CN210798960U - Anti-collision control system of tunneling equipment and tunneling equipment - Google Patents
Anti-collision control system of tunneling equipment and tunneling equipment Download PDFInfo
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- CN210798960U CN210798960U CN201921843845.1U CN201921843845U CN210798960U CN 210798960 U CN210798960 U CN 210798960U CN 201921843845 U CN201921843845 U CN 201921843845U CN 210798960 U CN210798960 U CN 210798960U
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Abstract
The utility model provides a heading equipment's anticollision control system and heading equipment. Wherein, heading equipment's anticollision control system includes: the first signal acquisition device is configured to acquire the distance between the first signal acquisition device and the roadway roof in a plane perpendicular to the axis of the cutting arm; the second signal acquisition device is configured to acquire an included angle between a plane perpendicular to the axis of the cutting arm and the vertical direction; and the controller is connected with the first signal acquisition device and the second signal acquisition device, is used for calculating the distance between the anchoring device and the top plate along the vertical direction according to the signals acquired by the first signal acquisition device and the second signal acquisition device, and executes limit protection based on the fact that the distance between the anchoring device and the top plate along the vertical direction is smaller than a preset threshold value. The utility model provides a heading equipment's anticollision control system can avoid the cutting arm to rise or make anchor protection device and roof cut rubbing or collision in the course of the work, has improved the reliability of product.
Description
Technical Field
The utility model relates to an engineering machine tool technical field particularly, relates to a heading equipment's anticollision control system and a heading equipment.
Background
At present, most of tunneling equipment working in coal mines or tunnels is tunneling, anchoring and supporting integrated equipment, and due to the fact that the anchoring and supporting device is additionally arranged on the cutting arm, the height of the cutting arm is increased, and when the cutting arm cuts a top plate of a roadway, the anchoring and supporting device and the top plate are prone to being scratched or collided to reduce the reliability of products.
SUMMERY OF THE UTILITY MODEL
The present invention aims at least solving one of the technical problems existing in the prior art or the related art.
Therefore, the utility model discloses a first aspect provides a heading equipment's anticollision control system.
The second aspect of the utility model provides a heading equipment.
In view of this, the utility model discloses an aspect provides a heading equipment's collision avoidance control system, heading equipment includes that cutting arm and anchor protect the device, and the anchor protects the device and sets up in cutting arm's top, and heading equipment's collision avoidance control system includes: a first signal acquisition device configured to acquire a distance between the first signal acquisition device and a roadway roof in a plane perpendicular to an axis of the cutting arm; the second signal acquisition device is configured to acquire an included angle between a plane perpendicular to the axis of the cutting arm and the vertical direction; and the controller is connected with the first signal acquisition device and the second signal acquisition device, is used for calculating the distance between the anchoring device and the top plate along the vertical direction according to the signals acquired by the first signal acquisition device and the second signal acquisition device, and executes limit protection based on the fact that the distance between the anchoring device and the top plate along the vertical direction is smaller than a preset threshold value.
The utility model provides a heading equipment's anticollision control system, heading equipment work in the tunnel, and heading equipment includes that cutting arm and anchor protect the device, and the anchor protects the device and sets up in the top of cutting arm and be located the below of tunnel roof, can accomplish the operation of strutting after the tunnelling operation. The anti-collision control system of the tunneling equipment comprises a first signal acquisition device, a second signal acquisition device and a controller, the first signal acquisition device is configured to acquire the distance between the first signal acquisition device and a roadway roof in a plane perpendicular to the axis of the cutting arm, and the installation position of the first signal acquisition device is fixed, so that the relative position between the first signal acquisition device and the anchoring and protecting device in the plane perpendicular to the axis of the cutting arm is fixed, and the distance between the anchoring and protecting device and the roadway roof in the plane perpendicular to the axis of the cutting arm can be calculated through the distance between the first signal acquisition device and the roadway roof acquired in the plane perpendicular to the axis of the cutting arm. The second signal acquisition device is configured to acquire an included angle between a plane perpendicular to the axis of the cutting arm and the vertical direction, when the cutting arm is inclined relative to the position of the horizontal plane facing the top plate, the actual distance between the anchoring device and the top plate along the vertical direction can be obtained by calculating the product of the distance between the anchoring device and the top plate in the plane perpendicular to the axis of the cutting arm and the cosine value of the included angle between the plane perpendicular to the axis of the cutting arm and the vertical direction, when the distance calculated by the controller is smaller than a preset threshold value, the limiting protection is executed, namely when the actual distance between the anchoring device and the top plate along the vertical direction is smaller than the preset threshold value, the cutting arm is controlled to stop rising, the cutting arm can be prevented from continuously rising to scratch or collide the anchoring device and the top plate, the reliability of the product is further improved, and meanwhile, when the tunneling equipment is prevented from remotely cutting, due to the fact that the dust in the tunnel is large and the sight is unclear, the ascending amplitude of the cutting arm cannot be accurately controlled, the anchoring and protecting device is scratched or collided with the top plate of the tunnel, and the application range of products is further expanded.
Furthermore, signals are acquired in real time through the first signal acquisition device and the second signal acquisition device, and the anchor protection device can not be scratched or collided with a roadway roof in the ascending process of the cutting arm or the cutting process of the roadway roof by the cutting arm of the tunneling equipment comprising the anchor protection device through the controller.
Additionally, the utility model provides an anti-collision control system of heading equipment among the above-mentioned technical scheme can also have following additional technical characteristics:
in the above technical solution, further, the first signal collecting device is a laser ranging sensor, the laser ranging sensor is disposed on the cutting arm or the oil cylinder of the heading device, and is configured to emit a light beam in the direction of the top plate by the first signal collecting device, and the light beam is perpendicular to the axis of the cutting arm.
In the technical scheme, the first signal acquisition device is a laser ranging sensor, on one hand, the laser ranging sensor is arranged on the cutting arm and is configured to emit a light beam towards the top plate by the laser ranging sensor, the light beam is perpendicular to the axis of the cutting arm, namely, the light beam emitted by the laser ranging sensor is perpendicular to the axis of the cutting arm and faces towards the top plate, so that the laser ranging sensor can accurately acquire the distance between the position of the laser ranging sensor and the roadway top plate in a plane perpendicular to the axis of the cutting arm in real time, and because the mounting position of the cutting arm relative to the anchoring device is fixed in the plane perpendicular to the axis of the cutting arm, the positions of the laser ranging sensor and the anchoring device are fixed, and the actual distance between the anchoring device and the top plate in the plane perpendicular to the axis of the cutting arm can be accurately acquired through calculation, the control precision and the sensitivity of the controller are improved, and the reliability of the product is improved.
