Collision avoidance system and roadheader

Abstract

The present invention provides an anti-collision system and a roadheader. The anti-collision system includes: a roadheader body; a cutting part arranged on the roadheader body, and the cutting part can swing relative to the roadheader body; a scraper plate device arranged on the roadheader body, and the scraper plate device can swing relative to the roadheader body. The scraper plate device and the cutting part are arranged oppositely, and the scraper plate device and the cutting part can swing in a direction approaching each other; a driving device, the driving device is connected to the cutting part and the scraper plate device; a position detection device arranged in the driving device for monitoring the moving position of the driving device; a controller, which is connected to the driving device and the position detection device. In the technical solution of the present invention, the controller stops the scraper plate device and the cutting part from swinging in a direction approaching each other by stopping the action of the driving device, thus avoiding the problem that the scraper plate device and the cutting part collide and are damaged, and ensuring that the scraper plate device and the cutting part can work normally.

Description

Technical Field

[0001] The present invention relates to the technical field of tunneling equipment, and in particular, to an anti-collision system and a roadheader. Background Art

[0002] At present, as the main roadway excavation equipment, roadheaders are widely used in the excavation projects of mine roadways and engineering tunnels. Since the up-and-down swing of the cutting device and the up-and-down swing of the scraper plate device are in the same working area, and the movement trajectories of the two parts have an overlapping area, the cutting device and the scraper plate device may collide, resulting in equipment damage. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] To this end, an object of the present invention is to provide an anti-collision system.

[0005] Another object of the present invention is to provide a roadheader.

[0006] To achieve the above object, an embodiment of the present invention provides an anti-collision system, which includes: a roadheader body; a cutting part, arranged on the roadheader body, and the cutting part can swing relative to the roadheader body; a scraper plate device, arranged on the roadheader body, and the scraper plate device can swing relative to the roadheader body, the scraper plate device is arranged opposite to the cutting part, and the scraper plate device and the cutting part can swing towards each other; a driving device, connected to the cutting part and the scraper plate device, for driving the cutting part and the scraper plate device to swing; a position detection device, arranged in the driving device, for monitoring the moving position of the driving device; a controller, connected to the driving device and the position detection device; wherein, the controller can determine the relative position of the cutting part and the scraper plate device according to the position movement information of the driving device, and when the controller determines that the cutting part and the scraper plate device are about to collide, the controller can abort the action of the driving device.

[0007] In this technical solution, the controller aborts the swinging of the scraper plate device and the cutting part towards each other by aborting the action of the driving device, thus avoiding the problem of damage caused by the collision of the scraper plate device and the cutting part, and ensuring that the scraper plate device and the cutting part can work normally. In addition, in the present application, the position detection device is arranged in the driving device, that is, the position detection device is not exposed to the air, thus avoiding the problem that in the related art, the position detection device is directly arranged on the scraper plate device and the cutting part, making the position detection device easily damaged when exposed to the air, thereby improving the stability and reliability of the work of the position detection device, and further ensuring that the controller can work normally, and finally ensuring that the scraper plate device and the cutting part can work normally.

[0008] In addition, the anti-collision system in the above embodiments provided by the present invention may further have the following additional technical features:

[0009] In the above technical solution, the driving device includes: a first driving member for driving the cutting portion; a second driving member for driving the scraper plate device; wherein, the position detection device is disposed in the first driving member and / or the second driving member.

[0010] In this technical solution, the position detection device can monitor the position movement information of the first driving member and the second driving member and send the position movement information to the controller, facilitating the controller to complete subsequent control work, thereby ensuring that the anti-collision function of the anti-collision system for the scraper plate device and the cutting portion can be realized, and further ensuring that the scraper plate device and the cutting portion can work normally. In addition, the position detection device is respectively disposed in the first driving member and the second driving member, which improves the stability and reliability of the position detection device during operation, and further ensures that the controller can work normally, and finally ensures that the scraper plate device and the cutting portion can work normally.

[0011] In any of the above technical solutions, the first driving member includes: a first cylinder body having a first inner cavity;

[0012] a first piston rod, partially disposed in the first inner cavity, and the first piston rod can axially expand and contract relative to the first cylinder body; wherein, the first piston rod divides the first inner cavity into a first rod chamber and a first rodless chamber, one end of the position detection device is fixed on the first bottom wall of the first rodless chamber, and the other end is inserted into the first piston rod, and the first piston rod can move axially along the first cylinder body relative to the position detection device, and the position detection device is used to monitor the stroke position of the first piston rod.

