CN111594202A - Control method and control system for rear supporting leg system of heading machine - Google Patents
Control method and control system for rear supporting leg system of heading machine Download PDFInfo
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- CN111594202A CN111594202A CN202010476905.1A CN202010476905A CN111594202A CN 111594202 A CN111594202 A CN 111594202A CN 202010476905 A CN202010476905 A CN 202010476905A CN 111594202 A CN111594202 A CN 111594202A
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- oil cylinder
- controlling
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- cylinder
- heading machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
Abstract
The invention discloses a control method of a rear supporting leg system of a heading machine, which comprises the following steps: judging whether the surrounding rock at the supporting position of the rear supporting leg is abnormal or not; the influence on the rear supporting leg oil cylinder after the supporting shoe is retracted and at the moment of retracting the supporting shoe is eliminated; controlling the propulsion oil cylinder to retract; controlling the heading machine to change steps, and eliminating the influence on the torque oil cylinder when the rear support oil cylinder retracts in advance; controlling the rear support oil cylinder to retract; controlling the propulsion oil cylinder to extend out, controlling the tunneling machine to tunnel forwards, and stopping tunneling when the tunneling machine tunnels to a preset stroke; and repeating the next cycle until the tunneling machine tunnels to the preset depth. The control method of the rear supporting leg system of the heading machine provided by the invention realizes the automatic control of the rear supporting leg system in the heading process of the heading machine, avoids the uncertainty caused by manual operation, improves the automation level and the control precision of the heading machine, and improves the construction quality. The invention also discloses a control system for implementing the control method of the rear supporting leg system of the heading machine.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a control method of a rear supporting leg system of a heading machine. In addition, the invention also relates to a control system for implementing the control method of the rear support leg system of the heading machine.
Background
The full-section hard rock tunnel boring machine is large tunnel construction equipment integrating systems of machine, electricity, liquid, light, gas and the like, comprises an open type boring machine, a single shield boring machine, a double shield boring machine and the like, can be used for construction procedures of boring, supporting, deslagging and the like and continuous operation, and has the advantages of high boring speed, environmental protection, high comprehensive benefit and the like.
The rear supporting legs are used as an important supporting structure of the heading machine, and play a role in providing supporting force for the heading machine and maintaining the heading attitude of the heading machine when heading and stepping are changed. At present, the control of the rear support leg of the heading machine still mainly adopts manual operation, and a driver sends a control instruction through state feedback signals of the support shoe and the rear support leg, but the control effect and the control precision are greatly influenced by experience level of operators, and improper operation may cause the extension or retraction of the rear support leg to exceed the limit, so that the cutter head deviates up and down, and the attitude change of the heading machine, the damage of a cutter and other adverse effects are caused.
In the actual tunneling and step changing process, at the moment that the supporting shoes retract after the rear supporting leg oil cylinder extends out of a preset stroke, the weight of the main beam, the supporting shoes, the connecting bridge and other components is completely applied to the rear supporting legs, so that the pressure intensity of the rear supporting leg oil cylinder is increased violently, and due to the compressibility of oil, the pressure intensity is increased to compress hydraulic oil, so that the extending stroke of the rear supporting legs is shortened, adverse effects such as posture change of the tunneling machine and damage of a cutter are caused, and the tunneling quality of the tunneling machine and the service life of the cutter head are seriously influenced; in addition, the extending position of the rear supporting leg can have the conditions of unevenness of surrounding rocks such as concavity and convexity, and the support is invalid.
In summary, how to improve the control accuracy of the rear leg system of the heading machine is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a control method for a rear leg system of a heading machine, which can replace the manual control mode for the rear leg of the heading machine in the prior art, realize the automatic control of the rear leg of the heading machine, reduce the uncertainty caused by manual operation, improve the automation level and control precision of the heading machine, and ensure the construction quality.
Another object of the present invention is to provide a control system for implementing the control method of the rear leg system of the heading machine.
In order to achieve the above purpose, the invention provides the following technical scheme:
a control method of a rear supporting leg system of a heading machine comprises the following steps:
step S1, controlling the rear support leg oil cylinder to stretch out, judging whether the surrounding rock at the support position of the rear support leg is abnormal, if so, controlling the heading machine to pause, and if not, entering step S2;
step S2, controlling the rear supporting leg oil cylinder to extend continuously so as to eliminate the influence of the withdrawing of the supporting shoe and the withdrawing moment of the supporting shoe on the compression stroke of the rear supporting leg oil cylinder;
step S3, controlling the propulsion oil cylinder to retract to a preset distance;
step S4, controlling the heading machine to change steps, and eliminating the influence on the torque cylinder when the rear support leg cylinder retracts in advance;
step S5, controlling the rear support leg oil cylinder to retract;
step S6, controlling the propulsion oil cylinder to stretch out, controlling the heading machine to heading forwards, judging whether the heading machine is heading to a preset stroke, if not, controlling the heading machine to heading forwards continuously, if so, controlling the heading machine to stop heading, and entering step S7;
and step S7, judging whether the heading machine is heading to a preset depth, if so, stopping heading, otherwise, returning to the step S1.
