A rotation limit system based on vertical TBM and its control method

Abstract

The present invention discloses a rotation limit system based on a vertical TBM and a control method thereof. The rotation limit system includes a controller, a mixed spraying mechanical arm, a first limit switch and a second limit switch. The mixed spraying mechanical arm is provided with a baffle; the first limit switch and the second limit switch are respectively arranged in cooperation with the baffle; the position of the second limit switch corresponds to the first limit angle when the mixed spraying mechanical arm rotates along the first direction; when the mixed spraying mechanical arm rotates along the first direction, the baffle first triggers the first limit switch, so that the first limit switch sends a first trigger signal to the controller, and the controller activates the second limit switch; if the mixed spraying mechanical arm continues to rotate along the first direction, the controller triggers the second limit switch, so that the rotation angle of the mixed spraying mechanical arm is limited to the first limit angle. The technical solution provided by the present invention can limit the rotation angle of the mixed spraying mechanical arm through the cooperation of the baffle and the two limit switches, so as to avoid damage to the equipment due to excessive rotation angle.

Description

Technical Field

[0001] The present invention relates to the field of TBM, and in particular to a rotation limiting system based on a vertical TBM and a control method thereof. Background Art

[0002] The spraying robot arm plays an important role in the vertical TBM (Tunnel Boring Machine). It is generally used to support the tunnel wall after excavation to prevent secondary collapse and ensure the safety of personnel and equipment during the excavation process.

[0003] The existing vertical TBM hybrid spraying robot arm generally uses an encoder to transmit angle data, which is then converted into analog limit control left and right rotation angles through program processing. However, this method has the following defects:

[0004] First, since the encoder is a high-precision instrument controlled by an integrated circuit board, it is easily damaged by high-frequency and high-intensity vibrations;

[0005] Second, excessive use of the encoder will cause a certain degree of angle deviation, causing the spray mixing robot arm to fail to turn into position or turn too far and break the oil pipe and line, thus affecting the spray mixing progress and the safety of equipment personnel;

[0006] Third, when the encoder no longer transmits data due to communication or equipment damage, the actual angle value of the encoder obtained in the program will be displayed as the maximum negative value of a double integer. The converted angle value will always trigger the right-hand limit, and then cause the mixed-spray robot arm to only rotate left but not right. However, the actual operator will not know that this fault has occurred when controlling the mixed-spray robot arm to rotate left. Therefore, when the left-hand angle is too large, it will cause damage to the oil pipe and line, and even endanger the safety of personnel and equipment.

[0007] Therefore, in order to solve the above problems, a rotation limiting system based on a vertical TBM and a control method thereof are now needed. Summary of the invention

[0008] In view of the above, it is necessary to provide a rotation limit system based on a vertical TBM and a control method thereof, which can monitor and limit the angle of the mixed spraying robot arm through two limit switches, which is reliable and safe. The technical solution provided by the present invention is as follows:

[0009] On the one hand, the present invention provides a rotation limiting system based on a vertical TBM, which is used to limit the rotation angle of a mixing spraying mechanical arm of the vertical TBM. The rotation limiting system includes a controller and,

[0010] A mixed-spray mechanical arm, which is electrically connected to the controller, and a baffle is provided on the mixed-spray mechanical arm, and the baffle can rotate with the mixed-spray mechanical arm;

[0011] A first limit switch and a second limit switch, which are electrically connected to the controller respectively, and the first limit switch and the second limit switch are respectively arranged in cooperation with the baffle, so that when the mixing spray mechanical arm rotates along the first direction, the baffle can trigger the first limit switch and the second limit switch in sequence; the position of the second limit switch corresponds to a first limit angle when the mixing spray mechanical arm rotates along the first direction;

[0012] When the mixed-spray robotic arm rotates along the first direction, the baffle first triggers the first limit switch, so that the first limit switch sends a first trigger signal to the controller, and in response to the first trigger signal, the controller activates the second limit switch; if the mixed-spray robotic arm continues to rotate along the first direction, the controller triggers the second limit switch, so that the rotation angle of the mixed-spray robotic arm is limited to the first limit angle.

[0013] Further, if the mixed-spray robot arm continues to rotate along the first direction and the rotation angle does not exceed the first limit angle, when the baffle triggers the first limit switch again, the first limit switch sends a second trigger signal to the controller, and in response to the second trigger signal, the controller deactivates the second limit switch.