[0013] In this technical solution, the position detection device obtains the position movement data of the first driving member by monitoring the relative position between the first piston rod and the first cylinder body, that is, the stroke position of the first piston rod. This monitoring method enables the position detection device to accurately obtain the position movement data of the first driving member, thereby ensuring that the controller can accurately calculate the actual distance value between the scraper plate device and the cutting portion, and the controller can accurately determine the relative position between the cutting portion and the scraper plate device, avoiding the problem that the controller makes a misjudgment due to inaccurate actual distance value and wrongly suspending the swinging of the scraper plate device and the cutting portion, and further ensuring that the anti-collision system can accurately implement its anti-collision function and the scraper plate device and the cutting portion can work normally.

[0014] In any of the above technical solutions, the second driving member includes: a second cylinder body having a second inner cavity; a second piston rod partially disposed in the second inner cavity, and the second piston rod is axially telescopic relative to the second cylinder body; wherein, the second piston rod divides the second inner cavity into a second rod chamber and a second rodless chamber, one end of the position detection device is fixed on the second bottom wall of the second rodless chamber, and the other end is inserted into the second piston rod, and the second piston rod can move axially along the second cylinder body relative to the position detection device, and the position detection device is used to monitor the stroke position of the second piston rod.

[0015] In this technical solution, the position detection device monitors the relative position between the second piston rod and the second cylinder body, that is, the stroke position of the second piston rod, to obtain the position movement data of the second driving member. This monitoring method enables the position detection device to accurately obtain the position movement data of the second driving member, so as to ensure that the controller can accurately calculate the actual distance value between the shovel plate device and the cutting part, and the controller can accurately determine the relative position between the cutting part and the shovel plate device, avoiding the problem that the controller makes a misjudgment due to the inaccurate actual distance value and wrongly aborting the swinging of the shovel plate device and the cutting part. Furthermore, it ensures that the anti-collision system can accurately implement its anti-collision function, and the shovel plate device and the cutting part can work normally.

[0016] In any of the above technical solutions, the anti-collision system further includes a hydraulic control device, the hydraulic control device is connected to the controller, and the hydraulic control device includes: an oil supply pipeline; a first reversing valve having a first oil supply port and a first working oil port, the first oil supply port is connected to the oil supply pipeline, and the first working oil port is connected to the first driving member; a second reversing valve having a second oil supply port and a second working oil port, the second oil supply port is connected to the oil supply pipeline, and the second working oil port is connected to the second driving member; wherein, the controller is connected to the first reversing valve and the second reversing valve, and the controller stops the first driving member from acting by controlling the on-off of the first oil supply port and the first working oil port, and the controller stops the second driving member from acting by controlling the on-off of the second oil supply port and the second working oil port.

[0017] In this technical solution, when the shovel plate device and the cutting part are in a normal working state, the first oil supply port and the first working oil port are communicated, and hydraulic oil can enter the first driving member and the second driving member through the first working oil port. The first driving member drives the cutting part to swing normally, and the second driving member drives the shovel plate device to swing normally. The controller can disconnect the first oil supply port and the first working oil port so that hydraulic oil cannot enter the first driving member and the second driving member, and the cutting part and the shovel plate device stop swinging. At this time, the hydraulic oil in the first driving member and the second driving member is in a pressure-holding state and the hydraulic oil does not flow. This makes the cutting part and the shovel plate device stop swinging and be in a locked state, thus avoiding the problem that the cutting part and the shovel plate device collide and are damaged due to the continuous swinging under the action of external forces, and further ensuring that the cutting part and the shovel plate device can work normally.

[0018] In any of the above technical solutions, the first reversing valve is an electromagnetic reversing valve, and / or the second reversing valve is an electromagnetic reversing valve, and the controller is connected to the electrical signal terminal of the electromagnetic reversing valve.

[0019] In this technical solution, the controller controls the on / off of the first oil supply port and the first working oil port, and the on / off of the second oil supply port and the second working oil port by indirectly controlling the on / off of the power supply circuits of the first reversing valve and the second reversing valve, so as to realize the function that the controller suspends the operation of the driving device and the swinging of the scraper plate device and the cutting part, and further ensure that the anti-collision system can work normally.

[0020] In any of the above technical solutions, the first reversing valve is a pilot-operated reversing valve, and the hydraulic control device further includes: a pilot handle including a first pilot control device; a first pilot control pipeline, one end of which is connected to the first pilot control device and the other end of which is connected to the pilot oil input end of the first reversing valve; a first electromagnetic on-off valve arranged on the first pilot control pipeline; wherein, the controller is connected to the first electromagnetic on-off valve, and the controller controls the on / off of the first pilot control pipeline by controlling the action of the first electromagnetic on-off valve.

[0021] In this technical solution, the controller controls the on / off of the first oil supply port and the first working oil port by indirectly controlling the on / off of the first pilot control pipeline, so as to realize the function that the controller suspends the operation of the driving device and the swinging of the cutting part, and further ensure that the anti-collision system can work normally.

