CN112065386A

CN112065386A - Anti-collision system and heading machine

Info

Publication number: CN112065386A
Application number: CN202011040956.6A
Authority: CN
Inventors: 牟东; 邱国庆; 左夺
Original assignee: Sany Heavy Equipment Co Ltd
Current assignee: Sany Heavy Equipment Co Ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2020-12-11

Abstract

The invention provides an anti-collision system and a heading machine, wherein the anti-collision system comprises: a heading machine body; the cutting part is arranged on the tunneling machine body and can swing relative to the tunneling machine body; the shovel plate device is arranged on the tunneling machine body and can swing relative to the tunneling machine body, the shovel plate device is arranged opposite to the cutting part, and the shovel plate device and the cutting part can swing towards the direction close to each other; the driving device is connected with the cutting part and the shovel plate device; the position detection device is arranged in the driving device and used for monitoring the moving position of the driving device; and the controller is connected with the driving device and the position detection device. According to the technical scheme, the controller stops the shovel plate device and the cutting part from swinging towards the direction close to each other in a mode of stopping the driving device from acting, so that the problem that the shovel plate device and the cutting part are damaged due to collision is solved, and the shovel plate device and the cutting part can work normally.

Description

Anti-collision system and heading machine

Technical Field

The invention relates to the technical field of tunneling equipment, in particular to an anti-collision system and a tunneling machine.

Background

At present, a heading machine is widely applied to mine tunnels and engineering tunnel excavation projects as main tunnel excavation equipment. The up-and-down swing of the cutting device and the up-and-down swing of the shovel plate device are in the same working interval, and the movement tracks of the cutting device and the shovel plate device have cross areas, so that the cutting device and the shovel plate device can collide to cause equipment damage.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, it is an object of the present invention to provide a collision avoidance system.

Another object of the present invention is to provide a heading machine.

In order to achieve the above object, an embodiment of the present invention provides a collision avoidance system, including: a heading machine body; the cutting part is arranged on the tunneling machine body and can swing relative to the tunneling machine body; the shovel plate device is arranged on the tunneling machine body and can swing relative to the tunneling machine body, the shovel plate device is arranged opposite to the cutting part, and the shovel plate device and the cutting part can swing towards the direction close to each other; the driving device is connected with the cutting part and the shovel plate device and used for driving the cutting part and the shovel plate device to swing; the position detection device is arranged in the driving device and used for monitoring the moving position of the driving device; the controller is connected with the driving device and the position detection device; the controller can judge the relative position of the cutting part and the shovel plate device according to the position movement information of the driving device, and can stop the driving device when the controller judges that the cutting part and the shovel plate device collide in advance.

In the technical scheme, the controller stops the shovel plate device and the cutting part from swinging towards the direction close to each other in a mode of stopping the driving device from acting, so that the problem that the shovel plate device and the cutting part are damaged due to collision is avoided, and the shovel plate device and the cutting part can work normally. In addition, in this application, the position detection device is arranged in the driving device, that is, the position detection device is not exposed in the air, so that the problem that the position detection device is easily damaged when being exposed in the air due to the fact that the position detection device is directly arranged on the shovel plate device and the cutting part in the related art is solved, the working stability and reliability of the position detection device are improved, the controller can normally work, and finally the shovel plate device and the cutting part can normally work.

In addition, the collision avoidance system provided by the embodiment of the invention can also have the following additional technical characteristics:

in the above technical solution, the driving device includes: a first driving member for driving the cutting part; a second drive member for driving the blade device; wherein the position detection device is arranged in the first drive element and/or the second drive element.

In this technical scheme, position detection device can monitor the position shift message of first driving piece and second driving piece and send this position shift message for the controller, the follow-up control work of accomplishing of controller of being convenient for to ensure that collision avoidance system can realize the crashproof function of shovel board device and cutting part, and then ensure that shovel board device and cutting part can normally work. In addition, the position detection device is respectively arranged in the first driving piece and the second driving piece, so that the working stability and reliability of the position detection device are improved, the controller can work normally, and finally the shovel plate device and the cutting part can work normally.

In any of the above solutions, the first driving member includes: a first cylinder having a first inner chamber;

the first piston rod is partially arranged in the first inner cavity and can axially extend and retract relative to the first cylinder body; the first piston rod divides the first inner cavity into a first rod cavity and a first rodless cavity, one end of the position detection device is fixed on a first bottom wall of the first rodless cavity, the other end of the position detection device is inserted into the first piston rod, the first piston rod can move axially relative to the position detection device along the first cylinder body, and the position detection device is used for monitoring the stroke position of the first piston rod.