[0014] Further, when the mixed-spray mechanical arm rotates along a second direction, the baffle can trigger the second limit switch and the first limit switch in sequence, wherein the second direction is the opposite direction of the first direction, and the position of the first limit switch corresponds to a second limit angle when the mixed-spray mechanical arm rotates along the second direction;

[0015] When the mixed-spray robotic arm rotates along the second direction, the baffle first triggers the second limit switch, so that the second limit switch sends a third trigger signal to the controller, and in response to the third trigger signal, the controller activates the first limit switch; if the mixed-spray robotic arm continues to rotate along the second direction, the controller triggers the first limit switch, so that the rotation angle of the mixed-spray robotic arm is limited to the second limit angle.

[0016] Further, if the mixed-spray robot arm continues to rotate along the second direction and the rotation angle does not exceed the second limit angle, when the baffle triggers the second limit switch again, the second limit switch sends a fourth trigger signal to the controller, and in response to the fourth trigger signal, the controller deactivates the first limit switch.

[0017] Further, the initial position of the baffle corresponds to an initial angle, and the initial angle is 0°; the first limiting angle and the second limiting angle are both in a range of 195° to 205°.

[0018] Further preferably, the first limiting angle and the second limiting angle are both 200°.

[0019] Preferably, the first limit switch and the second limit switch are both mechanical rotation limit switches. The mechanical rotation limit switch is used to ensure that during the excavation process of the vertical hard rock tunnel boring machine, the influence of the high-frequency vibration generated by the machine body on the rotation limit of the mixing spraying mechanical arm is minimized, and no angle drift is generated, so as to facilitate the replacement of the rotation limit of the mixing spraying mechanical arm and protect the safety of personnel and machines.

[0020] Furthermore, the rotation limit system also includes a power supply, which is electrically connected to the controller, and the power supply is used to supply power to the mixed spray robot arm, the first limit switch and the second limit switch.

[0021] Furthermore, the rotation limiting system further comprises an angle sensor and an alarm device, wherein the angle sensor is used to detect the rotation angle of the mixing spray robot arm;

[0022] A comparator circuit is provided in the controller, a first input end of which is electrically connected to the angle sensor, a second input end of the comparator circuit is preset with an angle threshold, and an output end of the comparator circuit is electrically connected to the alarm device; when the rotation angle of the mixed-spray robot arm detected by the angle sensor is greater than the angle threshold, the controller controls the alarm device to sound an alarm through the comparator circuit, and controls the power supply to stop supplying power.

[0023] On the other hand, the present invention provides a control method based on the above-mentioned rotation limit system based on the vertical TBM, which is used to control the rotation angle of the mixing spraying mechanical arm of the vertical TBM, and the control method includes:

[0024] S1, start the vertical TBM, so that the spray mixing robot arm starts to rotate along the first direction, and runs the rotation limit system;

[0025] S2, in response to the first limit switch of the rotation limit system being triggered for the first time, sending a first trigger signal to the controller of the rotation limit system, so that the controller activates the second limit switch of the rotation limit system;

[0026] S3. In response to the mixing spray robot arm continuing to rotate along the first direction, the controller triggers the second limit switch of the rotation limit system, so that the rotation angle of the mixing spray robot arm is limited to a first limit angle.

[0027] The present invention has the advantages that the rotation angle of the mixing spray robot arm can be limited by the cooperation of the baffle and the two limit switches, thereby avoiding damage to the equipment due to excessive rotation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram of the structure of a rotation limiting system provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the partial structure of a rotation limiting system provided in an embodiment of the present invention.

[0031] Among them, the figure marks include: 1-mixing spray robot arm, 100-blocking piece, 21-first limit switch, 22-second limit switch. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, and to more clearly understand the purpose, technical scheme and advantages of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the implementation methods not shown or described in the accompanying drawings are forms known to those skilled in the art. In addition, although demonstrations of parameters containing specific values ​​may be provided herein, it should be understood that the parameters do not need to be exactly equal to the corresponding values, but may be approximated to the corresponding values ​​within an acceptable error tolerance or design constraint. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work should belong to the scope of protection of the present invention. In addition, the terms "including" and "having" in the specification and claims of the present invention and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment containing a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0033] In one embodiment of the present invention, a rotation limit system based on a vertical TBM is provided, such as Figure 1As shown, the rotation limit system includes a mixed spray robot arm 1, a first limit switch 21 and a second limit switch 22. The mixed spray robot arm 1 is provided with a baffle 100, and the baffle 100 can rotate with the mixed spray robot arm 1, wherein the direction of rotation includes a first direction and a second direction, and the second direction is the opposite direction of the first direction. In this embodiment, the first direction is a left rotation (hereinafter referred to as left rotation), and the second direction is a right rotation (hereinafter referred to as right rotation), and the first limit switch 21 and the second limit switch 22 are both mechanical rotation limit switches, but the protection scope of the present invention is not limited to this.