[0022] In any of the above technical solutions, the second reversing valve is a pilot-operated reversing valve, and the hydraulic control device further includes: a pilot handle including a second pilot control device; a second pilot control pipeline, one end of which is connected to the second pilot control device and the other end of which is connected to the pilot oil input end of the second reversing valve; a second electromagnetic on-off valve arranged on the second pilot control pipeline; wherein, the controller is connected to the second electromagnetic on-off valve, and the controller controls the on / off of the second pilot control pipeline by controlling the action of the second electromagnetic on-off valve.

[0023] In this technical solution, the controller controls the on / off of the second oil supply port and the second working oil port by indirectly controlling the on / off of the second pilot control pipeline, so as to realize the function that the controller suspends the operation of the driving device and the swinging of the scraper plate device, and further ensure that the anti-collision system can work normally.

[0024] In any of the above technical solutions, the controller includes an alarm component, and when the controller determines that a collision is about to occur between the cutting part and the scraper plate device, the alarm component plays an alarm prompt sound.

[0025] In this technical solution, the alarm component mainly serves as a warning, prompting the on-site operator to promptly correct the relative positional relationship between the cutting part and the scraper plate device, avoiding collisions and damage between the cutting part and the scraper plate device, so as to ensure the normal operation of the cutting part and the scraper plate device.

[0026] The technical solution of the second aspect of the present invention provides a roadheader, which includes an anti-collision system and a vehicle body as in any one of the technical solutions of the first aspect, and the anti-collision system is integrally arranged on the vehicle body.

[0027] The roadheader provided by the technical solution of the second aspect of the present invention includes the anti-collision system of any one of the technical solutions of the first aspect, and thus has all the beneficial effects of any one of the above technical solutions, which will not be elaborated here.

[0028] In the above solution, the anti-collision system enables the roadheader to have an automatic anti-collision function, thus avoiding the problem of collisions and damage between the cutting part and the scraper plate device when the roadheader is working, ensuring the normal operation of the roadheader, and then successfully completing the on-site coal mining task.

[0029] The additional aspects and advantages of the present invention will become apparent in the following description part, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and be easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0031] Figure 1 Shows a schematic structural diagram of the anti-collision system according to Embodiment 1 of the present invention;

[0032] Figure 2 Shows a schematic structural diagram of the anti-collision system according to Embodiment 2 of the present invention.

[0033] Wherein, Figure 1 and Figure 2 The corresponding relationship between the reference numerals and the component names in the drawings is as follows:

[0034] 10. Cutting part; 20. Shovel plate device; 30. Driving device; 32. First driving member; 322. First piston rod; 324. First cylinder block; 3242. First inner cavity; 3244. First rod chamber; 3246. First rodless chamber; 3248. First bottom wall; 34. Second driving member; 342. Second piston rod; 344. Second cylinder block; 3442. Second inner cavity; 3444. Second rod chamber; 3446. Second rodless chamber; 3448. Second bottom wall; 40. Position detection device; 50. Controller; 60. Hydraulic control device; 61. First electromagnetic on-off valve; 62. Oil supply pipeline; 63. Second pilot control pipeline; 64. First reversing valve; 642. First oil supply port; 644. First working oil port; 65. Second electromagnetic on-off valve; 66. Second reversing valve; 662. Second oil supply port; 664. Second working oil port; 68. Pilot handle; 682. First pilot control device; 684. Second pilot control device; 69. First pilot control pipeline. Detailed implementation manners

[0035] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0036] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0037] The following refers to Figure 1 and Figure 2 to describe an anti-collision system according to some embodiments of the present invention.

[0038] As Figure 1 and Figure 2As shown in the figure, the present invention and its embodiments provide an anti-collision system, which includes a roadheader body, a cutting part 10, a scraper plate device 20, a driving device 30, a position detection device 40, and a controller 50. Among them, the cutting part 10 is arranged on the roadheader body, and the cutting part 10 can swing relative to the roadheader body. The scraper plate device 20 is arranged on the roadheader body, and the scraper plate device 20 can swing relative to the roadheader body. The scraper plate device 20 is arranged opposite to the cutting part 10, and the scraper plate device 20 and the cutting part 10 can swing towards each other. The driving device 30 is connected to the cutting part 10 and the scraper plate device 20, and is used to drive the cutting part 10 and the scraper plate device 20 to swing. The position detection device 40 is arranged in the driving device 30 and is used to monitor the moving position of the driving device 30. The controller 50 is connected to the driving device 30 and the position detection device 40. The controller 50 can determine the relative position between the cutting part 10 and the scraper plate device 20 according to the position movement information. When the controller 50 determines that the cutting part 10 and the scraper plate device 20 are about to collide, the controller 50 can stop the action of the driving device 30.

