A control system and method for automatically adjusting the moving speed of the cutting arm of a cantilever type tunnel boring machine

Abstract

The present invention belongs to the technical field of engineering machinery, and discloses a control system and method for automatically adjusting the moving speed of the cutting arm of a cantilevered tunnel boring machine. The system adopted by the method includes: a double-axis operating lever with a ship-shaped double-position button for adjusting the moving speed gear of the cutting arm, a double-axis operating lever for adjusting the moving speed of the cutting arm on a remote controller, and a cutting arm moving speed gear selection knob; a high-performance and high-protection-level vehicle-mounted mobile controller for processing signals collected by a current acquisition system set in a control cabinet, and connected to a hydraulic proportional solenoid valve driven by outputting current signals using PWMI technology in a hydraulic valve group through a mobile vehicle PWMI output module in a valve junction box; four electro-hydraulic proportional pressure regulating valves for the ascending and descending and left and right rotating hydraulic cylinders in the hydraulic valve group are actuators for controlling the up, down, left and right movement of the hydraulic cylinders; the present invention prolongs the life of the equipment and improves production efficiency. It reduces the problem of frequent shutdowns caused by large current overloads, and is more user-friendly and intelligent to use.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a control system and method for automatically adjusting the moving speed of a cutting arm of a cantilever type tunnel boring machine. Background Art

[0002] The cantilevered roadheader is an important part of tunnel excavation engineering machinery. It can realize continuous cutting, loading and transportation operations. The rock composition inside the tunnel is not constant, and the hardness of different rock compositions is also different. When the cutting arm moves at a constant speed to cut hard rocks, the load on the cutting part will increase, causing the cutting motor and drive cylinder to overload, and damaging electrical components and mechanical structures.

[0003] The tunnel boring machine is divided into cab control mode and remote control mode. When in cab control mode, because the operator is close to the cutting arm, he manually controls the cutting arm movement lever, displays the current through the touch screen installed in the cab, refers to the cutting motor current and observes the movement of the cutting arm at close range, and can manually adjust the moving speed of the cutting arm. When in remote control mode, the operator is far away from the cutting arm area, and cannot accurately judge the movement status of the cutting arm due to line of sight and on-site environment problems. At this time, measures need to be taken to automatically adjust the moving speed of the cutting arm. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a control system and method for automatically adjusting the moving speed of the cutting arm of a cantilever type roadheader.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0006] A control system for automatically adjusting the moving speed of the cutting arm of a cantilevered roadheader, comprising: a display screen in a cab that displays current, hydraulic and other parameter values, a double-axis operating lever with a ship-shaped double-position button for adjusting the moving speed gear of the cutting arm; a double-axis operating lever for adjusting the moving speed of the cutting arm and a cutting arm moving speed gear selection knob on a remote controller; a high-performance, high-protection-level vehicle-mounted mobile controller for processing signals collected by a current acquisition system arranged in a control cabinet, which is respectively connected to a hydraulic proportional solenoid valve in a hydraulic valve group that uses PWMI technology to output current signals to drive the hydraulic proportional solenoid valve through a mobile vehicle PWMI output module in a valve junction box; four electro-hydraulic proportional pressure regulating valves for the ascending and descending hydraulic cylinder and the left and right rotating hydraulic cylinder in the hydraulic valve group are actuators for controlling the hydraulic cylinder to move the cutting arm up, down, left and right at a specific speed; the current acquisition system is for real-time acquisition of current data of the cutting motor and transmits it to the vehicle-mounted mobile controller;

[0007] The dual axes of the dual-axis operating lever are divided into X and Y axes, which respectively control the up, down, left and right movement of the cutting arm. The greater the inclination of the operating lever, the greater the moving speed of the cutting arm; the boat-shaped double-position switch on the cab operating lever, click the double-position button to increase or decrease the moving speed gear of the cutting arm, and the moving speed is divided into 4 gears from low to high: 0, 1, 2, 3; the cutting arm moving speed gear selection knob of the remote control, rotate the knob to select the cutting arm moving speed gear, and the moving speed is divided into 4 gears from low to high: 0, 1, 2, 3; the current acquisition system of the cutting motor and the on-board mobile controller are installed in the control cabinet, and the current acquisition system converts the actual current into 4-20mA current The flow is transmitted to the vehicle-mounted mobile controller, which is the core of the entire system and performs program and algorithm processing, and receives and sends signals; the mobile vehicle PWMI output module is installed in the valve junction box, and outputs the modulated and demodulated current signal to control the electro-hydraulic proportional pressure regulating valve; the electro-hydraulic proportional pressure regulating valve is installed in the hydraulic valve group to control the flow of hydraulic oil; the hydraulic cylinder serves as an operating actuator to control the up, down, left and right movement of the cutting arm; the remote control transmitter communicates with the receiver via radio; the remote control receiver, the vehicle-mounted mobile controller, the mobile vehicle-specific PWMI output module and the cab communicate via CANOPEN.

