CN109990996A - A kind of adaptive hobboing cutter control method of hobboing cutter experiment porch - Google Patents
A kind of adaptive hobboing cutter control method of hobboing cutter experiment porch Download PDFInfo
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- CN109990996A CN109990996A CN201910315076.6A CN201910315076A CN109990996A CN 109990996 A CN109990996 A CN 109990996A CN 201910315076 A CN201910315076 A CN 201910315076A CN 109990996 A CN109990996 A CN 109990996A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000005499 meniscus Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000010079 rubber tapping Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 abstract description 29
- 231100000241 scar Toxicity 0.000 description 13
- 238000005299 abrasion Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000035515 penetration Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
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- 208000037656 Respiratory Sounds Diseases 0.000 description 1
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- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- General Physics & Mathematics (AREA)
- Sampling And Sample Adjustment (AREA)
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Abstract
The present invention relates to a kind of adaptive hobboing cutter control methods of hobboing cutter experiment porch, the case where camera observes hobboing cutter eccentric wear and stall is set, in the experiment of hobboing cutter broken rock, when eccentric wear and stall occurs, while not stopping cutterhead driving, braked to hobboing cutter so that hobboing cutter stalls, then it rubs to the position of eccentric wear, it solves in broken rock experiment hobboing cutter eccentric wear and the technical issues of stall, reduces the number of replacement hobboing cutter, increase conventional efficient.
Description
Technical field
The invention belongs to heading equipment field, in particular to the adaptive hobboing cutter control method of a kind of hobboing cutter experiment porch.
Background technique
With the rapid development of social economy, infrastructure construction process is constantly accelerated, and the development and utilization of the underground space are not
It is broken into as the development priority in each area.Rock tunnel(ling) machine is excellent because its speed of application is fast, cavitation quality is high, operation continuity is good etc.
Point is increasingly becoming the equipment that tunnel is preferentially selected.Its Tunneling Principle is that the hobboing cutter on hobboing cutter is pressed in rock by oil cylinder
Surface, when the pressure of application is greater than the compression strength of rock, hobboing cutter is pressed into rock, and rock will crack, when adjacent two
When the crackle perforation that hobboing cutter generates, rock falls therebetween achieve the effect that fragmented rock body.Ground consisting of hard rock rock is with higher
Intensity, destroying its required pressure drop at this time increased dramatically, and when quartz content is higher in stratum, the abrasiveness of rock compared with
By force, cutter works under conditions of strong extruding, high grinding, and the speed of damage failure will significantly be accelerated, therefore in hard rock item
The penetration rate of tunnel piercing considerably increases construction cost compared with slow, tool wear is very fast under part.Currently, ground consisting of hard rock tunnel
There is a problem of that penetration rate is slow, cutter life is short, construction cost is high in tunneling construction, and what is be widely used is being pushed away using hobboing cutter
There are also biggish rooms for promotion for the efficiency of breaking rock of rolling cut rock method under the action of power and torque.
Applicant has carried out largely deep experimental study to hobboing cutter cutter rock breaking mechanism, due to hobboing cutter in hard rock experiment
The pressure being subject to is very big, and cutter is easily made to generate abrasion, and experiment economic cost increases obviously, in addition, in broken rock experimentation
In, carry the cutterhead of multiple hobboing cutters, rotation while tunnels under the action of featured power cylinder to rock sample working face, in driving
It will often find that the hobboing cutter in cutterhead is not rotated in the driving face of rock sample in the process, this is because hobboing cutter outer rim and rock sample pick
Eccentric wear has occurred in relative motion into working face, and eccentric wear is usually on round hobboing cutter excircle in certain point or a certain segmental arc
Run duration is long when driving, other points or segmental arc rotation time are short, causes hobboing cutter theftproof concavo-convex outer circumference uneven, so that rolling
Knife curvature of excircle during driving contacts rock sample changes (as shown in Figure 4), and hobboing cutter is caused intermittent to stop
Turn, generally also becomes and lose circle, when situation is serious, it will cause hobboing cutter stall, i.e. hobboing cutter has been stuck on rock sample driving face not
It moves.Former experimental method is to shut down, and needs to re-replace hobboing cutter.
Summary of the invention
In order to solve the above technical problems, of the invention provides a kind of adaptive hob device of hobboing cutter experiment porch machine.