On the other hand, the tunneling equipment is also provided with an oil cylinder below the anchoring device, the oil cylinder is connected with the cutting arm, and the cutting arm is driven to ascend or descend by the action of the oil cylinder. If the laser ranging sensor is arranged at the bottom of the oil cylinder of the tunneling equipment and is arranged on part of the oil cylinder fixed relative to the installation position of the cutting arm or the anchoring device, the laser ranging sensor is configured to emit light beams towards the top plate by the laser ranging sensor, and the light beams are perpendicular to the axis of the cutting arm, namely the light beams emitted by the laser ranging sensor are perpendicular to the axis of the cutting arm and face the top plate, so that the laser ranging sensor can accurately acquire the distance between the position of the laser ranging sensor and the roadway top plate in a plane perpendicular to the axis of the cutting arm in real time, and because the oil cylinder at the position of the laser ranging sensor is fixed relative to the installation position of the anchoring device in the plane perpendicular to the axis of the cutting arm, the positions of the laser ranging sensor and the anchoring device are fixed, and further the distance between the anchoring device and the top plate in the plane perpendicular to the axis of the cutting arm can be accurately acquired through calculation And the control precision and the sensitivity of the controller are improved, and the reliability of the product is improved.
Furthermore, the requirements of different structures of the cutting arm, the oil cylinder and the laser ranging sensor can be met due to different positions of the first signal acquisition device, and the application range of the product is favorably expanded.
Furthermore, the safe distance between the anchoring device and the roadway roof can be calculated by calculating the angle between the light beam emitted by the laser ranging sensor and the vertical direction along with the rotation and lifting of the cutting arm and the distance between the laser ranging sensor and the roof acquired by the light beam emitted by the laser ranging sensor.
In any of the above technical solutions, further, the second signal collecting device is an inclination sensor, and the inclination sensor is disposed on the cutting arm or the oil cylinder.
In this technical scheme, the second signal acquisition device is the angular transducer, on the one hand, the angular transducer locates on the arm of cut, can directly, accurately gather the contained angle of the axis of the arm of cut for the horizontal plane through the angular transducer who locates on the arm of cut, because the plane of the axis of perpendicular to the arm of cut equals with the contained angle of the axis of the arm of cut and horizontal plane, and then can acquire the plane of the axis of perpendicular to the arm of cut and the contained angle of vertical direction through the angular transducer who sets up on the arm of cut fast, accurately, be favorable to improving control system's control accuracy and sensitivity.
On the other hand, inclination sensor locates on the hydro-cylinder, because hydro-cylinder drive cutting arm rises or descends, and then through gathering the cutting arm and being located horizontal position to the cutting arm and rise to the variable quantity of a certain position department hydro-cylinder angle, can obtain the contained angle of back cutting arm and horizontal plane that rises, can obtain the plane of the axis of perpendicular to cutting arm and the contained angle of vertical direction equally, easy operation easily realizes.
Furthermore, the inclination angle sensor is arranged on the cutting arm or the oil cylinder, so that the requirements of different structures of the cutting arm, the oil cylinder and the inclination angle sensor can be met, and the application range of a product can be expanded.
In any of the above technical solutions, further, the tilt sensor is disposed on the oil cylinder, one end of the tilt sensor is connected to the cylinder body of the oil cylinder, and the other end of the tilt sensor is connected to the cylinder bottom of the oil cylinder.
In the technical scheme, the inclination angle sensor is arranged on the oil cylinder, one end of the inclination angle sensor is connected with the cylinder body of the oil cylinder, and the other end of the inclination angle sensor is connected with the cylinder bottom of the oil cylinder, so that the inclination angle of the oil cylinder can be known through the inclination angle of the cylinder body relative to the cylinder bottom, the included angle of the axis of the cutting arm relative to the horizontal plane is obtained, the included angle of the plane perpendicular to the axis of the cutting arm and the vertical direction is obtained, and the accuracy and reliability of the collected result can be guaranteed.
In any of the above technical solutions, further, the second signal acquisition device is a hysteresis displacement sensor of the oil cylinder, the hysteresis displacement sensor is configured to detect a displacement of the oil cylinder, and an included angle of the cutting arm with respect to the horizontal plane is obtained through conversion of a trigonometric relationship.
In the technical scheme, the second signal acquisition device is a hysteresis displacement sensor of the oil cylinder, the displacement of the oil cylinder can be detected through the hysteresis displacement sensor, and the included angle of the cutting arm relative to the horizontal plane is obtained through conversion of a triangular relation, so that the plane perpendicular to the axis of the cutting arm and the included angle in the vertical direction can be conveniently and accurately obtained, and further the use range of products is favorably expanded.
Specifically, the tunneling equipment further comprises a rotary table, and the bottom of the oil cylinder is connected with the rotary table, so that the installation position between the bottom of the oil cylinder and the rotary table is relatively fixed, namely the distance between the bottom of the oil cylinder and the rotary table is a fixed value; the cutting arm is connected with the rod part of the oil cylinder, the cutting arm rotates by taking the rotary table as a center, the distance between one end part, connected with the cutting arm, of the rod part of the oil cylinder and the rotary table is a fixed value, and then a triangle is formed by the center of the rotary table, the cylinder bottom of the oil cylinder and the end part, connected with the cutting arm, of the rod part, wherein the center of the rotary table and the cylinder bottom of the oil cylinder, the center of the rotary table and one end part of the rod part are fixed values, the distance between the cylinder bottom of the oil cylinder and one end part of the rod part can be detected out by a hysteresis displacement sensor, and then the included angle of the axis of the cutting arm relative to the horizontal plane can be converted.
In any of the above technical solutions, further, the first signal collecting device is disposed on an end surface of the rod portion of the oil cylinder connected to the cutting arm.
