阅读说明：本技术 悬臂式掘进机及其掘进控制方法 (Cantilever type tunneling machine and tunneling control method thereof ) 是由 王朝 智泽华 刘文科 张慧伶 袁秀楠 宋栋帅 王雪松 李建忠 牛卫兵 王磊 刘鸿 于 2020-03-10 设计创作，主要内容包括：本发明公开了一种悬臂式掘进机及其掘进控制方法,包括：用于调节悬臂角度的水平调整油缸和垂直调整油缸,水平调整油缸和垂直调整油缸通过比例阀与控制单元连接；悬臂上设置有横向旋转编码器和纵向旋转编码器,分别用于检测悬臂的水平角度和垂直角度,并发送给控制单元；控制单元,用于通过比例阀控制水平调整油缸和垂直调整油缸动作。本发明的悬臂式掘进机及其掘进控制方法,通过比例阀控制油缸动作,并设置旋转编码器进行角度信息测量,实现对悬臂角度的自动化调节和闭环反馈控制,悬臂角度的位置精度较高,进而提高掘进巷道的成型质量。且通过自动化控制取代人工操作,降低了劳动强度,提高了安全性能。(The invention discloses a cantilever type tunneling machine and a tunneling control method thereof, wherein the tunneling control method comprises the following steps: the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder are used for adjusting the angle of the cantilever and are connected with the control unit through a proportional valve; the cantilever is provided with a transverse rotary encoder and a longitudinal rotary encoder which are respectively used for detecting the horizontal angle and the vertical angle of the cantilever and sending the horizontal angle and the vertical angle to the control unit; and the control unit is used for controlling the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve. According to the cantilever type tunneling machine and the tunneling control method thereof, the proportional valve is used for controlling the oil cylinder to act, the rotary encoder is arranged for measuring angle information, automatic adjustment and closed-loop feedback control of the cantilever angle are achieved, the position accuracy of the cantilever angle is high, and the forming quality of a tunneling roadway is improved. And manual operation is replaced by automatic control, so that the labor intensity is reduced, and the safety performance is improved.)

1. A boom-type roadheader, characterized by comprising: the device comprises a horizontal adjusting oil cylinder and a vertical adjusting oil cylinder, wherein the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder are used for adjusting the angle of a cantilever and are connected with a control unit through a proportional valve;

the cantilever is provided with a transverse rotary encoder and a longitudinal rotary encoder which are respectively used for detecting the horizontal angle and the vertical angle of the cantilever and sending the horizontal angle and the vertical angle to the control unit;

and the control unit is used for controlling the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve.

2. The boom-type roadheader according to claim 1, wherein a laser receiving device adapted to the laser pointing device of the roadway is provided on the body of the boom-type roadheader for pointing the laser in the direction of the heading.

3. The boom-type roadheader according to claim 1 or 2, wherein a body attitude sensor is provided on a body of the boom-type roadheader, a support unit is provided on the body, and the body attitude sensor and the support unit are respectively connected to the control unit;

and the control unit is used for adjusting the supporting unit to enable the body to be kept horizontal and fixed according to the inclination angle of the body detected by the body attitude sensor.

4. A boom miner according to claim 3 wherein the support units include floor supports at the bottom of the body, roof supports at the top of the body and side wall supports at the side walls of the body.

5. A boom miner according to claim 1 wherein the control unit is formed by a plurality of explosion proof boxes in a bayonet combination, one control module being provided in each explosion proof box.

6. A heading control method of a boom-type heading machine, characterized by comprising:

the control unit controls the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through a proportional valve according to a given angle, and adjusts the cantilever to a target angle;

the transverse rotary encoder and the longitudinal rotary encoder collect current angle information of the cantilever and send the current angle information to the control unit;

the control unit sends an instruction to control the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder to act according to the difference value between the current angle and the given angle;

the above process is repeated until the current angle information of the cantilever is the same as the given angle.

7. A tunneling control method of a boom-type tunneling machine according to claim 6, characterized by further comprising: after the cantilever type heading machine moves to a target position, the machine body attitude sensor detects the inclination angle of the machine body and sends the inclination angle to the control unit, and the control unit adjusts the action of the supporting unit according to the inclination angle of the machine body to enable the machine body to be kept horizontal and fixed.

