CN107269274A - Tunneling machine cutting control system and control method - Google Patents
Tunneling machine cutting control system and control method Download PDFInfo
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- CN107269274A CN107269274A CN201710309176.9A CN201710309176A CN107269274A CN 107269274 A CN107269274 A CN 107269274A CN 201710309176 A CN201710309176 A CN 201710309176A CN 107269274 A CN107269274 A CN 107269274A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 86
- 230000005641 tunneling Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000011161 development Methods 0.000 claims abstract description 47
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 12
- 238000002955 isolation Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- General Life Sciences & Earth Sciences (AREA)
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- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to Boring Machine Technique field, disclose a kind of tunneling machine cutting control system, including obliquity sensor, displacement transducer, angle of revolution sensor and master controller, the obliquity sensor, displacement transducer and angle of revolution sensor are connected with the signal input part of master controller, and the signal output part of master controller is connected with hydraulic valve control.The invention also discloses a kind of tunneling machine cutting control method, including sensor is laid, operation cutting head of roadheader carries out section positioning, and operation development machine carries out planned section cut, and planned section cut parameter learning carries out auxiliary cut according to learning data.The present invention provides a kind of tunneling machine cutting control system and control method, practical, effectively reduction operating personnel's workload, and improve efficiency of construction.
Description
Technical field
The present invention relates to Boring Machine Technique field, and in particular to a kind of tunneling machine cutting control system and control method.
Background technology
Development machine is widely used in coal mining, the production and construction occasion such as traffic water conservancy roadway excavation.For how to ensure
Development machine ensures to be constructed according to predetermined specification in roadway excavation, it is to avoid owe dig or backbreak, and herein under the premise of reduce
Human input is always the study hotspot and difficult point of related R ＆ D design personnel.
For above mentioned problem, existing research direction mainly has two, and one is the acquisition from development machine self poisoning information
Set out with using angle, it is ensured that development machine can accurately construct according to regulation route and specification, the reduction amount of backbreaking improves economic effect
Benefit；Two be from how to improve development machine driving automation mechanized operation angle, reduce operating personnel workload and raising apply
Work efficiency rate.
Due to the particularity of production and construction environment, such as high dust, strong noise, strong motion and sight are unclear, cause on ground
Ripe technological means can not be applicable well on face, and most of more advanced technical scheme also only rests on theory can row order
Section, does not have practical value.
The content of the invention
In order to solve defect present in prior art, the present invention provides a kind of tunneling machine cutting control system and controlling party
Method, practical, effectively reduction operating personnel's workload, and improve efficiency of construction.
To achieve these goals, the present invention uses following technical scheme：
The present invention provides a kind of tunneling machine cutting control system, including：
Obliquity sensor, one is arranged on the cutting arm of development machine, for detecting cutting arm inclining with respect to the horizontal plane
Oblique angle；Another is arranged on development machine body, for detecting the inclination angle of development machine body with respect to the horizontal plane；
Displacement transducer, it is built in angling cylinder and telescopic oil cylinder, the displacement for detecting cutting arm；
Angle of revolution sensor, it is arranged on the revolving bed of cutting arm, the angle of revolution for detecting cutting arm；
Master controller, it is arranged on development machine body, for handling sensing data, receives and send control command,
Control performs device work；
The obliquity sensor, displacement transducer and angle of revolution sensor connect with the signal input part of master controller
Connect, the signal output part of master controller is connected with hydraulic valve control.
Further, in addition to：Current sensor and voltage sensor, the current sensor are used to detect cutting motor
Current value, the voltage sensor is used for the magnitude of voltage of detecting system, the current sensor and voltage sensor and master control
The signal input part connection of device processed.
Further, in addition to：Signal isolation grid, for the signal isolation between sensor and master controller.
Further, in addition to：Ipc monitor interface, for showing the working condition of development machine, and shows that cut surpasses
Limit alarm, the ipc monitor interface carries out two-way communication by CAN or RS485 communication modules and master controller.
Further, in addition to：Control box, for inputting development machine operational order and determining input cut section positioning number
According to the control box carries out two-way communication by CAN or RS485 communication modules and master controller.
Further, in addition to：Proportional control solenoid valve, for exporting order ratio output control liquid according to master controller
Compressing cylinder stretches and motor speed, forward and reverse operating.