In the technical scheme, the first signal acquisition device is arranged on the end face, connected with the cutting arm, of the rod part of the oil cylinder, the light beam emitted by the laser ranging sensor can be prevented from being blocked by other parts, the emitted light beam is perpendicular to the axis of the cutting arm (namely the emitted light beam is perpendicular to the mounting plane) and can smoothly irradiate on a top plate of a roadway, the first signal acquisition device is arranged on the end face, connected with the cutting arm, of the cylinder part of the oil cylinder, the first signal acquisition device is not easily damaged by falling materials on the top plate, and the reliability of a product is improved.
In any of the above technical solutions, further, the method further includes: and the alarm device is connected with the controller and is configured to send out an alarm signal when the distance between the anchoring device and the top plate along the vertical direction is less than or equal to a preset threshold value.
According to the technical scheme, the controller is connected with the alarm device, when the distance between the anchor protection device and the top plate along the vertical direction is smaller than or equal to a preset threshold value, the fact that the distance between the anchor protection device and the top plate is small is proved, the possibility of scraping or collision exists, the alarm device sends out an alarm signal, an operator is reminded to timely control the cutting arm to stop rising so as to avoid collision between the anchor protection device and the top plate of the roadway, the problem that the anchor protection device and the top plate of the roadway are scraped or collided due to the fact that the large sight of roadway dust is unclear and the rising amplitude of the cutting arm cannot be accurately controlled when the tunneling equipment carries out remote cutting is avoided, and the application range of products is expanded. Further, the alarm device comprises an electric bell, and the alarm signal is sent out through the electric bell of the tunneling equipment.
In any of the above technical solutions, further, the method further includes: and the man-machine interaction device is connected with the controller and is provided with a display unit for displaying the position or state information of the cutting arm, the anchoring device and the top plate.
In the technical scheme, be connected with the controller through the human-computer interaction device, the human-computer interaction device is provided with the display element, the display element shows the position or the state information of cutting arm, anchor and protection device and roof, be favorable to the user through the display element directly, clearly, know the cutting arm fast, the current position and the state information of anchor and protection device and roof, be favorable to the user to judge the actual distance of anchor and protection device and roof and then control the cutting arm and rise according to the display content of display element, be favorable to improving control accuracy, improve the reliability of product. Further, the alarm signal can be displayed through a display unit of the human-computer interaction device.
According to the utility model discloses a second aspect provides a heading equipment, include: a cutting arm; the anchoring and protecting device is arranged above the cutting arm; and the anti-collision control system of the tunneling equipment in any technical scheme.
The utility model provides a heading equipment, including cutting arm, anchor protection device and the above-mentioned arbitrary technical scheme's heading equipment's crashproof control system, the anchor is protected the device and is located cutting arm's top, because heading equipment includes the above-mentioned arbitrary technical scheme's heading equipment's crashproof control system, consequently has this heading equipment's whole beneficial effect of crashproof control system, no longer gives unnecessary details here.
In any of the above technical solutions, further, the method further includes: the oil cylinder is arranged below the anchoring device, and the cutting arm is connected with the rod part of the oil cylinder; the rotary table is arranged on one side of the oil cylinder, which is far away from the cutting arm, the bottom of the oil cylinder is connected with the rotary table, and the cutting arm is configured to rotate by taking the rotary table as a center; and/or the hydraulic system is connected with the controller and the cutting arm, and when the distance between the anchoring device and the top plate along the vertical direction is smaller than a preset threshold value, the controller controls the hydraulic system to stop working.
In the technical scheme, the tunneling equipment further comprises an oil cylinder and a rotary table, wherein the oil cylinder is arranged below the anchoring device, the cutting arm is connected with the rod part of the oil cylinder, the rotary table is arranged on one side, away from the cutting arm, of the oil cylinder, and the bottom of the oil cylinder is connected with the rotary table, so that the installation position between the bottom of the oil cylinder and the rotary table is relatively fixed, namely the distance between the bottom of the oil cylinder and the rotary table is a fixed value; the cutting arm is connected with the rod part of the oil cylinder, the cutting arm rotates by taking the rotary table as a center, the distance between one end part of the rod part of the oil cylinder, which is connected with the cutting arm, and the rotary table is a fixed value, and further the distance between the end part of the rod part, which is connected with the cutting arm, is a triangle.
The hydraulic system is connected with the controller and the cutting arm, when the distance between the anchoring and protecting device and the top plate along the vertical direction is smaller than a preset threshold value, the fact that the distance between the anchoring and protecting device and the top plate is smaller is proved, the possibility of scraping or colliding exists, the cutting arm can be stopped to ascend by controlling the hydraulic system to stop working through the controller, the anchoring and protecting device above the cutting arm can be prevented from scraping or colliding with the top plate in time, the limiting and protecting effect is achieved, the reliability of a product is greatly improved, and the requirement of the working condition that the large sight of tunnel dust is unclear can be met when the tunneling equipment carries out remote cutting, and the application range of the product is expanded. And further, the hydraulic system comprises a hydraulic valve, the controller is connected with the hydraulic valve, and when the distance between the anchor protection device and the top plate in the vertical direction is smaller than a preset threshold value, the controller controls the hydraulic valve to stop working.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, 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:
figure 1 shows a schematic block diagram of a ripping apparatus provided in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a part of the control logic of the anti-collision control system of the heading equipment according to an embodiment of the invention;
fig. 3 shows a schematic structural diagram of a heading device according to an embodiment of the present invention;
fig. 4 is a schematic partial structural view of a heading device according to another embodiment of the present invention;
fig. 5 is a schematic size diagram showing a partial structure of a heading device according to still another embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
100 cutting arms, 110 anchoring devices, 120 first signal acquisition devices, 122 laser ranging sensors, 130 second signal acquisition devices, 132 inclination angle sensors, 140 controllers, 150 oil cylinders, 152 rod parts, 154 end parts, 156 cylinder bottoms, 160 revolving tables, 170 alarm devices, 180 hydraulic systems, 190 human-computer interaction devices, 200 anti-collision control systems of tunneling equipment, 300 tunneling equipment, 402 top plates and 404 bottom plates.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. 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 crash avoidance control system 200 and a ripping apparatus 300 of a ripping apparatus according to some embodiments of the present invention will be described below with reference to fig. 1 to 5.
