CN112943282B - Intelligent cantilever type heading machine - Google Patents
Intelligent cantilever type heading machine Download PDFInfo
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- CN112943282B CN112943282B CN202110189458.6A CN202110189458A CN112943282B CN 112943282 B CN112943282 B CN 112943282B CN 202110189458 A CN202110189458 A CN 202110189458A CN 112943282 B CN112943282 B CN 112943282B
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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
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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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
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/04—Spraying barriers
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Road Repair (AREA)
Abstract
The invention discloses an intelligent cantilever type tunneling machine, wherein a positioning device is arranged on the cantilever type tunneling machine and used for positioning the first position and the tunneling direction of the cantilever type tunneling machine and a designed tunnel; the detection device is used for detecting the second positions and cutting postures of the cutting head and the cantilever type heading machine; the display device is used for displaying the first position, the tunneling direction, the second position and the cutting posture; and the control system is used for receiving and processing the information collected by the positioning device and the detection device and transmitting the processing result to the display device. The relative position between the boom-type heading machine and the designed tunnel, the relative position between the cutting head and the boom-type heading machine and the cutting posture of the cutting head can be visually displayed, so that an operator can conveniently observe the working state of the boom-type heading machine, the position and heading direction of the boom-type heading machine can be accurately judged, accurate heading control can be performed, and the quality and efficiency of tunnel forming can be guaranteed.
Description
Technical Field
The invention relates to the technical field of tunneling machines, in particular to an intelligent cantilever type tunneling machine.
Background
The cantilever type tunneling machine is multifunctional tunneling equipment integrating functions of cutting, walking, loading and transporting, spraying, dust suppression, operation and the like. At present, the problems of low working efficiency, high danger degree, severe working environment, high labor intensity of workers, poor tunnel forming quality and the like exist in the aspect of tunnel tunneling operation in China. With the development of science and technology and the social progress, the automation and the intelligent degree of the tunneling equipment are higher and higher, and the manual participation of the tunneling equipment in the future is less and less.
In the existing market, most cantilever type development machines are not provided with intelligent systems, and although some control systems based on machine vision exist, the intelligent systems are often laid due to the fact that the cantilever type development machines are large in dust during working and bad in working environment and have great influence on the functions of the machine vision. The operator is at the in-process of tunnelling, is difficult to the position and the direction of accuse entry driving machine for the operation hand can't in time adjust the operation condition during actual operation, leads to the fluctuation of the super load or the underload condition to appear in the great scope in the cutting motor, and then appears the super-cut and undercut the phenomenon, influences tunnel shaping quality and shaping efficiency.
Therefore, how to improve the tunnel forming quality and efficiency is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides an intelligent boom-type roadheader, which can improve the tunnel forming quality and efficiency.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides an intelligent boom-type roadheader, includes the boom-type roadheader, be equipped with the cutterhead that is used for excavating the tunnel on the boom-type roadheader, be equipped with on the boom-type roadheader:
the positioning device is used for positioning a first position and a tunneling direction of the cantilever type tunneling machine relative to a designed tunnel;
the detection device is used for detecting a second position and a cutting posture of the cutting head relative to the cantilever type tunneling machine;
the display device is used for displaying the first position, the tunneling direction, the second position and the cutting posture;
and the control system is in signal connection with the positioning device, the detection device and the display device of the control system, and is used for receiving and processing the information acquired by the positioning device and the detection device and transmitting the processing result to the display device.
Preferably, the cutting head of the cantilever type heading machine adopts a transverse shaft type cutting head.
Preferably, the boom-type roadheader comprises a yaw cylinder and a pitch cylinder for driving the cutting head, the detection device comprises stroke sensors respectively arranged in the yaw cylinder and the pitch cylinder, and the stroke sensors are in signal connection with the control system.
Preferably, the positioning device includes a total station for being disposed in the tunnel, a first prism, a second prism, an inclinometer and a two-dimensional laser scanning module, the total station is configured to detect position coordinates of the first prism and the second prism relative to the total station, the tilt sensor is configured to detect pitch and roll angles of the boom, the two-dimensional laser scanning module is configured to detect an actual tunnel profile, and the total station, the tilt sensor and the two-dimensional laser scanning module are all in signal connection with the controller.
