CN110608045A - Cutting anti-collision control system and control method for heading machine - Google Patents
Cutting anti-collision control system and control method for heading machine Download PDFInfo
- Publication number
- CN110608045A CN110608045A CN201911015029.6A CN201911015029A CN110608045A CN 110608045 A CN110608045 A CN 110608045A CN 201911015029 A CN201911015029 A CN 201911015029A CN 110608045 A CN110608045 A CN 110608045A
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- Prior art keywords
- cutting
- sensor
- shovel plate
- inclination angle
- control
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- 238000005520 cutting process Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 230000003993 interaction Effects 0.000 claims description 6
- 239000003245 coal Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims description 2
- 238000001125 extrusion Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects 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
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- 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
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- 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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/126—Loading devices or installations
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)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a cutting anti-collision control system and a control method of a heading machine, and belongs to the technical field of heading machines. The cutting part and the shovel plate part are respectively and electrically connected with the electric control part, and the electric control part is in control connection with the proportional electromagnetic valve and the human-computer interface; the multi-sensing intelligent cutting control system of the heading machine 1 solves the direct factor-force of cutting collision, avoids the damage caused by the fact that stress of parts such as a shovel plate part and a shovel plate motor exceeds a limit range, and thoroughly solves similar faults; 2. the problems that the bottom cannot be swept and the like caused by damage of a limiting mechanism and unreasonable limiting due to the forms of mechanical limiting and the like are avoided; 3. the problems of frequent error protection of angle limit, failure of protection or frequent setting of protection angles and the like are avoided.
Description
Technical Field
The invention relates to a cutting anti-collision control system and a control method of a heading machine, and belongs to the technical field of heading machines.
Background
With the rapid development of national economy, the urbanization process of China is accelerated continuously, and in a quite long period in future, a large number of tunnel construction and development machines for tunnel construction are needed in domestic projects such as urban subway tunnels, hydraulic tunnels, river-crossing tunnels, railway tunnels, highway tunnels, municipal pipelines and the like.
In the prior art, during the excavation operation of the development machine, the cutting part and the shovel plate part are extruded and collided, and the cutting part is pressed downwards to break large coal rocks, so that the shovel plate part, the shovel plate motor and the like are damaged. The conventional method at present comprises the following steps:
1. a mechanical limiting mechanism with a certain height is welded and installed between the cutting part and the shovel plate part to prevent the cutting part and the shovel plate part from being directly impacted;
2. the included angle of the cutting part and the shovel plate part is limited, and the cutting part and the shovel plate part are prevented from being directly impacted.
Above list anticollision mode and neglected power and be the fundamental factor that leads to cutting unit, shovel board portion collision damage, intervene only from relative position angle, have stop gear and use the collision damage inefficacy to and spacing contained angle (distance) set up the unreasonable condition, influence the normal high-efficient operation of equipment.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a cutting anti-collision control system and a control method of a heading machine.
The cutting anti-collision control system of the development machine comprises a cutting part, a shovel part, an electric control part, a proportional electromagnetic valve and a human-computer interface, wherein the cutting part and the shovel part are respectively and electrically connected with the electric control part, and the electric control part and the shovel part are respectively and electrically connected
The proportional electromagnetic valve is in control connection with a human-computer interface;
the cutting part is provided with a first inclination angle sensor, a first pressure sensor and a first flow sensor, the shovel part is provided with a second inclination angle sensor, a second pressure sensor and a second flow sensor, the electric control part is internally provided with a number acquisition unit, a main control unit and a third inclination angle sensor, the first pressure sensor, the first flow sensor, the second inclination angle sensor, the second pressure sensor, the second flow sensor and the third inclination angle sensor are in information interaction with the main control unit through the number acquisition unit, and the main control unit sends instructions to control the lifting of the cutting part and the action execution of the shovel plate lifting oil cylinder.
Preferably, the first inclination angle sensor, the second inclination angle sensor and the third inclination angle sensor respectively detect the inclination angles of the cutting part, the shovel plate part and the roadway where the heading machine is located.
Preferably, the first pressure sensor, the first flow sensor, the second pressure sensor and the second flow sensor detect the stress and the running state of the oil cylinder and the motor.
Preferably, the main control unit performs information interaction with a human-computer interface, displays the running state of the heading machine system and the main control unit and warning prompt information, and can set and adjust parameters of the main control unit.
Preferably, the data acquisition unit acquires and stores working state information of pressure, flow, angle and the like of each part of the development machine, and the main control unit monitors the relative position relation and stress state of the shovel plate part and the cutting part of the development machine, sends out control and warning instructions and controls and adjusts the swing of the oil cylinder and the running speed of the motor.
Compared with the prior art, the invention has the beneficial effects that: the cutting anti-collision control system of the development machine
The direct factor of cutting collision is solved. The damage caused by the fact that stress of parts such as the shovel plate part and the shovel plate motor exceeds a limit range is avoided, and similar faults are thoroughly solved;
the problems that the bottom cannot be swept and the like caused by damage of a limiting mechanism and unreasonable limiting due to the forms of mechanical limiting and the like are avoided;
the problems of frequent error protection of angle limit, failure of protection or frequent setting of protection angles and the like are avoided.
