CN102418522A - Heading machine and cutting calibration method therewith - Google Patents
Heading machine and cutting calibration method therewith Download PDFInfo
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- CN102418522A CN102418522A CN2011103827046A CN201110382704A CN102418522A CN 102418522 A CN102418522 A CN 102418522A CN 2011103827046 A CN2011103827046 A CN 2011103827046A CN 201110382704 A CN201110382704 A CN 201110382704A CN 102418522 A CN102418522 A CN 102418522A
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Abstract
The invention provides a heading machine and a cutting calibration method therewith. The heading machine which comprises a tilt sensor, a rotary encoder, frame positioning devices, and a datum processing module which is connected with the tilt sensor, the rotary encoder and the frame positioning devices is characterized in that: the tilt sensor is arranged on the cutting part of the heading machine; the rotary encoder is arranged on the rotary table of the heading machine; the frame positioning devices are arranged on the frame of the heading machine; the datum processing module is used to process data transmitted by the tilt sensor, the rotary encoder and the frame positioning devices and control the operation of the heading machine. The heading machine comprises the tilt sensor, the rotary encoder, the frame positioning devices and the datum processing module for receiving the data, and the operation of the heading machine is controlled by the data, so the automatic cutting of the heading machine is realized, and the cutting precision is improved.
Description
Technical field
The present invention relates to the coal mine machinery field, specifically, relate to the cut scaling method of a kind of development machine and this development machine.
Background technology
At present, the form of remote controller or operating desk direct control is adopted in development machine control.When development machine was worked, the workman was the work that the side that stands in development machine is operated development machine, because the work plane dust is bigger; Influence workman's sight line; So the shape to section when the cut section is difficult to hold, therefore the operation to development machine is sense organ and the experience that relies on the workman basically, therefore; This kind mode of operation can not satisfy performance accuracy and safe requirement, influences the efficient of cut.
Summary of the invention
In order to overcome the above-mentioned defective and the deficiency of prior art; The object of the present invention is to provide a kind of development machine; Comprise obliquity sensor, rotary encoder, fuselage positioner and the data processing module that is connected with said obliquity sensor, rotary encoder and fuselage positioner; Said obliquity sensor is arranged on the cutting units of said development machine; Said rotary encoder is arranged on the panoramic table of said development machine, and said fuselage positioner is arranged on the fuselage of said development machine, the operation that said data processing module is used to handle the data that transmitted by said obliquity sensor, rotary encoder and fuselage positioner and controls said development machine.
Further, also comprise the insulation blocking module, said data processing module is connected with said obliquity sensor, rotary encoder and fuselage positioner through said insulation blocking module.
Further, said fuselage positioner is arranged at the top of said machine body of boring machine and the both sides of said fuselage respectively, and the fuselage positioner that is arranged at said fuselage top is used for the said development machine of sensing height in the horizontal direction; The fuselage positioner that is arranged at said fuselage both sides is used for the distance between the said development machine of sensing and its tunnel, left and right sides.
Further, also comprise display screen, said display screen is connected with said data processing module, and said display screen is used for showing in real time the position coordinates of said cutting units.
Another object of the present invention is to provide a kind of cut scaling method of development machine, sets a work origin earlier; Control said cutting units then and begin cut by said initial point and go out a section, in the cut process, the track data that said obliquity sensor and said rotary encoder are passed by said cutting units is sent in the said data processing module; Said then data processing module becomes a four-quadrant coordinate system with said data transaction, and with the data of said storage as the automatic cut of next development machine; Simultaneously; Said fuselage positioner is sent to the position signalling of said fuselage in the said data processing module; Said data processing module compares the data of the initial position of said position signalling and said fuselage; And the walking mechanism of controlling said development machine makes said position signalling equate with said initial position data to adjust the travel angle of said development machine.
Further; Be said initial point X0 the zero point in the said four-quadrant coordinate system; Y0, behind the horizontal cut of said cutting units, said cutting units is vertically increasing a cut diameter again; Said then cutting units along laterally being reversed cut, moving in circles according to said process when said cutting units moves to the X0 place again and accomplishes until cut again.
Development machine of the present invention is provided with obliquity sensor, rotary encoder, fuselage positioner and is used to receive the data processing module of data, by this Data Control development machine operation, has realized the automatic cut of development machine, improves the cut precision.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the vertical view of the development machine of preferred embodiment of the present invention.
Fig. 2 is a lateral view of the development machine of preferred embodiment of the present invention.
Fig. 3 is the flow chart of cut scaling method of the development machine of preferred embodiment of the present invention.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Read Fig. 1 and shown in Figure 2 be the development machine of preferred embodiment of the present invention, this development machine is provided with cutting control system.This cutting control system comprises rotary encoder 10, obliquity sensor 11, fuselage positioner 12, insulation blocking module 13, data processing module 14 and display screen.