Preferably, a connecting line of the first prism and the second prism is perpendicular to the length direction of the boom-type heading machine.
Preferably, the positioning device further includes a rearview prism configured to be disposed in the tunnel, and the total station is further configured to detect a position of the rearview prism.
Preferably, a foam dust removal system is arranged on the cantilever type tunneling machine and comprises a spray head for spraying foam, and the spray head and the cutting head are arranged above the foam dust removal system.
Preferably, the control system comprises a PLC control system.
The intelligent boom-type roadheader provided by the invention is characterized in that the boom-type roadheader is provided with a positioning device, a detection device, a display device and a control system, the positioning device positions a first position and a tunneling direction of the boom-type roadheader relative to a designed tunnel, the detection device detects a second position and a cutting attitude of a cutting head relative to the boom-type roadheader, and a display device is used for visually displaying the first position and the tunneling direction of the boom-type roadheader relative to the designed tunnel, the second position of the cutting head relative to the boom-type roadheader and the cutting posture of the cutting head, thereby facilitating the operator to observe the working state of the cantilever type tunneling machine, and under the assistance of the display device, the position and the tunneling direction of the cantilever type tunneling machine can be accurately judged, so that accurate tunneling control is performed, and the tunnel forming quality and efficiency are guaranteed.
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 view of an embodiment of the intelligent boom excavator provided in the present invention.
The system comprises a cantilever type tunneling machine 1, a designed tunnel 2, a first prism 3, a total station 4, a rear view prism 5, an inclination angle sensor 6 and a second prism 7.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The core of the invention is to provide an intelligent cantilever type tunneling machine which can improve the tunnel forming quality and efficiency.
Referring to fig. 1, fig. 1 is a schematic diagram of an embodiment of an intelligent boom-type roadheader according to the present invention.
The invention provides an intelligent boom-type tunneling machine, which comprises a boom-type tunneling machine 1, wherein a cutting head for tunneling a tunnel is arranged on the boom-type tunneling machine 1, and the intelligent boom-type tunneling machine is characterized in that: the positioning device is used for positioning a first position and a tunneling direction of the cantilever type tunneling machine 1 relative to the designed tunnel 2; the detection device is used for detecting a second position and a cutting posture of the cutting head relative to the cantilever type tunneling machine; the display device is used for displaying the first position, the tunneling direction, the second position and the cutting posture; and the control system is in signal connection with the positioning device, the detection device and the display device, and is used for receiving and processing the information acquired by the positioning device and the detection device and transmitting the processing result to the display device.
The cantilever type tunneling machine 1 is provided with a positioning device, a detection device, a display device and a control system, wherein in the tunneling process, the positioning device is used for detecting the relative position and the tunneling direction of the cantilever type tunneling machine 1 and the designed tunnel 2, and is called a first position for distinguishing, namely the positioning device is used for positioning the position of the cantilever type tunneling machine 1 in the tunnel and simultaneously used for detecting the tunneling direction of the cantilever type tunneling machine 1 relative to the tunnel.
The detection device is used for detecting the position of the cutting head on the boom-type roadheader 1, namely detecting the relative position of the boom-type roadheader 1 and the cutting head, and is called as a second position for distinguishing, and meanwhile, the detection device is also used for detecting the cutting posture of the cutting head.
The control system collects and processes the information detected by the positioning device and the detection device, and transmits the processed result to the display device, namely, the positioning device positions the relative position of the cantilever type tunneling machine 1 and the designed tunnel 2, and then transmits the first position and the tunneling direction information to the control system, and then the control system processes the first position and the tunneling direction and transmits the first position and the tunneling direction information to the display device.
Meanwhile, after the cutting attitude of the cutting head and the position of the cutting head relative to the boom-type roadheader 1 are detected by the detection device, the cutting attitude and the second position are transmitted to the control system, and then the cutting attitude and the second position are processed by the control system and transmitted to the display device, so that the display device displays the position and the tunneling direction of the boom-type roadheader 1 in the designed tunnel 2, and displays the cutting attitude and the second position.