It should be noted that the cutting part, the shovel part, the electric control part, etc. mentioned in the present invention are not limited to the structural components in the general engineering equipment, and the attached tilt angle, pressure and flow sensor is not limited to be installed in a specific structure or location, but generally refers to a functional system for realizing functions. For example, in one embodiment, the pressure and flow sensors are mounted on the valve block and the operation table required for controlling the operation of the cutting unit and the blade unit.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a block diagram of the working principle of the present invention;
fig. 3 is a schematic diagram of the control flow and the control effect of the present invention.
Reference numerals: the cutting device comprises a cutting part a, a first inclination angle sensor a1, a first pressure sensor a2, a first flow sensor a3, a shovel plate part b, a second inclination angle sensor b1, a second pressure sensor b2, a second flow sensor b3, an electric control part c, a data acquisition unit c1, a main control unit c2, a third inclination angle sensor c3, a proportional electromagnetic valve d and a man-machine interface e.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to fig. 3, the following technical solutions are adopted in the present embodiment: cutting prevention device of heading machine
The collision control system comprises a cutting part a, a shovel plate part b, an electric control part c, a proportional electromagnetic valve d and a human-computer interface e, wherein the cutting part a and the shovel plate part b are respectively and electrically connected with the electric control part c, and the electric control part c is in control connection with the proportional electromagnetic valve d and the human-computer interface e;
the cutting part a is provided with a first inclination angle sensor a1, a first pressure sensor a2 and a first flow sensor a3, the shovel part b is provided with a second inclination angle sensor b1, a second pressure sensor b2 and a second flow sensor b3, the electric control part c is internally provided with a plurality of sampling units c1, a main control unit c2 and a third inclination angle sensor c3, the first inclination angle sensor a1, the first pressure sensor a2, the first flow sensor a3, the second inclination angle sensor b1, the second pressure sensor b2, the second flow sensor b3 and the third inclination angle sensor c3 are in information interaction with the main control unit c2 through the data sampling unit c1, and the main control unit c2 sends commands to control the lifting of the cutting part and the operation execution of the shovel lifting oil cylinder.
The first inclination angle sensor a1, the second inclination angle sensor b1 and the third inclination angle sensor c3 respectively detect the inclination angles of the cutting part a, the shovel part b and the roadway where the heading machine is located.
The first pressure sensor a2, the first flow sensor a3, the second pressure sensor b2 and the second flow sensor b3 detect the stress and the running state of the motor.
The main control unit c2 performs information interaction with the human-computer interface e, displays the running state of the heading machine system and the main control unit c2 and warning prompt information, and can set and adjust parameters of the main control unit c 2.
The data acquisition unit c1 acquires and stores working state information of pressure, flow, angle and the like of each part of the development machine, and the main control unit c2 monitors the relative position relation and stress state of the shovel board part b and the cutting part a of the development machine, sends out control and warning instructions and controls and adjusts the swing of the oil cylinder and the running speed of the motor.
A control method of a cutting anti-collision control system of a heading machine comprises the following steps:
firstly, manually setting control target parameters such as angle, pressure and flow or automatically acquiring the coal seam joint development hardness and coal breakage blocking condition of the working section of the heading machine, namely automatically resolving the control target parameters such as angle, pressure and flow;
secondly, the main control unit c2 monitors real-time working condition data information, compares the real-time working condition data information with the deviation of the set cutting process, and corrects a control instruction or sends out warning information;
thirdly, the executing mechanism executes the control command, corrects the working process route of the development machine, and changes and improves the working condition data information;
and fourthly, circularly executing the second step to the third step, realizing the control of the gap, the flow and the pressure of the cutting part a and the shovel plate part b under different working conditions, and avoiding the extrusion of the shovel plate by the cutting part a.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a entry driving machine cutting collision avoidance control system which characterized in that: the cutting device comprises a cutting part (a), a shovel plate part (b), an electric control part (c), a proportional electromagnetic valve (d) and a human-computer interface (e), wherein the cutting part (a) and the shovel plate part (b) are respectively and electrically connected with the electric control part (c), and the electric control part (c) is in control connection with the proportional electromagnetic valve (d) and the human-computer interface (e);
a first inclination angle sensor (a 1), a first pressure sensor (a 2) and a first flow sensor (a 3) are arranged on the cutting part (a), a second inclination angle sensor (b 1), a second pressure sensor (b 2) and a second flow sensor (b 3) are arranged on the shovel plate part (b), a plurality of acquisition units (c 1), a main control unit (c 2) and a third inclination angle sensor (c 3) are arranged in the electric control part (c), the first inclination angle sensor (a 1), the first pressure sensor (a 2), the first flow sensor (a 3), the second inclination angle sensor (b 1), the second pressure sensor (b 2), the second flow sensor (b 3) and the third inclination angle sensor (c 3) are in information interaction with a main control unit (c 2) through a data acquisition unit (c 1), and the main control unit (c 2) sends out instructions to control the cutting part, the shovel plate lifting oil cylinder and the shovel plate motor to perform actions.