[0008] A control method for automatically adjusting the moving speed of a cantilever type roadheader cutting arm is provided. When encountering hard rocks during tunnel excavation, a control system for automatically and steplessly adjusting the moving speed of the cutting arm is adopted. By automatically adjusting the moving speed of the cutting arm, the failure rate of the roadheader during cutting is reduced. The steps are as follows:

[0009] 1) In the cab mode, adjust the moving speed of the cutting arm. The moving speed of the cutting arm is determined by the driver according to the actual cutting situation of the cutting arm on site. By observing the real-time cutting motor current displayed on the display screen, the driver clicks the boat-shaped double-position button on the double-axis operating lever in the cab to determine the moving speed gear of the cutting arm, controls the tilt amplitude of the operating lever, and manually determines the moving speed of the cutting arm;

[0010] When the current of the cutting motor becomes smaller, you can manually increase the tilt of the operating lever or click the boat-shaped button to increase the moving speed gear to increase the moving speed of the cutting arm;

[0011] When the current of the cutting motor becomes larger, you can manually reduce the tilt of the operating lever or click the boat-shaped button to reduce the moving speed gear to reduce the moving speed of the cutting arm;

[0012] 2) Remote control mode: the moving speed of the cutting arm is determined by the speed gear selection knob, the tilt range of the dual-axis operating lever, and the current of the cutting motor. After the gear selection button and the tilt range of the operating lever determine the moving speed of the cutting arm, the remote control determines the moving speed of the cutting arm.

[0013] When the current of the cutting motor increases, the gear of the cutting arm moving speed is automatically downgraded in the program, and the cutting arm moving speed automatically decreases. When the current of the cutting motor decreases, the current moving speed gear is automatically upgraded in the program until it reaches the speed gear set by the gear selection button, and the cutting arm moving speed automatically increases at the same time;

[0014] Among them, the cutting motor current acts on the control of the cutting arm movement speed. The cutting motor current value collected by the current acquisition system is greater than 0.85 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 0, and the cutting arm movement speed is set to gear 0; the current value is greater than 0.75 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is set to gear 1; the current value is greater than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 2, and the cutting arm movement speed is set to gear 2; the current value is less than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is set to gear 3;

[0015] Among them, the moving speed gear and the dual-axis operating lever determine the control of the moving speed of the cutting arm as follows: The X-axis is the tilt amplitude range of the dual-axis operating lever 0-100%, and the Y-axis is converted into the engineering value 0-1000 in the program, which corresponds to the output current value of the opening range of the electro-hydraulic proportional pressure regulating valve corresponding to 0-1000mA. The opening of the electro-hydraulic proportional pressure regulating valve and the control current ratio are in linear proportion;

[0016] The tilt amplitude of the operating lever from 0 to 100% is divided into 5 sections, namely 5%, 10%, 50%, 75% and 100%, and each section corresponds to an output current value straight line with a different slope; the moving speed of the cutting arm is divided into four gears of 0, 1, 2, and 3 that increase successively, and the speed curve of each gear is divided into 5 sections. The first section is set to overcome the "slip-stick effect" of the electro-hydraulic proportional pressure regulating valve at startup. The 0-5% speed curve has a larger slope, and a small tilt of the operating lever can generate a large current to reach the hydraulic valve opening current; in summary, the moving speed of the cutting arm is determined by the cutting arm moving speed gear and the tilt amplitude of the operating lever.

[0017] Due to the adoption of the above technical solution, the present invention has the following advantages:

[0018] A control system and method for automatically adjusting the moving speed of a cutting arm of a cantilever type tunnel boring machine is a system for automatically adjusting the moving speed of a cutting arm applied to a cantilever type tunnel boring machine of tunnel excavation engineering machinery, and has the following advantages:

[0019] 1. The two adjustment modes of the cutting arm moving speed make the cutting arm moving speed control more humane and intelligent, reducing the problem of frequent shutdown of the cutting motor due to high power and current overload, extending the trouble-free operation time of the equipment and improving production efficiency.

