CN219492294U - Automatic cutting control device of cantilever heading machine - Google Patents
Automatic cutting control device of cantilever heading machine Download PDFInfo
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- CN219492294U CN219492294U CN202223531620.7U CN202223531620U CN219492294U CN 219492294 U CN219492294 U CN 219492294U CN 202223531620 U CN202223531620 U CN 202223531620U CN 219492294 U CN219492294 U CN 219492294U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model discloses an automatic cutting control device of a cantilever tunneling machine, which solves the technical problem that the existing cantilever tunneling machine cannot realize automatic cutting control. The utility model comprises a cutting arm with lifting, rotating and stretching degrees of freedom, wherein the cutting arm is connected with a control module through an execution module and a driving module, the execution module and/or a cutting arm motor are connected with the control module through a detection module, and the control module controls the cutting arm to act through the driving module and the execution module according to the detection result of the detection module. By adopting the technical scheme of the utility model, the movement track of the cutting head can be changed in the automatic cutting process, and the cutting efficiency of the automatic cutting is improved; when the hardness of the rock stratum changes, the rotating speed of the cutting motor is immediately regulated through the frequency converter, and the electric-hydraulic valve group controls the movement of the cutting arm, so that the cutting motor cannot be stopped due to overlarge current, the stop time and the start-stop times of the cutting motor are reduced, and the service life of the cutting motor is prolonged.
Description
Technical Field
The utility model relates to the technical field of cantilever heading machines, in particular to an automatic cutting control device of a cantilever heading machine.
Background
With the development of automatic mechanical equipment and the increase of labor cost, the cantilever heading machine is used as a high-efficiency and good-flexibility heading equipment and is widely applied to tunnel and tunnel excavation engineering. Because tunnel construction has the problems of severe working environment, high labor intensity of workers and the like, the research of the automatic cutting control technology of the cantilever heading machine has received wide attention in the industry.
As the motion track of the cantilever heading machine cutting head in the cutting process is a sphere, compared with manual cutting, the cutting range is small and the efficiency is lower. In addition, the abrupt change of the stratum hardness also makes the cutting motor forced to stop due to overcurrent or overload in the cutting process, and the cutting motor can be burnt out in severe cases, so that the maintenance and repair cost of equipment are increased.
In order to solve the technical problem of small cutting range, cantilever heading machines with retractable cutting heads are disclosed in the prior art, such as a cutting part device for a roadway driving device and the roadway driving device disclosed in China patent publication No. CN 216517981U with the date of grant 2022.05.13, wherein the cutting part device comprises a permanent magnet motor, a telescopic mechanism, a telescopic driving piece, the cutting heads and a cutting main shaft connected with the cutting heads; the driving shaft of the permanent magnet motor is axially sliding and synchronously rotationally connected with the cutting main shaft; the telescopic part of the telescopic mechanism is rotationally connected with the cutting main shaft, and the fixed part of the telescopic mechanism is connected with the shell of the permanent magnet motor; the telescopic driving piece is arranged on the shell of the permanent magnet motor and is used for driving the telescopic part to axially stretch.
The cutting head in the patent has two degrees of freedom of axial expansion and rotation, when the cutting head cuts harder rock, the axial distance is shortened by utilizing the expansion mechanism, and when the cutting head cuts soft rock or coal, the axial distance can be prolonged by utilizing the expansion mechanism, so that the cutting requirements under different working conditions are met; in addition, the output torque and the rotating speed of the permanent magnet motor are controlled by the frequency converter, so that the power matching can be realized according to the requirements, the energy consumption is reduced, and the cutting efficiency is improved. However, only the advantages of the expansion and contraction of the cutting head are disclosed in the beneficial effect portion, and how the expansion and contraction control is realized is not disclosed. Therefore, it is necessary to design an automatic cutting control device of a cantilever heading machine.
Disclosure of Invention
Aiming at the defects in the background technology, the utility model provides an automatic cutting control device of a cantilever tunneling machine, which solves the technical problem that the existing cantilever tunneling machine cannot realize automatic cutting control.