In the technical scheme, the position detection device monitors the relative position of the first piston rod and the first cylinder body, namely the stroke position of the first piston rod, so as to acquire the position movement data of the first driving piece, the position detection device can accurately acquire the position movement data of the first driving piece in the monitoring mode, so that the controller can accurately calculate the actual distance value between the shovel plate device and the cutting part, the controller can accurately judge the relative position between the cutting part and the shovel plate device, the problem that the shovel plate device and the cutting part are mistakenly suspended due to the fact that the actual distance value is inaccurate is avoided, and further, the anti-collision system can accurately implement the anti-collision function of the anti-collision system, and the shovel plate device and the cutting part can normally work.

In any of the above solutions, the second driving member includes: the second cylinder body is provided with a second inner cavity; the second piston rod is partially arranged in the second inner cavity and can axially extend and retract relative to the second cylinder body; the second piston rod divides the second inner cavity into a second rod cavity and a second rodless cavity, one end of the position detection device is fixed on the second bottom wall of the second rodless cavity, the other end of the position detection device is inserted into the second piston rod, the second piston rod can move axially along the second cylinder body relative to the position detection device, and the position detection device is used for monitoring the stroke position of the second piston rod.

In the technical scheme, the position detection device monitors the relative position of the second piston rod and the second cylinder body, namely the stroke position of the second piston rod, so as to acquire the position movement data of the second driving piece, the position detection device can accurately acquire the position movement data of the second driving piece in the monitoring mode, so that the controller can accurately calculate the actual distance value between the shovel board device and the cutting part, the controller can accurately judge the relative position between the cutting part and the shovel board device, the problem that the shovel board device and the cutting part are mistakenly suspended due to the fact that the actual distance value is inaccurate is avoided, the anti-collision function of the anti-collision system can be accurately implemented, and the shovel board device and the cutting part can normally work.

In any one of the above technical solutions, the collision avoidance system further includes a hydraulic control device, the hydraulic control device is connected with the controller, and the hydraulic control device includes: an oil supply line; the first reversing valve is provided with a first oil supply port and a first working oil port, the first oil supply port is connected with the oil supply pipeline, and the first working oil port is connected with the first driving piece; the second reversing valve is provided with a second oil supply port and a second working oil port, the second oil supply port is connected with the oil supply pipeline, and the second working oil port is connected with the second driving piece; the controller is connected with the first reversing valve and the second reversing valve, the controller stops the action of the first driving piece by controlling the on-off of the first oil supply port and the first working oil port, and the controller stops the action of the second driving piece by controlling the on-off of the second oil supply port and the second working oil port.

In the technical scheme, when the shovel plate device and the cutting part are in a normal working state, the first oil supply port is communicated with the first working oil port, hydraulic oil can enter the first driving piece and the second driving piece through the first working oil port, the first driving piece drives the cutting part to swing normally, the second driving piece drives the shovel plate device to swing normally, the controller can disconnect and not communicate the first oil supply port and the first working oil port, so that the hydraulic oil cannot enter the first driving piece and the second driving piece, the cutting part and the shovel plate device stop swinging, the hydraulic oil in the first driving piece and the second driving piece is in a pressure maintaining state at the moment, the hydraulic oil does not flow, the cutting part and the shovel plate device stop swinging and are in a locking state, and the problem that the cutting part and the shovel plate device are damaged due to collision caused by continuous swinging of the cutting part and the shovel plate device under the action of external force is avoided, thereby ensuring that the cutting section and blade assembly will operate properly.

In any of the above technical solutions, the first directional valve is an electromagnetic directional valve, and/or the second directional valve is an electromagnetic directional valve, and the controller is connected with an electrical signal end of the electromagnetic directional valve.

In the technical scheme, the controller controls the on-off of the first oil supply port and the first working oil port and the on-off of the second oil supply port and the second working oil port by indirectly controlling the on-off of the power supply circuits of the first reversing valve and the second reversing valve, so that the controller is enabled to stop the action of the driving device, stop the swinging function of the shovel plate device and the cutting part, and further ensure that the anti-collision system can normally work.