Preferably, the landing leg hydro-cylinder stretches out behind the control, judges whether back landing leg supports a country rock unusual, includes:
controlling the rear supporting leg oil cylinder to extend out L1，L1The extending stroke of the rear support leg oil cylinder is changed from the initial state to the pressure of the rear support leg oil cylinder;
determine | L1-L2If the I is smaller than a preset value, judging that the surrounding rock at the rear supporting leg supporting position is not abnormal, and if not, judging that the surrounding rock at the rear supporting leg supporting position is abnormal; said L2Is a preset extending stroke.
Preferably, the controlling the heading machine to suspend operation further includes:
and controlling the heading machine to send out alarm information.
Preferably, the controlling the rear leg cylinder to extend continuously so as to eliminate the influence on the compression stroke of the rear leg cylinder after the supporting shoe is retracted and at the moment when the supporting shoe is retracted, includes:
controlling the rear support leg oil cylinder to extend until the pressure of the torque oil cylinder is zero;
and controlling the supporting shoe oil cylinder to retract, and controlling the rear supporting leg oil cylinder to compensate the compression stroke caused by the gravity of the part at the instant when the supporting shoe retracts.
Preferably, the controlling the rear leg cylinder to extend until the torque cylinder pressure is zero includes:
and controlling the rear support leg oil cylinder to extend out, and keeping delta L equal to delta h, wherein the delta L is the stroke increment of the rear support leg oil cylinder, and the delta h is the oil compression height of the rear support leg oil cylinder.
Preferably, the rear leg cylinder is controlled and controlled to compensate for a compression stroke due to a weight of a component at the moment when the supporting shoe is retracted, and the control method includes:
increasing the hydraulic pump power W of the rear support oil cylinder, and controlling the extension delta L of the rear support oil cylinder1And controlling the shoe to retract, and the Δ L1＝Δh1；
Wherein
B is that the blade disc arrives the horizontal distance of back landing leg, G does the weight of spare part, S do the cross-sectional area of back landing leg hydro-cylinder, H does the length of back landing leg hydro-cylinder, L do the stroke that stretches out of back landing leg hydro-cylinder, k are fluid elastic modulus, and M does prop the boots and withdraw the position with the horizontal distance of blade disc, A does under the propulsion cylinder retraction state that targets in place with the horizontal distance of blade disc.
Preferably, the power W of the hydraulic pump of the rear support leg oil cylinder is increased, and the extension delta L of the rear support leg oil cylinder is controlled1And controlling the supporting shoe to retract, further comprising:
and recording the extension stroke X of the propulsion oil cylinder, and calculating the horizontal distance M between the retraction position of the supporting shoe and the cutter head, wherein the horizontal distance M is X + A.
Preferably, the controlling the heading machine to change steps and eliminating in advance the influence on the torque cylinder when the rear leg cylinder retracts includes:
controlling a supporting shoe oil cylinder to extend out, and enabling the supporting shoe to support the wall of the hole;
controlling the extension △ N- △ h of the torque oil cylinder2Until the pressure of the rear supporting leg oil cylinder is zero; wherein
△ N is the stroke increment of the torque cylinder, △ h2Is the oil compression height of the rear leg oil cylinder, △ F1Is the pressure increase of the torque cylinder, S1Is the cross-sectional area of the torque cylinder, H1And N is the length of the torque oil cylinder and the extension stroke of the torque oil cylinder.
A control system, comprising:
the surrounding rock abnormity judging device is used for controlling the rear supporting leg oil cylinder to extend out, judging whether surrounding rock at the supporting position of the rear supporting leg is abnormal or not, and controlling the tunneling machine to pause when the surrounding rock at the supporting position of the rear supporting leg is abnormal;
the compression stroke control device is used for controlling the rear support leg oil cylinder to extend so as to eliminate the influence on the compression stroke of the rear support leg oil cylinder after the supporting shoe is retracted and at the moment when the supporting shoe is retracted;
the step-changing control device is used for controlling the heading machine to change steps and eliminating the influence on the torque oil cylinder when the rear support oil cylinder retracts in advance;
the tunneling stroke judging device is used for judging whether the tunneling machine tunnels to a preset stroke in a single tunneling process and judging whether the tunneling machine tunnels to a preset depth;
the decision processing unit is used for controlling the actions of the surrounding rock abnormity judging device, the compression stroke control device, the tunneling stroke judging device and the step changing control device;
the surrounding rock abnormity judgment device, the compression stroke control device, the tunneling stroke judgment device and the step change control device are all connected with the decision processing unit.
Preferably, the compression stroke control device includes:
the first compression stroke control unit is used for controlling the rear support leg oil cylinder to extend until the pressure of the torque oil cylinder is zero;
the second compression stroke control unit is used for controlling the rear support oil cylinder to compensate the compression stroke caused by the gravity of parts at the moment of withdrawing the supporting shoe;
the first compression stroke control unit and the second compression stroke control unit are both connected with the decision processing unit.