The present invention also provides a kind of tunneling machine cutting control method, comprises the following steps：
Step 1, sensor is laid
Displacement transducer is built in angling cylinder and telescopic oil cylinder, and angle of revolution sensor is arranged on the revolution of cutting arm
On seat, an obliquity sensor is arranged on the cutting arm of development machine, and another obliquity sensor is arranged on development machine body；
Step 2, operation cutting head of roadheader carries out section positioning；
Step 3, operation development machine carries out planned section cut, in cutting course, if cutterhead exceeds calibration position
Point computer capacity, then send early warning, stops cutterhead action；
Step 4, planned section cut parameter learning；
Step 5, auxiliary cut is carried out according to learning data.
Further, the process that implements of the step 2 is：Cutting head of roadheader is adjusted in planned section contour line
On diverse location point, confirmed using control box, master controller storage relevant position dot position information, the selection of location point
The feature of planned section profile need to be embodied.
Further, the process that implements of the step 4 is：To sensing data in cutting course and cut current value
Recorded, each cut location point four kinds of data of correspondence, respectively inclination angle of the cutterhead with respect to development machine body, cutting arm
Angle of revolution, the telescopic displacement amount of cutting arm and the current value of cutting motor；Cutterhead can be tried to achieve according to triangulation formula
Real-time location coordinates (X, Y),
X=H3=sin β1×(cosβ2×H4)；
Y=(sin β2×H4)+H1+C；
Wherein, β2=α1-α2；
Wherein, coordinate system is using tunnel bottom centre as origin, using tunnel bottom as transverse axis, is vertical using tunnel longitudinal centre line
Axle；α 1 is that angle, the α 2 of cutting arm and horizontal plane are that angle, the β 1 of development machine body and horizontal plane is cutting arm and cut section
Horizontal sextant angle, the β 2 of vertical direction be cutting arm and development machine body angle, H1 be cutting arm turn distance of shaft centers ground height,
It is that to deviate the displacement of cut section longitudinal centre line, H4 be cutting arm to cutterhead that H2, which is cutterhead in the height of cut section, H3,
Length and C are cut definite value height.
Further, the process that implements of the step 5 is：Auxiliary cut, major embodiment are carried out according to learning data
：Section backbreak alarm or hydraulic valve coordinate limitation backbreak, overload cut path prompting and automatically reduction cut feeding rate；
Constraint IF condition for alarm of backbreaking is as follows：
Wherein, A points are the peak in tunnel, and 2 points of 2 points of DE and CF limit the Breadth Maximum in tunnel, 2 points of descriptions of BG
The gradient of tunnel top arch.
Compared with prior art, the present invention has advantages below：
1. the present invention obtains position of the cutterhead on section by the sensor being arranged on development machine, for cutting first
The new section cut, section configuration positioning is carried out according to the section configuration of planning, and operator enters under locator qualification to planned section
Row study cut, in cutting course, master controller can record the current value of corresponding cutting motor, cutterhead positional information,
Auxiliary cut can be subsequently carried out in cut according to the data of study, including cut transfinites and reminds and limit, overloads protection etc. of slowing down,
Master controller can be updated according to the actual conditions of cut section to learning data or human intervention updates, it is ensured that continuous and effective
Cut is aided in, cutting efficiency is improved, machine failure is reduced.
2. the present invention can make tunnel cutting height controlled, it is to avoid backbreak, improve operating efficiency and reduce engineering totle drilling cost.
3. carrying out duty parameter learning records using actual measurement sensor relative data, exclude because sensor is assembled and is sensed
Device measurement error in itself and with extensive tunnel adaptability.
4. in the range of restriction, operator can manual cut, intelligence can be achieved under special circumstances (being automatically positioned) auxiliary
Cut is helped, cutting efficiency is improved, the improper operation of operator is avoided to a certain extent, equipment failure rate is reduced.
5. the present invention can update floor data manually, equipment also can be according to the preceding situation of cut several times average value and nominal parameter
Automatically update a cut parameter.