A kind of adaptive hob device of hobboing cutter experiment porch includes: swing link, hobboing cutter, cutter shaft, brake disc, piston card
Pincers, camera, screw pull rod, tensioning spring, small girff, shaft, protection cap, motor, drive sprocket, driving chain, driven chain
Wheel, hobboing cutter gripping block, transmission shaft, the hobboing cutter and cutter shaft circumferentially constrain, and hobboing cutter gripping block is installed in the cutter shaft lower part, described small
Cutter shaft is installed, the hobboing cutter is mounted on cutter shaft, and driven sprocket is installed on the cutter shaft left side, with the driven sprocket at the top of girff
Connection is driving chain, and the driving chain is also connect with drive sprocket, and the drive sprocket is mounted on motor, and motor turns
Dynamic to deliver torque to cutter shaft drive hobboing cutter rotation indirectly by sprocket wheel, the cutter shaft right end installs brake disc, the brake disc
It is same that protection cap is set, caliper is installed, the caliper is stopped for clamping in the protection cap of the brake disc side
Piston rod is arranged in hull and then prevention hobboing cutter rotation, the caliper right side, and connection brake block, described on the right side of the piston rod
Piston rod is fixed in protection cap, and when caliper work, the piston rod pushes brake block to be moved to the left, and then clamps and stop
Vehicle piece, the small girff right side install camera on the inner wall of hobboing cutter, connect the moon on the small girff below the camera
Tensioning spring is arranged in the junction of dental lamina, the swing link and small girff, installs screw pull rod, the spiral on the swing link
Pull rod left end passes through the left side of small girff, installs the driven gear with tapping on the screw pull rod, the driven gear with
Driving gear below is connected, and the driving gear axially passes through transmission shaft and is fixed on small girff, the transmission shaft left end
It is connected with torque motor.
As a preferred solution of the present invention, several scales radially extended are circumferentially arranged in the right side of the hobboing cutter
Line, the camera present position is the graduation mark that can be shone on hobboing cutter, and can shine hobboing cutter blade profile, Ke Yitong
It crosses artificial observation video image and determines the longest position of graduation mark, video information can also be passed to by PC by camera, lead to
It crosses the program that OpenCV is write to be handled the video image that camera acquires in real time, shows profile and graduation mark, it is right
The real-time identification of hobboing cutter profile and graduation mark in image, can determine graduation mark average length, extreme length and its position in real time.
As a preferred solution of the present invention, the first torque sensor of process control, caliper, torque can be passed through
Motor, motor, camera work, by the identification to scale line length and its position, control brake disc, justify to losing
Hobboing cutter carry out " rounding ".
The concrete meaning of " rounding " of the present invention are as follows: camera identifies the length of hobboing cutter cutterhead graduation mark in real time, and
Program records the variation of scale line length, and when hobboing cutter stall, motor control hobboing cutter deflects to the relatively long place of graduation mark simultaneously
Control is actively braked, and is fixed hobboing cutter, thus by the hobboing cutter position blunt of scale wire length, is enabled hobboing cutter again on scar
It rolls.
During rotating propulsion hobboing cutter realization " rounding " with cutterhead, the position of hobboing cutter scale wire length is allowed to wear, in turn
So that the circularity of hobboing cutter is restored as far as possible, increases hobboing cutter service life, extend the experimental period of single hobboing cutter.In the rolling of the prior art
In knife experimental provision, hob-cutter structure is simple, can't be by structure Design intervention hob abrasion position, so that hobboing cutter is worked
Cheng Jiben is uncontrollable, reduces the service life of hobboing cutter, although also someone researcher passes through in conjunction with practical shield machine yard recently
Scape proposes a kind of mono- hobboing cutter replacement arm end effector (application No. is 201810128684 .1) of TBM, this research kind is more
Although the mode of tool changing tool reduces human cost, but exchanging knives process needs shield machine to shut down, on the one hand shield machine, which is shut down, to be subtracted
Working efficiency is lacked, the shield machine on the other hand shut down needs to reduce what shield machine was holed to knife again when restarting
Directional precision, the improved hob device of the present invention substantially prolong hobboing cutter using duration, reduce time for shutting down replacement cutter
Number and then raising shield machine penetration performance.It can be applied not only to broken rock experiment porch, also can be applied to hobboing cutter knot in engineering
In the design of structure.