The intelligent boom-type roadheader provided by the invention is characterized in that the boom-type roadheader 1 is provided with a positioning device, a detection device, a display device and a control system, the positioning device positions a first position and a tunneling direction of the boom-type roadheader 1 relative to a designed tunnel 2, the detection device detects a second position and a cutting attitude of a cutting head relative to the boom-type roadheader 1, and visually displaying a first position and a heading direction of the boom type roadheader 1 relative to the designed tunnel 2, a second position of the cutting head relative to the boom type roadheader 1 and a cutting posture of the cutting head through a display device, thereby facilitating the operator to observe the working state of the cantilever type heading machine 1, and under the assistance of the display device, the position and the tunneling direction of the cantilever type tunneling machine 1 can be accurately judged, so that accurate tunneling control is performed, and the tunnel forming quality and efficiency are guaranteed.
On the basis of the embodiment, the longitudinal shaft type cutting head is mostly adopted in the existing cantilever type heading machine 1, the walking route of the cutting tooth tip of the longitudinal shaft type cutting head is a cambered surface cycloid, the distance from the outer spray always keeps unchanged, and after cutting is completed, the outer spray cannot timely cool the cutting tooth tip, so that when the hard sandstone is cut, heat generated by work is difficult to timely take away, a cutting tooth body can be melted when the heat is serious, a welding flux of the alloy head is melted, and the alloy head falls off. Preferably, the cutting head of the boom-type roadheader 1 adopts a horizontal shaft type cutting head.
The cutting pick tip walking route of the transverse shaft type cutting head is a spiral line, and in the operation process of the cutting head, part of cutting picks can return to the outer spray range to receive the spray of the outer spray, so that enough cooling liquid can be obtained, heat generated in the cutting process is taken away in time, the cutting head is cooled, the continuous operation of the cutting head is guaranteed, and the problem of poor cooling effect of the longitudinal shaft type cutting head is solved.
On the basis of the above-described embodiment, in consideration of the specific arrangement of the detection means, it is preferable that the boom excavator 1 includes a yaw cylinder and a pitch cylinder for driving the cutting head, the detection means includes stroke sensors built in the yaw cylinder and the pitch cylinder, respectively, and the stroke sensors are signally connected to the control system.
In this embodiment, the detecting device includes at least two stroke sensors, and the stroke sensors are respectively disposed in the yaw cylinder and the pitch cylinder that drive the cutting head to detect the stroke of the yaw cylinder and the stroke of the pitch cylinder, so that the second position of the cutting head relative to the boom-type roadheader 1 and the cutting attitude of the cutting head can be simultaneously measured. The device has the characteristics of simple structure, and accurate and efficient detection.
On the basis of the above embodiment, in consideration of specific selection of the positioning device, as an optimal choice, the positioning device includes a total station 4 for being disposed in the tunnel, a first prism 3, a second prism 7, an inclinometer 6 and a two-dimensional laser scanning module which are disposed on the boom-type excavator 1, the total station 4 is configured to detect position coordinates of the first prism 3 and the second prism 7 relative to the total station 4, the inclinometer 6 is configured to detect pitch and roll angles of the boom-type excavator 1, and the total station 4, the inclinometer 6 and the two-dimensional laser scanning module are all in signal connection with the controller.
In this embodiment, the positioning device includes a two-dimensional laser scanning module, an inclinometer 6, a total station 4, and a first prism 3 and a second prism 7 used in cooperation with the total station 4. The two-dimensional laser scanning module is used for scanning the outline of the tunnel so as to obtain an actual model of the tunnel in the tunneling process, and the actual model of the tunnel is displayed on the display device to be compared with the design model.