[0039] In the above setting, the controller 50 stops the swinging of the scraper plate device 20 and the cutting part 10 towards each other by stopping the action of the driving device 30, which avoids the problem of damage caused by the collision between the scraper plate device 20 and the cutting part 10, and thus ensures that the scraper plate device 20 and the cutting part 10 can work normally. In addition, in the present application, the position detection device 40 is arranged in the driving device 30, that is, the position detection device 40 is not exposed to the air, which avoids the problem that the position detection device 40 is directly arranged on the scraper plate device 20 and the cutting part 10 in the related art and is easily damaged when exposed to the air, thereby improving the working stability and reliability of the position detection device 40, and further ensuring that the controller 50 can work normally, and finally ensuring that the scraper plate device 20 and the cutting part 10 can work normally.

[0040] It should be noted that the position detection device 40 can real-time feedback the position movement information of the driving device 30 to the controller 50, which is convenient for the controller 50 to real-time monitor the position movement information of the scraper plate device 20 and the cutting part 10. The controller 50 can also calculate the actual distance value between the scraper plate device 20 and the cutting part 10 according to the position movement information of the scraper plate device 20 and the cutting part 10. The controller 50 can compare the actual distance value with the collision warning distance value preset in the controller 50. When the actual distance value is less than the collision warning distance value, the controller 50 starts to act to stop the action of the driving device 30, so that the scraper plate device 20 and the cutting part 10 stop swinging and remain in place, thereby avoiding the occurrence of collision accidents.

[0041] Embodiment 1

[0042] Specifically, asFigure 1 As shown in the figure, in the first embodiment of the present invention, the driving device 30 includes a first driving member 32 and a second driving member 34. Among them, the first driving member 32 is used to drive the cutting portion 10, the second driving member 34 is used to drive the shovel plate device 20, and the position detection device 40 is arranged in the first driving member 32 and the second driving member 34.

[0043] In the above setting, the position detection device 40 can monitor the position movement information of the first driving member 32 and the second driving member 34 and send the position movement information to the controller 50, which is convenient for the controller 50 to complete the subsequent control work, so as to ensure that the anti-collision function of the shovel plate device 20 and the cutting portion 10 by the anti-collision system can be realized, and further ensure that the shovel plate device 20 and the cutting portion 10 can work normally. In addition, the position detection device 40 is respectively arranged in the first driving member 32 and the second driving member 34, which improves the working stability and reliability of the position detection device 40, and further ensures that the controller 50 can work normally, and finally ensures that the shovel plate device 20 and the cutting portion 10 can work normally.

[0044] Specifically, as Figure 1 shown in the figure, in the first embodiment of the present invention, the first driving member 32 includes a first cylinder block 324 and a first piston rod 322. Among them, the first cylinder block 324 has a first inner cavity 3242, a part of the first piston rod 322 is arranged in the first inner cavity 3242, and the first piston rod 322 can axially expand and contract relative to the first cylinder block 324. The first piston rod 322 divides the first inner cavity 3242 into a first rod chamber 3244 and a first rodless chamber 3246. One end of the position detection device 40 is fixed on the first bottom wall 3248 of the first rodless chamber 3246, and the other end is inserted into the first piston rod 322. The first piston rod 322 can move axially along the first cylinder block 324 relative to the position detection device 40, and the position detection device 40 is used to monitor the stroke position of the first piston rod 322.

[0045] In the above setting, the position detection device 40 obtains the position movement data of the first driving member 32 by monitoring the relative position of the first piston rod 322 and the first cylinder block 324, that is, the stroke position of the first piston rod 322. This monitoring method enables the position detection device 40 to accurately obtain the position movement data of the first driving member 32, so as to ensure that the controller 50 can accurately calculate the actual distance value between the shovel plate device 20 and the cutting portion 10, and the controller 50 can accurately determine the relative position between the cutting portion 10 and the shovel plate device 20, avoiding the problem that the controller 50 makes a misjudgment due to inaccurate actual distance value and wrongly suspends the swinging of the shovel plate device 20 and the cutting portion 10. Furthermore, it ensures that the anti-collision system can accurately implement its anti-collision function, and the shovel plate device 20 and the cutting portion 10 can work normally.

[0046] Specifically, asFigure 1 As shown in the figure, in the first embodiment of the present invention, the second driving member 34 includes a second cylinder block 344 and a second piston rod 342. Among them, the second cylinder block 344 has a second inner cavity 3442, a part of the second piston rod 342 is arranged in the second inner cavity 3442, and the second piston rod 342 can axially expand and contract relative to the second cylinder block 344. The second piston rod 342 divides the second inner cavity 3442 into a second rod chamber 3444 and a second rodless chamber 3446. One end of the position detection device 40 is fixed on the second bottom wall 3448 of the second rodless chamber 3446, and the other end is inserted into the second piston rod 342. The second piston rod 342 can move axially along the second cylinder block 344 relative to the position detection device 40, and the position detection device 40 is used to monitor the stroke position of the second piston rod 342.

