An intelligent control system and method for a tunneling machine loading mechanism

Abstract

This invention proposes an intelligent control system and method for a tunneling machine's loading mechanism, comprising: a sensor unit for collecting information on the extension of the shovel cylinder, and the forward rotation pressure information of the left star wheel hydraulic motor, right star wheel hydraulic motor, and primary traction hydraulic motor in the loading mechanism, and transmitting this information to a controller; a controller for receiving the information transmitted by the sensors, making judgments, and then sending operation commands to a solenoid valve group; and a solenoid valve group for receiving the operation commands from the controller and controlling the actions of the shovel cylinder, left star wheel hydraulic motor, right star wheel hydraulic motor, and primary traction hydraulic motor in the loading mechanism according to the operation commands. When a fault occurs in the tunneling machine's loading mechanism, it can automatically detect and handle the fault.

Description

Technical Field

[0001] This invention belongs to the technical field of tunneling machine loading mechanisms, and particularly relates to an intelligent control system and method for tunneling machine loading mechanisms. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] like Figure 5 As shown, the loading mechanism of a tunneling machine generally consists of a shovel, a left star wheel, a right star wheel, and a primary conveyor. It is mainly used to load and transport the cut ore to the following transport system. When there is a large amount of irregular ore, the left star wheel, right star wheel, and primary conveyor are easily pressed or jammed, preventing them from rotating. The primary conveyor is also prone to jamming if the scraper conveyor chain is loose. While operating the tunneling machine to cut ore, the operator also needs to constantly observe the loading mechanism for malfunctions. Since the cab is generally designed on one side of the tunneling machine, the operator's view is obstructed, making it difficult to see the star wheel operation on the other side. An assistant operator is also required to assist in observation. Upon discovering a malfunction, the operator must first stop cutting ore and then manually operate the loading mechanism to handle the problem. This process is slow, inefficient, and requires a large number of personnel. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides an intelligent control system and method for a tunneling machine loading mechanism. The intelligent control system can automatically detect and handle faults, and promptly remind the driver to manually operate when it cannot handle the faults automatically, thus solving the problems of slow fault handling speed, low work efficiency, and high personnel occupation in the existing loading mechanism.

[0005] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solution: an intelligent control system for a tunneling machine loading mechanism, comprising:

[0006] The sensor unit is used to collect information on the extension of the shovel cylinder in the loading mechanism of the tunneling machine, as well as the forward rotation pressure information of the left star wheel hydraulic motor, the right star wheel hydraulic motor, and the first conveying hydraulic motor, and transmit it to the controller.

[0007] The controller is used to receive information transmitted by the sensors, make judgments, and then send operation commands to the solenoid valve assembly.

[0008] The solenoid valve assembly receives the control commands from the controller and controls the movement of the shovel cylinder, left star wheel hydraulic motor, right star wheel hydraulic motor and first conveyor hydraulic motor in the tunneling machine's loading mechanism according to the control commands.

[0009] A second aspect of the present invention provides an intelligent control method for a tunneling machine loading mechanism, employing the aforementioned intelligent control system for a tunneling machine loading mechanism, comprising:

[0010] Obtain the forward rotation pressure of the first hydraulic motor, the forward rotation failure time of the first hydraulic motor, the forward rotation pressure of the left / right star wheel hydraulic motor, the forward rotation failure time of the left / right star wheel, and the current extension of the shovel cylinder;

[0011] If the forward rotation pressure of the hydraulic motor is not less than the preset alarm value for the forward rotation pressure of the hydraulic motor and the forward rotation failure time is not less than the preset forward rotation failure time, then drive the hydraulic motor to reverse.

[0012] If the forward rotation pressure of the left / right star wheel hydraulic motor is not less than the preset alarm value of the forward rotation pressure of the left / right star wheel hydraulic motor and the forward rotation failure time of the left / right star wheel hydraulic motor is not less than the preset forward rotation failure time of the left / right star wheel hydraulic motor, then drive the left / right star wheel hydraulic motor to reverse.

[0013] When the shovel is in a swaying up and down state, the current extension of the shovel cylinder is controlled to first extend to the preset minimum extension of the shovel cylinder when the shovel is raised, and then the shovel cylinder is driven to extend to the preset maximum extension of the shovel cylinder when the shovel is lowered.

[0014] The above one or more technical solutions have the following beneficial effects:

[0015] When a fault occurs in the loading mechanism of a tunneling machine, the intelligent control system can automatically detect and handle the fault. If it cannot handle the fault automatically, it will promptly remind the driver to operate manually, thus solving the problems of slow fault handling speed, low work efficiency, and high personnel occupation in the existing loading mechanism.