8. The excavation control method of a boom-type excavator according to claim 7, wherein after the body is kept horizontal and fixed, excavation work is started, and the excavation process includes first stage excavation, second stage excavation, and third stage excavation performed in sequence, in the following formulas, α denotes a boom lateral angle, β denotes a boom longitudinal angle, R denotes a boom length, R denotes a nose radius, and L w denotes a target roadway width;

the first stage of tunneling comprises that the cantilever drives the gun head to do a plurality of circles of circular motion clockwise, the starting position of each circle of circular motion is that the transverse angle ∠α is 0 degrees, and the longitudinal angle is determined by the following formula:

when in useThe method comprises the following steps:

when in useThe method comprises the following steps:

9. a tunneling control method of a boom-type tunneling machine according to claim 8, wherein the second-stage tunneling includes:

the cantilever drives the cannon head to do sector reciprocating motion for a plurality of times, the starting position of each sector reciprocating motion is that a transverse angle ∠α is 0 degrees, and a longitudinal angle is determined by the following formula:

up toAnd finishing the reciprocating motion of the gun head to finish the second stage of tunneling.

10. A tunneling control method of a boom-type tunneling machine according to claim 9, characterized in that the third-stage tunneling includes: and after the first-stage tunneling and the second-stage tunneling are completed, detecting a vertical direction error angle of the machine body, a horizontal direction error angle of the machine body and a machine body deviation angle, and correcting the movement of the cantilever according to the vertical direction error angle of the machine body, the horizontal direction error angle of the machine body and the machine body deviation angle.

Technical Field

The invention relates to the technical field of coal mine tunneling, in particular to a cantilever type tunneling machine and a tunneling control method thereof.

Background

The boom-type development machine is a combined machine set which can realize cutting, loading and transporting, self-cleaning and spray dust removal. In the prior art, when coal mining and tunneling are carried out, a driver of a professional tunneling machine tunnels a roadway according to a drawing and a simple laser beam direction. After each forward tunneling for a certain distance (the feeding distance is determined according to the conditions of the top plate and has great human factors), the manual anchor rod supporting and guniting operation is carried out, then the forward tunneling is continued, and the steps are repeated. Or, a switching value electromagnetic valve group and short-distance remote control and video detection equipment are uniformly configured on the heading machine, and remote control cutting is carried out by a driver at the rear or a slightly distant monitoring screen.

The inventors have found that the above technique has at least the following problems: the roadway excavation depends on manual control, the accuracy and the stability are poor, the efficiency is low, and the potential safety hazard is large.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides a cantilever type tunneling machine and a tunneling control method thereof. The specific technical scheme is as follows:

in a first aspect, there is provided a boom excavator comprising: the device comprises a horizontal adjusting oil cylinder and a vertical adjusting oil cylinder, wherein the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder are used for adjusting the angle of a cantilever and are connected with a control unit through a proportional valve; the cantilever is provided with a transverse rotary encoder and a longitudinal rotary encoder which are respectively used for detecting the horizontal angle and the vertical angle of the cantilever and sending the horizontal angle and the vertical angle to the control unit; and the control unit is used for controlling the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve.

In one possible design, a laser receiving device adapted to the roadway laser pointing device is arranged on the machine body of the boom-type roadheader and used for pointing and positioning the tunneling direction by laser.

In one possible design, a body attitude sensor is arranged on a body of the cantilever type tunneling machine, a support unit is arranged on the body, and the body attitude sensor and the support unit are respectively connected with the control unit; and the control unit is used for adjusting the supporting unit to enable the body to be kept horizontal and fixed according to the inclination angle of the body detected by the body attitude sensor.

In a possible design, the supporting unit comprises a bottom plate support arranged at the bottom of the machine body, a top plate support arranged at the top of the machine body and a side wall support arranged on the side wall of the machine body.

In one possible design, the control unit is formed by splicing and combining a plurality of explosion-proof boxes, and each explosion-proof box is internally provided with one control module.

In a second aspect, there is provided a heading control method of a boom-type heading machine, the method including:

the control unit controls the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through a proportional valve according to a given angle, and adjusts the cantilever to a target angle;

the transverse rotary encoder and the longitudinal rotary encoder collect current angle information of the cantilever and send the current angle information to the control unit;

the control unit sends an instruction to control the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder to act according to the difference value between the current angle and the given angle;

the above process is repeated until the current angle information of the cantilever is the same as the given angle.