As a preferred solution of the present invention, when monitoring hobboing cutter stall, spiral is made by control moment motor
Pull rod is moved to the left, so that swing link deflects 45 ° to the left, swing link is detached from small girff tank wall under the control of screw pull rod at this time
It deflects to the right, deflection is so that hobboing cutter outer rim is temporarily disengaged from scar, and then control motor drives hobboing cutter to rotate counterclockwise to program knowledge
Other longest position of graduation mark, and the i.e. piston rod promotion brake block that actively brake is moved to the left, and then clamps brake block
With brake disc to fix hobboing cutter by checking hobboing cutter axis, cutterhead continues to tunnel to rock sample working face at this time, hob abrasion
Position has been secured to the longest part of graduation mark, and brake process continues 15-30 minutes, and then releasing of brake, that is, piston rod is to the right
Mobile drive brake block, which moves right, is detached from brake disc, so that hobboing cutter can be freely rotated, meniscus is also rotated to hobboing cutter just
Often position when work, thus prevent the part of hobboing cutter stalling contact scar continue to contact scar carry out sliding friction make to wear into
One step deteriorates.Although not deflecting also the brake that hobboing cutter may be implemented, it is found through experiments that, in the same of cutterhead headwork
When, it can not accurately be fixed to required rotation position, it is therefore desirable to which deflection is so that hobboing cutter is stopped after being temporarily disengaged from scar
Vehicle is fixed.
As a preferred solution of the present invention, the first torque sensor is arranged in the motor, when sequential monitoring to first
When torque sensor torque is greater than 15Nm, failure at this alarm cutter shaft.
As a preferred solution of the present invention, the method for the invention is as follows:
S1: identification cutterhead scale line analysis hobboing cutter profile；
S2: it identifies remaining scale line length on hobboing cutter and remembers；
S3: judging the length of graduation mark, executes S4 if scale line length is less than 5mm, the journey if scale line length is greater than 5mm
Sequence returns to S1；
The end S4:PC gives a warning: please replacing cutter in time.
S5: identification hobboing cutter scale line analysis hobboing cutter motion state;
S6: judging whether hobboing cutter stalls, if stalling executes S7, returns to S5 if not stalling；
S7: torque motor control meniscus deflects 45 ° counterclockwise, and motor work drives hobboing cutter rotation；
S8: the second torque sensor judges the torque of motor, if when Motor torque > 15Nm, S81 is executed, if Motor torque <
When 15Nm, S84 is executed；
S81: the excessive cutter shaft damage of rotary resistance executes S82；
The end S82:PC gives a warning: failure at cutter shaft；
S84: hobboing cutter is rotated to angle 1；
S83: torque motor control meniscus playback
S85: discharging after actively braking 15-30 minutes, repeats step S5.
The invention has the benefit that
(1) in hobboing cutter broken rock experimentation, while not stopping cutterhead driving, the abration position of hobboing cutter can be carried out automatic
Adjustment.
(2) by monitoring of the camera to hobboing cutter, the working condition of each hobboing cutter is observed, reasonable arrangement inspection cycle,
Avoid check excessively frequently also or check work it is not in place.
(3) by the abrasion to hobboing cutter fixed position, the working life of hobboing cutter is substantially prolonged, reduces hobboing cutter replacement
Frequency saves large number of equipment cost.
Detailed description of the invention
Fig. 1 is a kind of hobboing cutter experiment porch of the invention with adaptive hob-cutter structure schematic diagram (front view)；
Fig. 2 is a kind of adaptive hobboing cutter working state schematic representation of hobboing cutter experiment porch of the invention；
Fig. 3 is a kind of scheme of installation of hobboing cutter experiment porch of the invention with adaptive hobboing cutter on cutterhead.
Fig. 4 is a kind of adaptive hobboing cutter camera views schematic diagram of hobboing cutter experiment porch of the invention.