[0047] In the above setting, the position detection device 40 obtains the position movement data of the second driving member 34 by monitoring the relative position between the second piston rod 342 and the second cylinder block 344, that is, the stroke position of the second piston rod 342. This monitoring method enables the position detection device 40 to accurately obtain the position movement data of the second driving member 34, so as to ensure that the controller 50 can accurately calculate the actual distance value between the shovel plate device 20 and the cutting part 10, and the controller 50 can accurately determine the relative position between the cutting part 10 and the shovel plate device 20, avoiding the problem that the controller 50 makes a misjudgment due to the inaccurate actual distance value and wrongly aborting the swinging of the shovel plate device 20 and the cutting part 10. Furthermore, it ensures that the anti-collision system can accurately implement its anti-collision function, and the shovel plate device 20 and the cutting part 10 can work normally.

[0048] Specifically, as Figure 1 shown in the figure, in the first embodiment of the present invention, the anti-collision system further includes a hydraulic control device 60. The hydraulic control device 60 is connected to the controller 50. The hydraulic control device 60 includes an oil supply pipeline 62, a first reversing valve 64, and a second reversing valve 66. Among them, the first reversing valve 64 has a first oil supply port 642 and a first working oil port 644. The first oil supply port 642 is connected to the oil supply pipeline 62, and the first working oil port 644 is connected to the first driving member 32. The second reversing valve 66 has a second oil supply port 662 and a second working oil port 664. The second oil supply port 662 is connected to the oil supply pipeline 62, and the second working oil port 664 is connected to the second driving member 34. The controller 50 is connected to the first reversing valve 64 and the second reversing valve 66. The controller 50 stops the action of the first driving member 32 by controlling the on-off of the first oil supply port 642 and the first working oil port 644, and the controller 50 stops the action of the second driving member 34 by controlling the on-off of the second oil supply port 662 and the second working oil port 664.

[0049] In the above setting, when the scraper plate device 20 and the cutting part 10 are in the normal working state, the first oil supply port 642 is communicated with the first working oil port 644, and the hydraulic oil can enter the first driving member 32 and the second driving member 34 through the first working oil port 644. The first driving member 32 drives the cutting part 10 to swing normally, and the second driving member 34 drives the scraper plate device 20 to swing normally. The controller 50 can disconnect and non-connect the first oil supply port 642 and the first working oil port 644, so that the hydraulic oil cannot enter the first driving member 32 and the second driving member 34, and the cutting part 10 and the scraper plate device 20 stop swinging. At this time, the hydraulic oil in the first driving member 32 and the second driving member 34 is in a pressure-holding state and the hydraulic oil does not flow. This enables the cutting part 10 and the scraper plate device 20 to stop swinging and be in a locked state, thus avoiding the problem that the cutting part 10 and the scraper plate device 20 collide and are damaged due to continued swinging under the action of external forces, such as the impact force of an external object, and further ensuring that the cutting part 10 and the scraper plate device 20 can work normally.

[0050] Specifically, as Figure 1 shown, in the first embodiment of the present invention, the first reversing valve 64 is a pilot-operated reversing valve, and the hydraulic control device 60 further includes a pilot handle 68, a first pilot control pipeline 69, and a first electromagnetic on-off valve 61. Among them, the pilot handle 68 includes a first pilot control device 682. One end of the first pilot control pipeline 69 is connected to the first pilot control device 682, and the other end is connected to the pilot oil input end of the first reversing valve 64. The first electromagnetic on-off valve 61 is arranged on the first pilot control pipeline 69, and the controller 50 is connected to the first electromagnetic on-off valve 61. The controller 50 controls the on-off of the first pilot control pipeline 69 by controlling the action of the first electromagnetic on-off valve 61.

[0051] In the above setting, the controller 50 controls the on-off of the first oil supply port 642 and the first working oil port 644 by indirectly controlling the on-off of the first pilot control pipeline 69, so as to realize the function that the controller 50 stops the driving device 30 from acting and the cutting part 10 swings, and further ensure that the anti-collision system can work normally.