The invention provides a control method of a rear supporting leg system of a heading machine, which comprises the following steps: step S1, controlling the rear support leg oil cylinder to stretch out, judging whether the surrounding rock at the support position of the rear support leg is abnormal, if so, controlling the heading machine to pause, and if not, entering step S2; step S2, controlling the rear support leg oil cylinder to extend continuously so as to eliminate the influence of the withdrawing of the support shoe and the withdrawing moment of the support shoe on the compression stroke of the rear support leg oil cylinder; step S3, controlling the propulsion oil cylinder to retract to a preset distance; step S4, controlling the heading machine to change steps, and eliminating the influence on the torque cylinder when the rear support oil cylinder retracts in advance; step S5, controlling the rear support oil cylinder to retract; step S6, controlling the propulsion oil cylinder to stretch out, controlling the heading machine to heading forwards, judging whether the heading machine is heading to a preset stroke, if not, controlling the heading machine to heading forwards continuously, if so, controlling the heading machine to stop heading, and entering step S7; and step S7, judging whether the heading machine is heading to a preset depth, if so, stopping heading, otherwise, returning to the step S1.
Compared with a manual control mode in the background technology, the control method of the rear supporting leg system of the heading machine provided by the invention realizes the automatic control of the rear supporting leg action of the heading machine in the heading process, avoids the uncertainty caused by manual operation, improves the automation level and the control precision of the heading machine, and further improves the construction quality.
In addition, in the process of controlling the extension of the rear support leg oil cylinder, the influence of the retraction of the support shoe and the instant of the retraction of the support shoe on the compression stroke of the rear support leg oil cylinder can be eliminated in advance; the extension stroke of the rear supporting leg oil cylinder is prevented from being changed due to the retraction of the supporting shoe, the supporting process of the rear supporting leg is more stable and reliable, the cutter is prevented from being damaged due to the unstable supporting of the rear supporting leg, and the service life of the cutter head is prolonged; meanwhile, the rear supporting legs are stably supported, so that the problems of posture change of the tunneling machine and unsmooth tunnel wall caused by position change of the main beam can be solved, and the construction quality is further ensured.
The control method of the rear supporting leg system of the heading machine provided by the invention can also judge the situation of the surrounding rock at the supporting position of the rear supporting leg, and timely control the heading machine to pause when the surrounding rock at the supporting position of the rear supporting leg is abnormal, thereby avoiding the situation of support failure caused by the abnormal surrounding rock at the supporting position of the rear supporting leg in the construction process and improving the construction safety and reliability.
In addition, the invention also provides a control system for implementing the control method of the rear supporting leg system of the heading machine.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a specific embodiment of a rear leg system of a heading machine provided by the invention;
FIG. 2 is a schematic diagram of a structure of surrounding rocks at the support of the rear leg system of the heading machine provided by the invention;
FIG. 3 is a schematic cross-sectional view of a torque cylinder provided in the present invention;
FIG. 4 is a schematic view of an analysis of the instant force of the retracting of the supporting shoe of the heading machine provided by the invention;
fig. 5 is a schematic flowchart of a first embodiment of a control method of a rear leg system of a heading machine according to the present invention;
fig. 6 is a flowchart illustrating a second specific embodiment of the method for controlling a rear leg system of a heading machine according to the present invention.
In FIGS. 1-6:
1 is a cutter head, 2 is a main beam, 3 is a propulsion oil cylinder, 4 is a saddle, 5 is a supporting shoe, 51 is a supporting shoe oil cylinder, 6 is a rear supporting leg oil cylinder, 7 is a connecting bridge, 8 is a torque oil cylinder, L1The extension stroke L of the rear support leg oil cylinder when the pressure of the rear support leg oil cylinder begins to change from the initial state2The method is characterized in that the method comprises the steps of presetting an extension stroke, M is the horizontal distance between a support shoe retraction position and a cutter head, X is the extension stroke of a propulsion oil cylinder, B is the horizontal distance between the cutter head and a rear leg, G is the weight of parts, and △ F is the increment of supporting force of a rear leg oil cylinder.
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.
The core of the invention is to provide a control method of a rear support leg system of the development machine, which can realize the automatic control of the rear support leg in the development process of the development machine and improve the control precision and the construction quality of the development machine. The invention also provides a control system for implementing the control method of the rear leg system of the heading machine.
Referring to fig. 1-6, fig. 1 is a schematic structural diagram of a rear leg system of a heading machine according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a structure of surrounding rocks at the support of the rear leg system of the heading machine provided by the invention; FIG. 3 is a schematic cross-sectional view of a torque cylinder provided in the present invention; FIG. 4 is a schematic view of an analysis of the instant force of the retracting of the supporting shoe of the heading machine provided by the invention; fig. 5 is a schematic flow chart of a control method of a rear leg system of a heading machine according to the present invention; fig. 6 is a flowchart illustrating a second specific embodiment of the method for controlling a rear leg system of a heading machine according to the present invention.
The control method for the rear leg system of the heading machine provided by the specific embodiment includes:
and step S1, controlling the rear supporting leg oil cylinder 6 to stretch out, judging whether the surrounding rock at the supporting position of the rear supporting leg is abnormal, if so, controlling the heading machine to stop working, otherwise, entering step S2.