Fig. 5 is that a kind of hobboing cutter experiment porch of the invention is illustrated with the preliminary identifying processing of adaptive hobboing cutter control method image
Figure；
Fig. 6 is a kind of adaptive hobboing cutter control method hobboing cutter chamfered shape control flow chart of hobboing cutter experiment porch of the invention；
Fig. 7 is a kind of adaptive hobboing cutter control method hobboing cutter state modulator flow chart of hobboing cutter experiment porch of the invention；
In figure, 1, swing link, 2, hobboing cutter, 3, cutter shaft, 4, brake disc, 5, caliper, 6, camera, 7, screw pull rod, 8,
Tight spring, 9, small girff, 10, shaft, 11, protection cap, 12, motor, 13, drive sprocket, 14, driving chain, 15, driven chain
Wheel, 16, hobboing cutter gripping block, 17, transmission shaft, 18, brake block, 19, piston rod.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail.
A kind of adaptive hobboing cutter control method of hobboing cutter experiment porch, structure include: swing link 1, hobboing cutter 2, cutter shaft 3,
Brake disc 4, caliper 5, camera 6, screw pull rod 7, tensioning spring 8, small girff 9, shaft 10, protection cap 11, motor 12,
Drive sprocket 13, driving chain 14, driven sprocket 15, hobboing cutter gripping block 16, transmission shaft 17, the hobboing cutter 2 are circumferential about with cutter shaft 3
Beam, 3 lower part of cutter shaft install hobboing cutter gripping block 16, install cutter shaft 3 at the top of the small girff 9, the hobboing cutter 2 is mounted on cutter shaft
On 3, driven sprocket 15 is installed on 3 left side of cutter shaft, and what is connect with the driven sprocket 15 is driving chain 14, the transmission chain
Item 14 is also connect with drive sprocket 13, and the drive sprocket 13 is mounted on motor 12, and the rotation of motor 12 indirectly will by sprocket wheel
Torque passes to cutter shaft 3 and hobboing cutter 2 is driven to rotate.3 right end of cutter shaft installs brake disc 4, and protection is equally arranged in the brake disc
Lid 11 is equipped with caliper 5 in the protection cap 11 of 4 side of brake disc, and the caliper 5 is for clamping brake disc 4
And then hobboing cutter 2 is prevented to rotate, piston rod 19 is set on the right side of the caliper 5, connects brake block 18, institute on the right side of the piston rod
It states piston rod 19 to be fixed in protection cap 11, when caliper 5 works, the piston rod 19 pushes brake block 18 to moving to left
It is dynamic, and then brake block 4 is clamped, camera 6,6 lower section of camera are installed in small 9 right side of girff on the inner wall of hobboing cutter
Small girff 9 on connect swing link 1, the swing link 1 can rotate around small girff 9, the connection of the swing link 1 and small girff 9
Place's setting tensioning spring 8, the tensioning spring 8 makes swing link 1 have the tendency that rotating clockwise always, on the swing link 1
Screw pull rod 7 is installed, 7 left end of screw pull rod passes through the left side of small girff 9, installation band tapping on the screw pull rod 7
Driven gear, the driven gear is connected with driving gear below, and it is solid that the driving gear axially passes through transmission shaft 17
It is scheduled on small girff 9,17 left end of transmission shaft is connected with torque motor (not shown), and the rotation of torque motor is controlled indirectly
7 right part of screw pull rod processed moves left and right, and then swing link 1 is driven to rotate.
Preferably, the right side of the hobboing cutter 2 is circumferentially arranged several graduation marks radially extended, locating for the camera 6
Position is the graduation mark that can be shone on hobboing cutter 2, and can shine 2 blade profile of hobboing cutter, can pass through artificial observation video
Video information can also be passed to PC by camera 6, be write by OpenCV by graduation mark longest position under image recording
Program the video image that camera 6 acquires is handled in real time, show profile and graduation mark, calculate hobboing cutter scale in real time
The average length and extreme length of line, and the position of extreme length can be recorded.
Preferably, by the first torque sensor of process control, caliper 5, torque motor, motor 12,6 work of camera
Make, and brake disc is controlled, " rounding " is carried out to the hobboing cutter for losing circle.
Preferably, when monitoring that 2 graduation mark of hobboing cutter has worn out remaining 5mm, shutdown replacement hobboing cutter 2 can be reminded.
Preferably, the video image that the working condition of hobboing cutter can be passed back by camera is shown on PC.
