CN201535166U

CN201535166U - Automatic cutting roadheader

Info

Publication number: CN201535166U
Application number: CN2009202036500U
Authority: CN
Inventors: 王志刚; 李万鹏; 付晓
Original assignee: Sany Heavy Equipment Co Ltd
Current assignee: Sany Heavy Equipment Co Ltd
Priority date: 2009-09-28
Filing date: 2009-09-28
Publication date: 2010-07-28
Anticipated expiration: 2019-09-28

Abstract

The utility model relates to coal mine drifting equipment, in particular to an automatic cutting roadheader, which is applicable to various drifting equipment. Inclination angle sensors are respectively mounted on a cutting part and a body of the roadheader, and a rotary encoder is mounted on a rotary table. Two pairs of oil cylinders of the roadheader, which control a cutting head to move up and down and rotate, can be controlled by a manual valve or an electric proportional valve. In the process of manual cutting, the cutting path is recorded with positioning laser as an origin in the roadway. When cutting is carried out next time, the cutting head aims at the positioning laser in the roadway, and a controller calculates the cutting path of the roadheader, and controls the cutting path of the cutting head by controlling an electromagnetic valve. The utility model at least solves the problem that manual operation in the prior art can easily cause the blockage of partial sight ahead, and the roadheader can greatly reduce the labor intensity of miners and the danger of work.

Description

The development machine of automatic cut

Technical field

The utility model relates to coal mine tunnelling equipment, is specially a kind of development machine of automatic cut, is applicable to the equipment of various tunnellings.

Background technology

Development machine is that coal mine machinery melts one of capital equipment of adopting, and traditional tunnelling machine operating system all adopts the manual operation on the driver's seat, is easy to cause sight line part, the place ahead to be obstructed, if add roof-bolter or rig, unsighted scope increases.In addition, because operator injures accident by a crashing object apart from nearer the causing easily of cut section.And labour intensity is big during the manual operation tunneling machine cutting, the coal dust injury very big to operator during cut.If development machine has automatic cut function, not only reduce the labour intensity of operator, and reduce miner's work danger greatly, improve the working environment of operator.

The utility model content

The purpose of this utility model is to provide a kind of development machine with automatic cut function, solves problems such as manual operation is easy to cause to be obstructed in sight line part, the place ahead in the prior art.Utilize a pair of obliquity sensor and a rotary encoder to measure the cutterhead attitude, the circuit of controller record cutterhead cut.After aiming at laser point again, controller can calculate the circuit of the automatic cut of cutterhead, the automatic cut of control cutterhead.

The technical solution of the utility model is:

A kind of development machine of automatic cut is equipped with obliquity sensor respectively on the cutting units of this development machine and the body, on the panoramic table of this development machine rotary encoder is housed.

On the cutterhead of described cutting units target is housed.

The development machine of described automatic cut also is equipped with controller on development machine, obliquity sensor is connected with the input of controller respectively with rotary encoder.

The output of described controller connects the hydraulic jack that drives cutterhead.

The beneficial effects of the utility model are:

1, the automatic cut development machine of the utility model only need be aimed at the laser point in the tunnel during tunnelling under coal mine, start automatic cut function, and development machine just can be pressed the automatic cut of circuit of manual cut, thereby enhances productivity.

2, the automatic cut development machine of the utility model, make the work of management tunnelling safer, more reliable, more efficient, the workman can effectively prevent roof accident and bring injury to personnel away from work plane during driving, can reduce the work danger of tunnelling greatly.

3, the automatic cut development machine of the utility model with Numeric Control Technology and tunneling machine cutting control combination, with the automatic cut of laser positioning memory cut circuit reality, reduces the operating personnel, has improved efficiency.Driving speed is accelerated, and improves digging footage.

Description of drawings

Fig. 1 is the automatic cut development machine of a utility model structural representation.

Working state schematic representation when Fig. 2 is the manual cut of the utility model.

Working state schematic representation when Fig. 3 is the automatic cut of the utility model.

Fig. 4 is the circuit diagram of the utility model cut circuit control section.

Among the figure, 1. cutting units; 2. shovel board portion; 3. first Department of Transportation; 4. body; 5. running part; 6. support after; 7. lubricating system; 8. hydraulic system; 9. water system; 10. electric control part; 11. obliquity sensor; 12. rotary encoder; 13. target; 14. panoramic table; 15. controller; 16. cutterhead.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is described further.