[0016] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] Figure 1 This is a schematic diagram of the intelligent control system of the tunneling machine loading mechanism in Embodiment 1 of the present invention;

[0019] Figure 2 This is a flowchart of the one-way control method in Embodiment 2 of the present invention;

[0020] Figure 3 This is a flowchart of the left / right star wheel control method in Embodiment 2 of the present invention;

[0021] Figure 4 This is a flowchart of the shovel control method in Embodiment 2 of the present invention;

[0022] Figure 5 This is a schematic diagram of the existing tunneling machine loading and unloading mechanism. Detailed Implementation

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0025] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0026] Example 1

[0027] like Figure 1 As shown, this embodiment discloses an intelligent control system for a tunneling machine's loading mechanism, including:

[0028] The sensor unit is used to collect information on the extension of the shovel cylinder in the loading mechanism of the tunneling machine, as well as the forward rotation pressure information of the left star wheel hydraulic motor, the right star wheel hydraulic motor, and the first conveying hydraulic motor, and transmit it to the controller.

[0029] The controller is used to receive information transmitted by the sensors, make judgments, and then send operation commands to the solenoid valve assembly.

[0030] The solenoid valve assembly receives the control commands from the controller and controls the movement of the shovel cylinder, left star wheel hydraulic motor, right star wheel hydraulic motor and first conveyor hydraulic motor in the tunneling machine's loading mechanism according to the control commands.

[0031] In this embodiment, the sensor unit consists of a displacement sensor and a pressure sensor, including pressure sensor 201, pressure sensor 202, pressure sensor 203 and displacement sensor 301. Pressure sensor 201 is used to measure the forward rotation pressure information of a hydraulic motor, pressure sensor 202 is used to measure the forward rotation pressure information of the left star wheel hydraulic motor, pressure sensor 203 is used to measure the forward rotation pressure information of the right star wheel hydraulic motor, and displacement sensor 301 is used to measure the extension information of the shovel cylinder.

[0032] The controller consists of a human-machine interface 101, a programmable logic controller 102, and an input / output control unit 103. It is used to acquire information on the extension of the shovel cylinder in the loading mechanism of the tunneling machine, the forward rotation pressure information of the left star wheel hydraulic motor, the right star wheel hydraulic motor, and the first haul hydraulic motor, and to issue operation commands based on the above information, and to receive alarm information on the human-machine interface.

[0033] The solenoid valve assembly includes solenoid valves 401, 402, 403, and 404, which are used to receive operation commands from the controller and control the working status of the shovel cylinder, left star wheel hydraulic motor, right star wheel hydraulic motor, and primary conveying hydraulic motor in the tunneling machine's loading mechanism according to the operation commands. Specifically, solenoid valve 401 controls the primary conveying hydraulic motor, solenoid valve 402 controls the left star wheel hydraulic motor, solenoid valve 403 controls the right star wheel hydraulic motor, and solenoid valve 404 controls the shovel cylinder.

[0034] Example 2

[0035] This embodiment provides an intelligent control method for the loading mechanism of a tunneling machine. The intelligent control system for the loading mechanism of a tunneling machine, as described above, includes automatic forward and reverse rotation control of the loading mechanism, automatic forward and reverse rotation control of the star wheel, and automatic up and down swaying control of the shovel.

[0036] For the automatic forward and reverse intelligent control process of the first transport vehicle, such as Figure 2 As shown, it specifically includes:

[0037] When the first pump is working normally, the hydraulic motor rotates forward. The controller measures the forward rotation pressure of the hydraulic motor in real time through pressure sensor 201. When the forward rotation pressure of the hydraulic motor is greater than or equal to the set alarm value x1 and the forward rotation failure time is greater than or equal to the set forward rotation failure time x2, the controller records the number of forward rotation failures a. The controller then controls solenoid valve 401 to drive the hydraulic motor in reverse. After a delay, when the reverse rotation time reaches the set reverse rotation duration a*x4, the controller controls solenoid valve 401 to drive the hydraulic motor in forward rotation again. When a is greater than or equal to the set maximum number of failures x5, an alarm message "First pump failure, please take manual control" is displayed on the human-machine interface. Otherwise, the controller continues to measure the forward rotation pressure of the hydraulic motor in real time through pressure sensor 201.

[0038] If, within the first forward rotation fault clearing time x3, the forward rotation pressure of the first hydraulic motor is greater than or equal to the set alarm value x1 for the first hydraulic motor forward rotation pressure, and the first forward rotation fault time is greater than or equal to the set first forward rotation fault time x2, the above operation is repeated. It should be noted that during the repeated operation, the time for the first hydraulic motor to reverse is extended as the number of first forward rotation faults increases; otherwise, the controller will reset the number of first forward rotation faults a to zero.