[0052] It should be noted that, as Figure 1As shown, in the first embodiment of the present invention, the first reversing valve 64 is a three-position four-way pilot-operated reversing valve. When the first reversing valve 64 is in the middle position, the first oil supply port 642 is disconnected from the first working oil port 644, and the middle position is the initial position of the first reversing valve 64, that is, the first reversing valve 64 is in the middle position when it does not receive the pilot oil control signal. The first electromagnetic on-off valve 61 is arranged on the first pilot control pipeline 69 at the right position of the first reversing valve 64. The first pilot control pipeline 69 at the right position mainly realizes the right-position reversing function of the first reversing valve 64, that is, the first oil supply port 642 is communicated with the first rodless cavity 3246 of the first driving member 32, the first driving member 32 contracts, and the cutting part 10 swings towards the direction close to the shovel plate device 20. After the first electromagnetic on-off valve 61 is disconnected, the first pilot control pipeline 69 at the right position is disconnected, the right-position reversing function of the first reversing valve 64 fails, the first reversing valve 64 returns to the initial position, the first oil supply port 642 is disconnected from the first working oil port 644, and the cutting part 10 stops swinging and is in a locked state.

[0053] It should be noted that as Figure 1 shown, in the first embodiment of the present invention, the first pilot control pipeline 69 at the left position mainly realizes the left-position reversing function of the first reversing valve 64, that is, the first oil supply port 642 is communicated with the first rodless cavity 3246 of the first driving member 32, the first driving member 32 extends, and the cutting part 10 swings towards the direction away from the shovel plate device 20. Therefore, there is no need to arrange the first electromagnetic on-off valve 61 on the first pilot control pipeline 69 at the left position.

[0054] Specifically, as Figure 1 shown, in the first embodiment of the present invention, the second reversing valve 66 is a pilot-operated reversing valve. The hydraulic control device 60 further includes a pilot handle 68, a second pilot control pipeline 63 and a second electromagnetic on-off valve 65. Among them, the pilot handle 68 includes a second pilot control device 684. One end of the second pilot control pipeline 63 is connected to the second pilot control device 684, and the other end is connected to the pilot oil input end of the second reversing valve 66. The second electromagnetic on-off valve 65 is arranged on the second pilot control pipeline 63, and the controller 50 is connected to the second electromagnetic on-off valve 65. The controller 50 controls the on-off of the second pilot control pipeline 63 by controlling the action of the second electromagnetic on-off valve 65.

[0055] In the above setting, the controller 50 controls the on-off of the second oil supply port 662 and the second working oil port 664 by indirectly controlling the on-off of the second pilot control pipeline 63, so as to realize the function that the controller 50 stops the driving device 30 from acting and the shovel plate device 20 swings, and further ensure that the anti-collision system can work normally.

[0056] It should be noted that as Figure 1As shown in the figure, in the first embodiment of the present invention, the second reversing valve 66 is a three-position four-way pilot-operated reversing valve. When the second reversing valve 66 is in the neutral position, the second oil supply port 662 is disconnected from the second working oil port 664, and the neutral position is the initial position of the second reversing valve 66, that is, the second reversing valve 66 is in the neutral position when it does not receive the pilot oil control signal. The second electromagnetic on-off valve 65 is arranged on the second pilot control pipeline 63 at the left position of the second reversing valve 66. The second pilot control pipeline 63 at the left position mainly realizes the left-position reversing function of the second reversing valve 66, that is, the second oil supply port 662 is communicated with the second rod chamber 3444 of the second driving member 34, the second driving member 34 contracts, and the shovel plate device 20 swings towards the direction close to the cutting part 10. After the second electromagnetic on-off valve 65 is disconnected, the second pilot control pipeline 63 at the left position is disconnected, the left-position reversing function of the second reversing valve 66 fails, the second reversing valve 66 returns to the initial position, the second oil supply port 662 is disconnected from the second working oil port 664, and the shovel plate device 20 stops swinging and is in a locked state.

[0057] It should be noted that, as Figure 1 shown, in the first embodiment of the present invention, the second pilot control pipeline 63 at the right position mainly realizes the right-position reversing function of the second reversing valve 66, that is, the second oil supply port 662 is communicated with the second rodless chamber 3446 of the second driving member 34, the second driving member 34 extends, and the shovel plate device 20 swings towards the direction away from the cutting part 10. Therefore, there is no need to set the second electromagnetic on-off valve 65 on the second pilot control pipeline 63 at the right position.

[0058] Specifically, as Figure 1 shown, in the first embodiment of the present invention, the controller 50 includes an alarm component. When the controller 50 determines that the cutting part 10 and the shovel plate device 20 are about to collide, the alarm component plays an alarm prompt sound.

[0059] In the above setting, the alarm component mainly plays a warning role, prompting the on-site operator to timely correct the relative position relationship between the cutting part 10 and the shovel plate device 20, avoiding the collision and damage between the cutting part 10 and the shovel plate device 20, so as to ensure that the cutting part 10 and the shovel plate device 20 can work normally.

[0060] Embodiment Two

[0061] The differences between Embodiment Two and Embodiment One are as follows:

[0062] Specifically, as Figure 2 shown, in the second embodiment of the present invention, the first reversing valve 64 is an electromagnetic reversing valve, the second reversing valve 66 is an electromagnetic reversing valve, and the controller 50 is connected to the electrical signal terminal of the electromagnetic reversing valve.

