CN108643931B - Super-cutter control mechanism of heading machine and heading machine - Google Patents
Super-cutter control mechanism of heading machine and heading machine Download PDFInfo
- Publication number
- CN108643931B CN108643931B CN201810379962.0A CN201810379962A CN108643931B CN 108643931 B CN108643931 B CN 108643931B CN 201810379962 A CN201810379962 A CN 201810379962A CN 108643931 B CN108643931 B CN 108643931B
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- Prior art keywords
- electric actuator
- super
- cutter
- heading machine
- control mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000005641 tunneling Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Portable Nailing Machines And Staplers (AREA)
Abstract
The invention provides an ultra-cutter control mechanism of a heading machine, which comprises a controller, an electric actuator and an ultra-cutter, wherein the electric actuator is respectively connected with the controller and the ultra-cutter. The structure is simple and compact, the installation space is small, the cost is low, the problems that the system response is slow, the super-digging cutter stroke cannot be timely adjusted, and the underdigging or the super-digging is caused are avoided, the whole life cycle of the electric actuator does not need maintenance, and the repetition precision of the electric actuator is high.
Description
Technical Field
The invention belongs to the technical field of tunneling equipment, and particularly relates to a tunneling machine super-digging cutter control mechanism and a tunneling machine.
Background
Development machines are increasingly used in tunnel construction such as subways. The super-cutter system is an important component of the heading machine, and in the actual construction process, in order to realize the small-radius turning of the heading machine, the super-cutter is required to be used for expanding the excavation when the heading machine turns, so that the space is expanded for the shield turning. In the prior art, the following problems exist: the extension and retraction of the super-digging cutter are controlled by a hydraulic cylinder, a hydraulic pump station, a hydraulic control valve and the like are required to be configured for the action of the hydraulic cylinder, the system elements are more, the occupied space is large, the cost is high, and the control precision by the hydraulic cylinder is poor.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing the super-cutter control mechanism of the heading machine and the heading machine, which have the advantages of simple and compact structure, high control precision and low cost.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides a tunneller super-digger control mechanism, includes controller, electric actuator and super-digger, and electric actuator is connected with controller and super-digger respectively.
According to the super-digging cutter control mechanism of the heading machine, an electric actuator is adopted to replace a hydraulic cylinder in the prior art, and system elements such as a hydraulic pump station, a hydraulic control valve and the like are not required to be configured, so that the super-digging cutter control mechanism of the heading machine is simple and compact in structure, and accordingly, space and production and manufacturing costs can be saved. In addition, because the electric actuator controls the actual displacement of the super-digging cutter through the signal input by the controller and the speed of extension and retraction, the problem that the super-digging cutter is undermined or overdrawed due to slow system response caused by the control of the oil cylinder through the electromagnetic valve and incapability of timely adjusting the stroke of the super-digging cutter due to the control of the oil cylinder in the prior art can be avoided. And thirdly, compared with the problem that the hydraulic oil needs to be replaced periodically in hydraulic control, the hydraulic oil is likely to leak to cause pollution so as to cause faults, and the whole life cycle of the electric actuator does not need maintenance. Moreover, the problem of poor control repetition precision of the hydraulic system is solved, and the repetition precision of the electric actuator is high.
Further improvements to the above described solution are possible as follows.
Specifically, in a preferred embodiment, the electric actuator includes a servo motor and a displacement sensor. The electric actuator provides a power source through the servo motor, so that the speed of the electric actuator can be ensured to be stable and continuously adjustable. In addition, the signal of the electric actuator is input by the controller, and the displacement sensor can transmit the actual displacement of the electric actuator into the controller in real time, so that the closed-loop control of the actual position of the super-cutting tool is ensured. The actual stroke of the super-digging cutter can be fed back and corrected in real time through closed-loop control, and finally the actual stroke is completely stabilized at the set value of an operator, so that the purpose of accurate control is achieved, and the precision and the stability of the system are improved. Specifically, the controller converts an input control signal into an output signal and transmits the output signal to the servo motor, and the servo motor controls the actual position of the electric actuator according to the input signal. Meanwhile, the controller timely adjusts output parameters through the received actual displacement of the electric actuator, so that closed-loop control is formed, and finally the precision and accuracy of the super-cutter position are improved.