Preferably, when sequential monitoring is to 2 stall of hobboing cutter, program makes screw pull rod 7 to the left by control moment motor
Mobile, so that swing link 1 deflects 45 ° to the left, swing link 1 has been detached from small 9 case of girff under the control of screw pull rod 7 at this time
Wall, hobboing cutter 2 deflects to the right naturally at this time, and hobboing cutter outer rim is detached from scar, then controls motor 12 and hobboing cutter 2 is driven to rotate counterclockwise to
The longest position of graduation mark, and the i.e. promotion of piston rod 19 brake block 18 that actively brake is moved to the left, and then clamps brake block
18 and brake disc 4 to by checking hobboing cutter axis 3 fix hobboing cutter 2, cutterhead continues to tunnel to rock sample working face at this time, hobboing cutter 2
The position of abrasion is fixed just in the longest part of graduation mark, and brake process continues 15-30 minutes, then releasing of brake, that is, piston
Bar 19, which moves right, to be driven brake block 18 to move right to be detached from brake disc 4, so that hobboing cutter 2 can be freely rotated, swing link 1
Position when working normally is rotated to hobboing cutter.
Preferably, the first torque sensor is arranged in the motor 12, when monitoring that the first torque sensor torque is greater than
When 15Nm, failure at cutter shaft 3 of alarming.
Preferably, adaptive hob device of the present invention is mounted on the cutterhead of hobboing cutter experiment porch, cutterhead by
Hydraulic motor driving is rotated relative to scar, and when driving, hobboing cutter 2 contacts scar, and due to the rotation of cutterhead, 2 blade of hobboing cutter
Rub with scar so that hobboing cutter 2 by scar frictional force and relative to cutterhead rotate, motor 12 does not work at this time, and
And caliper 5 is in relaxation state, but when by monitoring, when friction phenomenon occurs in hobboing cutter 2, hobboing cutter 2 loses circle, hobboing cutter 2
Rotation is affected, and seriously then 2 blade of hobboing cutter seriously loses circle, such as Fig. 4 to eccentric wear, and hobboing cutter 2 and the rolling friction of scar can be transformed into
For sliding friction, it will be in contact with scar always by 2 blade surface of hobboing cutter of " blunt " and aggravated the abrasion of 2 blade of hobboing cutter and stop
Only relative rotation, " stall ", when " stall " occurs for hobboing cutter 2, program makes spiral shell by control moment motor to hobboing cutter 2 at this time
Rotation pull rod 7 is moved to the left, so that swing link 1 deflects 45 ° to the left, usually 45 °, can also be carried out according to the degree for losing circle corresponding
Adjustment, swing link 1 has been detached from small 9 tank wall of girff under the control of screw pull rod 7 at this time, and hobboing cutter 2 is natural to right avertence at this time
Turn, hobboing cutter outer rim is detached from scar, then controls motor 12 and hobboing cutter 2 is driven to rotate counterclockwise to the longest position of graduation mark, go forward side by side
Actively brake is that piston rod 19 pushes brake block 18 to be moved to the left, and then clamps brake block 18 and brake disc 4 to pass through brake to row
Firmly hobboing cutter axis 3 fixes hobboing cutter 2, and cutterhead continues to tunnel to rock sample working face at this time, and the position that hobboing cutter 2 is worn is fixed just to carve
The longest part of line is spent, brake process continues 15-30 minutes, and then releasing of brake, that is, piston rod 19, which moves right, drives brake block
18, which move right, is detached from brake disc 4, so that hobboing cutter 2 can be freely rotated, swing link 1 is also rotated to hobboing cutter when working normally
Position.
The hobboing cutter experiment porch adaptive hobboing cutter control method, specific work steps are as follows:
S1: identification cutterhead scale line analysis hobboing cutter profile；
S2: it identifies remaining scale line length on hobboing cutter and remembers；
S3: judging the length of graduation mark, executes S4 if scale line length is less than 5mm, the journey if scale line length is greater than 5mm
Sequence returns to S1；
The end S4:PC gives a warning: please replacing cutter in time.