As shown in fig. 1, the total station 4 is fixed behind the tunnel, the total station 4 is set to the existing tunnel coordinate system according to the project design data, that is, according to the total station 4 after setting, the three-dimensional coordinates of any prism under the tunnel 2 can be measured, the first prism 3 and the second prism 7 are used for being arranged on the boom-type excavator 1, the first prism 3 and the second prism 7 are calibration measuring points on the boom-type excavator 1, the three-dimensional coordinates of the first prism 3 and the second prism 7 relative to the tunnel 2 can be measured in real time through the searching and tracking functions of the total station 4, and meanwhile, the actual position of the excavator relative to the designed tunnel 2 can be obtained by combining the pitch and roll angles obtained by the tilt sensor 6 on the boom-type excavator 1.
Specifically, the total station 4 is used as a set station, the position information of the tunnel 2 to be excavated can be obtained according to design data, the coordinate information of the first prism 3 and the second prism 7 can be measured, the coordinate of the first prism 3 is recorded as P1, the coordinate of the second prism 7 is recorded as P2, the coordinates of the measuring points P1 and P2 are projected on a horizontal plane to obtain the plane coordinates of the projection points P1 'and P2', and the included angle between the axis of the whole vehicle body of the boom-type excavator 1 and the design axis of the designed tunnel 2 can be obtained according to the coordinates and the position relation between the first prism 3 and the second prism 7 relative to the boom-type excavator 1.
And then, according to the value measured by the tilt angle sensor 6 and the spatial position relationship between the cantilever type tunneling machine 1 and the P1, P2, the pitch angle of the cantilever type tunneling machine 1 can be obtained, further, the real-time position and posture of the tunneling machine can be obtained, finally, the position and posture data of the tunneling machine are processed through the embedded microprocessor system and displayed through the display, so that an operator can accurately observe the position and the tunneling direction of the cantilever type tunneling machine 1, then, the design data are compared, and the position and posture of the cantilever type tunneling machine 1 can be timely operated and adjusted.
The manipulator is assisted by the whole intelligent positioning system, so that the boom-type development machine 1 can complete automatic positioning and can accurately cut and other tasks by simulating the tunnel contour track with the cutting head, and the theoretical cutting precision can reach 30mm, thereby solving the problems of low working efficiency, high labor intensity of the manipulator, poor tunnel forming quality and the like of the boom-type development machine 1.
In view of the specific choice of the tilt sensor 6, it is preferable that the tilt sensor 6 is a high-precision biaxial tilt sensor 6.
In addition to the above embodiment, in consideration of the specific arrangement of the first prism 3 and the second prism 7, it is preferable that the connection line of the first prism 3 and the second prism 7 is perpendicular to the longitudinal direction of the boom miner 1. So as to determine the position of the boom excavator 1 with the position of the first prism 3 and the second prism 7.
On the basis of the above embodiment, considering that the total station 4 may not be able to accurately detect the positions of the first prism 3 and the second prism 7 when the boom excavator 1 is far away from the total station 4 during excavation, the positioning device preferably further includes a rearview prism 5 for being disposed in the tunnel, and the total station 4 is further configured to detect the position of the rearview prism 5. Thus, when the heading depth of the boom-type heading machine 1 is deep, the total station 4 can be moved, the total station 4 is installed at a position close to the boom-type heading machine 1, and the position of the total station 4 is newly calibrated by the position of the rearview prism 5.
On the basis of any of the above embodiments, as a preferable option, the boom-type roadheader 1 is provided with a foam dust removal system, and the foam dust removal system comprises a nozzle for spraying foam, and the nozzle is above the cutting head.
In the embodiment, the dust on the working surface is large, the sight of the operator is poor, and the working surface cannot be seen clearly. A foam dedusting system is introduced, and the system can cover a dust source without a gap, fundamentally prevents dust from diffusing outwards, has a remarkable dedusting effect, and greatly improves the quality of the operation environment.
On the basis of the above-described embodiment, in consideration of the specific selection of the controller, it is preferable that the control system includes a PLC control system.
In the present specification, the embodiments 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.