The technical scheme of the application is as follows:
the utility model provides an automatic cutting controlling means of cantilever development machine, includes the cutting arm that has lift, gyration, flexible degree of freedom, the cutting arm is connected with control module through executive module, drive module, executive module and/or cutting arm motor link to each other with control module through detection module, control module passes through drive module, executive module control cutting arm action according to detection module's testing result. According to the technical scheme, the automatic cutting control device is added on the cantilever heading machine, when automatic cutting operation is carried out, the movement track of the cutting head can be changed, the automatic cutting working efficiency is improved, and the cutting motor is protected. In the technical scheme, the telescopic freedom degree is realized through a telescopic device: the cutting arm has a telescopic function, so that the cutting range is increased; a frequency converter: controlling the rotating speed of a cutting motor; the driving module and the executing module: an electro-hydraulic valve group for controlling the lifting and the rotation of the cutting arm and the telescopic oil cylinder; and a detection module: the lifting, rotating and telescopic cylinders of the cutting arm are measured and used for calculating the position information of the cutting head; and the control module is used for: and calculating and processing data and sending out a control instruction.
Further, the control module is a PLC controller, the driving module is an electromagnetic valve group, the executing module is a hydraulic valve group, the PLC controller outputs signals to control the electromagnetic valve group to work, and the electromagnetic valve group drives the corresponding hydraulic valve group to control the lifting degree of freedom, the rotation degree of freedom and the expansion degree of freedom of the cutting arm hydraulic system.
Further, the monitoring module comprises a flow sensor or/and a pressure sensor connected with the execution module, and when the detection result of the flow sensor or/and the pressure sensor reaches a threshold value, the PLC controls the cutting arm to move in the opposite directions of all directions of the original world through the electromagnetic valve group and the hydraulic valve group.
Further, when the detection result of the flow sensor or/and the pressure sensor is smaller than a threshold value, the PLC controls the cutting arm to move towards the original cutting direction through the electromagnetic valve group and the hydraulic valve group.
Further, the monitoring module comprises a current sensor or/and a voltage sensor connected with the cutting arm motor, and when the detection result of the current sensor or/and the voltage sensor reaches a threshold value, the PLC controller reduces the rotating speed of the cutting motor through the frequency converter. The protection mode of the cutting motor is double measures of speed regulation of a frequency converter and movement control of the cutting arm, and the flow sensor and the pressure sensor can be arranged only in the movement control mode of the cutting arm, and the movement direction of the cutting arm is regulated by detecting the pressure of the lifting, rotating and telescopic oil cylinders.
Further, when the detection result of the current sensor or/and the voltage sensor is smaller than a threshold value, the PLC controller adjusts the rotating speed of the cutting motor to the rated rotating speed through the frequency converter.
Further, the monitoring module comprises a travel sensor, hydraulic cylinders of lifting, rotating and stretching degrees of freedom of the cutting arm hydraulic system are respectively provided with the travel sensor, the control module calculates the position of the cutting head according to the travel sensor, the main controller sends out control instructions to control the automatic movement of each degree of freedom, the driving module and the executing module serve as executing mechanisms in the automatic cutting process, the control instructions sent out by the executing control module change the movement track of the cutting head.
Further, the control module is connected with a man-machine interaction module, the man-machine interaction module comprises an industrial control computer, the industrial control computer is provided with a touch screen, and an operator inputs a control instruction of automatic cutting through the touch screen.
Further, the man-machine interaction module is connected with the control module through a CAN bus.
Further, the control module analyzes and processes the received instruction data of the industrial control computer and outputs a control signal to the execution mechanism; meanwhile, the control module sends the working state information of the cantilever digging and cutting arm to the industrial control computer, and the industrial control computer displays the working state information of the cantilever digging and cutting arm through the display screen.
In the automatic cutting control device according to the present utility model, as described above, the extension and contraction portion of the cutting arm can extend and retract the cutting arm, and when automatic cutting is performed, the movement locus of the cutting head is changed by changing the length of the cutting arm, thereby increasing the cutting range. In the automatic cutting process of the cantilever heading machine, a main controller reads the data of an oil cylinder stroke sensor in real time and calculates the position information of a cutting head; and when the current of the cutting motor is smaller than the rated current of the motor, the speed of the cutting motor is quickly adjusted back to the rated speed through the frequency converter, and the cutting arm slowly moves towards the section through the electric-liquid valve group to continue automatic cutting operation, so that the condition that the cutting motor is stopped to protect or even damage is avoided.