In one possible design, the method further includes: after the cantilever type heading machine moves to a target position, the machine body attitude sensor detects the inclination angle of the machine body and sends the inclination angle to the control unit, and the control unit adjusts the action of the supporting unit according to the inclination angle of the machine body to enable the machine body to be kept horizontal and fixed.

In one possible design, after the machine body is kept horizontal and fixed, the tunneling work is started, the tunneling process comprises a first stage tunneling, a second stage tunneling and a third stage tunneling which are sequentially carried out, and in the following formula, α represents a cantilever transverse angle, β represents a cantilever longitudinal angle, R represents a cantilever length, R represents a nose radius, and L w represents a target roadway width;

the first stage of tunneling comprises that the cantilever drives the gun head to do a plurality of circles of circular motion clockwise, the starting position of each circle of circular motion is that the transverse angle ∠α is 0 degrees, and the longitudinal angle is determined by the following formula:

when in useThe method comprises the following steps:

when in useThe method comprises the following steps:

in one possible design, the second stage ripping includes:

the cantilever drives the cannon head to do sector reciprocating motion for a plurality of times, the starting position of each sector reciprocating motion is that a transverse angle ∠α is 0 degrees, and a longitudinal angle is determined by the following formula:

up toAnd finishing the reciprocating motion of the gun head to finish the second stage of tunneling.

In one possible design, the third stage heading comprises: and after the first-stage tunneling and the second-stage tunneling are completed, detecting a vertical direction error angle of the machine body, a horizontal direction error angle of the machine body and a machine body deviation angle, and correcting the movement of the cantilever according to the vertical direction error angle of the machine body, the horizontal direction error angle of the machine body and the machine body deviation angle.

The technical scheme of the invention has the following main advantages:

according to the cantilever type tunneling machine and the tunneling control method thereof, the proportional valve is used for controlling the oil cylinder to act, the rotary encoder is arranged for measuring angle information, automatic adjustment and closed-loop feedback control of the cantilever angle are achieved, the position accuracy of the cantilever angle is high, and the forming quality of a tunneling roadway is improved. And manual operation is replaced by automatic control, so that the labor intensity is reduced, and the safety performance is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a logic block diagram for controlling the angle of a boom in a boom-type roadheader according to an embodiment of the present invention;

fig. 2 is a schematic view of a laser receiving device on a machine body in a boom-type roadheader according to an embodiment of the present invention;

fig. 3 is a schematic view of a vertical error angle of a boom excavator body according to an embodiment of the present invention;

fig. 4 is a schematic view of a horizontal direction error angle of a boom excavator body according to an embodiment of the present invention;

figure 5 is a schematic illustration of a boom miner body deflection angle provided in accordance with one embodiment of the present invention;

fig. 6 and 7 are schematic structural views of a support unit in a boom excavator according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a control unit in the boom excavator according to an embodiment of the present invention;

fig. 9 is a representation of parameters in a coordinate system in the heading control method of the boom excavator according to the embodiment of the present invention;

fig. 10 is a schematic diagram of a boom path in the heading control method of the boom excavator according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.

In a first aspect, an embodiment of the present invention provides a boom-type roadheader, including: the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder are used for adjusting the angle of the cantilever and are connected with the control unit through a proportional valve; the cantilever is provided with a transverse rotary encoder and a longitudinal rotary encoder which are respectively used for detecting the horizontal angle and the vertical angle of the cantilever and sending the horizontal angle and the vertical angle to the control unit; and the control unit is used for controlling the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve.

The working principle of the boom-type roadheader provided by the embodiment of the invention is explained as follows:

as shown in the attached figure 1, the control unit controls the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve according to a given angle, and adjusts the cantilever to a target angle. The transverse rotary encoder and the longitudinal rotary encoder collect current angle information of the cantilever and send the angle information to the control unit. And the control unit sends an instruction to control the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder to act according to the difference value between the current angle and the given angle, and the process is repeated until the current angle of the cantilever is the same as the given angle. Through the process, closed-loop feedback control over the angle of the cantilever is achieved, and the position accuracy of the angle of the cantilever is high.

Therefore, the cantilever type heading machine provided by the embodiment of the invention controls the oil cylinder to act through the proportional valve, and is provided with the rotary encoder to measure the angle information, so that the automatic adjustment and closed-loop feedback control of the cantilever angle are realized, the position precision of the cantilever angle is higher, and the forming quality of the heading roadway is further improved. And manual operation is replaced by automatic control, so that the labor intensity is reduced, and the safety performance is improved.