In the step S1, the abnormality of the surrounding rock at the rear leg support may be an abnormality such as a pit or a protrusion in the surrounding rock, or may be other abnormal conditions, which is determined according to actual conditions.
Preferably, in order to further improve the alertness when the surrounding rock at the rear leg support is abnormal, the surrounding rock is judged to be abnormal, the operation of the heading machine is stopped, and related warning equipment is controlled to emit warning information, such as a buzzer emitting a warning sound or a warning lamp flashing.
And step S2, controlling the rear leg oil cylinder 6 to extend so as to eliminate the influence on the compression stroke of the rear leg oil cylinder 6 after the supporting shoe 5 is retracted and at the moment when the supporting shoe 5 is retracted.
In the step S2, the step of controlling the rear leg cylinder 6 to extend further means that the rear leg cylinder 6 is controlled to extend further on the basis of the step S1, and the influence of the retraction of the support shoe 5 and the retraction moment of the support shoe 5 on the compression stroke of the rear leg cylinder 6 needs to be eliminated in advance in the process of extending the rear leg cylinder 6.
And step S3, controlling the propulsion cylinder 3 to retract to a preset distance.
In the above step S3, a corresponding detection process may be provided for detecting whether the propulsion cylinder 3 is retracted to the preset distance, and after the propulsion cylinder 3 is retracted to the preset distance, the next operation of step S4 is continued.
And step S4, controlling the heading machine to change steps, and eliminating the influence on the torque cylinder 8 when the rear support leg cylinder 6 retracts in advance.
In the step S4, when the rear leg cylinder 6 retracts, the pressure of the main beam 2, the connecting bridge 7, and the like is applied to the torque cylinder 8, so as to avoid the influence on the torque cylinder 8 when the rear leg cylinder 6 retracts, the torque cylinder 8 may be controlled to extend in advance, and the oil of the torque cylinder 8 is compressed.
And step S5, controlling the rear leg cylinder 6 to retract.
And step S6, controlling the propulsion oil cylinder 3 to stretch out, controlling the heading machine to heading forwards, judging whether the heading machine is heading to a preset stroke, if not, controlling the heading machine to heading forwards continuously, if so, controlling the heading machine to stop heading, and entering step S7.
In the step S6, the forward tunneling process of the heading machine is controlled to be a forward tunneling stroke of the heading machine after the single step change is finished.
And step S7, judging whether the heading machine is heading to a preset depth, if so, stopping heading, otherwise, returning to the step S1.
In the step S7, the preset depth is the total depth of the whole tunneling project which needs to be tunneled, and it is determined whether the tunneling machine has tunneled to the preset depth, which means whether the total tunneling stroke of the tunneling machine has reached the preset depth, if not, the step S1 needs to be repeated continuously, and if the preset depth is met, the tunneling is stopped, and the related tunneling equipment is recovered.
Compared with the existing manual control mode, the control method of the rear leg system of the heading machine provided by the embodiment realizes the automatic control of the rear leg action of the heading machine in the heading process, avoids the uncertainty caused by manual operation, improves the automation level and the control precision of the heading machine, and further improves the construction quality.
In addition, in the process of controlling the extension of the rear support leg oil cylinder 6, the influence of the withdrawing of the support shoe 5 and the instant of withdrawing of the support shoe 5 on the compression stroke of the rear support leg oil cylinder 6 can be eliminated in advance; the extension stroke of the rear supporting leg oil cylinder 6 is prevented from being changed due to the retraction of the supporting shoe 5, the supporting process of the rear supporting leg is more stable and reliable, the cutter is prevented from being damaged due to the unstable supporting of the rear supporting leg, and the service life of the cutter head 1 is prolonged; meanwhile, the rear supporting legs are stably supported, so that the problems of posture change of the tunneling machine and unsmooth tunnel wall caused by position change of the main beam 2 can be solved, and the construction quality is further ensured.
The control method of the rear supporting leg system of the heading machine provided by the invention can also judge the situation of the surrounding rock at the supporting position of the rear supporting leg, and timely control the heading machine to pause when the surrounding rock at the supporting position of the rear supporting leg is abnormal, thereby avoiding the situation of support failure caused by the abnormal surrounding rock at the supporting position of the rear supporting leg in the construction process and improving the construction safety and reliability.
As shown in fig. 1, in order to provide a rear leg system of a heading machine according to the present disclosure, a control method of the rear leg system of the heading machine provided by the present disclosure mainly controls actions of each component in the rear leg system, and the rear leg system includes a cutter head 1, a main beam 2, a thrust cylinder 3, a saddle 4, a support shoe 5, a support shoe cylinder 51, a rear leg cylinder 6, a connecting bridge 7, a torque cylinder 8, and the like.
On the basis of the above embodiment, the step S1 includes:
step S11, controlling the rear supporting leg oil cylinder 6 to extend out L1，L1The extending stroke of the rear support leg oil cylinder 6 is from the initial state to the time when the pressure of the rear support leg oil cylinder 6 begins to change.