As described above, according to the present utility model, the movement locus of the cutting head can be changed in the automatic cutting process of the boom cutter, and the automatic cutting efficiency can be improved. And the rotating speed of the cutting motor can be rapidly changed through the frequency converter, and meanwhile, the motion operation of the cutting arm is controlled through the electric-hydraulic valve group, so that the shutdown protection and even the damage of the cutting motor are avoided, the maintenance and the maintenance cost of the cutting motor are reduced, the automatic cutting operation can be continuously performed, and the automatic cutting working efficiency is improved. By adopting the technical scheme of the utility model, the movement track of the cutting head can be changed in the automatic cutting process, and the cutting efficiency of the automatic cutting is improved; when the hardness of the rock stratum changes, the rotating speed of the cutting motor is immediately regulated through the frequency converter, and the electric-hydraulic valve group controls the movement of the cutting arm, so that the cutting motor cannot be stopped due to overlarge current, the stop time and the start-stop times of the cutting motor are reduced, and the service life of the cutting motor is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present utility model, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present utility model and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic view of a cutting arm in the present utility model;
FIG. 2 is a flow chart of the automatic cutting control of the present utility model;
fig. 3 is a schematic diagram of an automatic cutting control system according to the present utility model.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without any inventive effort, are intended to be within the scope of the utility model.
The automatic cutting control device of the cantilever heading machine comprises a cutting arm with lifting, rotating and stretching degrees of freedom, wherein the cutting arm is connected with a control module through an execution module and a driving module, the execution module and/or a cutting arm motor is connected with the control module through a detection module, and the control module controls the cutting arm to act through the driving module and the execution module according to the detection result of the detection module.
According to the technical scheme, the automatic cutting control device is added on the cantilever heading machine, when automatic cutting operation is carried out, the movement track of the cutting head can be changed, the automatic cutting working efficiency is improved, and the cutting motor is protected. In the technical scheme, the telescopic freedom degree is realized through a telescopic device: the cutting arm has a telescopic function, so that the cutting range is increased; a frequency converter: controlling the rotating speed of a cutting motor; the driving module and the executing module: an electro-hydraulic valve group for controlling the lifting and the rotation of the cutting arm and the telescopic oil cylinder; and a detection module: the lifting, rotating and telescopic cylinders of the cutting arm are measured and used for calculating the position information of the cutting head; and the control module is used for: and calculating and processing data and sending out a control instruction.
As a preferred implementation mode, the control module is a PLC controller, the driving module is an electromagnetic valve group, the executing module is a hydraulic valve group, the PLC controller outputs signals to control the electromagnetic valve group to work, and the electromagnetic valve group drives the corresponding hydraulic valve group to control the lifting degree of freedom, the rotation degree of freedom and the expansion degree of freedom of the cutting arm hydraulic system.
As a preferable implementation mode, the monitoring module comprises a flow sensor or/and a pressure sensor connected with the execution module, and when the detection result of the flow sensor or/and the pressure sensor reaches a threshold value, the PLC controls the cutting arm to move in the opposite directions of all directions of the original world through the electromagnetic valve group and the hydraulic valve group.
As a preferred embodiment, when the detection result of the flow sensor or/and the pressure sensor is smaller than the threshold value, the PLC controller controls the cutting arm to move towards the original cutting direction through the electromagnetic valve group and the hydraulic valve group.
As a preferred embodiment, the monitoring module comprises a current sensor or/and a voltage sensor connected with the cutting arm motor, and the PLC controller reduces the rotating speed of the cutting motor through the frequency converter when the detection result of the current sensor or/and the voltage sensor reaches a threshold value. The protection mode of the cutting motor is double measures of speed regulation of a frequency converter and movement control of the cutting arm, and the flow sensor and the pressure sensor can be arranged only in the movement control mode of the cutting arm, and the movement direction of the cutting arm is regulated by detecting the pressure of the lifting, rotating and telescopic oil cylinders.