Brief description of the drawings
Fig. 1 is a kind of structural representation of tunneling machine cutting control system of the embodiment of the present invention；
Fig. 2 is the position view of the cutterhead of the embodiment of the present invention；
Fig. 3 is the tunnel limit point distribution schematic diagram of demarcation of the embodiment of the present invention；
Fig. 4 is side view when development machine body inclination angle is 0；
Fig. 5 is that development machine body inclination angle is α2When side view；
Fig. 6 is a kind of schematic flow sheet of tunneling machine cutting control method of the embodiment of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail：
Embodiment one：Shown in Figure 1, the present embodiment provides a kind of tunneling machine cutting control system, including：
Obliquity sensor, one is arranged on the cutting arm of development machine, for detecting cutting arm inclining with respect to the horizontal plane
Oblique angle；Another is arranged on development machine body, for detecting the inclination angle of development machine body with respect to the horizontal plane；Inclination angle is sensed
Device can use double-shaft tilt angle sensor.
Displacement transducer, it is built in angling cylinder and telescopic oil cylinder, the displacement for detecting cutting arm, in this reality
Apply in example, displacement transducer can be using magnetostrictive displacement sensor built in stay wire sensor or oil cylinder.
Angle of revolution sensor, it is arranged on the revolving bed of cutting arm, and the angle of revolution for detecting cutting arm can be used
Rotary encoder.
Current sensor, the current value for detecting cutting motor；Voltage sensor, the magnitude of voltage for detecting system.
Master controller, it is arranged on development machine body, for handling sensing data, receives and send control command,
Control performs device work.The obliquity sensor, displacement transducer, angle of revolution sensor, current sensor and voltage are passed
Sensor is connected with the signal input part of master controller, and the signal output part of master controller is connected with hydraulic valve control.
Proportional control solenoid valve, stretches and motor for exporting order ratio output control hydraulic jack according to master controller
Speed, forward and reverse operating.
Signal isolation grid, for the signal isolation between sensor and master controller.
Ipc monitor interface, for showing the working condition and progress of development machine, and shows cut overload alarm, described
Ipc monitor interface carries out two-way communication by CAN or RS485 communication modules and master controller.
Control box, it is interior during installed in the operation of development machine, for inputting development machine operational order and determining that input cut breaks
Face location data, the control box carries out two-way communication by CAN or RS485 communication modules and master controller.
As shown in fig. 6, the present embodiment also provides a kind of tunneling machine cutting control method, comprise the following steps：
Step 1, sensor is laid
Displacement transducer is built in angling cylinder and telescopic oil cylinder, and angle of revolution sensor is arranged on the revolution of cutting arm
On seat, an obliquity sensor is arranged on the cutting arm of development machine, and another obliquity sensor is arranged on development machine body.
Step 2, operate cutting head of roadheader and combined with control box or mouse combination progress section positioning, by development machine
Cutterhead is adjusted in the diverse location point on planned section contour line, is confirmed using control box, and master controller storage is corresponding
Position dot position information, the selection of location point need to embody the feature of planned section profile, and generally higher than diameter of the taper cutting head is interval
(being calculated with cutterhead periphery) one location point information of record.It is specific as shown in figure 3, A points is tunnels using common tunnel profile
2 points of peak, 2 points of DE and CF limit the Breadth Maximum in tunnel, and 2 points of BG describes the gradient of tunnel top arch, O points
For coordinates computed system origin.
Step 3, operation development machine carries out planned section cut, in cutting course, if cutterhead exceeds calibration position
Point computer capacity, then send early warning, if associate with hydraulic valve, actively stop cutterhead act, with constant amount of feed with
Swing speed carries out cut operation, it is ensured that master controller learning data is objective effectively, until completing the cut first of planned section.
Step 4, as shown in Fig. 2, Fig. 4 and Fig. 5, planned section cut parameter learning, to sensing data in cutting course
And cut current value is recorded, each cut location point four kinds of data of correspondence, respectively cutterhead is with respect to development machine body
Inclination angle, the angle of revolution of cutting arm, the telescopic displacement amount of cutting arm and the current value of cutting motor；Can according to triangulation formula
The real-time location coordinates (X, Y) of cutterhead are tried to achieve,
X=H3=sin β1×(cosβ2×H4)；
Y=(sin β2×H4)+H1+C；
Wherein, β2=α1-α2；
Wherein, coordinate system is using tunnel bottom centre as origin, using tunnel bottom as transverse axis, is vertical using tunnel longitudinal centre line
Axle；α 1 is that angle, the α 2 of cutting arm and horizontal plane are that angle, the β 1 of development machine body and horizontal plane is cutting arm and cut section
The horizontal sextant angle of vertical direction, is detected, angle, the H1 that β 2 is cutting arm and development machine body are cut by angle of revolution sensor
It is cutterhead in the height of cut section, H3 is during cutterhead deviates cut section longitudinal direction that arm, which turns the height on distance of shaft centers ground, H2,
The displacement of heart line, H4 are cut arm lengths and C is cut definite value height.