In the step S11, the initial state refers to the rear leg cylinder 6 being extended6 in a retracted state, i.e. L1The extending stroke of the rear supporting leg oil cylinder 6 is from the retracting state of the rear supporting leg oil cylinder 6 to the moment that the pressure of the rear supporting leg oil cylinder 6 begins to change.
After the step S11 and before the step S12, the method further includes determining the pressure of the rear leg cylinder 6, determining whether the pressure of the rear leg cylinder 6 is zero, and determining that L is required when the pressure of the rear leg cylinder 6 is zero1-L2Whether or not it is greater than or equal to L0Wherein L is0The maximum extending stroke and L of the rear supporting leg oil cylinder 6 which meet the requirements2The difference between L and L1-L2≥L0Stopping the operation of the development machine, if L1-L2<L0The rear leg cylinder 6 is controlled to continue to extend, and when the pressure change of the rear leg cylinder 6 is not zero, the next operation of step S12 is continued, L2Is a preset extending stroke.
Step S12, determine | L1-L2If the | is smaller than a preset value, judging that the surrounding rock at the supporting position of the rear supporting leg is not abnormal, and if not, judging that the surrounding rock at the supporting position of the rear supporting leg is abnormal; l is2Is a preset extending stroke.
、L2The values are preset values, and can be determined according to actual conditions, different construction conditions may need to correspond to different values, and the determination is specifically determined according to actual conditions, which is not described herein again.
The control method for the rear supporting leg system of the heading machine provided in the specific embodiment can judge when the surrounding rock has the bulge or the pit, and timely control the heading machine to stop working when the surrounding rock is abnormal, so that the influence on the support of the rear supporting leg due to the abnormal surrounding rock is avoided.
On the basis of the above embodiment, the step S2 includes:
step S21: and controlling the rear support leg oil cylinder 6 to extend until the pressure of the torque oil cylinder 8 is zero.
In step S21, before the support shoe 5 is retracted, the pressure of the main beam 2, the connecting bridge 7, and other components is borne by the torque cylinder 8, and in order to avoid that the pressure of the main beam 2, the connecting bridge 7, and other components acts on the rear leg cylinder 6 after the support shoe 5 is retracted and the extension stroke of the rear leg cylinder 6 is shortened, it is necessary to control the rear leg cylinder 6 to extend in advance until the pressure of the torque cylinder 8 is zero.
In step S21, the hydraulic height of the rear-leg cylinder 6 is compressed while the rear-leg cylinder 6 is extending.
Step S22: and controlling the supporting shoe oil cylinder 51 to retract, and controlling the rear supporting leg oil cylinder 6 to compensate the compression stroke caused by the gravity of the part at the moment when the supporting shoe 5 retracts.
In the step S22, the rear leg cylinder 6 needs to quickly compensate a compression stroke caused by the weight of the saddle 4, the torque cylinder 8, and the like, so as to avoid the change of the attitude of the heading machine caused by the sudden compression of the rear leg cylinder 6 at the moment when the supporting shoe 5 retracts, and therefore the rear leg cylinder 6 needs to be controlled to extend for a certain stroke to bear the weight of the saddle 4, the torque cylinder 8, and the like, and the components mentioned in the step S22 are the components of the saddle 4, the torque cylinder 8, and the like.
The step S21 includes:
in step S211, the rear leg cylinder 6 is controlled to extend, and Δ L is maintained equal to Δ h, where Δ L is a stroke increment of the rear leg cylinder 6, and Δ h is an oil compression height of the rear leg cylinder 6.
In the above step S211, the rear leg cylinder 6 extends out L1On the basis, the stroke increment of the rear support oil cylinder 6 extending out of the delta L is continuously controlled, in the process of extending out of the delta L, the rear support oil cylinder 6 can slowly start to bear the pressure of the main beam 2, the connecting bridge 7 and other components, and the oil height of the rear support oil cylinder 6 can retract to delta h in the process of extending out of the delta L, so that the relative extending stroke of the rear support oil cylinder 6 is basically kept unchanged, the posture of the heading machine cannot be influenced, and when the rear support oil cylinder 6 completely shares the pressure of the torque oil cylinder 8, namely when the pressure of the torque oil cylinder 8 is zero, the rear support oil cylinder 6 does not extend out any more.
The specific calculation process of Δ L and Δ h is as follows:
according to
V ═ S · (H-L), Δ V ═ S · Δ H, can be obtained:
where Δ V is the oil compression volume of the rear leg cylinder 6, V is the oil raw volume of the rear leg cylinder 6, △ P is the pressure increase of the rear leg cylinder 6, △ F is the supporting force increase of the rear leg cylinder 6, S is the cross-sectional area of the rear leg cylinder 6, H is the length of the rear leg cylinder 6, L is the extension stroke of the rear leg cylinder 6, and k is the oil elastic modulus.
The control method of the rear leg system of the heading machine provided by the embodiment shares the pressure of the torque cylinder 8 under the condition that the relative extension stroke of the rear leg is not increased, and avoids that the rear leg cylinder 6 is suddenly compressed after the supporting shoe 5 retracts.