[0034] The first limit switch 21 and the second limit switch 22 are respectively arranged in cooperation with the baffle 100, and the baffle 100 is welded at the positive position of the mixing spray robot arm 1. Figure 2 As shown, the baffle 100 is located on the circle C2, C1 and C2 are two concentric circles, and the first limit switch 21 and the second limit switch 22 are welded on a circle C1, so that when the mixing spray robot arm 1 rotates left, the baffle 100 can trigger the first limit switch 21 and the second limit switch 22 in sequence, and when the mixing spray robot arm 1 rotates right, the baffle 100 can trigger the second limit switch 22 and the first limit switch 21 in sequence.

[0035] The rotation limit system is used to limit the rotation angle of the mixing spraying mechanical arm 1 of the vertical TBM. The maximum angle that the mixing spraying mechanical arm 1 can reach when rotating left is the first limit angle, which corresponds to the position of the second limit switch 22. Similarly, the maximum angle that the mixing spraying mechanical arm 1 can reach when rotating right is the second limit angle, which corresponds to the position of the first limit switch 21. In this embodiment, Figure 2 The position of the baffle 100 shown is the initial position, which corresponds to the initial angle, which is 0°, and the first limiting angle and the second limiting angle are both 200°. Specifically, when the mixed spray robot arm 1 rotates left, the baffle 100 can follow the mixed spray robot arm 1 to rotate left from the initial position to the position corresponding to the maximum angle, that is, the position of the second limit switch 22. Similarly, when the mixed spray robot arm 1 rotates right, the baffle 100 can follow the mixed spray robot arm 1 to rotate right from the initial position to the position corresponding to the maximum angle, that is, the position of the first limit switch 21. It should be noted that the value range of the first limiting angle and the second limiting angle is 195° to 205°, and the above 200° is only for example, and does not limit the protection scope of the present invention.

[0036] The rotation limit system also includes a controller, which is electrically connected to the spray mixing robot arm 1, the first limit switch 21 and the second limit switch 22. The controller is configured to: in response to a first trigger signal sent by the first limit switch 21, the controller activates the second limit switch 22; and, in response to a second trigger signal sent by the first limit switch 21, the controller deactivates the second limit switch 22; and, in response to a third trigger signal sent by the second limit switch 22, the controller activates the first limit switch 21; and, in response to a fourth trigger signal sent by the second limit switch 22, the controller deactivates the first limit switch 21.

[0037] Specifically, in this embodiment, when the spray mixing robot arm 1 rotates left, that is, the angle of left rotation gradually increases, the baffle 100 passes through the first limit switch 21 for the first time, so that the first limit switch 21 is triggered, so that the first limit switch 21 sends a first trigger signal to the controller, and under the control of the controller, the second limit switch 22 is activated, and further:

[0038] If the mixed-spray mechanical arm 1 continues to rotate counterclockwise, the second limit switch 22 is triggered under the control of the controller. At this time, the second limit switch 22 has a limiting effect, that is, it can limit the angle of rotation of the mixed-spray mechanical arm 1 to 200°. When the baffle 100 rotates counterclockwise to the second limit switch 22, that is, the angle of rotation of the mixed-spray mechanical arm 1 to the left reaches 200°, under the limiting effect of the second limit switch 22 and the control of the controller, the mixed-spray mechanical arm 1 cannot continue to rotate counterclockwise (the specific choice of the mixed-spray mechanical arm 1 to stop rotating or rotate clockwise is determined according to the actual situation, and the protection scope of the present invention is not limited thereto), so that the angle of rotation of the mixed-spray mechanical arm 1 to the left is limited to 200°;

[0039] If the mixed-spray robot arm 1 continues to rotate left, but its left rotation angle does not exceed 200°, that is, the baffle 100 does not contact the second limit switch 22, then when the mixed-spray robot arm 1 rotates right, the left rotation angle of the mixed-spray robot arm 1 gradually decreases, and when the baffle 100 passes the first limit switch 21 for the second time, the first limit switch 21 is triggered again, so that the first limit switch 21 sends a second trigger signal to the controller, and under the control of the controller, the second limit switch 22 is deactivated and has no limiting effect.