Example one
As shown in fig. 1 to 5, according to a first aspect of the present invention, there is provided a collision avoidance control system 200 of a heading device, the heading device 300 includes a cutting arm 100 and an anchoring device 110, the anchoring device 110 is disposed above the cutting arm 100, the collision avoidance control system 200 of the heading device includes: a first signal acquisition device 120, a second signal acquisition device 130, and a controller 140, wherein the first signal acquisition device 120 is configured to acquire a distance between the first signal acquisition device 120 and the roadway roof 402 in a plane perpendicular to an axis of the cutting arm 100; the second signal acquisition device 130 is configured to acquire an included angle between a plane perpendicular to the axis of the cutting arm 100 and the vertical direction; the controller 140 is connected to the first signal acquisition device 120 and the second signal acquisition device, and is configured to calculate a distance between the anchor guard 110 and the top plate 402 along the vertical direction according to the signals acquired by the first signal acquisition device 120 and the second signal acquisition device 130, and execute the limiting protection based on the fact that the distance between the anchor guard 110 and the top plate 402 along the vertical direction is smaller than a preset threshold.
Specifically, the excavating equipment 300 works in a roadway, the excavating equipment 300 comprises a cutting arm 100 and an anchoring and protecting device 110, and the anchoring and protecting device 110 is arranged above the cutting arm 100 and below a roadway roof 402, so that supporting and protecting operation after excavating operation can be completed. The anti-collision control system 200 of the tunneling apparatus 300 includes the first signal collecting device 120, the second signal collecting device 130, and the controller 140, the first signal collecting device 120 is configured to collect the distance between the first signal collecting device 120 and the roadway roof 402 in a plane perpendicular to the axis of the cutting arm 100, and since the installation position of the first signal collecting device 120 is fixed, the relative position of the first signal collecting device 120 and the anchoring device 110 in the plane perpendicular to the axis of the cutting arm 100 is fixed, so that the distance between the anchoring device 110 and the roadway roof 402 in the plane perpendicular to the axis of the cutting arm 100 can be calculated by collecting the distance between the first signal collecting device 120 and the roadway roof 402 in the plane perpendicular to the axis of the cutting arm 100. The second signal acquisition device 130 is configured to acquire an included angle between the axis perpendicular to the cutting arm 100 and the vertical direction, when the cutting arm 100 is lifted and inclined relative to the position of the horizontal surface facing the top plate 402, the product of the distance between the anchor protection device 110 and the top plate 402 in the plane perpendicular to the axis of the cutting arm 100 and the cosine value of the included angle between the plane perpendicular to the axis of the cutting arm 100 and the vertical direction can be calculated, so that the actual distance between the anchor protection device 110 and the top plate 402 along the vertical direction can be obtained, when the distance calculated by the controller 140 is smaller than a preset threshold value, the limit protection is executed, namely when the actual distance between the anchor protection device 110 and the top plate 402 along the vertical direction is smaller than the preset threshold value, the cutting arm 100 is controlled to stop lifting, the cutting arm 100 can be prevented from continuously lifting to scratch or collide the anchor protection device 110 and the top plate 402, the reliability of the product is improved, and simultaneously, the problem that the anchoring and protecting device 110 is scratched or collided with the roadway top plate 402 due to the fact that the ascending amplitude of the cutting arm 100 cannot be accurately controlled due to the fact that the roadway is dusty and has a unclear large sight when the tunneling device 300 performs remote cutting is solved, and the application range of products is further expanded.
Further, the signals are acquired in real time through the first signal acquisition device 120 and the second signal acquisition device 130, and the controller 140 can realize that the anchoring and protecting device 110 cannot scratch or collide with the roadway roof 402 in the process that the cutting arm 100 of the tunneling apparatus 300 including the anchoring and protecting device 110 ascends or the process that the cutting arm 100 cuts the roadway roof 402.
Further, one end of the cutting arm 100 is provided with a cutting head, the other end of the cutting arm 100 is connected with the oil cylinder 150, and the axial direction of the cutting arm 100 is the extending direction from the cutting head to the oil cylinder 150. Specifically, the vertical direction is an extending direction from the roadway floor 404 to the roadway roof 402, and the vertical direction may also be understood as a direction perpendicular to the horizontal plane.
Example two
As shown in fig. 1 to 5, in an embodiment of the present invention, a collision avoidance control system 200 of a heading device includes: the first signal acquisition device 120, the second signal acquisition device 130 and the controller 140, wherein the first signal acquisition device 120 is a laser ranging sensor 122, the laser ranging sensor 122 is disposed on the cutting arm 100 or the oil cylinder 150 of the excavating equipment 300, and is configured to emit a light beam from the first signal acquisition device 120 in the direction of the top plate 402, and the light beam is perpendicular to the axis of the cutting arm 100.
In this embodiment, as shown in fig. 4 and 5, the first signal collecting device 120 is a laser distance measuring sensor 122, on one hand, the laser distance measuring sensor 122 is disposed on the cutting arm 100, the laser distance measuring sensor 122 is configured to emit a light beam toward the top plate 402 from the laser distance measuring sensor 122, and the light beam is perpendicular to the axis of the cutting arm 100, i.e., the light beam emitted from the laser distance measuring sensor 122 is perpendicular to the axis of the cutting arm and faces the top plate, so that the laser distance measuring sensor 122 can accurately obtain the distance between the position of the laser distance measuring sensor 122 and the roadway top plate 402 in a plane perpendicular to the axis of the cutting arm 100 in real time, and since the mounting position of the cutting arm 100 relative to the anchoring device 110 is fixed in the plane perpendicular to the axis of the cutting arm 100, the positions of the laser distance measuring sensor 122 and the anchoring device 110 are fixed, and the anchoring device 110 and the top plate 110 in the plane perpendicular to the axis of the cutting arm 100 can be accurately obtained through calculation 402, which is beneficial to improving the control accuracy and sensitivity of the controller 140, and further improving the reliability of the product.