Said obliquity sensor 11 is arranged at the afterbody of this tunneling machine cutting portion 20, and said obliquity sensor 11 is used for the angle of inclination of this cutting units of sensing.
Said rotary encoder 10 is arranged on the panoramic table 21 of this development machine, and said rotary encoder 10 is used for the anglec of rotation of this cutting units 20 of sensing.
Said fuselage positioner 12 is arranged at the top of this machine body of boring machine 22 and the both sides of this fuselage respectively, and the fuselage positioner 12 that is arranged at these fuselage 22 tops is used for this development machine of sensing height in the horizontal direction; The fuselage positioner 12 that is arranged at these fuselage 22 both sides is used for the distance between this development machine of sensing and its tunnel, left and right sides.
This insulation blocking module 13 is connected with said obliquity sensor 11, rotary encoder 10 and fuselage positioner 12 respectively; This insulation blocking module 13 is used for the data of the obliquity sensor 11 that receives, rotary encoder 10 and fuselage positioner 12 are protected, to prevent corrupted data.
This data processing module 14 is connected with this insulation blocking module 13; It is used to receive the data of these insulation blocking module 13 transmission and instruction is handled and sent to said data, to control direct of travel and this cutting units 20 anglecs of rotation and the angle of inclination of this development machine in the tunnel.
This display screen is connected with this data processing module 14, and it is used for showing in real time the position coordinates of this cutting units 20.Therefore, operating personnel can understand the operating position of this cutting units 20 and this machine body of boring machine 22 intuitively, be convenient to operating personnel cutting units 20 and this machine body of boring machine 22 are controlled.
Please combine to consult Fig. 3; When work; Operating personnel set a work origin earlier, control this cutting units 20 then and begin cut by this initial point and go out a section, in the cut process; Said obliquity sensor 11 is sent in this insulation blocking module 13 with the track data that said rotary encoder 10 is passed by this cutting units 20 in real time, is protected by 13 pairs of these data of this insulation blocking module.This insulation blocking module 13 will be sent in this data processing module 14 through the data of protection more then, and this data processing module 14 becomes a four-quadrant coordinate system with said data transaction, and with the data of said storage as the automatic cut of next development machine.Simultaneously, said fuselage positioner 12 is sent to the position signalling of this fuselage in this insulation blocking module 13, and then is sent in this data processing module 14.This data processing module 14 compares the data of the initial position of this position signalling and this fuselage, and the walking mechanism of controlling this development machine makes this position signalling equate with these initial position data to adjust the travel angle of this development machine.
Particularly, this cutting units 20 run on this four-quadrant coordinate system (X, Y) in, the zero point in this four-quadrant coordinate system, (X0 Y0) can be used as said initial point.If this cutting units 20 is laterally during cut, the X value variation of this cutting units 20, and the Y value remains unchanged, and promptly Y equals Y0.When cutting units 20 moves to maximum value or the minimum value of directions X; After the Y value increases a cut diameter up or down; This cutting units 20 is reversed cut again on directions X, when this cutting units 20 moves to the X0 place, move in circles according to said process again and accomplish until cut.If the method when adopting vertical cut and the method for above-mentioned horizontal cut are roughly the same, so do not give unnecessary details.
Development machine of the present invention is provided with obliquity sensor, rotary encoder, fuselage positioner and is used to receive the data processing module of data, by this Data Control development machine operation, has realized the automatic cut of development machine, improves the cut precision.
Be appreciated that; This insulation blocking module can be save; This data processing module is connected with said obliquity sensor, rotary encoder and fuselage positioner respectively, the operation that is used to handle the data that transmitted by said obliquity sensor, rotary encoder and fuselage positioner and controls this development machine.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. development machine; It is characterized in that: comprise rotary encoder (10), obliquity sensor (11), fuselage positioner (12) and the data processing module (14) that is connected with said obliquity sensor (11), rotary encoder (10) and fuselage positioner (12); Said obliquity sensor (11) is arranged on the cutting units (20) of said development machine; Said rotary encoder (10) is arranged on the panoramic table (21) of said development machine; Said fuselage positioner (12) is arranged on the fuselage (22) of said development machine, the operation that said data processing module (14) is used for handling the data that transmitted by said obliquity sensor (11), rotary encoder (10) and fuselage positioner (12) and controls said development machine.
2. development machine according to claim 1; It is characterized in that; Also comprise insulation blocking module (13), said data processing module (14) is connected with said obliquity sensor (11), rotary encoder (10) and fuselage positioner (12) through said insulation blocking module (13).
3. development machine according to claim 1 and 2; It is characterized in that; Said fuselage positioner (12) is arranged at the top of said machine body of boring machine (22) and the both sides of said fuselage (22) respectively, and the fuselage positioner (12) that is arranged at said fuselage (22) top is used for the said development machine of sensing height in the horizontal direction; The fuselage positioner (12) that is arranged at said fuselage (22) both sides is used for the distance between the said development machine of sensing and its tunnel, left and right sides.