In any of the above technical solutions, the first directional control valve is a pilot operated directional control valve, and the hydraulic control device further includes: a pilot handle comprising a first pilot control device; one end of the first pilot control pipeline is connected with the first pilot control device, and the other end of the first pilot control pipeline is connected with a pilot oil input end of the first reversing valve; the first electromagnetic on-off valve is arranged on the first pilot control pipeline; the controller is connected with the first electromagnetic on-off valve and controls the on-off of the first pilot control pipeline by controlling the first electromagnetic on-off valve to act.

In the technical scheme, the controller controls the on-off of the first oil supply port and the first working oil port by indirectly controlling the on-off of the first pilot control pipeline, so that the controller is enabled to suspend the action of the driving device and realize the function of swinging the cutting part, and the anti-collision system is enabled to work normally.

In any of the above technical solutions, the second directional control valve is a pilot operated directional control valve, and the hydraulic control device further includes: a pilot handle comprising a second pilot control; one end of the second pilot control pipeline is connected with the second pilot control device, and the other end of the second pilot control pipeline is connected with a pilot oil input end of the second reversing valve; the second electromagnetic on-off valve is arranged on the second pilot control pipeline; the controller is connected with the second electromagnetic on-off valve and controls the second pilot control pipeline to be on or off by controlling the second electromagnetic on-off valve to act.

In the technical scheme, the controller controls the on-off of the second oil supply port and the second working oil port by indirectly controlling the on-off of the second pilot control pipeline, so that the functions of stopping the driving device and swinging the shovel plate device by the controller are realized, and the normal work of the anti-collision system is ensured.

In any one of the above technical solutions, the controller includes an alarm component, and when the controller determines that the cutting part and the shovel plate device collide in advance, the alarm component plays an alarm prompt tone.

In this technical scheme, the warning subassembly mainly plays the warning effect, and the suggestion site operation personnel in time revise the relative position relation of cutting part and shovel board device, avoid cutting part and shovel board device to bump and damage to ensure that cutting part and shovel board device can normally work.

According to a second aspect of the invention, a heading machine is provided, the heading machine comprises an anti-collision system and a vehicle body according to any one of the first aspect, and the anti-collision system is integrally arranged on the vehicle body.

The heading machine provided by the technical scheme of the second aspect of the invention comprises the anti-collision system of any one of the technical schemes of the first aspect, so that all the beneficial effects of any one of the technical schemes are achieved, and no further description is given here.

In the scheme, the anti-collision system enables the heading machine to have an automatic anti-collision function, so that the problem that the cutting part is damaged due to collision with the shovel plate device when the heading machine works is avoided, the heading machine can normally work, and the on-site coal mining task is smoothly completed.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural diagram of a collision avoidance system according to a first embodiment of the invention;

fig. 2 shows a schematic structural diagram of a collision avoidance system according to a second embodiment of the invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 and fig. 2 is:

10. a cutting section; 20. a blade device; 30. a drive device; 32. a first driving member; 322. a first piston rod; 324. a first cylinder; 3242. a first lumen; 3244. a first rod chamber; 3246. a first rod-less chamber; 3248. a first bottom wall; 34. a second driving member; 342. a second piston rod; 344. a second cylinder; 3442. a second lumen; 3444. a second rod chamber; 3446. a second rodless cavity; 3448. a second bottom wall; 40. a position detection device; 50. a controller; 60. a hydraulic control device; 61. a first electromagnetic on-off valve; 62. an oil supply line; 63. a second pilot control conduit; 64. a first direction changing valve; 642. a first oil supply port; 644. a first working oil port; 65. a second electromagnetic on-off valve; 66. a second directional control valve; 662. a second oil supply port; 664. a second working oil port; 68. a pilot handle; 682. a first pilot control device; 684. a second pilot control device; 69. a first pilot control conduit.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A collision avoidance system according to some embodiments of the present invention is described below with reference to fig. 1 and 2.

As shown in fig. 1 and 2, the present invention and the embodiment of the present invention provide a collision avoidance system including a heading machine body, a cutting section 10, a blade device 20, a driving device 30, a position detecting device 40, and a controller 50. The cutting unit 10 is provided on the heading machine body, and the cutting unit 10 can swing with respect to the heading machine body. The blade device 20 is provided on the heading machine body, and the blade device 20 is swingable with respect to the heading machine body. The blade device 20 is disposed opposite to the cutting section 10, and the blade device 20 and the cutting section 10 can swing in a direction to approach each other. The driving device 30 is connected to the cutting unit 10 and the blade device 20, and drives the cutting unit 10 and the blade device 20 to swing. A position detection device 40 is provided in the drive device 30 for monitoring the movement position of the drive device 30. The controller 50 is connected to the driving device 30 and the position detecting device 40, and the controller 50 can determine the relative position of the cutting unit 10 and the blade device 20 based on the position movement information, and the controller 50 can stop the operation of the driving device 30 when the controller 50 determines that the cutting unit 10 and the blade device 20 are in a collision with each other in advance.