As depicted in figs. 1 and 2, the automatic cut development machine of the utility model mainly comprises: cutting units 1, shovel board portion 2, first Department of Transportation 3, body 4, running part 5, back support 6, lubricating system 7, hydraulic system 8, water system 9, electric control part 10, obliquity sensor 11, rotary encoder 12, panoramic table 14 etc.Wherein, cutting units 1, shovel board portion 2, first Department of Transportation 3, body 4, running part 5, back support 6, lubricating system 7, hydraulic system 8, water system 9, electric control part 10, panoramic table 14 are for having the conventional structure of development machine now, the structure of each part mentioned above and annexation are routine techniques, do not do at this and give unnecessary details.The utility model is equipped with obliquity sensor 11 respectively on cutting units 1 and body 4, obliquity sensor on the cutting units 1 is used to measure the lifting angle of cutterhead on the cutting units 1, obliquity sensor on the body 4 is used to measure the inclination angle of development machine place work plane, and it is exactly the lifting angle of cutting units with respect to fuselage that two measured values are done difference; Rotary encoder 12 is housed on panoramic table 14, can measures the angle of revolution of cutterhead; On the cutterhead 16 of cutting units 1, target 13 is housed, is used for target is all aimed at the locating laser in the tunnel in 16 location of the cutterhead on the cutting units 1 when writing down the cut circuit again at every turn.

As Fig. 1, shown in Figure 4, controller 15 is housed on development machine, obliquity sensor 11 is connected (wherein with the input of controller 15 respectively with rotary encoder 12, two obliquity sensors 11 are connected with controller 15 by isolated gate respectively, rotary encoder 12 is connected with controller 15 by CAN communication isolator), the signal of obliquity sensor 11 and rotary encoder 12 transfers to controller 15.Thereby the controller 15 of development machine can write down the cephalomotor track of cut, and will convert the parameter with respect to locating laser in the tunnel with respect to the trajectory parameters of machine body of boring machine to.After target 13 on the cutterhead is aimed at locating laser point once more, can be with the parameter of relative fuselage, and calculate cut circuit after reorientating.The output of controller 15 connects the hydraulic jack (hoist cylinder and angling cylinder) that drives cutterhead 16, can send instruction and give hydraulic jack, drive cutterhead 16 and finish the cut route of appointment, as: cutterhead turns left, cutterhead is turned right, cutterhead rises or the action of cutterhead degradation.Therefore, this driving function is by the cut circuit of laser positioning record cutterhead, cutterhead is aimed at laser after, development machine can carry out automatic cut.In the utility model, controller 15 can adopt routine techniques.

Specific implementation method of the present utility model is as follows:

At 16 cuts of the cutterhead on the cutting units 1 during to the boundary point of drift section, the distance at the relative fuselage of controller 15 record cutterheads this moment center and highly (being the angle of lift rotary).The center line of supposing fuselage is relative forever constant with the laser rays of location, tunnel, and the route of just setting automatic cut by these parameters during cut carries out cut so automatically, and the direction in tunnel is consistent with the sure assurance of the parameter of drift section.But the laser rays of the center line of machine body of boring machine and tunnel location is impossible when coincidence is obvious forever under actual condition.So section is well reduced when simply writing down every parameter and can't guarantee automatic cut.But the data parameters of all sensor institute energy measurements can only be with respect to machine body of boring machine on the development machine.But, if with the locating laser in the 13 aligning tunnels of the target on the cutting units 1, just can change the parameter with respect to fuselage of sensor measurement into parameter, utilize the constant of locating laser to guarantee that the error of automatic cut is in very little scope with respect to laser point.

As shown in Figure 2, suppose when being manual cut, utilize in the tunnel locating laser to determine the cut starting point, the movement locus of controller cutterhead during with manual cut, just write down the angle of the relative fuselage lift rotary of cutterhead, and the parameter of all relative fuselages is converted into relative tunnel inner laser point (promptly being the pole coordinate parameter of initial point with the laser point).The cutterhead level angle of cut left is a, and it is converted into left side distance is d.

As shown in Figure 3, suppose when being automatic cut, once more target is aimed at the locating laser in the tunnel, utilize in the tunnel locating laser to determine the cut starting point, like this after the starting point coincidence with laser point and cut, controller just can with before to write down and convert to the laser point be that the pole coordinate parameter of initial point is converted into the parameter (being the parameter of respective sensor) with respect to fuselage again, will control the circuit of cut according to these parameters.Like this, well solved the development machine problem that the cut initial point position changes in the process that readvances, the section error of guaranteeing the section of automatic cut and manual cut is again in the small range.Earlier with the locating laser in the 13 aligning tunnels of the target on the cutting units 1, at this moment the position of the laser rays of development machine and tunnel location changes, what but cut will arrive the left side automatically is constant apart from d, controller will be converted into cutterhead motion angle b apart from the value of d, even so just guaranteed the uniformity of automatic cut under the situation of development machine position skew.

Claims

1. the development machine of an automatic cut is characterized in that: obliquity sensor is housed respectively on the cutting units of this development machine and the body, on the panoramic table of this development machine rotary encoder is housed.

2. according to the development machine of the described automatic cut of claim 1, it is characterized in that: on the cutterhead of described cutting units target is housed.

3. according to the development machine of the described automatic cut of claim 1, it is characterized in that: controller also is housed on development machine, and obliquity sensor is connected with the input of controller respectively with rotary encoder.

4. according to the development machine of the described automatic cut of claim 3, it is characterized in that: the output of described controller connects the hydraulic jack that drives cutterhead.