Tunneling machine cutting control device and method and cantilever tunneling machine

Abstract

The invention belongs to the field of automation tunneling equipment, and particularly relates to a tunneling machine cutting control device and method and a cantilever tunneling machine. The device comprises a tunneling machine electrically-controlled proportional valve module used for controlling tunneling machine cutting, lifting and rotating, a tunneling machine sensor module used for collecting execution data in a tunneling machine cutting process, a scanning and positioning module used for obtaining tunnel section target point cloud data and spacial distance among tunnel sections and targeted spots, a positioning target spot module which comprises positioning nodes and correcting nodes, an industrial camera used for collecting tunneling machine multiple-spot cursor images, a total station module used for measuring and calibrating position information of the positioning target spot module and the industrial camera and an industrial control all-in-one machine used for receiving feedback data and dynamically displaying relative positions of the tunneling machine sections and a cutting head, a tunneling machine relative parameter model and a positioning operation interface. By means of the tunneling machine cutting control device, the quantity of back break is effectively controlled, the tunneling efficiency is improved, the intelligence level is raised, and the equipment failure rate and cutting pick loss are reduced, so that the tunneling machine cutting control device has good engineering application prospects.

Description

technical field [0001] The invention belongs to the field of automatic excavation equipment, in particular to a cutting control device and method for an excavation machine and a cantilever excavation machine. Background technique [0002] As an efficient and flexible excavation equipment, the cantilever roadheader has been widely used in the excavation of roadways and tunnels. Due to the harsh working environment, high dust and high vibration, it is particularly important to monitor and control its working status. The monitoring aspect mainly includes: the working status of each component of the cantilever roadheader, real-time position information, etc. The control aspect mainly includes: the action of each component of the cantilever roadheader, electrical and hydraulic real-time parameters. The ultimate goal of the control system is to realize the excavation construction of the roadheader in a state of high efficiency and low loss. The specific indicators include over-u...

AI Technical Summary

Problems solved by technology

For the cutting feedback control of the cutting arm of the roadheader, the existing technical scheme mainly uses the cutting motor current as the basis to realize the adjustment of the cutting propulsion speed. This single-dimensional adjustment relationship is not applicable in actual work, such as cutting When the distribution of rock hardness is uneven or the operator is unskilled, the current of the cutting motor will change frequently and greatly, which will cause the cutting arm's advancing speed to change accordingly, and make the roadheader give people an intuitive impression of "boring". directly lead to the reduction of cutting efficiency

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