4. development machine according to claim 3 is characterized in that, also comprises display screen, and said display screen is connected with said data processing module (14), and said display screen is used for showing in real time the position coordinates of said cutting units (20).
5. cut scaling method of using development machine as claimed in claim 1 is characterized in that:
Set a work origin earlier;
Controlling said cutting units (20) then begins cut by said initial point and goes out a section; In the cut process, the track data that said obliquity sensor (11) and said rotary encoder (10) are passed by said cutting units (20) is sent in the said data processing module (14);
Said then data processing module (14) becomes a four-quadrant coordinate system with said data transaction, and with the data of said storage as the automatic cut of next development machine;
Simultaneously; Said fuselage positioner (12) is sent to the position signalling of said fuselage in the said data processing module (14); Said data processing module (14) compares the data of the initial position of said position signalling and said fuselage; And the walking mechanism of controlling said development machine makes said position signalling equate with said initial position data to adjust the travel angle of said development machine.
6. cut scaling method according to claim 5; It is characterized in that be said initial point X0 the zero point in the said four-quadrant coordinate system, Y0; Behind the horizontal cut of said cutting units (20); Said cutting units (20) is vertically increasing a cut diameter again, and said then cutting units (20) along laterally being reversed cut, moving in circles according to said process when said cutting units (20) moves to the X0 place again and accomplishes until cut again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103827046A CN102418522A (en) | 2011-11-25 | 2011-11-25 | Heading machine and cutting calibration method therewith |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103827046A CN102418522A (en) | 2011-11-25 | 2011-11-25 | Heading machine and cutting calibration method therewith |
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| CN102418522A true CN102418522A (en) | 2012-04-18 |
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| CN2011103827046A Pending CN102418522A (en) | 2011-11-25 | 2011-11-25 | Heading machine and cutting calibration method therewith |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2805205C1 (en) * | 2022-02-25 | 2023-10-12 | Сани Хэви Эквипмент Ко., Лтд. | Control method and device for mining machine, readable storage media and mining machine |
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| JPS60187809U (en) * | 1984-05-23 | 1985-12-12 | 株式会社日立ホームテック | heating cooker |
| US4884847A (en) * | 1988-02-19 | 1989-12-05 | Consolidation Coal Co. | Apparatus and method for mapping entry conditions in remote mining systems |
| CN201013380Y (en) * | 2006-10-27 | 2008-01-30 | 三一重型装备有限公司 | Full-automatic tunneling machine |
| CN101266134A (en) * | 2008-04-30 | 2008-09-17 | 山西焦煤集团有限责任公司 | Cantilever driving frame head posture measuring systems and its method |
| CN201265418Y (en) * | 2008-09-01 | 2009-07-01 | 石家庄煤矿机械有限责任公司 | Automatic positioning and cutting system of development machine |
| CN101832136A (en) * | 2010-04-26 | 2010-09-15 | 山西潞安环保能源开发股份有限公司王庄煤矿 | Automatic correction method and system for tunneling machine |
| CN102031970A (en) * | 2009-09-28 | 2011-04-27 | 三一重型装备有限公司 | Automatic cutting excavating machine |
| CN201915962U (en) * | 2011-01-17 | 2011-08-03 | 刘君波 | Development machine |
-
2011
- 2011-11-25 CN CN2011103827046A patent/CN102418522A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60187809U (en) * | 1984-05-23 | 1985-12-12 | 株式会社日立ホームテック | heating cooker |
| US4884847A (en) * | 1988-02-19 | 1989-12-05 | Consolidation Coal Co. | Apparatus and method for mapping entry conditions in remote mining systems |
| CN201013380Y (en) * | 2006-10-27 | 2008-01-30 | 三一重型装备有限公司 | Full-automatic tunneling machine |
| CN101266134A (en) * | 2008-04-30 | 2008-09-17 | 山西焦煤集团有限责任公司 | Cantilever driving frame head posture measuring systems and its method |
| CN201265418Y (en) * | 2008-09-01 | 2009-07-01 | 石家庄煤矿机械有限责任公司 | Automatic positioning and cutting system of development machine |
| CN102031970A (en) * | 2009-09-28 | 2011-04-27 | 三一重型装备有限公司 | Automatic cutting excavating machine |
| CN101832136A (en) * | 2010-04-26 | 2010-09-15 | 山西潞安环保能源开发股份有限公司王庄煤矿 | Automatic correction method and system for tunneling machine |
| CN201915962U (en) * | 2011-01-17 | 2011-08-03 | 刘君波 | Development machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2805205C1 (en) * | 2022-02-25 | 2023-10-12 | Сани Хэви Эквипмент Ко., Лтд. | Control method and device for mining machine, readable storage media and mining machine |
| RU2805205C9 (en) * | 2022-02-25 | 2023-12-01 | Сани Хэви Эквипмент Ко., Лтд. | Control method and device for mining machine, readable storage media and mining machine |
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Application publication date: 20120418 |