[0040] Similarly, in this embodiment, when the spray mixing robot arm 1 rotates right, that is, the angle of rightward rotation gradually increases, the baffle 100 passes the second limit switch 22 for the first time, so that the second limit switch 22 is triggered, so that the second limit switch 22 sends a third trigger signal to the controller, and under the control of the controller, the first limit switch 21 is activated, and further:

[0041] If the mixed-spray robot arm 1 continues to rotate right, the first limit switch 21 is triggered under the control of the controller. At this time, the first limit switch 21 also has a limiting function, that is, it can limit the rightward rotation angle of the mixed-spray robot arm 1 to within 200°. When the baffle 100 rotates right to the first limit switch 21, that is, the rightward rotation angle of the mixed-spray robot arm 1 reaches 200°, under the limiting function of the first limit switch 21 and the control of the controller, the mixed-spray robot arm 1 cannot continue to rotate right (the specific choice of the mixed-spray robot arm 1 to stop rotating or rotate left is determined according to the actual situation, and the protection scope of the present invention is not limited thereto), so that the rightward rotation angle of the mixed-spray robot arm 1 is limited to within 200°;

[0042] If the mixed-spray robot arm 1 continues to rotate right, but its right rotation angle does not exceed 200°, that is, the baffle 100 does not contact the first limit switch 21, then when the mixed-spray robot arm 1 rotates left, the right rotation angle of the mixed-spray robot arm 1 gradually decreases, and when the baffle 100 passes the second limit switch 22 for the second time, the second limit switch 22 is triggered again, so that the second limit switch 22 sends a fourth trigger signal to the controller, and under the control of the controller, the first limit switch 21 is deactivated and has no limiting effect.

[0043] Furthermore, the rotation limit system also includes a power supply, an angle sensor and an alarm device, which are all electrically connected to the controller. The power supply is used to power the mixed spray mechanical arm 1, the first limit switch 21, the second limit switch 22, the angle sensor and the alarm device. The angle sensor is used to detect the rotation angle of the mixed spray mechanical arm 1, and send the rotation angle detection value to the controller. A comparator circuit is provided in the controller, and its first input end is electrically connected to the angle sensor, the second input end of the comparator circuit is preset with an angle threshold, and the output end of the comparator circuit is electrically connected to the alarm device. Specifically, when the rotation angle detection value detected by the angle sensor is greater than the preset angle threshold, the controller can control the alarm device to alarm through the comparator circuit, and control the power supply to stop supplying power, so that the rotation limit system can also monitor the rotation angle of the mixed spray mechanical arm 1 through the angle sensor and the alarm device under the extreme condition that the limiting effect of the first limit switch 21 and the second limit switch 22 fails, and make corresponding processing in time.

[0044] In one embodiment of the present invention, a vertical TBM is provided, including an encoder and a rotation limit system as described above. The rotation limit system can effectively prevent the failure of the rotation limit on one side due to the failure of the encoder during the construction and debugging process, thereby preventing the oil pipe from being pulled off and the mixed spraying mechanical arm from being damaged. It can not only avoid the angle drift caused by the encoder of the mixed spraying mechanical arm, but also eliminate the malfunction and avoid the problems in the use of the equipment; and the rotation limit system is not easy to be damaged, easy to replace and the replacement cost is low, and no angle drift will be generated, ensuring the safety of personnel and machines during the operation of the mixed spraying mechanical arm.

[0045] In one embodiment of the present invention, a control method of the rotation limit system as described above is provided, which is used to control the rotation angle of the mixing spraying mechanical arm of the vertical TBM, and the control method comprises the following steps:

[0046] S1, start the vertical TBM, so that the spray mixing robot arm 1 starts to rotate along the first direction, and runs the rotation limit system;

[0047] S2, in response to the first limit switch 21 of the rotation limit system being triggered for the first time, sending a first trigger signal to the controller of the rotation limit system, so that the controller activates the second limit switch 22 of the rotation limit system;

[0048] S3. In response to the mixing spray robot arm 1 continuing to rotate along the first direction, the controller triggers the second limit switch 22 of the rotation limit system, so that the rotation angle of the mixing spray robot arm 1 is limited within the first limit angle.

[0049] In addition, step S3 also includes: in response to the first limit switch 21 of the rotation limit system being triggered for the second time, and before that the mixing spray robot arm 1 has not rotated to the second limit switch 22, a second trigger signal is sent to the controller, so that the controller deactivates the second limit switch 22 of the rotation limit system.