On the basis of the above embodiment, the above step S22 includes;
step S221, increasing the hydraulic pump power W of the rear support leg oil cylinder 6, and controlling the rear support leg oil cylinder 6 to extend by delta L1And controls the shoe 5 to retract, and Δ L1＝Δh1；
Wherein
B is the horizontal distance from the cutter head 1 to the rear support leg, G is the weight of the part, S is the cross-sectional area of the rear support leg oil cylinder 6, H is the length of the rear support leg oil cylinder 6, L is the extension stroke of the rear support leg oil cylinder 6, k is the elastic modulus of oil, M is the horizontal distance from the retraction position of the supporting shoe 5 to the cutter head 1, and A is the horizontal distance from the propulsion oil cylinder 3 to the cutter head 1 in the retraction in-place state.
In the above step S221, the hydraulic pump power of the rear leg cylinder 6 may be controlled to be increased to W1And W ═ Fv, wherein F is the supporting force of the rear leg cylinder 6, v is the extension speed of the rear leg cylinder 6, in order to ensure that the supporting shoe 5 is retracted and the rear leg rapidly compensates the compression stroke of the rear leg cylinder 6 in the moment, the influence on the posture of the heading machine and the cutter head 1 is reduced, the hydraulic pump power W of the rear leg cylinder 6 is increased to W1, and after the rear leg cylinder 6 is extended in place, the hydraulic pump power of the rear leg cylinder 6 is restored to the extension Δ L1The previous power W.
Step S221 further includes;
in step S2211, the extension stroke X of the thrust cylinder 3 is recorded, and the horizontal distance M between the retracted position of the shoe 5 and the cutter head 1 is calculated, where the horizontal distance M is X + a, as shown in fig. 4.
In the actual calculation process, at the moment of withdrawing the supporting shoe 5, the weight of the supporting shoe and the saddle frame 4 is applied to the rear supporting leg, the pressure of the rear supporting leg oil cylinder 6 is suddenly increased, and according to the lever principle, the supporting force increment △ F of the rear supporting leg oil cylinder 6 is MB/G (X + A) B/G and according to the weight
Can obtain
In the extending process of the rear support leg oil cylinder 6, the supporting shoes 5 gradually retract, the weight of the saddle 4, the torque oil cylinder 8 and the like acts on the rear support leg oil cylinder 6, and the rear support leg oil cylinder 6 keeps delta L in the extending process1＝Δh1Therefore, the pose of the heading machine can be guaranteed not to be changed, the damage to the cutter is avoided, the service life of the cutter head 1 is prolonged, and when the weight of the saddle 4, the torque cylinder 8 and other components completely acts on the rear support leg cylinder 6 and the supporting shoe 5 retracts in place, the rear support leg cylinder 6 does not extend.
On the basis of the above embodiment, step S4 includes:
step S41, controlling the shoe supporting oil cylinder 51 to extend out, and enabling the shoe supporting 5 to support the hole wall;
in step S42, the torque cylinder 8 is controlled to extend △ N △ h2Until the pressure of the rear supporting leg oil cylinder 6 is zero; wherein
△ N is the travel increment of the torque cylinder 8, △ h2The oil compression height of the rear leg cylinder 6 is △ F1Is the pressure increase of the torque cylinder 8, S1The cross-sectional area of the torque cylinder 8, H1Is the length of the torque cylinder 8, and N is the extension stroke of the torque cylinder 8.
Oil cylinder of rear supportIn the retracting process of the rear leg oil cylinder 6, the pressure of the main beam 2, the connecting bridge 7 and other components can be applied to the torque oil cylinder 8, so that in order to avoid shortening the stroke of the torque oil cylinder 8, the influence on the torque oil cylinder 8 when the rear leg oil cylinder 6 retracts can be eliminated in advance, namely before the rear leg oil cylinder 6 retracts, the supporting shoe oil cylinder 51 is controlled to extend, the supporting shoe 5 is enabled to be tightly pressed against the hole wall, and the torque oil cylinder 8 is controlled to extend △ N- △ h2The pressure of the rear support leg cylinder 6 is shared until the pressure of the rear support leg cylinder 6 is zero, the rear support leg cylinder 6 is controlled to retract at the moment, the stroke of the torque cylinder 8 cannot be influenced, and the torque cylinder 8 is kept △ N (△ h) all the time in the extending process2The relative extension length of the torque cylinder 8 is not affected, so that the pose of the heading machine is not changed due to the torque cylinder 8, and the construction quality is ensured.