As a preferred embodiment, the PLC controller adjusts the rotational speed of the cutting motor to a nominal rotational speed via the frequency converter when the detection result of the current sensor and/or the voltage sensor is smaller than a threshold value.
As a preferred implementation mode, the monitoring module comprises a stroke sensor, hydraulic cylinders of lifting, rotating and stretching degrees of freedom of the cutting arm hydraulic system are respectively provided with the stroke sensor, the control module calculates the position of the cutting head according to the stroke sensor, the main controller sends out control instructions to control the automatic movement of each degree of freedom, the driving module and the executing module serve as executing mechanisms in the automatic cutting process, and the control instructions sent out by the control module are executed to change the movement track of the cutting head.
As a preferred embodiment, the control module is connected with a man-machine interaction module, the man-machine interaction module comprises an industrial control computer, the industrial control computer is provided with a touch screen, and an operator inputs a control instruction of automatic cutting through the touch screen.
As a preferred embodiment, the man-machine interaction module is connected to the control module via a CAN bus.
As a preferred embodiment, the control module analyzes and processes the received instruction data of the industrial control computer and outputs a control signal to the actuator; meanwhile, the control module sends the working state information of the cantilever digging and cutting arm to the industrial control computer, and the industrial control computer displays the working state information of the cantilever digging and cutting arm through the display screen.
As a preferred embodiment, as shown in fig. 1, the cutting arm according to the present utility model is provided with a telescopic part, the telescopic movement of which is driven by a hydraulic system, and a hydraulic cylinder is provided with a cylinder stroke sensor, so that the telescopic amount of the cylinder can be measured. The main controller reads and forms sensor data as a data source for calculating cutting head position information; when the telescopic part is controlled to perform telescopic movement, the main controller sends out a control instruction, the electro-hydraulic valve bank is used as an executing mechanism, and in the automatic cutting process, the control instruction sent out by the main controller is executed, so that the cutting arm performs telescopic movement, and the movement track of the cutting head is changed.
As shown in fig. 2, in the automatic cutting process, the main controller reads the data of the current sensor of the cutting motor, acquires real-time information of the working current of the cutting motor, and reduces the running speed of the cutting motor through the frequency converter when the working current of the cutting motor is greater than the rated current of the motor, and simultaneously sends a control instruction to the electro-hydraulic valve group to enable the cutting arm to move in the opposite direction of the current movement direction, so that the cutting head is far away from the cutting section; when the working current of the cutting motor is smaller than the rated current of the motor, the main controller adjusts the rotating speed of the cutting motor to the rated rotating speed of the motor through the frequency converter, and simultaneously, a control command is sent to the electro-hydraulic valve group, so that the cutting arm stops moving reversely and moves towards the original cutting direction, and automatic cutting operation is continued.
As shown in fig. 3, the structure of the automatic cutting control system is shown, wherein the man-machine interaction module is an industrial control computer with a touch screen, the control module is a PLC controller, the two modules are connected through a CAN bus, data interaction is performed by adopting CAN communication, an operator inputs an automatic cutting control instruction through the touch screen, the instruction data is sent to the PLC controller through the CAN bus, the PLC controller analyzes and processes the received instruction data, and a control signal is output to an executing mechanism; meanwhile, the PLC controller transmits working state information of the cantilever heading machine during automatic cutting to the industrial control computer through CAN bus communication, and the industrial control computer CAN display the information on a display screen for operators to check. The driving module in the figure is an electromagnetic valve group, the executing module is a hydraulic valve group, the PLC outputs signals to control the electromagnetic valve group to work, and the electromagnetic valve group drives the corresponding hydraulic valve, so that the control of a hydraulic system is realized, and finally the control of the action of the cutting arm is realized. The detection module is an electric and hydraulic system sensor, and comprises an electric system sensor such as voltage and current, a hydraulic system sensor such as flow and pressure, signals of the electric and hydraulic sensors are directly sent to the PLC controller, and the PLC controller is used for completing the processing and calculation of data of each sensor, so that the monitoring of the working state of the cantilever tunneling machine is completed.
The present utility model is not limited to the conventional technical means known to those skilled in the art.