In the above arrangement, controller 50 stops blade assembly 20 and cutting unit 10 from swinging in a direction toward each other by stopping operation of drive assembly 30, thereby avoiding damage to blade assembly 20 and cutting unit 10 due to collision, and ensuring that blade assembly 20 and cutting unit 10 operate properly. In addition, in the present application, the position detection device 40 is disposed in the driving device 30, that is, the position detection device 40 is not exposed to the air, which avoids the problem that the position detection device 40 is disposed directly on the blade device 20 and the cutting part 10 in the related art, so that the position detection device 40 is easily damaged when exposed to the air, thereby improving the stability and reliability of the operation of the position detection device 40, further ensuring that the controller 50 can operate normally, and finally ensuring that the blade device 20 and the cutting part 10 can operate normally.

It should be noted that, the position detection device 40 can feed back the position movement information of the driving device 30 to the controller 50 in real time, so that the controller 50 can monitor the position movement information of the blade device 20 and the cutting unit 10 in real time, the controller 50 can also calculate the actual distance value between the blade device 20 and the cutting unit 10 according to the position movement information of the blade device 20 and the cutting unit 10, the controller 50 can compare the actual distance value with the collision warning distance value preset in the controller 50, and when the actual distance value is smaller than the collision warning distance value, the controller 50 starts to operate to stop the driving device 30, so that the blade device 20 and the cutting unit 10 stop swinging, and maintain the original position, thereby avoiding the occurrence of collision accidents.

Example one

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the driving device 30 includes a first driving member 32 and a second driving member 34. Wherein the first driving member 32 is used for driving the cutting part 10, the second driving member 34 is used for driving the blade device 20, and the position detecting device 40 is disposed in the first driving member 32 and the second driving member 34.

In the above arrangement, the position detecting device 40 can monitor the position movement information of the first driving element 32 and the second driving element 34 and send the position movement information to the controller 50, so that the controller 50 can complete the control operation subsequently, thereby ensuring that the anti-collision function of the anti-collision system on the blade device 20 and the cutting part 10 can be realized, and further ensuring that the blade device 20 and the cutting part 10 can work normally. In addition, the position detection device 40 is disposed within the first and

second drivers

32 and 34, respectively, which improves the stability and reliability of the operation of the position detection device 40, and thus ensures that the controller 50, and ultimately the blade assembly 20 and the cutting section 10, can operate normally.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the first driving member 32 includes a first cylinder 324 and a first piston rod 322. The first cylinder 324 has a first inner cavity 3242, the first piston rod 322 is partially disposed in the first inner cavity 3242, and the first piston rod 322 is axially retractable with respect to the first cylinder 324. The first piston rod 322 divides the first inner cavity 3242 into a first rod cavity 3244 and a first non-rod cavity 3246, one end of the position detection device 40 is fixed on a first bottom wall 3248 of the first non-rod cavity 3246, the other end is inserted into the first piston rod 322, the first piston rod 322 can move along the axial direction of the first cylinder 324 relative to the position detection device 40, and the position detection device 40 is used for monitoring the stroke position of the first piston rod 322.

In the above arrangement, the position detection device 40 monitors the relative position between the first piston rod 322 and the first cylinder 324, that is, the stroke position of the first piston rod 322, to obtain the position movement data of the first driving element 32, and this monitoring manner enables the position detection device 40 to accurately obtain the position movement data of the first driving element 32, so as to ensure that the controller 50 can accurately calculate the actual distance value between the blade device 20 and the cutting unit 10, and the controller 50 can accurately determine the relative position between the cutting unit 10 and the blade device 20, thereby avoiding the problem that the controller 50 determines incorrectly due to the inaccurate actual distance value, and erroneously stops the swinging of the blade device 20 and the cutting unit 10, and further ensuring that the anti-collision system can accurately implement its anti-collision function, and the blade device 20 and the cutting unit 10 can normally operate.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the second driving member 34 includes a second cylinder 344 and a second piston rod 342. Wherein the second cylinder 344 has a second internal cavity 3442, the second piston rod 342 is partially disposed in the second internal cavity 3442, and the second piston rod 342 is axially retractable with respect to the second cylinder 344. The second piston rod 342 divides the second internal cavity 3442 into a second rod-containing cavity 3444 and a second rodless cavity 3446, one end of the position detection device 40 is fixed to a second bottom wall 3448 of the second rodless cavity 3446, the other end is inserted into the second piston rod 342, the second piston rod 342 is capable of moving in the axial direction of the second cylinder 344 relative to the position detection device 40, and the position detection device 40 is used for monitoring the stroke position of the second piston rod 342.