Further, in a preferred embodiment, the electric actuator is connected to the super cutter by a linkage. By means of the link mechanism, the mounting positions of the super-cutter and the electric actuator can be arranged according to the actual space. In addition, in some definite cases, a small electric actuator can amplify the acting force actually output to the super-cutter by using the lever principle through a link mechanism.
In particular, in a preferred embodiment, the electric actuator takes the form of a gear drive. The electric actuator adopts a gear transmission mode, so that the electric actuator has a simple structure, and the linear motion of the electric actuator is very conveniently realized, so that the super-digging cutter is driven to do linear motion.
In particular, in another preferred embodiment, the electric actuator takes the form of a worm gear drive. Further, in a preferred embodiment, the controller is capable of controlling the electric actuator to act in a determined sequence to cause the super-cutter to perform a profiling motion. The electric actuator can realize complex motion sequence actions through the control of a standard programmable controller, so that the profiling function of the super-digging cutter is realized.
In a preferred embodiment, the electric actuator comprises several. The output force of the super-cutter can be increased by a plurality of electric actuators, and on the other hand, in a determined space, only one super-cutter can be controlled by a plurality of small electric actuators due to the limited installation space of a single electric actuator.
The heading machine according to the second aspect of the invention comprises a housing and a heading machine super-cutter control mechanism as described above mounted in the housing.
Compared with the prior art, the invention has the advantages that: the structure is simple and compact, the installation space is small, the cost is low, the problems that the system response is slow, the super-digging cutter stroke cannot be timely adjusted, and the underdigging or the super-digging is caused are avoided, the whole life cycle of the electric actuator does not need maintenance, and the repetition precision of the electric actuator is high.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 schematically illustrates an embodiment of the present disclosure of a control mechanism for a super-cutter of a heading machine;
fig. 2 schematically shows another configuration of the super-cutter control mechanism of the heading machine according to the embodiment of the invention.
In the drawings, like parts are designated with like reference numerals. The figures are not drawn to scale.
Detailed Description
The invention will now be described in further detail with reference to the drawings and the specific examples, which are not intended to limit the scope of the invention.
Fig. 1 schematically illustrates an embodiment of the present invention of a heading machine super-cutter control mechanism 10. Fig. 2 schematically illustrates another configuration of the entry-driving machine super-cutter control mechanism 10 according to an embodiment of the present invention.
As shown in fig. 1 and 2, a tunneling machine super-cutter control mechanism 10 according to an embodiment of the present invention includes a controller 1, an electric actuator 2, and a super-cutter 3, where the electric actuator 2 is connected to the controller 1 and the super-cutter 3, respectively. According to the super-digging cutter control mechanism of the tunneling machine, an electric actuator is adopted to replace a hydraulic cylinder in the prior art, and system elements such as a hydraulic pump station and a hydraulic control valve are not required to be configured, so that the super-digging cutter control mechanism of the tunneling machine is simple and compact in structure, correspondingly, the installation space of the super-digging cutter control mechanism of the tunneling machine is small, and the production and manufacturing cost is saved. In addition, because the electric actuator controls the actual displacement of the super-digging cutter through the signal input by the controller and the speed of extension and retraction, the problem that the super-digging cutter is undermined or overdrawed due to slow system response caused by the control of the oil cylinder through the electromagnetic valve and incapability of timely adjusting the stroke of the super-digging cutter due to the control of the oil cylinder in the prior art can be avoided. Further, in a preferred embodiment, as shown in fig. 2, the electric actuator 2 is connected to the super cutter 3 through a link mechanism 4. By means of the link mechanism, the mounting positions of the super-cutter and the electric actuator can be arranged according to the actual space. In addition, in some definite cases, a small electric actuator can amplify the acting force actually output to the super-cutter by using the lever principle through a link mechanism. Specifically, in a preferred embodiment, the electric actuator 1 includes a servo motor and a displacement sensor. The electric actuator provides a power source through the servo motor, so that the speed of the electric actuator can be ensured to be stable and continuously adjustable. In addition, the signal of the electric actuator is input by the controller, and the displacement sensor can transmit the actual displacement of the electric actuator into the controller in real time, so that the closed-loop control of the actual position of the super-cutting tool is ensured. The actual stroke of the super-digging cutter can be fed back and corrected in real time through closed-loop control, and finally the actual stroke is completely stabilized at the set value of an operator, so that the purpose of accurate control is achieved, and the precision and the stability of the system are improved. Specifically, the controller converts an input control signal into an output signal and transmits the output signal to the servo motor, and the servo motor controls the actual position of the electric actuator according to the input signal. Meanwhile, the controller timely adjusts output parameters through the received actual displacement of the electric actuator, so that closed-loop control is formed, and finally the precision and accuracy of the super-cutter position are improved.
