for several common first ropes within 1s of the maximum movement time,which better ensures the safety of rope replacement.In order to avoid the mismatch between the speed of the crawler drive motor and the speed of the sheerhead drum during the rope changing process,which may lead to the accumulation or excessive stretching of the wire rope.This paper uses the fuzzy PID control system to realize the speed synchronous control of the rope change device,and uses the AMESim/Simulink co-simulation to verify the feasibility of the control system design.In order to cooperate with the hydraulic system for automation and electrification control,this paper proposes a PLC control system for the whole rope changing process.The hardware structure of the control system is modularized.According to the control requirements of the rope changing device,the appropriate control system hardware is selected,and the PLC input/output variable address is defined.On this basis,the PLC control system circuit is designed,and the rope changing equipment control cabinet is assembled and manufactured.Secondly,according to the process requirements and control requirements of the rope changing device,the software program of the control system is compiled with STEP7 programming software.Finally,the monitoring system of rope changing device is developed by using Kunlun general configuration software,which can display the status of rope changing device in real-time graphics and automatically save key data.At the same time,the control interface can be directly controlled,which has good man-machine interaction.In order to verify the coordination and integration of mechanical structure,hydraulic system,electronic control system,and evaluate whether the device can realize safe and reliable rope changing operation,this paper designed a rope changing device simulation test platform.Through the experimental device,the rope changing condition was simulated,and the no-load operation test,on load operation test and traveling mechanism test were carried out.According to the experimental results,the reliability of the rope changing device is verified,that is,it can successfully replace the first rope under various load conditions,and the rope changing time is shortened by more than half,and the whole process is basically automated.