Wherein, a proportional controller can be connected between the control unit and the proportional valve to realize the automatic hydraulic control process. The proportional valve controls the action of the oil cylinder through PID (proportion integration differentiation) to enable the cantilever to deflect.

In order to facilitate the underground positioning of the boom-type roadheader, as shown in fig. 2, a laser receiving device adapted to the roadway laser pointing device is arranged on the body of the boom-type roadheader and used for pointing the laser to the positioning tunneling direction. By the arrangement, the deviation of the advancing direction of the cantilever type tunneling machine is avoided.

Further, in order to enable the machine body to be fixed in a horizontal state when the cantilever acts for tunneling, the machine body of the cantilever type tunneling machine provided by the embodiment of the invention is provided with a machine body attitude sensor, the machine body is provided with a supporting unit, and the machine body attitude sensor and the supporting unit are respectively connected with the control unit; and the control unit is used for adjusting the supporting unit to enable the body to be kept horizontal and fixed according to the inclination angle of the body detected by the body attitude sensor. According to the arrangement, after the cantilever type tunneling machine moves to the preset position in the roadway and moves to the target position by using the cantilever type tunneling machine, the machine body attitude sensor detects the inclination angle of the machine body and sends the inclination angle to the control unit, the control unit adjusts the action of the supporting unit according to the inclination angle of the machine body to enable the machine body to be kept horizontal and fixed, and then the cantilever and the gun head start to act to carry out the tunneling process.

Among them, the body attitude sensor may be a body attitude biaxial inclination sensor, which can perform detection of a body vertical direction error angle ∠ γ 1 (see fig. 3), a body horizontal direction error angle ∠ γ 2 (see fig. 4), and a body offset angle ∠ γ 3 (see fig. 5).

Based on the above, the supporting unit is used to complete the fixing of the fuselage, and in order to improve the fixing effect, as shown in fig. 6 and fig. 7, the supporting unit includes a bottom plate support arranged at the bottom of the fuselage, a top plate support arranged at the top of the fuselage, and a side wall support arranged at the side wall of the fuselage. So set up, can carry out the omnidirectional to the fuselage in equidirectional support fixed, and then improve fixed effect, avoid tunnelling effect such as the drift slope takes place for the fuselage in the tunnelling process.

The number of the bottom plate supports can be 4, and the bottom plate supports are respectively distributed at four corners of the bottom plate. The number of the top plate supports can be 4, and the top plate supports are respectively distributed at four corners of the top plate. The number of the supports of the side walls can be 4, and two supports are arranged on each side of the machine body.

For example, the roof supports, roof supports and side wall supports may be multi-stage telescopic arm structures. The device only needs to be tightly propped between the roadway and the machine body to fix and support the machine body, and detailed explanation is omitted in the embodiment of the invention.

Optionally, as shown in fig. 8, the control unit is formed by splicing and combining a plurality of explosion-proof boxes, and each explosion-proof box is provided with a control module. So set up, according to the functional requirement of difference, choose for use different explosion-proof box to peg graft and form the control unit that possesses different functions, be convenient for accomplish different electric liquid accuse needs. The flexibility and expandability of the control unit are improved.

For example, the control unit may include a conventional electrohydraulic control output module, a human-machine interface module, a communication module, etc., and two special modules, a program control module and a remote control module, to facilitate different technical requirements. The remote control module can be associated with a matched intrinsically safe remote control device. The program control module can preset options of the height, the width, the geological condition and the like of the roadway, and automatic roadway tunneling is realized.

In a second aspect, an embodiment of the present invention provides a tunneling control method of a boom-type tunneling machine, as shown in fig. 1, the method includes:

and the control unit controls the actions of the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder through the proportional valve according to the given angle, and adjusts the cantilever to a target angle.

The transverse rotary encoder and the longitudinal rotary encoder collect current angle information of the cantilever and send the angle information to the control unit.

And the control unit sends an instruction to control the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder to act according to the difference value between the current angle and the given angle, and the process is repeated until the current angle information of the cantilever is the same as the given angle.

According to the cantilever type heading machine provided by the embodiment of the invention, the proportional valve is used for controlling the oil cylinder to act, the rotary encoder is arranged for measuring angle information, the lower automatic adjustment and closed-loop feedback control of the cantilever are realized, the position precision of the cantilever angle is higher, and the forming quality of a heading tunnel is further improved. And manual operation is replaced by automatic control, so that the labor intensity is reduced, and the safety performance is improved.