[0020] 2. The remote controller transmitter communicates with the receiver via radio; the remote controller receiver, the vehicle-mounted mobile controller, the mobile vehicle-specific PWMI output module and the cab communicate via CANOPEN, which greatly reduces the connection between devices and simplifies control.

[0021] 3. The cutting arm movement speed is automatically adjusted by the knob switch of the remote control, the tilt range of the operating lever and the current of the cutting motor, which reduces the energy consumption ratio of the tunnel boring machine and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Functional diagram of the automatic speed control system of the boom roadheader;

[0023] Figure 2 Working range curve of electro-hydraulic proportional pressure regulating valve;

[0024] Figure 3 The graph of the tilt amplitude of the joystick and the output current;

[0025] Figure 4 Flow chart of cutting current determining moving speed gear. DETAILED DESCRIPTION

[0026] like Figure 1As shown in the figure, a control system for automatically adjusting the moving speed of the cutting arm of a cantilevered roadheader comprises: a display screen in the cab that displays parameter values ​​such as current and hydraulic pressure, a double-axis operating lever with a ship-shaped double-position button for adjusting the moving speed gear of the cutting arm; a double-axis operating lever for adjusting the moving speed of the cutting arm and a cutting arm moving speed gear selection knob on a remote controller; a high-performance and high-protection-level vehicle-mounted mobile controller in the control cabinet that processes signals collected by a current collection system, and respectively connects to the PWMI technology in the hydraulic valve group through a mobile vehicle PWMI output module in a valve junction box. The output current signal of the technique drives the hydraulic proportional solenoid valve; the four electro-hydraulic proportional pressure regulating valves of the ascending and descending hydraulic cylinder and the left and right rotating hydraulic cylinder in the hydraulic valve group are the actuators that control the hydraulic cylinder to make the cutting arm move up, down, left and right at a specific speed; the current acquisition system is to collect the current data of the cutting motor in real time and transmit it to the vehicle-mounted mobile controller; the dual-axis of the dual-axis operating lever is divided into X and Y axes, which respectively control the up, down, left and right movement of the cutting arm. The greater the inclination of the operating lever, the greater the moving speed of the cutting arm; the boat-shaped double-position switch on the cab operating lever, click The double-position button increases or decreases the moving speed gear of the cutting arm, and the moving speed is divided into 4 gears of 0, 1, 2, and 3 from low to high; the cutting arm moving speed gear selection knob of the remote control is used to rotate the knob to select the moving speed gear of the cutting arm, and the moving speed is divided into 4 gears of 0, 1, 2, and 3 from low to high; the current acquisition system of the cutting motor and the vehicle-mounted mobile controller are installed in the control cabinet, and the current acquisition system converts the actual current into 4-20mA current and transmits it to the vehicle-mounted mobile controller. The vehicle-mounted mobile controller is the core of the entire system, and performs program and algorithm processing, and receives and sends signals; the mobile vehicle PWMI output module is installed in the valve junction box, and the modulated and demodulated current signal is output to control the electro-hydraulic proportional pressure regulating valve; the electro-hydraulic proportional pressure regulating valve is installed in the hydraulic valve group to control the size of the hydraulic oil flow; the hydraulic cylinder is used as an operating actuator to control the up, down, left, and right movement of the cutting arm; the remote controller transmitter communicates with the receiver through radio; the remote controller receiver, the vehicle-mounted mobile controller, the mobile vehicle dedicated PWMI output module and the cab communicate through CANOPEN.

[0027] The specific strategy of this scheme for adjusting the moving speed of the cutting arm of the cantilevered tunnel boring machine is as follows: 1. In the cab control mode, the driver moves the cutting arm according to the on-site cutting situation, refers to the running current of the cutting motor displayed on the display screen inside the cab, clicks the boat-shaped two-position button on the cab's dual-axis operating lever to determine the moving speed gear of the cutting arm, controls the tilting amplitude of the operating lever, and determines the moving speed of the cutting arm. When the current of the cutting motor becomes smaller, the tilting amplitude of the operating lever can be manually increased or the boat-shaped button can be clicked to increase the moving speed gear to increase the moving speed of the cutting arm. When the current of the cutting motor becomes larger, the tilting amplitude of the operating lever can be manually reduced or the boat-shaped button can be clicked to reduce the moving speed gear to reduce the moving speed of the cutting arm; 2. In the remote control mode, the cutting arm moving speed gear is set by the speed selection knob on the remote controller, the tilting amplitude of the operating lever is controlled, and the moving speed of the cutting arm is determined. When the current of the cutting motor becomes larger, the moving speed gear of the cutting arm is automatically downgraded in the program, and the moving speed of the cutting arm automatically decreases. When the current of the cutting motor decreases, the current moving speed gear is automatically upgraded in the program until it reaches the speed gear set by the gear selection button, and the moving speed of the cutting arm is automatically increased at the same time.