Step 5, auxiliary cut is carried out according to learning data, be mainly reflected in：Section, which is backbreak, alarms or matches somebody with somebody with hydraulic valve
Limitation is closed to backbreak, overload the prompting of cut path and reduce cut feeding rate automatically；For the constraint IF condition for alarm of backbreaking
It is as follows：
Wherein, A points are the peak in tunnel, and 2 points of 2 points of DE and CF limit the Breadth Maximum in tunnel, 2 points of descriptions of BG
The gradient of tunnel top arch.
It should be noted that above-mentioned coordinate value used is to be obtained using cutterhead according to actual roadway location, rather than
Predetermined theoretical coordinate value is planned using single tunnel profile, adaptability is good.
Illustrated above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, for example, in master controller number
In the case of allowing according to disposal ability, the sensor for sensing equipment cutterhead mechanical shovel plate posture can lay it is multiple, and to many
Sensing data is merged, to improve the accuracy of sensing data, also has the feelings allowed in master controller data-handling capacity
Under condition, cutterhead carries out that multiple spot may be selected during cut positioning, it might even be possible to record complete actual measurement cut section configuration data, this
A little improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of tunneling machine cutting control system, it is characterised in that including：
Obliquity sensor, one is arranged on the cutting arm of development machine, for detecting the inclination angle of cutting arm with respect to the horizontal plane；
Another is arranged on development machine body, for detecting the inclination angle of development machine body with respect to the horizontal plane；
Displacement transducer, it is built in angling cylinder and telescopic oil cylinder, the displacement for detecting cutting arm；
Angle of revolution sensor, it is arranged on the revolving bed of cutting arm, the angle of revolution for detecting cutting arm；
Master controller, it is arranged on development machine body, for handling sensing data, receives and send control command, control
Performs device works；
The obliquity sensor, displacement transducer and angle of revolution sensor are connected with the signal input part of master controller, main
The signal output part of controller is connected with hydraulic valve control.
2. tunneling machine cutting control system according to claim 1, it is characterised in that also include：Current sensor and electricity
Pressure sensor, the current sensor is used for the current value for detecting cutting motor, and the voltage sensor is used for detecting system
Magnitude of voltage, the signal input part connection of the current sensor and voltage sensor and master controller.
3. tunneling machine cutting control system according to claim 1, it is characterised in that also include：Signal isolation grid, are used for
Signal isolation between sensor and master controller.
4. tunneling machine cutting control system according to claim 1, it is characterised in that also include：Ipc monitor interface,
For showing the working condition of development machine, and show cut overload alarm, the ipc monitor interface by CAN or
RS485 communication modules carry out two-way communication with master controller.
5. tunneling machine cutting control system according to claim 1, it is characterised in that also include：Control box, for inputting
Development machine operational order and determine input cut section location data, the control box by CAN or RS485 communication modules with
Master controller carries out two-way communication.
6. tunneling machine cutting control system according to claim 1, it is characterised in that also include：Proportional control solenoid valve,
Stretched and motor speed, forward and reverse operating for exporting order ratio output control hydraulic jack according to master controller.
7. the control method that the tunneling machine cutting control system described in a kind of utilization claim 1 is realized, it is characterised in that including
Following steps：
Step 1, sensor is laid
Displacement transducer is built in angling cylinder and telescopic oil cylinder, and angle of revolution sensor is arranged on the revolving bed of cutting arm
On, an obliquity sensor is arranged on the cutting arm of development machine, and another obliquity sensor is arranged on development machine body；
Step 2, operation cutting head of roadheader carries out section positioning；
Step 3, operation development machine carries out planned section cut, in cutting course, if cutterhead exceeds calibration position point meter
Scope is calculated, then sends early warning, stops cutterhead action；
Step 4, planned section cut parameter learning；
Step 5, auxiliary cut is carried out according to learning data.