Further, the tunneling control method provided by the embodiment of the present invention further includes: after the cantilever type heading machine moves to a target position, the machine body attitude sensor detects the inclination angle of the machine body and sends the inclination angle to the control unit, and the control unit adjusts the action of the supporting unit according to the inclination angle of the machine body to enable the machine body to be kept horizontal and fixed. Facilitating the subsequent tunneling operation.

After the machine body is kept horizontal and fixed, when the tunneling starts, the cantilever rotates, and the cutting is carried out by the cannon head arranged at the end part of the cantilever.

The tunneling process comprises a first-stage tunneling, a second-stage tunneling and a third-stage tunneling which are sequentially carried out, wherein in the following formula, α represents a transverse angle of a cantilever, β represents a longitudinal angle of the cantilever, R represents a length of the cantilever, R represents a radius of a gun head, L w represents a width of a target roadway, H represents a half of the height of the target roadway, and H represents the height of the target roadway;

the first stage of tunneling comprises that the cantilever drives the gun head to do a plurality of circles of circular motion clockwise, the starting position of each circle of circular motion is that the transverse angle ∠α is 0 degrees, and the longitudinal angle is determined by the following formula:

when in useThe method comprises the following steps:

when in useThe method comprises the following steps:

that is, ∠α is maintained at 0 ° and ∠β is increased from 0 ° to 0 °The gun head performs circular motion in a clockwise direction, and ∠β is formed byBecome intoThe gun head continues in a clockwise circular motion … …,

the constraint of periods ∠α and ∠β is ∠α ═ arcsin (cos β)

∠β＝arcsin(cosα)

(when ∠β is a negative value,)

when in useThe method comprises the following steps:

when in useThe method comprises the following steps:

it can be seen that in the first stage of excavation, the diameter of the formed roadway is gradually increased until the target roadway width is reached. It is understood that n is the number of the circular motion of the cantilever, and n is a natural number.

The second stage of tunneling comprises the following steps:

the cantilever drives the cannon head to do sector reciprocating motion, the starting position of each sector reciprocating motion is that a transverse angle ∠α is 0 degrees, and a longitudinal angle is determined by the following formula:

up toAnd finishing the reciprocating motion of the gun head to finish the second stage of tunneling.

Specifically, ∠α is held at 0 ° so that ∠β is defined byIs ascended toThe cannon head makes fan-shaped reciprocating motion in the clockwise direction, after the cannon head returns to the original position, ∠α is kept equal to 0 degree, ∠β is made ofIs ascended toThe gun head continues to reciprocate … … untilThe reciprocating motion of the cannon head is finished.

Therefore, in the second stage of tunneling, the width of the moving range of the gun head is limited, and the cutting operation in the height direction is continued, so that the motion track of the gun head is in a reciprocating fan shape. It can be understood that N is the number of the reciprocating motions of the cantilever sector, and N is a natural number

In the process of tunneling a roadway by cantilever action, the reaction force of the roadway acts under the machine body, and the machine body is stressed greatly. Although the present embodiment provides an omni-directional supporting unit, the body may be deflected. Based on this, in order to further improve the tunneling effect, the embodiment of the invention is also provided with a third stage of tunneling.

The third stage of tunneling comprises the following steps: and after the first-stage tunneling and the second-stage tunneling are completed, detecting a vertical direction error angle of the machine body, a horizontal direction error angle of the machine body and a machine body deviation angle, and correcting the movement of the cantilever according to the vertical direction error angle of the machine body, the horizontal direction error angle of the machine body and the machine body deviation angle. And the problem that the tunneling compensates errors caused by machine body deflection in the tunneling process is solved through the third step, and the tunneling effect is improved.

In summary, the tunneling control method of the boom-type tunneling machine according to the embodiment of the present invention includes:

and S1, the cantilever type excavator advances downwards by a distance S only under the laser pointing of the roadway laser pointing device.

And S2, keeping the cantilever straight and straight, and adjusting the machine body to a centering state through the supporting unit.

And S3, performing first-stage tunneling.

And S4, performing second-stage tunneling.

And S5, performing third-stage tunneling.

The tunneling of the distance S is fed for one stage completely through the above-described S1-S5. And repeating the steps until the whole tunneling process is completed.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.

Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.