On the other hand, the heading equipment 300 is further provided with an oil cylinder 150 below the anchor device 110, the oil cylinder 150 is connected with the cutting arm 100, and the cutting arm 100 is driven to ascend or descend by the action of the oil cylinder 150. If the laser ranging sensor 122 is arranged at the bottom 156 of the cylinder 150 of the tunneling apparatus 300, for example, the laser ranging sensor 122 is arranged on a part of the cylinder 150 which is fixed relative to the installation position of the cutting arm 100 or the anchoring device 110, the laser ranging sensor 122 is configured to emit a light beam toward the roof 402 by the laser ranging sensor 122, and the light beam is perpendicular to the axis of the cutting arm 100, that is, the light beam emitted by the laser ranging sensor 122 is perpendicular to the axis of the cutting arm and faces the roof, so that the laser ranging sensor 122 can accurately acquire the distance between the position of the laser ranging sensor 122 and the roadway roof 402 in a plane perpendicular to the axis of the cutting arm 100 in real time, and since the cylinder 150 at the position of the laser ranging sensor 122 is fixed relative to the installation position of the anchoring device 110 in a plane perpendicular to the axis of the cutting arm 100, the position of the laser ranging sensor 122 and the anchoring device 110 is fixed, and then the distance between the anchor protection device 110 and the top plate 402 in the plane perpendicular to the axis of the cutting arm 100 can be accurately obtained through calculation, which is beneficial to improving the control precision and sensitivity of the controller 140, and further improving the reliability of the product.
Further, the positions of the first signal acquisition device 120 are different, so that the requirements of different structures of the cutting arm 100, the oil cylinder 150 and the laser ranging sensor 122 can be met, and the application range of the product can be expanded.
Further, the safe distance between the anchoring device 110 and the roadway roof 402 can be calculated by calculating the angle between the light beam emitted by the laser ranging sensor 122 and the vertical direction, which rotates and ascends along with the cutting arm 100, and the distance between the laser ranging sensor 122 and the roof 402, which is acquired by the light beam emitted by the laser ranging sensor 122.
Further, the first signal acquisition device 120 is arranged on the end face of the oil cylinder 150, where the rod portion 152 is connected with the cutting arm 100, so as to ensure that the light beam emitted by the laser ranging sensor 122 is not blocked by other components, the emitted light beam is perpendicular to the axis of the cutting arm 100 (i.e., the emitted light beam is perpendicular to the mounting plane) and can smoothly irradiate on the top plate 402 of the roadway, and the first signal acquisition device 120 is arranged on the end face of the oil cylinder 150, where the rod portion is connected with the cutting arm 100, so as to be difficult to be damaged by falling materials on the top plate 402, which is beneficial to improving the reliability of products.
EXAMPLE III
As shown in fig. 1 to 5, in an embodiment of the present invention, a collision avoidance control system 200 of a heading device includes: the device comprises a laser ranging sensor 122, a second signal acquisition device 130 and a controller 140, wherein the second signal acquisition device 130 is an inclination angle sensor 132, and the inclination angle sensor 132 is arranged on the cutting arm 100 or the oil cylinder 150.
In this embodiment, the second signal collecting device 130 is a tilt sensor 132, on one hand, the tilt sensor 132 is disposed on the cutting arm 100, and on the other hand, the tilt sensor 132 disposed on the cutting arm 100 can directly and accurately collect the included angle of the axis of the cutting arm 100 relative to the horizontal plane, and since the included angle of the plane perpendicular to the axis of the cutting arm 100 and the vertical direction is equal to the included angle of the axis of the cutting arm 100 and the horizontal plane, the included angle of the plane perpendicular to the axis of the cutting arm 100 and the vertical direction can be quickly and accurately obtained through the tilt sensor 132 disposed on the cutting arm 100, which is beneficial to improving the control accuracy and sensitivity of the control system.
On the other hand, the tilt sensor 132 is disposed on the oil cylinder 150, and since the oil cylinder 150 drives the cutting arm 100 to ascend or descend, the angle between the ascending cutting arm 100 and the horizontal plane can be obtained by collecting the angle variation of the oil cylinder 150 from the position of the cutting arm 100 at the horizontal position to the position of the cutting arm 100 at the certain position, and the angle between the plane perpendicular to the axis of the cutting arm 100 and the vertical direction can also be obtained, so that the operation is simple and the implementation is easy.
Furthermore, the tilt sensor 132 is arranged on the cutting arm 100 or the oil cylinder 150, so that the requirements of different structures of the cutting arm 100, the oil cylinder 150 and the tilt sensor 132 can be met, and the application range of products can be expanded.
Further, based on the tilt sensor 132 arranged on the oil cylinder 150, one end of the tilt sensor 132 is connected with the cylinder body of the oil cylinder 150, and the other end is connected with the cylinder bottom 156 of the oil cylinder 150, so that the tilt angle of the oil cylinder 150 can be known through the tilt angle of the cylinder body relative to the cylinder bottom 156, and then the included angle of the axis of the cutting arm 100 relative to the horizontal plane is obtained, that is, the included angle of the plane perpendicular to the axis of the cutting arm 100 and the vertical direction is obtained, and the accurate and reliable acquisition result can be ensured.
Further, when one end of the tilt sensor 132 is connected to the cylinder body of the oil cylinder 150 and the other end is connected to the cylinder bottom 156 of the oil cylinder 150, when the cutting arm 100 is in the horizontal position, the zero button function of the tilt sensor 132 is pressed to perform zero clearing processing, so that in the ascending process of the cutting arm 100, the data collected by the tilt sensor 132 is equal to the included angle between the axis of the cutting arm 100 and the horizontal plane, and the controller 140 can directly read the data collected by the tilt sensor 132 as the included angle between the axis of the cutting arm 100 and the horizontal plane, and further as the included angle between the plane perpendicular to the axis of the cutting arm 100 and the vertical direction, which is simple in operation and high in precision.
Example four
As shown in fig. 1 to 5, in an embodiment of the present invention, an anti-collision control system 200 of a heading device includes: the cutting arm comprises a laser ranging sensor 122, a second signal acquisition device 130 and a controller 140, wherein the second signal acquisition device 130 is a hysteresis displacement sensor of an oil cylinder 150, the hysteresis displacement sensor is configured to detect the displacement of the oil cylinder 150, and the included angle of the cutting arm 100 relative to the horizontal plane is obtained through conversion of a trigonometric relation.
In this embodiment, as shown in fig. 3, 4 and 5, the second signal collecting device 130 is a hysteresis displacement sensor of the oil cylinder 150, the hysteresis displacement sensor can detect the displacement of the oil cylinder 150, and the included angle of the cutting arm 100 relative to the horizontal plane is obtained through conversion of a trigonometric relationship, so that the included angle between the plane perpendicular to the axis of the cutting arm and the vertical direction can be conveniently and accurately obtained, thereby being beneficial to expanding the application range of the product.