In the above arrangement, the position detection device 40 monitors the relative position between the second piston rod 342 and the second cylinder 344, that is, the stroke position of the second piston rod 342, to obtain the position movement data of the second driving element 34, so that the position detection device 40 can accurately obtain the position movement data of the second driving element 34, and thus the controller 50 can accurately calculate the actual distance value between the blade device 20 and the cutting unit 10, and the controller 50 can accurately determine the relative position between the cutting unit 10 and the blade device 20, thereby avoiding the problem that the controller 50 determines incorrectly due to the inaccurate actual distance value, and erroneously stops the blade device 20 and the cutting unit 10 from swinging, and further ensuring that the collision avoidance system can accurately implement its collision avoidance function, and the blade device 20 and the cutting unit 10 can normally operate.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the collision avoidance system further includes a pilot control device 60, the pilot control device 60 is connected to the controller 50, and the pilot control device 60 includes an oil supply line 62, a first direction changing valve 64, and a second direction changing valve 66. The first direction valve 64 has a first oil supply port 642 and a first working oil port 644, the first oil supply port 642 is connected to the oil supply line 62, and the first working oil port 644 is connected to the first driver 32. The second direction valve 66 has a second oil supply port 662 and a second working oil port 664, the second oil supply port 662 is connected to the oil supply line 62, and the second working oil port 664 is connected to the second driving unit 34. The controller 50 is connected to the first direction valve 64 and the second direction valve 66, the controller 50 stops the operation of the first driving member 32 by controlling the on/off of the first oil supply port 642 and the first working oil port 644, and the controller 50 stops the operation of the second driving member 34 by controlling the on/off of the second oil supply port 662 and the second working oil port 664.

In the above arrangement, when the shovel plate device 20 and the cutting part 10 are in a normal working state, the first oil supply port 642 is communicated with the first working oil port 644, hydraulic oil can enter the first driving part 32 and the second driving part 34 through the first working oil port 644, the first driving part 32 drives the cutting part 10 to swing normally, the second driving part 34 drives the shovel plate device 20 to swing normally, the controller 50 can disconnect and not communicate the first oil supply port 642 and the first working oil port 644, so that the hydraulic oil cannot enter the first driving part 32 and the second driving part 34, the cutting part 10 and the shovel plate device 20 stop swinging, at this time, the hydraulic oil in the first driving part 32 and the second driving part 34 is in a pressure maintaining state, and the hydraulic oil does not flow, so that the cutting part 10 and the shovel plate device 20 stop swinging and are in a locking state, and the cutting part 10 and the shovel plate device 20 are prevented from being under the action of external force, such as the impact of an external object, the cutting part 10 and the blade assembly 20 are damaged by collision due to the continued swing, thereby ensuring that the cutting part 10 and the blade assembly 20 can operate normally.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the first direction switching valve 64 is a pilot-operated direction switching valve, and the pilot-operated device 60 further includes a pilot handle 68, a first pilot control line 69, and a first electromagnetic on-off valve 61. The pilot handle 68 includes a first pilot control device 682, and the first pilot control line 69 has one end connected to the first pilot control device 682 and the other end connected to a pilot oil input end of the first direction valve 64. The first electromagnetic on-off valve 61 is provided on the first pilot control line 69, the controller 50 is connected to the first electromagnetic on-off valve 61, and the controller 50 controls the first electromagnetic on-off valve 61 to operate to control the on/off of the first pilot control line 69.

In the above arrangement, the controller 50 indirectly controls the on/off of the first pilot control line 69 to control the on/off of the first oil supply port 642 and the first working port 644, so that the controller 50 stops the operation of the driving device 30 and the cutting unit 10 swings, thereby ensuring that the anti-collision system can normally operate.