[0028] In the present invention, the control method of the cutting motor current acting on the moving speed of the cutting arm is as follows: Figure 4 As shown, the current value of the cutting motor collected by the current acquisition system is greater than 0.85 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 0, and the cutting arm movement speed is specified to gear 0; the current value is greater than 0.75 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is specified to gear 1; the current value is greater than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 2, and the cutting arm movement speed is specified to gear 2; the current value is less than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is specified to gear 3.

[0029] In the present invention, the method of determining the moving speed of the cutting arm by the moving speed gear and the dual-axis operating lever is as follows: Figure 3 As shown, the X-axis is the tilt range of the dual-axis joystick 0-100%, and the Y-axis is converted into the engineering value 0-1000 in the program, which corresponds to the output current value of the opening range of the electro-hydraulic proportional pressure regulating valve corresponding to 0-1000mA. The opening and control current of the electro-hydraulic proportional pressure regulating valve are as follows. Figure 2The linear ratio is shown. The tilt range of the operating lever from 0 to 100% is divided into 5 sections, namely 5%, 10%, 50%, 75% and 100%, and each section corresponds to a straight line of output current value with different slopes. The moving speed of the cutting arm is divided into four gears of 0, 1, 2, and 3, which increase successively. The speed curve of each gear is divided into 5 sections. The slope of the speed curve set at 0-5% in the first section is relatively large, in order to overcome the "slip-stick effect" of the electro-hydraulic proportional pressure regulating valve at startup. Figure 2 As shown in the figure, a small tilt of the operating lever can generate a large current to reach the hydraulic valve opening current. Different moving speed gears correspond to different output current value curves. In summary, the moving speed of the cutting arm can be determined by the moving speed gear of the cutting arm and the tilt of the operating lever.

[0030] In summary, the cutting motor current, moving speed gear and dual-axis operating lever work together to control the moving speed of the cutting arm, thereby realizing the automated and intelligent control of the moving speed of the cutting arm of the tunnel boring machine.

Claims

1. A control system for automatically adjusting the moving speed of a cantilevered roadheader cutting arm, characterized in that: include: The display screen in the cab displays the current, hydraulic and other parameter values, and the double-axis joystick with a ship-shaped double-position button for adjusting the speed of the cutting arm; The remote controller has a dual-axis operating lever for adjusting the moving speed of the cutting arm and a knob for selecting the moving speed of the cutting arm; the high-performance, high-protection-level vehicle-mounted mobile controller that processes the signals collected by the current acquisition system in the control cabinet is connected to the hydraulic proportional solenoid valve in the hydraulic valve group that uses the PWMI technology to output current signals through the mobile vehicle PWMI output module in the valve junction box; the four electro-hydraulic proportional pressure regulating valves of the ascending and descending hydraulic cylinder and the left and right rotating hydraulic cylinder in the hydraulic valve group are actuators that control the hydraulic cylinder to move the cutting arm up, down, left, and right at a specific speed; the current acquisition system collects the current data of the cutting motor in real time and transmits it to the vehicle-mounted mobile controller; The current acquisition system and vehicle-mounted mobile controller of the cutting motor are installed in the control cabinet. The current acquisition system converts the actual current into 4-20mA current and transmits it to the vehicle-mounted mobile controller. The vehicle-mounted mobile controller is the core component of the entire system and is used to process, receive and send signals; the mobile vehicle PWMI output module is installed in the valve junction box, and the output modulated and demodulated current signal controls the electro-hydraulic proportional pressure regulating valve; the electro-hydraulic proportional pressure regulating valve is installed in the hydraulic valve group to control the flow of hydraulic oil; The hydraulic cylinder is used as the operating actuator to control the cutting arm to move up, down, left and right; the remote controller transmitter communicates with the receiver via radio; the remote controller receiver, the vehicle-mounted mobile controller, the mobile vehicle-specific PWMI output module and the cab communicate via CANOPEN; The dual axes of the dual-axis operating lever are divided into X-axis and Y-axis, which are respectively used to control the up, down, left and right movement of the cutting arm. The greater the inclination amplitude of the operating lever, the greater the movement speed of the cutting arm.