S5: identification hobboing cutter scale line analysis hobboing cutter motion state;
S6: judging whether hobboing cutter stalls, if stalling executes S7, returns to S5 if not stalling；
S7: torque motor control meniscus deflects 45 ° counterclockwise, and motor work drives hobboing cutter rotation；
S8: the second torque sensor judges the torque of motor, if when Motor torque > 15Nm, S81 is executed, if Motor torque <
When 15Nm, S84 is executed；
S81: the excessive cutter shaft damage of rotary resistance executes S82；
The end S82:PC gives a warning: failure at cutter shaft；
S84: hobboing cutter is rotated to angle 1；
S83: torque motor control meniscus playback
S85: discharging after actively braking 15-30 minutes, repeats step S5.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Pipe is described the invention in detail referring to above-described embodiment, it should be understood by those ordinary skilled in the art that: still may be used
With modifications or equivalent substitutions are made to specific embodiments of the invention, and repaired without departing from any of spirit and scope of the invention
Change or equivalent replacement, should all cover in present claims range.
Claims (8)
1. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch, it is characterised in that: the hobboing cutter includes swing link, rolling
Knife, cutter shaft, brake disc, caliper, camera, screw pull rod, tensioning spring, small girff, shaft, protection cap, motor, active
Sprocket wheel, driving chain, driven sprocket, hobboing cutter gripping block, transmission shaft, the hobboing cutter and cutter shaft circumferentially constrain, the cutter shaft lower part
Hobboing cutter gripping block is installed, cutter shaft is installed in the pocket knife box top, and the hobboing cutter is mounted on cutter shaft, the cutter shaft left side installation from
Movable sprocket, what is connect with the driven sprocket is driving chain, and the driving chain is also connect with drive sprocket, the drive chain
Wheel is mounted on motor, and motor rotation delivers torque to cutter shaft by sprocket wheel indirectly and drives hobboing cutter rotation, the cutter shaft right end
Brake disc is installed, the brake disc is equally arranged protection cap, is equipped with caliper in the protection cap of the brake disc side, institute
It states and camera is installed on the inner wall of hobboing cutter on the right side of small girff, connect swing link on the small girff below the camera, institute
The junction setting tensioning spring of swing link and small girff is stated, screw pull rod is installed on the swing link, the screw pull rod is left
End on the left side of small girff, the screw pull rod install the driven gear with tapping, the driven gear with below
Driving gear be connected, the driving gear axially passes through transmission shaft and is fixed on small girff, the transmission shaft left end and torque
Motor is connected.
2. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: described
Several graduation marks radially extended are circumferentially arranged in the right side of hobboing cutter, and the camera present position is that can shine on hobboing cutter
Graduation mark, and hobboing cutter blade profile can be shone.
3. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: described
Brake disc outer rim is arranged in caliper, brake block is also set up in the caliper, brake block is connect with piston rod, is passed through
Brake block brakes to hobboing cutter with being bonded for brake disc.
4. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: work as prison
When measuring hobboing cutter graduation mark and having ground most, reminder is set, for reminding worker to shut down replacement hobboing cutter.
5. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: hobboing cutter
The video image that can be passed back by camera of working condition be shown on PC.
6. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: described
The first torque sensor is arranged in motor, when monitoring that the first torque sensor torque is greater than 15Nm, failure at cutter shaft of alarming.
7. a kind of adaptive hobboing cutter control method of hobboing cutter experiment porch described in accordance with the claim 1, it is characterised in that: described
Method is as follows:
S1: identification cutterhead scale line analysis hobboing cutter profile；
S2: it identifies remaining scale line length on hobboing cutter and remembers；
S3: judging the length of graduation mark, executes S4 if scale line length is less than 5mm, the journey if scale line length is greater than 5mm
Sequence returns to S1；
The end S4:PC gives a warning: please replacing cutter in time.
8. the adaptive hobboing cutter control method of a kind of hobboing cutter experiment porch according to claim 7, it is characterised in that:
S5: identification hobboing cutter scale line analysis hobboing cutter motion state;
S6: judging whether hobboing cutter stalls, if stalling executes S7, returns to S5 if not stalling；
S7: torque motor control meniscus deflects 45 ° counterclockwise, and motor work drives hobboing cutter rotation；
S8: the second torque sensor judges the torque of motor, if when Motor torque > 15Nm, S81 is executed, if Motor torque <
When 15Nm, S84 is executed；
S81: the excessive cutter shaft damage of rotary resistance executes S82；
The end S82:PC gives a warning: failure at cutter shaft；
S84: hobboing cutter is rotated to angle 1；
S83: torque motor control meniscus playback
S85: discharging after actively braking 15-30 minutes, repeats step S5.
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