[0063] More specifically, as Figure 2As shown in the figure, in the second embodiment of the present invention, the first reversing valve 64 and the second reversing valve 66 are three-position four-way electromagnetic reversing valves. The controller 50 can control the on-off of the power supply circuit of the three-position four-way electromagnetic reversing valve. When the controller 50 disconnects the power supply circuit, the first reversing valve 64 and the second reversing valve 66 return to the neutral position, that is, the first oil supply port 642 is disconnected from the first working oil port 644, and the second oil supply port 662 is disconnected from the second working oil port 664.

[0064] In the above setting, the controller 50 controls the on-off of the first oil supply port 642 and the first working oil port 644, and the on-off of the second oil supply port 662 and the second working oil port 664 by indirectly controlling the on-off of the power supply circuits of the first reversing valve 64 and the second reversing valve 66, so as to realize the function that the controller 50 suspends the operation of the driving device 30 and suspends the swinging of the scraper plate device 20 and the cutting part 10, thereby ensuring that the anti-collision system can work normally.

[0065] It should be noted that when the first reversing valve 64 and the second reversing valve 66 are set as three-position four-way electromagnetic reversing valves, there is no need to set the pilot handle 68 and the pilot control pipeline.

[0066] The other structures of the first embodiment and the second embodiment are the same and will not be described in detail here.

[0067] The present invention also provides a roadheader, which includes an anti-collision system and a vehicle body according to any one of the first aspect embodiments 1 and 2, and the anti-collision system is integrally arranged on the vehicle body.

[0068] In the above setting, the anti-collision system enables the roadheader to have an automatic anti-collision function, thus avoiding the problem that the cutting part 10 and the scraper plate device 20 collide and are damaged during the operation of the roadheader, thereby ensuring that the roadheader can work normally and then successfully completing the coal mining task on site.

[0069] The roadheader provided by the technical solution of the second aspect of the present invention includes the anti-collision system according to any one of the first aspect embodiments, and thus has all the beneficial effects of any of the above embodiments, which will not be described in detail here.

[0070] The anti-collision system and the roadheader of the present application have the following advantages:

[0071] 1. Without changing the mechanical component structure and the equipment working range, anti-collision protection is realized by setting the hydraulic control device 60 and the controller 50.

[0072] 2. The anti-collision system is easy to implement, and anti-collision protection can be realized by simply modifying the existing equipment.

[0073] 3. The anti-collision system has stable and reliable performance, can effectively protect the equipment, and avoid mechanical collision damage.

[0074] From the above description, it can be seen that the controller 50 stops the swinging of the scraper plate device 20 and the cutting part 10 towards each other by stopping the operation of the driving device 30, thus avoiding the problem of damage caused by the collision between the scraper plate device 20 and the cutting part 10, and ensuring that the scraper plate device 20 and the cutting part 10 can work normally. In addition, in this application, the position detection device 40 is arranged inside the driving device 30, that is, the position detection device 40 is not exposed to the air, thus avoiding the problem that in the related art, the position detection device 40 is directly arranged on the scraper plate device 20 and the cutting part 10, making the position detection device 40 easily damaged when exposed to the air, thereby improving the working stability and reliability of the position detection device 40, further ensuring that the controller 50 can work normally, and finally ensuring that the scraper plate device 20 and the cutting part 10 can work normally.

[0075] In the present invention, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance; the term "plurality" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as a limitation to the present invention.

[0077] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0078] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An anti-collision system, characterized in that, the anti-collision system includes: a roadheader body; a cutting part (10) arranged on the roadheader body, and the cutting part (10) can swing relative to the roadheader body; a scraper plate device (20) arranged on the roadheader body, the scraper plate device (20) can swing relative to the roadheader body, the scraper plate device (20) is arranged opposite to the cutting part (10), and the scraper plate device (20) and the cutting part (10) can swing in a direction approaching each other; a driving device (30), the driving device (30) is connected to the cutting part (10) and the scraper plate device (20) for driving the cutting part (10) and the scraper plate device (20) to swing; a position detection device (40) arranged in the driving device (30) for monitoring the moving position of the driving device (30); a controller (50) connected to the driving device (30) and the position detection device (40); wherein, the controller (50) can determine the relative position between the cutting part (10) and the scraper plate device (20) according to the position movement information of the driving device (30), and when the controller (50) determines that the cutting part (10) and the scraper plate device (20) are about to collide, the controller (50) can abort the operation of the driving device (30); the anti-collision system further includes a hydraulic control device (60), the hydraulic control device (60) is connected to the controller (50), and the hydraulic control device (60) includes: an oil supply pipeline (62); a first reversing valve (64) having a first oil supply port (642) and a first working oil port (644), the first oil supply port (642) is connected to the oil supply pipeline (62), and the first working oil port (644) is connected to a first driving member (32); a second reversing valve (66) having a second oil supply port (662) and a second working oil port (664), the second oil supply port (662) is connected to the oil supply pipeline (62), and the second working oil port (664) is connected to a second driving member (34); wherein, the controller (50) is connected to the first reversing valve (64) and the second reversing valve (66), and the controller (50) aborts the operation of the first driving member (32) by controlling the on-off of the first oil supply port (642) and the first working oil port (644), and the controller (50) aborts the operation of the second driving member (34) by controlling the on-off of the second oil supply port (662) and the second working oil port (664); the controller (50) disconnects the first oil supply port (642) and the first working oil port (644), the cutting part (10) and the scraper plate device (20) stop swinging, and the hydraulic oil in the first driving member (32) and the second driving member (34) is in a pressure-holding state, so that the cutting part (10) and the scraper plate device (20) stop swinging and are in a locked state.