As shown in fig. 1, in the first embodiment of the present invention, the first direction valve 64 is a three-position four-way pilot direction valve, when the first direction valve 64 is in the neutral position, the first oil supply port 642 is disconnected from the first working oil port 644, and the neutral position is the initial position of the first direction valve 64, that is, the first direction valve 64 is in the neutral position when the pilot oil control signal is not received. The first electromagnetic on-off valve 61 is disposed on the right first pilot control conduit 69 of the first direction changing valve 64, and the right first pilot control conduit 69 mainly realizes the right direction changing function of the first direction changing valve 64, that is, the first oil supply port 642 is communicated with the first rod chamber 3244 of the first driving member 32, the first driving member 32 contracts, and the cutting portion 10 swings toward the direction close to the blade device 20. After the first electromagnetic on-off valve 61 is turned off, the right first pilot control pipeline 69 is turned off, the right direction reversing function of the first direction changing valve 64 is disabled, the first direction changing valve 64 is restored to the initial position, the first oil supply port 642 is disconnected from the first working oil port 644, and the cutting part 10 stops swinging and is in a locked state.

As shown in fig. 1, in the first embodiment of the present invention, the first pilot control line 69 at the left position mainly performs the left position direction changing function of the first direction changing valve 64, that is, the first oil supply port 642 communicates with the first rod chamber 3246 of the first driver 32, the first driver 32 extends, and the cutting portion 10 swings away from the blade device 20. Therefore, it is not necessary to provide the first electromagnetic on-off valve 61 on the first pilot control line 69 at the left position.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the second direction switching valve 66 is a pilot type direction switching valve, and the pilot control device 60 further includes a pilot handle 68, a second pilot control line 63, and a second electromagnetic on-off valve 65. The pilot handle 68 includes a second pilot control device 684, and one end of the second pilot control line 63 is connected to the second pilot control device 684, and the other end thereof is connected to a pilot oil input end of the second selector valve 66. The second electromagnetic on-off valve 65 is provided on the second pilot control line 63, the controller 50 is connected to the second electromagnetic on-off valve 65, and the controller 50 controls the second electromagnetic on-off valve 65 to operate to control the on/off of the second pilot control line 63.

In the above arrangement, the controller 50 indirectly controls the on/off of the second pilot control pipeline 63 to control the on/off of the second oil supply port 662 and the second working oil port 664, so that the controller 50 stops the operation of the driving device 30 and the swing function of the blade device 20 are realized, and the normal operation of the collision avoidance system is ensured.

It should be noted that, as shown in fig. 1, in the first embodiment of the present invention, the second direction valve 66 is a three-position four-way pilot direction valve, when the second direction valve 66 is in the neutral position, the second oil supply port 662 is disconnected from the second working oil port 664, and the neutral position is the initial position of the second direction valve 66, that is, the second direction valve 66 is in the neutral position when the pilot oil control signal is not received. The second electromagnetic on-off valve 65 is provided on the second pilot control line 63 at the left position of the second direction changing valve 66, and the second pilot control line 63 at the left position mainly realizes the left direction changing function of the second direction changing valve 66, that is, the second oil supply port 662 communicates with the second rod chamber 3444 of the second driver 34, the second driver 34 contracts, and the blade device 20 swings toward the direction close to the cutting portion 10. After the second electromagnetic on-off valve 65 is disconnected, the second pilot control pipeline 63 at the left position is disconnected, the left reversing function of the second reversing valve 66 fails, the second reversing valve 66 returns to the initial position, the second oil supply port 662 is disconnected from the second working oil port 664, and the shovel plate device 20 stops swinging and is in a locked state.

As shown in fig. 1, in the first embodiment of the present invention, the second pilot control line 63 in the right position mainly performs the right position direction change function of the second direction change valve 66, that is, the second oil supply port 662 communicates with the second rodless cavity 3446 of the second driver 34, the second driver 34 extends, and the blade device 20 swings away from the cutting unit 10. Therefore, it is not necessary to provide second electromagnetic on-off valve 65 in second pilot control pipe line 63 at the right position.

Specifically, as shown in fig. 1, in the first embodiment of the present invention, the controller 50 includes an alarm component that plays an alarm prompt tone when the controller 50 determines that the cutting part 10 is in a collision with the blade device 20 in advance.

In the above arrangement, the alarm component mainly plays a role in warning, and prompts an operator on site to correct the relative position relationship between the cutting part 10 and the blade device 20 in time, so as to prevent the cutting part 10 from colliding with the blade device 20 and being damaged, thereby ensuring that the cutting part 10 and the blade device 20 can work normally.