2. The control system of claim 1, wherein: the first inclination angle sensor (a 1), the second inclination angle sensor (b 1) and the third inclination angle sensor (c 3) respectively detect the inclination angles of the cutting part (a), the shovel plate part (b) and the roadway where the heading machine is located.
3. The control system of claim 1, wherein: the first pressure sensor (a 2), the first flow sensor (a 3), the second pressure sensor (b 2) and the second flow sensor (b 3) detect the stress and the running state of the oil cylinder and the motor.
4. The control system of claim 1, wherein: the main control unit (c 2) performs information interaction with the human-computer interface (e), displays the running state of the heading machine system and the main control unit (c 2) and warning prompt information, and can set and adjust the parameters of the main control unit (c 2).
5. The control system of claim 1, wherein: the data acquisition unit (c 1) acquires and stores working state information of pressure, flow, angle and the like of each part of the heading machine, and the main control unit (c 2) monitors the relative position relation and stress state of the shovel plate part (b) and the cutting part (a) of the heading machine, sends out control and warning instructions and controls and adjusts the swing of the oil cylinder and the running speed of the motor.
6. A control method of a cutting anti-collision control system of a heading machine is characterized by comprising the following steps: the specific control method comprises the following steps:
firstly, manually setting control target parameters such as angle, pressure and flow or automatically acquiring the coal seam joint development hardness and coal breakage blocking condition of the working section of the heading machine, namely automatically resolving the control target parameters such as angle, pressure and flow;
secondly, the main control unit (c 2) monitors real-time working condition data information, compares the real-time working condition data information with the deviation of the set cutting process, and corrects a control instruction or sends out warning information;
thirdly, the executing mechanism executes the control command, corrects the working process route of the development machine, and changes and improves the working condition data information;
and fourthly, circularly executing the second step to the third step, realizing the control of the gap, the flow and the pressure of the cutting part a and the shovel plate part b under different working conditions, and avoiding the extrusion of the shovel plate by the cutting part a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911015029.6A CN110608045A (en) | 2019-10-24 | 2019-10-24 | Cutting anti-collision control system and control method for heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911015029.6A CN110608045A (en) | 2019-10-24 | 2019-10-24 | Cutting anti-collision control system and control method for heading machine |
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| Publication Number | Publication Date |
|---|---|
| CN110608045A true CN110608045A (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911015029.6A Pending CN110608045A (en) | 2019-10-24 | 2019-10-24 | Cutting anti-collision control system and control method for heading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110608045A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3434365A1 (en) * | 1984-09-19 | 1986-03-20 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Device for preventing a collision between cutting arm and loading shovel in a continuous miner |
| CN201116471Y (en) * | 2007-11-14 | 2008-09-17 | 三一重型装备有限公司 | Arm cutting resistant collision shovel plate device |
| CN101709649A (en) * | 2009-11-26 | 2010-05-19 | 哈尔滨工业大学 | Cantilevered tunnelling machine cutting interference preventing device and system applying same |
| CN202645564U (en) * | 2012-05-14 | 2013-01-02 | 安徽山河矿业装备股份有限公司 | Anti-interference device for cutting part of heading machine |
| CN103806912A (en) * | 2013-12-23 | 2014-05-21 | 三一重型装备有限公司 | Anti-collision control system and method for heading machine |
| 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 |
| CN110195588A (en) * | 2019-05-15 | 2019-09-03 | 中铁工程装备集团隧道设备制造有限公司 | Integrating Construction Machinery with Information Technology system, engineering machinery, development machine and information-based method |
-
2019
- 2019-10-24 CN CN201911015029.6A patent/CN110608045A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3434365A1 (en) * | 1984-09-19 | 1986-03-20 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Device for preventing a collision between cutting arm and loading shovel in a continuous miner |
| CN201116471Y (en) * | 2007-11-14 | 2008-09-17 | 三一重型装备有限公司 | Arm cutting resistant collision shovel plate device |
| CN101709649A (en) * | 2009-11-26 | 2010-05-19 | 哈尔滨工业大学 | Cantilevered tunnelling machine cutting interference preventing device and system applying same |
| CN202645564U (en) * | 2012-05-14 | 2013-01-02 | 安徽山河矿业装备股份有限公司 | Anti-interference device for cutting part of heading machine |
| CN103806912A (en) * | 2013-12-23 | 2014-05-21 | 三一重型装备有限公司 | Anti-collision control system and method for heading machine |
| 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 |
| CN110195588A (en) * | 2019-05-15 | 2019-09-03 | 中铁工程装备集团隧道设备制造有限公司 | Integrating Construction Machinery with Information Technology system, engineering machinery, development machine and information-based method |
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| PB01 | Publication | ||
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Application publication date: 20191224 |
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| RJ01 | Rejection of invention patent application after publication |