The intelligent boom-type roadheader provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. 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 (7)
1. The utility model provides an intelligent boom-type roadheader, includes boom-type roadheader (1), be equipped with the cutterhead that is used for excavating the tunnel on boom-type roadheader (1), its characterized in that still is equipped with on boom-type roadheader (1):
the positioning device is used for positioning a first position and a tunneling direction of the cantilever type tunneling machine (1) relative to the designed tunnel (2);
the detection device is used for detecting a second position and a cutting posture of the cutting head relative to the cantilever type tunneling machine (1);
the display device is used for displaying the first position, the tunneling direction, the second position and the cutting posture;
the control system is in signal connection with the positioning device, the detection device and the display device, and is used for receiving and processing the information acquired by the positioning device and the detection device and transmitting the processing result to the display device;
positioner is including being used for setting up total powerstation (4) in the tunnel, locating first prism (3), second prism (7), inclination sensor (6) and two-dimensional laser scanning module on boom-type roadheader (1), total powerstation (4) are used for detecting first prism (3) with second prism (7) are relative the position coordinate of total powerstation (4), inclination sensor (6) are used for detecting the every single move and the roll angle of boom-type roadheader (1), two-dimensional laser scanning module is used for detecting actual tunnel profile, total powerstation (4), inclination sensor (6) and two-dimensional laser scanning module all signal connection in control system.
2. An intelligent boom-type roadheader according to claim 1, characterized in that the cutting head of the boom-type roadheader (1) is a transverse shaft cutting head.
3. An intelligent boom-type roadheader according to claim 1, characterized in that said boom-type roadheader (1) comprises a yaw cylinder and a pitch cylinder for driving said cutting head, said detection means comprising stroke sensors built into said yaw cylinder and said pitch cylinder, respectively, said stroke sensors being signally connected to said control system.
4. An intelligent boom-boring machine according to claim 3, wherein the line connecting the first prism (3) and the second prism (7) is perpendicular to the length direction of the boom-boring machine (1).
5. An intelligent boom miner according to claim 4 wherein said positioning means further comprises a rear view prism (5) for location within the tunnel, said total station (4) also being used to detect the position of said rear view prism (5).
6. An intelligent boom-type roadheader according to any one of claims 1 to 5, characterized in that a foam dust removal system is further provided on the boom-type roadheader (1), said foam dust removal system comprising nozzles for spraying foam, said nozzles being located above said cutting head.
7. An intelligent boom miner as in claim 6 wherein the control system comprises a PLC control system.
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| CN202110189458.6A CN112943282B (en) | 2021-02-19 | 2021-02-19 | Intelligent cantilever type heading machine |
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| CN202110189458.6A CN112943282B (en) | 2021-02-19 | 2021-02-19 | Intelligent cantilever type heading machine |
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| CN112943282A CN112943282A (en) | 2021-06-11 |
| CN112943282B true CN112943282B (en) | 2022-09-06 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104295297A (en) * | 2014-09-16 | 2015-01-21 | 三一重型装备有限公司 | System and method for positioning cutting head of tunneling machine and tunneling machine |
| CN109386291A (en) * | 2018-11-22 | 2019-02-26 | 山东新矿信息技术有限公司 | Tunneling machine cutting paths planning method, device and tunneling machine cutting control system |
| CA2985929A1 (en) * | 2017-11-17 | 2019-05-17 | Mcnally Construction Inc. | System and method for dynamic surveying of a tunnel |
| CN112304285A (en) * | 2020-11-03 | 2021-02-02 | 中国煤炭科工集团太原研究院有限公司 | Attitude detection method and system for cantilever type heading machine cutting head |
-
2021
- 2021-02-19 CN CN202110189458.6A patent/CN112943282B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104295297A (en) * | 2014-09-16 | 2015-01-21 | 三一重型装备有限公司 | System and method for positioning cutting head of tunneling machine and tunneling machine |
| CA2985929A1 (en) * | 2017-11-17 | 2019-05-17 | Mcnally Construction Inc. | System and method for dynamic surveying of a tunnel |
| CN109386291A (en) * | 2018-11-22 | 2019-02-26 | 山东新矿信息技术有限公司 | Tunneling machine cutting paths planning method, device and tunneling machine cutting control system |
| CN112304285A (en) * | 2020-11-03 | 2021-02-02 | 中国煤炭科工集团太原研究院有限公司 | Attitude detection method and system for cantilever type heading machine cutting head |
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