In addition to the control method of the rear leg system of the heading machine, the present invention also provides a control system for implementing the control method of the rear leg system of the heading machine disclosed in the above embodiment, the control system including: the surrounding rock abnormity judging device is used for judging whether the surrounding rock at the rear supporting leg supporting position is abnormal or not and controlling the tunneling machine to pause when the surrounding rock at the rear supporting leg supporting position is abnormal; the compression stroke control device is used for controlling the extension of the rear support leg oil cylinder 6 so as to eliminate the compression stroke of the rear support leg oil cylinder 6 after the support shoe 5 is retracted and at the moment when the support shoe 5 is retracted; the step-changing control device is used for controlling the heading machine to change steps and eliminating the influence on the torque oil cylinder 8 when the rear support oil cylinder 6 retracts in advance; the tunneling stroke judging device is used for judging whether the tunneling machine tunnels to a preset stroke in a single tunneling process and judging whether the tunneling machine tunnels to a preset depth; the decision processing unit is used for controlling the actions of the surrounding rock abnormity judging device, the compression stroke control device, the tunneling stroke judging device and the step changing control device; the surrounding rock abnormity judgment device, the compression stroke control device, the tunneling stroke judgment device and the step change control device are all connected with the decision processing unit.
Preferably, the compression stroke control device may include: the first compression stroke control unit is used for controlling the rear support leg oil cylinder 6 to extend until the pressure of the torque oil cylinder 8 is zero; the second compression stroke control unit is used for controlling the rear support leg oil cylinder 6 to compensate the compression stroke caused by the gravity of the parts at the moment when the supporting shoe 5 is retracted; the first compression stroke control unit and the second compression stroke control unit are both connected with the decision processing unit.
In the process of using the control system provided by the invention, whether the surrounding rock at the supporting position of the rear supporting leg is abnormal is judged through the surrounding rock abnormity judging device, when the surrounding rock is abnormal, the heading machine is controlled to stop working, an alarm signal is sent out, when the surrounding rock is not abnormal, the rear supporting leg oil cylinder 6 is controlled to extend out through the compression stroke control device, in addition, the rear supporting leg oil cylinder 6 ensures that the extending stroke of the rear supporting leg oil cylinder 6 is consistent with the compression height of oil liquid in the rear supporting leg oil cylinder 6 in the extending process, so that the posture change of the heading machine is avoided, simultaneously, the influence of the withdrawing rear main beam 2, the connecting bridge 7 and the like of the supporting shoe 5 on the compression stroke of the rear supporting leg oil cylinder 6 is eliminated, the influence of the weight of the components such as the saddle 4, the torque oil cylinder 8 and the like at the moment of withdrawing the supporting shoe 5 on the compression stroke of the rear supporting leg. Then, the propulsion oil cylinder 3 is controlled to retract to a preset distance through the decision processing unit, the heading machine is controlled to change steps through the step change control device, the influence on the torque oil cylinder 8 when the rear support oil cylinder 6 retracts is eliminated in advance, and the control can be realized by controlling the torque oil cylinder 8 to extend; then controlling the rear supporting leg oil cylinder 6 to retract, controlling the propulsion oil cylinder 3 to extend, controlling the heading machine to heading forwards, judging whether the heading machine is heading to a preset stroke, if so, controlling the heading machine to stop heading, and if not, continuing heading; and when the heading machine is tunneled to a preset stroke after the single step change, further judging whether the heading machine is tunneled to a preset depth, if so, stopping tunneling, and if not, returning to the step S1 to repeat the next tunneling.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The control method and the control system of the rear supporting leg system of the heading machine provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control method of a rear supporting leg system of a heading machine is characterized by comprising the following steps:
step S1, controlling the rear supporting leg oil cylinder (6) to stretch out, judging whether surrounding rock at the supporting position of the rear supporting leg is abnormal or not, if so, controlling the heading machine to stop working, and if not, entering step S2;
step S2, controlling the rear leg oil cylinder (6) to continuously extend so as to eliminate the influence on the compression stroke of the rear leg oil cylinder (6) caused by the withdrawing of the supporting shoe (5) and the withdrawing moment of the supporting shoe (5);
step S3, controlling the propulsion oil cylinder (3) to retract to a preset distance;
step S4, controlling the heading machine to change steps, and eliminating the influence on the torque cylinder (8) when the rear support leg cylinder (6) retracts in advance;
step S5, controlling the rear support leg oil cylinder (6) to retract;
step S6, the propulsion oil cylinder (3) is controlled to extend out, the heading machine is controlled to heading forwards, whether the heading machine is heading to a preset stroke is judged, if not, the heading machine is controlled to heading forwards continuously, if yes, the heading machine is controlled to stop heading, and the step S7 is entered;
and step S7, judging whether the heading machine is heading to a preset depth, if so, stopping heading, otherwise, returning to the step S1.
2. The control method of the rear leg system of the heading machine according to claim 1, wherein the step of controlling the rear leg cylinder (6) to extend out and judging whether the surrounding rock at the rear leg support is abnormal comprises the steps of:
controlling the rear supporting leg oil cylinder (6) to extend out of L1，L1The extending stroke of the rear support oil cylinder (6) is changed from the initial state of the rear support oil cylinder (6) to the pressure of the rear support oil cylinder (6);
determine | L1-L2If the I is smaller than a preset value, judging that the surrounding rock at the rear supporting leg supporting position is not abnormal, and if not, judging that the surrounding rock at the rear supporting leg supporting position is abnormal; said L2Is a preset extending stroke.
3. The method of controlling a rear leg system of a heading machine according to claim 2, wherein the controlling the heading machine to suspend operation further comprises:
and controlling the heading machine to send out alarm information.