The foregoing has shown and described the basic principles, main features and advantages of the present utility model. The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.
Claims (10)
1. The utility model provides an automatic cutting controlling means of cantilever development machine, includes the cutting arm that has lift, gyration, flexible degree of freedom, its characterized in that: the cutting arm is connected with a control module through an execution module and a driving module, the execution module and/or the cutting arm motor are/is connected with the control module through a detection module, and the control module controls the cutting arm to act through the driving module and the execution module according to the detection result of the detection module.
2. The automatic cutting control device for a cantilever heading machine according to claim 1, wherein: the control module is a PLC controller, the driving module is an electromagnetic valve group, the executing module is a hydraulic valve group, the PLC controller outputs signals to control the electromagnetic valve group to work, and the electromagnetic valve group drives the corresponding hydraulic valve group to control the lifting degree of freedom, the rotation degree of freedom and the telescopic degree of freedom of the cutting arm hydraulic system.
3. The automatic cutting control device for a cantilever heading machine according to claim 2, wherein: the detection module comprises a flow sensor and/or a pressure sensor connected with the execution module, and when the detection result of the flow sensor and/or the pressure sensor reaches a threshold value, the PLC controls the cutting arm to move in the opposite directions of all directions of the original world through the electromagnetic valve group and the hydraulic valve group.
4. The automatic cutting control device for a boom-driving machine according to claim 3, wherein: when the detection result of the flow sensor or/and the pressure sensor is smaller than a threshold value, the PLC controls the cutting arm to move towards the original cutting direction through the electromagnetic valve group and the hydraulic valve group.
5. The automatic cutting control device for a cantilever excavator according to claim 3 or 4, wherein: the detection module comprises a current sensor or/and a voltage sensor connected with the cutting arm motor, and when the detection result of the current sensor or/and the voltage sensor reaches a threshold value, the PLC controller reduces the rotating speed of the cutting motor through the frequency converter.
6. The automatic cutting control device for a cantilever excavator according to claim 5, wherein: when the detection result of the current sensor or/and the voltage sensor is smaller than a threshold value, the PLC controller adjusts the rotating speed of the cutting motor to the rated rotating speed through the frequency converter.
7. The automatic cutting control device for a boom-driving machine according to any one of claims 1 to 4 and 6, wherein: the detection module comprises a travel sensor, the travel sensors are arranged on hydraulic cylinders of lifting, rotating and stretching degrees of freedom of the cutting arm hydraulic system, the control module calculates the position of the cutting head according to the travel sensors, the main controller sends out control instructions to control the automatic movement of each degree of freedom, the driving module and the executing module serve as executing mechanisms in the automatic cutting process, the control instructions sent out by the control module are executed, and the movement track of the cutting head is changed.
8. The automatic cutting control device for a cantilever excavator according to claim 7, wherein: the control module is connected with a man-machine interaction module, the man-machine interaction module comprises an industrial control computer, the industrial control computer is provided with a touch screen, and an operator inputs a control instruction of automatic cutting through the touch screen.
9. The boom-tip automatic cutting control device according to claim 8, wherein: the man-machine interaction module is connected with the control module through the CAN bus.
10. The automatic cutting control device for a boom-driving machine according to claim 8 or 9, characterized in that: the control module analyzes and processes the received instruction data of the industrial control computer and outputs a control signal to the execution mechanism; meanwhile, the control module sends the working state information of the cantilever digging and cutting arm to the industrial control computer, and the industrial control computer displays the working state information of the cantilever digging and cutting arm through the display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223531620.7U CN219492294U (en) | 2022-12-29 | 2022-12-29 | Automatic cutting control device of cantilever heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223531620.7U CN219492294U (en) | 2022-12-29 | 2022-12-29 | Automatic cutting control device of cantilever heading machine |
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| Publication Number | Publication Date |
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| CN219492294U true CN219492294U (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223531620.7U Active CN219492294U (en) | 2022-12-29 | 2022-12-29 | Automatic cutting control device of cantilever heading machine |
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| CN (1) | CN219492294U (en) |
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- 2022-12-29 CN CN202223531620.7U patent/CN219492294U/en active Active
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