8. a kind of tunneling machine cutting control method according to claim 7, it is characterised in that the specific reality of the step 2
Now process is：Cutting head of roadheader is adjusted in the diverse location point on planned section contour line, confirmed using control box,
Master controller stores relevant position dot position information, and the selection of location point need to embody the feature of planned section profile.
9. a kind of tunneling machine cutting control method according to claim 7, it is characterised in that the specific reality of the step 4
Now process is：Sensing data in cutting course and cut current value are recorded, four kinds of each cut location point correspondence
The telescopic displacement amount and cut of data, respectively cutterhead with respect to the inclination angle, the angle of revolution of cutting arm, cutting arm of development machine body
The current value of motor；The real-time location coordinates (X, Y) of cutterhead can be tried to achieve according to triangulation formula,
X=H3=sin β1×(cosβ2×H4)；
Y=(sin β2×H4)+H1+C；
Wherein, β2=α1-α2；
Wherein, coordinate system is using tunnel bottom centre as origin, using tunnel bottom as transverse axis, using tunnel longitudinal centre line as the longitudinal axis；α1
For the angle of cutting arm and horizontal plane, α2For the angle of development machine body and horizontal plane, β1For cutting arm and cut cross section perpendicular side
To horizontal sextant angle, β2For cutting arm and angle, the H of development machine body1Turn height, the H on distance of shaft centers ground for cutting arm2To cut
Cut height of the head in cut section, H3Deviate displacement, the H of cut section longitudinal centre line for cutterhead4For cut arm lengths and C
For cut definite value height.
10. a kind of tunneling machine cutting control method according to claim 7, it is characterised in that the specific reality of the step 5
Now process is：Auxiliary cut is carried out according to learning data, is mainly reflected in：Section backbreaks alarm or hydraulic valve coordinates limitation super
Dig, overload cut path is pointed out and reduces cut feeding rate automatically；
Constraint IF condition for alarm of backbreaking is as follows：
Wherein, A points are the peak in tunnel, and 2 points of 2 points of DE and CF limit the Breadth Maximum in tunnel, and 2 points of BG describes lane
The gradient of road top arch.
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Cited By (17)
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| CN108643931A (en) * | 2018-04-25 | 2018-10-12 | 中国铁建重工集团有限公司 | A kind of development machine is backbreak knife control mechanism and development machine |
| CN109209418A (en) * | 2018-09-28 | 2019-01-15 | 三重型装备有限公司 | Development machine and its control method |
| CN109386291A (en) * | 2018-11-22 | 2019-02-26 | 山东新矿信息技术有限公司 | Tunneling machine cutting paths planning method, device and tunneling machine cutting control system |
| CN109538231A (en) * | 2018-12-17 | 2019-03-29 | 中铁工程装备集团隧道设备制造有限公司 | Cantilever excavator digital intellectualization Hydraulic system and control method |
| CN109767477A (en) * | 2019-01-14 | 2019-05-17 | 冀中能源峰峰集团有限公司 | A kind of Precise Position System and method |
| CN109812267A (en) * | 2019-03-29 | 2019-05-28 | 无锡华瀚能源装备科技有限公司 | A kind of development machine perceives intelligent cutting control system and control method more |
| CN110685686A (en) * | 2019-10-22 | 2020-01-14 | 徐州徐工基础工程机械有限公司 | Continuous mining machine cutting control system, working method thereof and continuous mining machine |
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| CN112443328A (en) * | 2019-08-29 | 2021-03-05 | 三一重型装备有限公司 | Control method, control device, mining equipment and computer-readable storage medium |
| CN113867198A (en) * | 2021-09-16 | 2021-12-31 | 中国煤炭科工集团太原研究院有限公司 | Control system, method and device of tunneling equipment |
| CN113969788A (en) * | 2021-11-04 | 2022-01-25 | 中国煤炭科工集团太原研究院有限公司 | Intelligent cutting cantilever type tunneling robot for coal mine |
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| CN114233312A (en) * | 2021-11-17 | 2022-03-25 | 中铁工程装备集团隧道设备制造有限公司 | Free section cutting control system and control method for cantilever excavator |
| CN117189104A (en) * | 2023-11-08 | 2023-12-08 | 三一重型装备有限公司 | Automatic cutting method, system, device and readable storage medium |
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