4. The control method of a rear leg system of a heading machine according to claim 1, wherein the controlling of the rear leg cylinder (6) to continue to extend so as to eliminate the influence on the compression stroke of the rear leg cylinder (6) after the backup shoe (5) is retracted and at the moment when the backup shoe (5) is retracted includes:
controlling the rear supporting leg oil cylinder (6) to extend until the pressure of the torque oil cylinder (8) is zero;
and controlling the supporting shoe oil cylinder (51) to retract, and controlling the rear supporting leg oil cylinder (6) to compensate the compression stroke caused by the gravity of the part at the moment when the supporting shoe (5) retracts.
5. The control method of a rear leg system of a heading machine according to claim 4, wherein said controlling the rear leg cylinder (6) to extend until the torque cylinder (8) pressure is zero comprises:
and controlling the rear support leg oil cylinder (6) to extend out, and keeping delta L equal to delta h, wherein delta L is the stroke increment of the rear support leg oil cylinder (6), and delta h is the oil liquid compression height of the rear support leg oil cylinder (6).
6. The control method of a rear leg system of a heading machine according to claim 4, wherein said controlling and controlling the rear leg cylinder (6) to compensate for a compression stroke due to a weight of a component at the moment of retraction of the shoe (5) comprises:
increasing the hydraulic pump power W of the rear support leg oil cylinder (6), and controlling the rear support leg oil cylinder (6) to extend by delta L1And controlling the supporting shoe (5) to retract, wherein the delta L is1＝Δh1；
Wherein
B is cutter head (1) to the horizontal distance of back landing leg, G does the weight of spare part, S do the cross-sectional area of back landing leg hydro-cylinder (6), H do the length of back landing leg hydro-cylinder (6), L do the stroke that stretches out of back landing leg hydro-cylinder (6), k are fluid elastic modulus, and M does prop boots (5) withdraw the position with the horizontal distance of cutter head (1), A does under propulsion cylinder (3) retract the state of targetting in place with the horizontal distance of cutter head (1).
7. The control method of a rear leg system of a heading machine according to claim 6, wherein the increase of the hydraulic pump power W of the rear leg cylinder (6) controls the extension DeltaL of the rear leg cylinder (6)1And controlling the supporting shoe (5) to retract, further comprising:
recording the extension stroke X of the propulsion oil cylinder (3), and calculating the horizontal distance M between the retraction position of the supporting shoe (5) and the cutter head (1), wherein the horizontal distance M is X + A.
8. The control method of a rear leg system of a heading machine according to claim 1, wherein the controlling the heading machine to shift steps and to previously eliminate an influence on the torque cylinder (8) when the rear leg cylinder (6) is retracted includes:
controlling a supporting shoe oil cylinder (51) to extend out, and enabling the supporting shoe (5) to support the hole wall;
controlling the extension △ N- △ h of the torque oil cylinder (8)2Until the rear supporting leg oil cylinder (6) is pressedThe force is zero; wherein
△ N is the stroke increment of the torque cylinder (8), △ h2Is the oil compression height of the rear leg oil cylinder (6), △ F1Is the pressure increase of the torque cylinder (8), S1Is the cross-sectional area of the torque cylinder (8), H1The length of the torque oil cylinder (8) is shown, and N is the extension stroke of the torque oil cylinder (8).
9. A control system, comprising:
the surrounding rock abnormity judging device is used for controlling the rear supporting leg oil cylinder (6) to extend out, judging whether surrounding rock at the supporting position of the rear supporting leg is abnormal or not, and controlling the tunneling machine to pause when the surrounding rock at the supporting position of the rear supporting leg is abnormal;
the compression stroke control device is used for controlling the rear support leg oil cylinder (6) to extend so as to eliminate the influence on the compression stroke of the rear support leg oil cylinder (6) after the supporting shoe (5) is retracted and at the moment when the supporting shoe (5) is retracted;
the step-changing control device is used for controlling the heading machine to change steps and eliminating the influence on the torque oil cylinder (8) when the rear support oil cylinder (6) retracts in advance;
the tunneling stroke judging device is used for judging whether the tunneling machine tunnels to a preset stroke in a single tunneling process and judging whether the tunneling machine tunnels to a preset depth;
the decision processing unit is used for controlling the actions of the surrounding rock abnormity judging device, the compression stroke control device, the tunneling stroke judging device and the step changing control device;
the surrounding rock abnormity judgment device, the compression stroke control device, the tunneling stroke judgment device and the step change control device are all connected with the decision processing unit.
10. The control system according to claim 9, wherein the compression stroke control device includes:
the first compression stroke control unit is used for controlling the rear support leg oil cylinder (6) to extend until the pressure of the torque oil cylinder (8) is zero;
the second compression stroke control unit is used for controlling the rear supporting leg oil cylinder (6) to compensate the compression stroke caused by the gravity of parts at the moment when the supporting shoe (5) is retracted;
the first compression stroke control unit and the second compression stroke control unit are both connected with the decision processing unit.
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Cited By (1)
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| CN111594202B (en) | 2022-01-21 |
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