Further, in a preferred embodiment, the controller 1 is capable of controlling the electric actuator 2 to act in a determined sequence such that the super-cutter 3 performs a profiling motion. The electric actuator can realize complex motion sequence actions through the control of a standard programmable controller, so that the profiling function of the super-digging cutter is realized.
In particular, in a preferred embodiment, the electric actuator 2 takes the form of a gear drive. The electric actuator adopts a gear transmission mode, so that the electric actuator has a simple structure, and the linear motion of the electric actuator is very conveniently realized, so that the super-digging cutter is driven to do linear motion. In particular, in another preferred embodiment, the electric actuator 2 takes the form of a worm gear drive. In a preferred embodiment, the electric actuator comprises several. The output force of the super-cutter can be increased by a plurality of electric actuators, and on the other hand, in a determined space, only one super-cutter can be controlled by a plurality of small electric actuators due to the limited installation space of a single electric actuator.
The heading machine according to the second aspect of the embodiment of the invention comprises a housing and a heading machine overexcavation control mechanism 10 as described above mounted in the housing.
According to the embodiment, the super-digging cutter control mechanism of the heading machine and the heading machine are simple and compact in structure, small in installation space and low in cost, the problems that the system response is slow, the super-digging cutter stroke cannot be timely adjusted to cause underdigging or over-digging are avoided, maintenance is not needed in the whole life cycle of the electric actuator, and the repetition accuracy of the electric actuator is high.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (6)
1. The super-digging cutter control mechanism of the heading machine is characterized by comprising a controller, an electric actuator and a super-digging cutter, wherein the electric actuator is respectively connected with the controller and the super-digging cutter,
wherein the electric actuator comprises a servo motor and a displacement sensor, the electric actuator is connected with the super-digging cutter through a connecting rod mechanism,
the electric actuator provides a power source through the servo motor, signals of the electric actuator are input by the controller, and the displacement sensor transmits actual displacement of the electric actuator to the controller in real time, so that closed-loop control of the actual position of the super-digging cutter is guaranteed.
2. The entry driving machine overexcavation cutter control mechanism according to claim 1, characterized in that said electric actuator takes the form of a gear transmission.
3. The super-cutter control mechanism of a heading machine according to claim 1, wherein the electric actuator adopts a worm gear transmission form.
4. A heading machine overexcavation cutter control mechanism according to any one of claims 1 to 3, wherein the controller is operable to control the electric actuator to act in a determined sequence to cause the overexcavation cutter to effect a profiling motion.
5. A heading machine overexcavation control mechanism according to any one of claims 1 to 3, characterised in that the electric actuator comprises a number.
6. A heading machine comprising a housing and a heading machine overexcavation control mechanism as claimed in any one of claims 1 to 5 mounted within the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810379962.0A CN108643931B (en) | 2018-04-25 | 2018-04-25 | Super-cutter control mechanism of heading machine and heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810379962.0A CN108643931B (en) | 2018-04-25 | 2018-04-25 | Super-cutter control mechanism of heading machine and heading machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108643931A CN108643931A (en) | 2018-10-12 |
| CN108643931B true CN108643931B (en) | 2024-04-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810379962.0A Active CN108643931B (en) | 2018-04-25 | 2018-04-25 | Super-cutter control mechanism of heading machine and heading machine |
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| WO2017104238A1 (en) * | 2015-12-18 | 2017-06-22 | 住友重機械工業株式会社 | Shovel and control method for same |
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