Specifically, the tunneling apparatus 300 further includes a revolving platform 160, and the bottom 156 of the oil cylinder 150 is connected with the revolving platform 160, so that the installation position between the bottom 156 of the oil cylinder 150 and the revolving platform 160 is relatively fixed, i.e. the distance between the bottom 156 of the oil cylinder 150 and the revolving platform 160 is a fixed value; the cutting arm 100 is connected with the rod part 152 of the oil cylinder 150, the cutting arm 100 rotates by taking the rotary table 160 as a center, so that the distance between one end part 154 of the rod part 152 of the oil cylinder 150, which is connected with the cutting arm 100, and the rotary table 160 is a fixed value, and a triangle is formed by the center of the rotary table 160, the cylinder bottom 156 of the oil cylinder 150 and the end part 154 of the rod part 152, which is connected with the cutting arm 100, wherein the center of the rotary table 160 and the cylinder bottom 156 of the oil cylinder 150, the center of the rotary table 160 and the end part 154 of the rod part 152 are fixed values, and the distance between the cylinder bottom 156 of the other side oil cylinder 150 and the end part 154 of the rod part 152 can detect the variable quantity through a hysteresis sensor, and then the included angle of the axis of the cutting arm 100 relative to.
EXAMPLE five
As shown in fig. 1 to 5, in an embodiment of the present invention, a collision avoidance control system 200 of a heading device includes: the device comprises a first signal acquisition device 120, a second signal acquisition device 130, a controller 140 and an alarm device 170, wherein the alarm device 170 is connected with the controller 140, and the alarm device 170 is configured to send out an alarm signal when the distance between the anchoring device 110 and the top plate 402 along the vertical direction is smaller than or equal to a preset threshold value.
In this embodiment, as shown in fig. 1 and 2, the alarm device 170 is connected to the controller 140, and when the distance between the anchor protection device 110 and the roof 402 in the vertical direction is smaller than or equal to a preset threshold, it is described that the distance between the anchor protection device 110 and the roof 402 is small, and there is a possibility of scratching or collision, an alarm signal is sent by the alarm device 170, which is beneficial to reminding an operator to timely control the cutting arm 100 to stop rising so as to avoid collision between the anchor protection device 110 and the roof 402 of the roadway, and to avoid the problem that the anchor protection device 110 and the roof 402 of the roadway collide due to unclear large sight of roadway dust and unable to accurately control the rising amplitude of the cutting arm 100 when the tunneling apparatus 300 performs remote cutting, and the application range of the product is expanded. Further, the alarm device 170 includes an electric bell, and the alarm signal is sent out through the electric bell of the heading equipment.
In an embodiment of the present invention, further, the heading device 300 further includes: and the human-computer interaction device 190 is connected with the controller 140, and the human-computer interaction device 190 is provided with a display unit for displaying the position or state information of the cutting arm 100, the anchoring device 110 and the top plate 402.
In this embodiment, as shown in fig. 1 and fig. 2, the human-computer interaction device 190 is connected to the controller 140, the human-computer interaction device 190 is provided with a display unit, and the display unit displays the position or state information of the cutting arm 100, the anchoring and protecting device 110, and the top plate 402, so that a user can directly, clearly, and quickly know the current position and state information of the cutting arm 100, the anchoring and protecting device 110, and the top plate 402 through the display unit, and can judge the actual distance between the anchoring and protecting device 110 and the top plate 402 according to the display content of the display unit, so as to control whether the cutting arm 100 ascends, thereby improving the control precision and the reliability of the product. Further, the position or status information of the cutting arm 100, the anchoring device 110 and the roof 402 may include: the distance between the first signal acquisition device 120 and the roadway roof 402 acquired by the first signal acquisition device 120 in a plane perpendicular to the axis of the cutting arm 100, the included angle between the plane perpendicular to the axis of the cutting arm 100 and the vertical direction acquired by the second signal acquisition device 130, the distance between the anchor protection device 110 and the roof 402 along the vertical direction calculated by the controller 140, a preset threshold value and the like. Further, the alarm signal may be displayed through a display unit of the human-computer interaction device 190.
Further, the human-computer interaction device 190 further comprises an input device for inputting a preset threshold.
EXAMPLE six
As shown in fig. 1 to 5, according to a second aspect of the present invention, there is provided a heading device 300 including: a cutting arm 100; the anchoring and protecting device 110, the anchoring and protecting device 110 is arranged above the cutting arm 100; and the collision avoidance control system 200 of the excavating equipment of any of the embodiments described above. Since the heading device 300 has the anti-collision control system 200 of the heading device of any of the above embodiments, the overall beneficial effects of the anti-collision control system 200 of the heading device will not be described herein.
In an embodiment of the present invention, as shown in fig. 3 and 4, further, the heading device 300 further includes: the oil cylinder 150 is arranged below the anchoring device 110, and the cutting arm 100 is connected with the rod part 152 of the oil cylinder 150; a turntable 160 arranged on one side of the oil cylinder 150 far away from the cutting arm 100, wherein the cylinder bottom 156 of the oil cylinder 150 is connected with the turntable 160, and the cutting arm 100 is configured to rotate around the turntable 160; and/or the hydraulic system 180, wherein the hydraulic system 180 is connected with the controller 140 and the cutting arm 100, and the controller 140 controls the hydraulic system 180 to stop working when the distance between the anchoring device 110 and the top plate 402 along the vertical direction is less than a preset threshold value.
In this embodiment, the heading equipment 300 further includes an oil cylinder 150 and a revolving platform 160, the oil cylinder 150 is disposed below the anchoring device 110, the cutting arm 100 is connected with the rod portion 152 of the oil cylinder 150, the revolving platform 160 is disposed on a side of the oil cylinder 150 away from the cutting arm 100, and the bottom 156 of the oil cylinder 150 is connected with the revolving platform 160, so that the mounting position between the bottom 156 of the oil cylinder 150 and the revolving platform 160 is relatively fixed, that is, the distance between the bottom 156 of the oil cylinder 150 and the revolving platform 160 is a fixed value; and the cutting arm 100 is connected with the rod part 152 of the oil cylinder 150, the cutting arm 100 rotates with the rotary table 160 as the center, so that the distance between the end 154 of the rod portion 152 of the cylinder 150 connected to the cutting arm 100 and the turntable 160 is a fixed value, and then forms a triangle through the center of the rotary table 160, the cylinder bottom 156 of the oil cylinder 150 and the end part 154 of the rod part 152 connected with the cutting arm 100, wherein the center of the side turntable 160 and the cylinder bottom 156 of the oil cylinder 150, the center of the turntable 160 and one end 154 of the rod part 152 are constant values, that is, two sides of the triangle are fixed, the distance between the bottom 156 of the other side cylinder 150 and the one end 154 of the rod 152 can be detected by the hysteresis displacement sensor, and then the included angle of the axis of the cutting arm 100 relative to the horizontal plane can be obtained through conversion through a triangular relation, and the included angle of the plane perpendicular to the axis of the cutting arm 100 and the vertical direction can be obtained.