2. The anti-collision system according to claim 1, characterized in that, The driving device (30) includes: A first driving member (32) for driving the cutting portion (10); A second driving member (34) for driving the shovel plate device (20); Wherein, the position detection device (40) is arranged in the first driving member (32) and / or the second driving member (34).

3. The anti-collision system according to claim 2, characterized in that The first driving member (32) includes: A first cylinder block (324) having a first inner cavity (3242); A first piston rod (322) partially arranged in the first inner cavity (3242), and the first piston rod (322) can axially expand and contract relative to the first cylinder block (324); Wherein, the first piston rod (322) divides the first inner cavity (3242) into a first rod chamber (3244) and a first rodless chamber (3246). One end of the position detection device (40) is fixed on the first bottom wall (3248) of the first rodless chamber (3246), and the other end is inserted into the first piston rod (322). The first piston rod (322) can axially move relative to the position detection device (40) along the first cylinder block (324), and the position detection device (40) is used to monitor the stroke position of the first piston rod (322).

4. The anti-collision system according to claim 2, characterized in that The second driving member (34) includes: A second cylinder block (344) having a second inner cavity (3442); A second piston rod (342) partially arranged in the second inner cavity (3442), and the second piston rod (342) can axially expand and contract relative to the second cylinder block (344); Wherein, the second piston rod (342) divides the second inner cavity (3442) into a second rod chamber (3444) and a second rodless chamber (3446). One end of the position detection device (40) is fixed on the second bottom wall (3448) of the second rodless chamber (3446), and the other end is inserted into the second piston rod (342). The second piston rod (342) can axially move relative to the position detection device (40) along the second cylinder block (344), and the position detection device (40) is used to monitor the stroke position of the second piston rod (342).

5. The anti-collision system according to claim 1, characterized in that The first reversing valve (64) is an electromagnetic reversing valve, and / or the second reversing valve (66) is an electromagnetic reversing valve, and the controller (50) is connected to the electrical signal terminal of the electromagnetic reversing valve.

6. The anti-collision system according to claim 1, characterized in that The first reversing valve (64) is a pilot-operated reversing valve, and the hydraulic control device (60) further includes: A pilot handle (68) including a first pilot control device (682); A first pilot control pipeline (69), one end of which is connected to the first pilot control device (682), and the other end is connected to the pilot oil input end of the first reversing valve (64); The first electromagnetic on-off valve (61) is arranged on the first pilot control pipeline (69); Wherein, the controller (50) is connected to the first electromagnetic on-off valve (61), and the controller (50) controls the on-off of the first pilot control pipeline (69) by controlling the action of the first electromagnetic on-off valve (61).

7. The anti-collision system according to claim 1, Characterized in that, The second reversing valve (66) is a pilot-operated reversing valve, and the hydraulic control device (60) further includes: A pilot handle (68), including a second pilot control device (684); A second pilot control pipeline (63), one end of which is connected to the second pilot control device (684), and the other end of which is connected to the pilot oil input end of the second reversing valve (66); A second electromagnetic on-off valve (65) is arranged on the second pilot control pipeline (63); Wherein, the controller (50) is connected to the second electromagnetic on-off valve (65), and the controller (50) controls the on-off of the second pilot control pipeline (63) by controlling the action of the second electromagnetic on-off valve (65).

8. The anti-collision system according to any one of claims 1 to 4, Characterized in that, The controller (50) includes an alarm component, and when the controller (50) determines that the cutting part (10) is about to collide with the scraper plate device (20), the alarm component plays an alarm prompt sound.

9. A roadheader, Characterized in that, The roadheader includes the anti-collision system according to any one of claims 1 to 8 and a vehicle body, and the anti-collision system is integrally arranged on the vehicle body.

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