Example two

The second embodiment has the following differences from the first embodiment:

specifically, as shown in fig. 2, in the second embodiment of the present invention, the first direction valve 64 is an electromagnetic direction valve, the second direction valve 66 is an electromagnetic direction valve, and the controller 50 is connected to an electrical signal end of the electromagnetic direction valve.

More specifically, as shown in fig. 2, in the second embodiment of the present invention, the first direction valve 64 and the second direction valve 66 are three-position four-way electromagnetic direction valves, the controller 50 can control on/off of a power supply circuit of the three-position four-way electromagnetic direction valve, and when the controller 50 disconnects the power supply circuit, the first direction valve 64 and the second direction valve 66 return to the neutral position, that is, the first oil supply port 642 is disconnected from the first working oil port 644, and the second oil supply port 662 is disconnected from the second working oil port 664.

In the above arrangement, the controller 50 indirectly controls the on/off of the power supply circuits of the first direction valve 64 and the second direction valve 66 to control the on/off of the first oil supply port 642 and the first working oil port 644 and the on/off of the second oil supply port 662 and the second working oil port 664, so that the controller 50 stops the operation of the driving device 30, stops the swing of the shovel plate device 20 and the cutting unit 10, and further ensures that the anti-collision system can normally work.

When the first direction valve 64 and the second direction valve 66 are three-position four-way electromagnetic direction valves, the pilot handle 68 and the pilot control line need not be provided.

Other structures of the first embodiment and the second embodiment are the same, and are not described herein again.

The invention also provides a heading machine which comprises the anti-collision system and a vehicle body, wherein the anti-collision system is integrated on the vehicle body.

In the arrangement, the anti-collision system enables the heading machine to have an automatic anti-collision function, so that the problem that the cutting part 10 collides with the shovel plate device 20 and is damaged when the heading machine works is avoided, and the heading machine can normally work to smoothly complete a field coal mining task.

The heading machine provided by the technical scheme of the second aspect of the invention comprises the anti-collision system in any one of the embodiments of the first aspect, so that all the beneficial effects of any one of the embodiments are achieved, and the details are not repeated herein.

The utility model provides an anticollision system and entry driving machine have following advantage:

1. the anti-collision protection is realized by arranging the hydraulic control device 60 and the controller 50 on the premise of not changing the structure of mechanical parts and the working range of the equipment.

2. The anti-collision system is easy to realize, and anti-collision protection can be realized by simply transforming the existing equipment.

3. The anti-collision system has stable and reliable performance, can effectively protect equipment and avoid mechanical collision damage.

From the above description, it can be seen that controller 50 stops blade assembly 20 and cutting unit 10 from swinging in a direction approaching each other by stopping actuation of drive assembly 30, which avoids the problem of blade assembly 20 and cutting unit 10 being damaged by collision, thereby ensuring that blade assembly 20 and cutting unit 10 can operate properly. In addition, in the present application, the position detection device 40 is disposed in the driving device 30, that is, the position detection device 40 is not exposed to the air, which avoids the problem that the position detection device 40 is disposed directly on the blade device 20 and the cutting part 10 in the related art, so that the position detection device 40 is easily damaged when exposed to the air, thereby improving the stability and reliability of the operation of the position detection device 40, further ensuring that the controller 50 can operate normally, and finally ensuring that the blade device 20 and the cutting part 10 can operate normally.

In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collision avoidance system, characterized in that the collision avoidance system comprises:

a heading machine body;

a cutting section (10) provided on the heading machine body, the cutting section (10) being swingable relative to the heading machine body;

a blade device (20) provided on the heading machine body, the blade device (20) being swingable relative to the heading machine body, the blade device (20) being provided opposite to the cutting section (10), the blade device (20) and the cutting section (10) being swingable in directions to approach each other;

the driving device (30) is connected with the cutting part (10) and the shovel plate device (20) and used for driving the cutting part (10) and the shovel plate device (20) to swing;

a position detection device (40) arranged in the drive device (30) for monitoring the movement position of the drive device (30);

a controller (50) connected to the drive device (30) and the position detection device (40);

wherein the controller (50) is capable of determining the relative position of the cutting unit (10) and the blade device (20) based on the positional movement information of the drive device (30), and the controller (50) is capable of stopping the operation of the drive device (30) when the controller (50) determines that the cutting unit (10) and the blade device (20) are in a collision with each other in advance.