The hydraulic system 180 is connected with the controller 140 and the cutting arm 100, when the distance between the anchoring and protecting device 110 and the top plate 402 along the vertical direction is smaller than a preset threshold value, it is indicated that the distance between the anchoring and protecting device 110 and the top plate 402 is smaller, and the possibility of scraping or collision exists, the controller 140 controls the hydraulic system 180 to stop working, so that the cutting arm 100 can stop rising, further the anchoring and protecting device 110 above the cutting arm 100 can be prevented from scraping or collision with the top plate 402 in time, the limiting and protecting effect is achieved, the reliability of a product is greatly improved, and when the tunneling device 300 carries out remote cutting, the working condition requirement of unclear sight of tunnel dust is met, and the use range of the product is expanded. Further, the hydraulic system 180 includes a hydraulic valve, and the controller 140 is connected to the hydraulic valve, and when the vertical distance between the anchor guard 110 and the top plate 402 is smaller than a preset threshold, the controller 140 controls the hydraulic valve to stop working.
EXAMPLE seven
As shown in fig. 1 to 5, in a specific embodiment, the tunneling apparatus 300 is a tunneling, anchoring and protecting integrated machine, and includes a cutting arm 100, an anchoring and protecting device 110, an oil cylinder 150 and a revolving platform 160, the oil cylinder 150 moves to drive the cutting arm 100 to ascend and descend, i.e., the oil cylinder 150 is the elevating oil cylinder 150 of the cutting arm 100, the cutting arm 100 rotates around the revolving platform 160, the first signal acquisition device 120 is a laser distance measurement sensor 122, the laser distance measurement sensor 122 is installed at a plane position where the rod portion 152 of the oil cylinder 150 of the cutting arm 100 is connected with the end portion 154 of the cutting arm 100, it is ensured that the laser emitting direction is not blocked, the emitted light beam is perpendicular to the axis of the cutting arm 100, i.e., perpendicular to the installation plane of the tunneling apparatus 300, and the part where the laser distance measurement sensor 122 is installed is not easily damaged by falling objects on the. The second signal acquisition device 130 is a hysteresis displacement sensor with high precision built in the oil cylinder 150, acquires the expansion amount of the oil cylinder 150, and calculates the angle change by combining the end 154 of the cutting arm 100 connected with the rod part 152 of the oil cylinder 150, the center of the rotary platform and the structural size of the cylinder bottom 156 of the oil cylinder 150.
As shown in fig. 3, 4 and 5, the upper and lower horizontal parallel lines are a top plate 402 and a bottom plate 404 of the roadway, respectively, the roadway height is H, when the heading device 300 works in the roadway, the cutting arm is in the horizontal direction as an initial state (no protective measures need to be taken downward), at this time, as shown by the solid line in fig. 5, the axis of the cutting arm is parallel to the horizontal direction, the distance from the cutting arm 100 to the roadway top plate 402 is H2, the distance from the cutting arm 100 to the roadway bottom plate 404 is H1, the rod portion 152 of the cylinder 150 and the end portion 154 connected to the cutting arm 100 are located at a point a in fig. 5, and the laser distance measuring sensor 122 mounted on the plane position of the end portion 154 connected to the cutting arm 100 and the rod portion 152 of the cylinder 150 is vertically upward, and is perpendicular to the axis of the cutting arm 100 and the top plate 402, respectively. The cutting arm 100 rotates by taking the rotary table 160 as a center, a triangle is formed by connecting three points of the center of the rotary table 160, the cylinder bottom 156 of the oil cylinder 150, the rod part 152 and the end part 154 connected with the cutting arm 100, the distance between the center of the rotary table 160 and the cylinder bottom 156 of the oil cylinder 150 is defined as a, the distance between the center of the rotary table 160 and the rod part 152 of the oil cylinder 150 and the end part 154 connected with the cutting arm 100 is defined as b, and when the cutting arm 100 is in a horizontal position, the distance between the cylinder bottom 156 of the oil cylinder 150 and the rod part 152 of the oil cylinder 150 and the end part 154 connected with the cutting arm 100 is defined as c1The trigonometric function relationship is used to determine the initial angle α between the cutting arm 100 and the bottom 156 of the cylinder 150 when the cutting arm is in the horizontal position (specifically, cos α ═ a can be determined according to the cosine law2+b2-c1 2) A specific value of α is obtained from the arccos x function y/2 ab.