[0050] The concept of the present control method embodiment is the same as the working process of the rotation limit system in the above embodiment. The entire contents of the above rotation limit system embodiment are incorporated into the present control method embodiment by full reference and will not be repeated here.

[0051] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope thereof. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, directly or indirectly applied in other related technical fields, is also included in the patent protection scope of the present invention.

Claims

1. A control method for a rotation limit system of a vertical TBM, characterized in that: Used to limit the rotation angle of a vertical TBM mixing spraying mechanical arm (1), the rotation limiting system comprises a controller and, A mixed-spray mechanical arm (1), which is electrically connected to the controller, and a baffle (100) is provided on the mixed-spray mechanical arm (1), and the baffle (100) can rotate along with the mixed-spray mechanical arm (1); a first limit switch (21) and a second limit switch (22), which are electrically connected to the controller respectively; the first limit switch (21) and the second limit switch (22) are respectively arranged in cooperation with the baffle (100), so that when the mixing spray mechanical arm (1) rotates along a first direction, the baffle (100) can trigger the first limit switch (21) and the second limit switch (22) in sequence; and the position of the second limit switch (22) corresponds to a first limit angle when the mixing spray mechanical arm (1) rotates along the first direction; A power supply, which is electrically connected to the controller, and is used to supply power to the mixed-spray robot arm (1), the first limit switch (21), and the second limit switch (22); An angle sensor and an alarm device, wherein the angle sensor is used to detect the rotation angle of the spray mixing robot arm (1); a comparator circuit is provided in the controller, a first input end of which is electrically connected to the angle sensor, a second input end of the comparator circuit is preset with an angle threshold, and an output end of the comparator circuit is electrically connected to the alarm device; The control method of the rotation limit system based on the vertical TBM includes: When the mixed-spray mechanical arm (1) rotates along the first direction, the baffle (100) first triggers the first limit switch (21), so that the first limit switch (21) sends a first trigger signal to the controller, and in response to the first trigger signal, the controller activates the second limit switch (22); if the mixed-spray mechanical arm (1) continues to rotate along the first direction, the controller triggers the second limit switch (22), so that the rotation angle of the mixed-spray mechanical arm (1) is limited within the first limit angle; if the mixed-spray mechanical arm (1) continues to rotate along the first direction and the rotation angle does not exceed the first limit angle, when the baffle (100) triggers the first limit switch (21) again, the first limit switch (21) sends a second trigger signal to the controller, and in response to the second trigger signal, the controller deactivates the second limit switch (22); When the mixing spray mechanical arm (1) rotates along a second direction, the blocking piece (100) can trigger the second limit switch (22) and the first limit switch (21) in sequence, wherein the second direction is the opposite direction of the first direction, and the position of the first limit switch (21) corresponds to a second limit angle when the mixing spray mechanical arm (1) rotates along the second direction; When the mixed-spray mechanical arm (1) rotates along the second direction, the blocking piece (100) first triggers the second limit switch (22), so that the second limit switch (22) sends a third trigger signal to the controller, and in response to the third trigger signal, the controller activates the first limit switch (21); if the mixed-spray mechanical arm (1) continues to rotate along the second direction, the controller triggers the first limit switch (21), so that the rotation angle of the mixed-spray mechanical arm (1) is limited within the second limit angle; If the spray mixing robot arm (1) continues to rotate along the second direction and the rotation angle does not exceed the second limit angle, when the blocking piece (100) triggers the second limit switch (22) again, the second limit switch (22) sends a fourth trigger signal to the controller, and in response to the fourth trigger signal, the controller deactivates the first limit switch (21); When the rotation angle of the spray-mixing robot arm (1) detected by the angle sensor is greater than the angle threshold, the controller controls the alarm device to sound an alarm through the comparator circuit, and controls the power supply to stop supplying power.

2. The control method of the rotation limit system based on the vertical TBM according to claim 1, characterized in that: The initial position of the baffle (100) corresponds to an initial angle, which is 0°; the first limiting angle and the second limiting angle both range from 195° to 205°.

3. The control method of the rotation limit system based on the vertical TBM according to claim 1, characterized in that: The first limiting angle and the second limiting angle are both 200°.

4. The control method of the rotation limit system based on the vertical TBM according to claim 1 is characterized in that: The first limit switch (21) and the second limit switch (22) are both mechanical rotary limit switches.

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