2. Collision avoidance system according to claim 1, characterized in that the drive device (30) comprises:

a first drive (32) for driving the cutting section (10);

a second drive (34) for driving the blade arrangement (20);

wherein the position detection device (40) is arranged within the first drive element (32) and/or the second drive element (34).

3. A collision avoidance system according to claim 2, wherein the first drive member (32) comprises:

a first cylinder (324) having a first internal cavity (3242);

a first piston rod (322) partially disposed within the first internal cavity (3242), the first piston rod (322) axially retractable with respect to the first cylinder (324);

the first inner cavity (3242) is divided into a first rod cavity (3244) and a first non-rod cavity (3246) by the first piston rod (322), one end of the position detection device (40) is fixed on a first bottom wall (3248) of the first non-rod cavity (3246), the other end of the position detection device is inserted into the first piston rod (322), the first piston rod (322) can move relative to the position detection device (40) along the axial direction of the first cylinder body (324), and the position detection device (40) is used for monitoring the stroke position of the first piston rod (322).

4. A collision avoidance system according to claim 2, wherein the second drive member (34) comprises:

a second cylinder (344) having a second internal cavity (3442);

a second piston rod (342) partially disposed within the second internal cavity (3442), the second piston rod (342) axially retractable with respect to the second cylinder (344);

wherein the second piston rod (342) divides the second inner cavity (3442) into a second rod-containing cavity (3444) and a second rodless cavity (3446), one end of the position detection device (40) is fixed on the second bottom wall (3448) of the second rodless cavity (3446), the other end is inserted into the second piston rod (342), the second piston rod (342) can move along the axial direction of the second cylinder (344) relative to the position detection device (40), and the position detection device (40) is used for monitoring the stroke position of the second piston rod (342).

5. A collision avoidance system according to any one of claims 2 to 4, characterized in that the collision avoidance system further comprises a hydraulic control device (60), the hydraulic control device (60) being connected with the controller (50), the hydraulic control device (60) comprising:

an oil supply line (62);

a first direction valve (64) having a first oil supply port (642) and a first working oil port (644), the first oil supply port (642) being connected to the oil supply line (62), the first working oil port (644) being connected to the first driving member (32);

a second directional valve (66) having a second oil supply port (662) and a second working oil port (664), the second oil supply port (662) being connected to the oil supply line (62), the second working oil port (664) being connected to the second driving member (34);

the controller (50) is connected with the first reversing valve (64) and the second reversing valve (66), the controller (50) stops the action of the first driving piece (32) by controlling the connection and disconnection of the first oil supply port (642) and the first working oil port (644), and the controller (50) stops the action of the second driving piece (34) by controlling the connection and disconnection of the second oil supply port (662) and the second working oil port (664).

6. A collision avoidance system according to claim 5, characterized in that the first directional valve (64) is a solenoid directional valve and/or the second directional valve (66) is a solenoid directional valve, the controller (50) being connected to an electrical signal side of the solenoid directional valve.

7. A collision avoidance system according to claim 5, wherein the first direction valve (64) is a pilot operated direction valve, the hydraulic control means (60) further comprising:

a pilot handle (68) comprising a first pilot control device (682);

a first pilot control line (69) having one end connected to the first pilot control device (682) and the other end connected to a pilot oil input end of the first direction switching valve (64);

a first electromagnetic on-off valve (61) provided on the first pilot control line (69);

the controller (50) is connected with the first electromagnetic on-off valve (61), and the controller (50) controls the on-off of the first pilot control pipeline (69) by controlling the first electromagnetic on-off valve (61) to act.

8. A collision avoidance system according to claim 5, wherein the second direction valve (66) is a pilot operated direction valve, the hydraulic control device (60) further comprising:

a pilot handle (68) including a second pilot control device (684);

a second pilot control line (63) having one end connected to the second pilot control device (684) and the other end connected to a pilot oil input of the second directional valve (66);

a second electromagnetic on-off valve (65) provided on the second pilot control line (63);

the controller (50) is connected with the second electromagnetic on-off valve (65), and the controller (50) controls the second electromagnetic on-off valve (65) to act so as to control the on-off of the second pilot control pipeline (63).

9. A collision avoidance system according to any one of claims 1 to 4, wherein the controller (50) includes an alarm assembly which plays an alarm warning tone when the controller (50) determines that the cutting section (10) is pre-collided with the blade arrangement (20).

10. A heading machine, characterized in that it comprises a collision avoidance system according to any one of claims 1 to 9 and a vehicle body on which the collision avoidance system is integrally provided.