2. The control system for automatically adjusting the moving speed of the cutting arm of a cantilever type roadheader according to claim 1 is characterized in that: The boat-shaped two-position switch on the operating lever in the cab, click the two-position button to increase or decrease the cutting arm moving speed gear, the moving speed is divided into 4 gears from low to high: 0, 1, 2, 3.

3. The control system for automatically adjusting the moving speed of the cutting arm of a cantilevered roadheader according to claim 1 is characterized in that: The remote control cutting arm speed gear selection knob is used to rotate the knob to select the cutting arm speed gear. The moving speed is divided into 4 gears from low to high, namely 0, 1, 2, and 3.

4. A control method for automatically adjusting the moving speed of a cantilevered roadheader cutting arm, characterized in that: When encountering hard rocks during tunnel excavation, a control system for automatically adjusting the moving speed of the cutting arm of a cantilever type tunnel boring machine as claimed in claim 1 is used to reduce the failure rate of the tunnel boring machine during cutting by automatically adjusting the moving speed of the cutting arm. The steps are as follows: 1) In the cab mode, adjust the moving speed of the cutting arm. The moving speed of the cutting arm is determined by the driver according to the actual cutting situation of the cutting arm on site. By observing the real-time cutting motor current displayed on the display screen, the driver clicks the boat-shaped double-position button on the double-axis operating lever in the cab to determine the moving speed gear of the cutting arm, controls the tilt amplitude of the operating lever, and manually determines the moving speed of the cutting arm; When the current of the cutting motor becomes smaller, you can manually increase the tilt of the operating lever or click the boat-shaped button to increase the moving speed gear to increase the moving speed of the cutting arm; When the current of the cutting motor becomes larger, you can manually reduce the tilt of the operating lever or click the boat-shaped button to reduce the moving speed gear to reduce the moving speed of the cutting arm; 2) Remote control mode: the moving speed of the cutting arm is determined by the speed gear selection knob, the tilt range of the dual-axis operating lever, and the current of the cutting motor. After the gear selection button and the tilt range of the operating lever determine the moving speed of the cutting arm, the remote control determines the moving speed of the cutting arm. When the current of the cutting motor increases, the gear of the cutting arm moving speed is automatically downgraded in the program, and the cutting arm moving speed automatically decreases. When the current of the cutting motor decreases, the current moving speed gear is automatically upgraded in the program until it reaches the speed gear set by the gear selection button, and the cutting arm moving speed automatically increases at the same time; Among them, the cutting motor current acts on the control of the cutting arm movement speed. The cutting motor current value collected by the current acquisition system is greater than 0.85 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 0, and the cutting arm movement speed is set to gear 0; the current value is greater than 0.75 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is set to gear 1; the current value is greater than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 2, and the cutting arm movement speed is set to gear 2; the current value is less than 0.65 times the rated current value of the cutting motor or the remote control speed selection knob is selected to gear 1, and the cutting arm movement speed is set to gear 3; Among them, the moving speed gear and the dual-axis operating lever determine the control of the moving speed of the cutting arm as follows: The X-axis is the tilt amplitude range of the dual-axis operating lever 0-100%, and the Y-axis is converted into the engineering value 0-1000 in the program, which corresponds to the output current value of the opening range of the electro-hydraulic proportional pressure regulating valve corresponding to 0-1000mA. The opening of the electro-hydraulic proportional pressure regulating valve and the control current ratio are in linear proportion; The tilt amplitude of the operating lever from 0 to 100% is divided into 5 sections, namely 5%, 10%, 50%, 75% and 100%, and each section corresponds to an output current value straight line with a different slope; the moving speed of the cutting arm is divided into four gears of 0, 1, 2, and 3 that increase successively, and the speed curve of each gear is divided into 5 sections. The first section is set to overcome the "slip-stick effect" of the electro-hydraulic proportional pressure regulating valve at startup. The 0-5% moving speed curve has a larger slope, and a small tilt of the operating lever can generate a large current to reach the hydraulic valve opening current; in summary, the moving speed of the cutting arm is determined by the cutting arm moving speed gear and the tilt amplitude of the operating lever.

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