When the cutting arm performs cutting work, as the cutting arm goes up and down, the reading of the hysteresis displacement sensor built in the oil cylinder 150 changes, and any point in the process of going up and down is adopted, at this moment, the cutting arm and the oil cylinder 150 are as shown by the dotted line in fig. 5, and the rod part 152 of the oil cylinder 150 and the cutting partThe end 154 of the cutting arm 100 is connected to the cutting arm 100 at point B in fig. 5, and the distance c between the bottom 156 of the cylinder 150 and the shaft 152 of the cylinder 150 and the end 154 of the cutting arm 100 is2Since the bottom 156 of the cylinder 150 and the center of the turntable 160, the end 154 of the rod part 152 of the cylinder 150 connected to the cutting arm 100 and the turntable 160 are fixed structures installed on the tunneling apparatus 300, the distance a between the center of the turntable 160 and the bottom 156 of the cylinder 150 is constant, the distance b between the center of the turntable 160 and the end 154 of the rod part 152 of the cylinder 150 connected to the cutting arm 100 is constant, and cos (α + θ) (a) can be obtained according to the trigonometric function relationship, specifically, according to the cosine theorem2+b2-c2 2) A specific value of (α + theta) is obtained according to the arccos function y, then the angle obtained twice is subtracted to obtain the angle value theta of the cutting arm from the horizontal position to any point (theta is regulated when the cutting arm is lifted above the horizontal position during the lifting action>0, below horizontal position is theta<0 and the read data is invalidated), and then a triangle corresponding to the front and back composition is found through the lifting relationship of the cutting arm twice before and after, and it can be obtained that the included angle between the light beam emitting direction of the laser ranging sensor 122 and the direction (vertical direction) perpendicular to the roadway roof 402 is β, according to the triangle angle relationship, β and theta are complementary to gamma at the same time, and further β is equal to theta is obtained, and thus, the angle value theta of the cutting arm from the horizontal position to any point is equal to the included angle between the light beam emitting direction of the laser ranging sensor 122 and the vertical direction at any time, the value of the angle theta can be calculated through the trigonometric function relationship, and therefore, the vertical distance h between the laser ranging sensor 122 and the roadway roof 402 can be calculated through the relationship of the light beam distance d emitted by the laser ranging sensor 122 (i.e., the distance between the first signal acquisition device 120 and the roadway roof 402 in the plane perpendicular to the axis of the cutting arm) and the included angle theta between the axis of the cutting arm and the horizontal plane, and then h is dc.
Further, the actual distance between the anchor guard 110 and the roadway roof 402 can be obtained by the installation position relationship between the anchor guard 110 (anchor guard plate) of the integrated tunneling and anchoring machine and the laser ranging sensor 122. The preset threshold value is set on the input device of the human-computer interaction device 190, when the actual distance between the anchoring device 110 and the roadway roof 402 is smaller than or equal to the preset threshold value, an alarm signal is sent out through the alarm device 170 to remind an operator in time, and after the actual distance between the guard plate and the roadway is smaller than the preset threshold value, the controller 140 actively executes the action of driving the hydraulic valve to stop lifting, so that the protection equipment works within the safe distance range.
The application provides a heading equipment 300, gather the distance between first signal acquisition device 120 and tunnel roof 402 in real time through addding first signal acquisition device 120, the contained angle of the plane of the axis of second signal device real-time acquisition perpendicular to cutting arm 100 and vertical direction, and utilize controller 140 to control the distance between anchor protection device 110 and roof 402 in presetting the threshold value (in the safe distance) through simple algorithm, and then realize protecting anchor protection device 110 (stock, backplate, anchor protection hydro-cylinder) and 150's important part, and make heading equipment 300 when carrying out long-range cutting sight unclear, can protect the stock device better, the reliability of product has been improved greatly.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the drawings, which are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, 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 the present disclosure, 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 description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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 (10)
1. The utility model provides a heading equipment's collision avoidance control system, heading equipment includes cutting arm and anchor and protects the device, the anchor protect the device set up in the top of cutting arm, its characterized in that, heading equipment's collision avoidance control system includes:
a first signal acquisition device configured to acquire a distance between the first signal acquisition device and a roadway roof in a plane perpendicular to an axis of the cutting arm;
a second signal acquisition device configured to acquire an included angle between a plane perpendicular to an axis of the cutting arm and a vertical direction;
and the controller is connected with the first signal acquisition device and the second signal acquisition device, is used for calculating the distance between the anchoring device and the top plate along the vertical direction according to the signals acquired by the first signal acquisition device and the second signal acquisition device, and executes limit protection based on the fact that the distance between the anchoring device and the top plate along the vertical direction is less than a preset threshold value.
2. A crash avoidance control system of a ripping apparatus according to claim 1,
the first signal acquisition device is a laser ranging sensor, the laser ranging sensor is arranged on the cutting arm or an oil cylinder of the tunneling device and is configured to emit a light beam towards the direction of the top plate by the first signal acquisition device, and the light beam is perpendicular to the axis of the cutting arm.
3. A crash avoidance control system of a ripping apparatus according to claim 2,
the second signal acquisition device is an inclination angle sensor which is arranged on the cutting arm or the oil cylinder.
4. A crash avoidance control system of a ripping apparatus according to claim 3,
based on the tilt angle sensor is arranged on the oil cylinder, one end of the tilt angle sensor is connected with the cylinder body of the oil cylinder, and the other end of the tilt angle sensor is connected with the cylinder bottom of the oil cylinder.
5. A crash avoidance control system of a ripping apparatus according to claim 2,
the second signal acquisition device is a hysteresis displacement sensor of the oil cylinder, the hysteresis displacement sensor is configured to detect the displacement of the oil cylinder, and the included angle of the cutting arm relative to the horizontal plane is obtained through conversion of a triangular relation.
6. A collision avoidance control system of a heading device according to any one of claims 2 to 5,
the first signal acquisition device is arranged on the end face of the rod part of the oil cylinder connected with the cutting arm.
7. The anti-collision control system of a heading device according to any one of claims 1 to 5, further comprising:
the alarm device is connected with the controller and is configured to send out an alarm signal when the distance between the anchoring and protecting device and the top plate along the vertical direction is smaller than or equal to the preset threshold value.
8. The anti-collision control system of a heading device according to any one of claims 1 to 5, further comprising:
and the human-computer interaction device is connected with the controller and is provided with a display unit for displaying the position or state information of the cutting arm, the anchoring device and the top plate.
9. A heading device, comprising:
a cutting arm;
the anchoring and protecting device is arranged above the cutting arm; and
a crash avoidance control system for a ripping apparatus as claimed in any one of claims 1 to 8.
10. The ripping apparatus of claim 9, further comprising:
the oil cylinder is arranged below the anchoring device, and the cutting arm is connected with the rod part of the oil cylinder;
the revolving platform is arranged on one side, away from the cutting arm, of the oil cylinder, the bottom of the oil cylinder is connected with the revolving platform, and the cutting arm is configured to rotate by taking the revolving platform as a center; and/or
And the hydraulic system is connected with the controller and the cutting arm, and when the distance between the anchoring device and the top plate along the vertical direction is smaller than the preset threshold value, the controller controls the hydraulic system to stop working.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921843845.1U CN210798960U (en) | 2019-10-30 | 2019-10-30 | Anti-collision control system of tunneling equipment and tunneling equipment |
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| CN201921843845.1U CN210798960U (en) | 2019-10-30 | 2019-10-30 | Anti-collision control system of tunneling equipment and tunneling equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
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