[0039] It should be noted that: after a failure in forward rotation, the hydraulic motor is reversed in one rotation, and then the failure does not occur again in forward rotation for a period of x3, which is the time for the fault to be resolved in forward rotation.

[0040] For automatic forward and reverse control of the star wheel, such as Figure 3 As shown, when the left and right star wheels are working normally, the hydraulic motors of the left and right star wheels rotate forward. Since the control methods for the two star wheels are the same, the explanation will focus on the left star wheel, specifically including:

[0041] The controller measures the forward rotation pressure of the left star wheel hydraulic motor in real time via pressure sensor 202. When the forward rotation pressure of the left star wheel hydraulic motor is greater than or equal to the set alarm value x6 and the forward rotation failure time is greater than or equal to the set failure time x7, the controller records the number of forward rotation failures b. When b = the set number of forward rotation failures x16 and the shovel is not in a wobbling state, the controller controls the shovel to start automatically wobbling up and down. The controller controls solenoid valve 402 to drive the left star wheel hydraulic motor in reverse. After a delay, the reverse rotation time reaches the set reverse rotation duration b*x9 before the controller controls solenoid valve 402 to drive the left star wheel hydraulic motor in forward rotation. When a ≥ the set maximum number of left star wheel failures x10, an alarm message "Left star wheel failure, please take manual control" is displayed on the human-machine interface. Otherwise, the controller continues to measure the forward rotation pressure of the left star wheel hydraulic motor in real time via pressure sensor 202.

[0042] If, within the left star wheel forward rotation fault clearing time x8, the forward rotation pressure of the left star wheel hydraulic motor is greater than or equal to the set alarm value x6 and the left star wheel forward rotation fault time is greater than or equal to the set fault time x7, the above operation is repeated. It should be noted that during the repeated operation, the time for the left star wheel hydraulic motor to reverse direction increases with the number of left star wheel forward rotation faults; otherwise, the controller will reset the number of left star wheel forward rotation faults (b) to zero.

[0043] For automatic up-and-down swaying control of the shovel, such as Figure 4 As shown, specifically:

[0044] When the controller starts the automatic up-and-down swaying of the shovel, it first sets the shovel swaying state f to "yes". The displacement sensor 301 measures and records the current extension x17 of the shovel cylinder. The current number of shovel swaying e is recorded. Then, the solenoid valve 404 is controlled to drive the shovel cylinder to extend to the minimum extension x18 when the shovel is raised, and then to the maximum extension x19 when the shovel is lowered. When e ≥ the set number of up-and-down swaying x20, the solenoid valve 404 is controlled to drive the shovel cylinder to extend to x17, restoring the shovel to its position before the up-and-down swaying, and the shovel swaying state f is set to "no". Otherwise, the above operation is repeated.

[0045] The automatic up-and-down swaying of the shovel plate is related to the left or right star wheel. When the left star wheel b = b + 1, it is determined whether b = X16 & e = 0. If so, the shovel plate starts to sway up and down automatically.

[0046] Alternatively, when the right star wheel c = c + 1, check if c = X16 & e = 0. If yes, the shovel plate will start to automatically oscillate up and down. Here, c is the number of times the controller records a forward rotation failure of the right star wheel, and e is the shovel plate in the oscillation state. e = 0 means no, and e = 1 means yes.

[0047] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An intelligent control method for the loading mechanism of a tunneling machine, characterized in that, include: Obtain the forward rotation pressure of the first hydraulic motor, the forward rotation failure time of the first hydraulic motor, the forward rotation pressure of the left / right star wheel hydraulic motor, the forward rotation failure time of the left / right star wheel, and the current extension of the shovel cylinder; If the forward rotation pressure of the hydraulic motor is not less than the preset alarm value for the forward rotation pressure of the hydraulic motor and the forward rotation failure time is not less than the preset forward rotation failure time, then drive the hydraulic motor to reverse. If the forward rotation pressure of the left / right star wheel hydraulic motor is not less than the preset alarm value of the forward rotation pressure of the left / right star wheel hydraulic motor and the forward rotation failure time of the left / right star wheel hydraulic motor is not less than the preset forward rotation failure time of the left / right star wheel hydraulic motor, then drive the left / right star wheel hydraulic motor to reverse. When the shovel is in a swaying up and down state, the current extension of the shovel cylinder is controlled to first extend to the minimum extension of the shovel cylinder when the shovel is lifted, and then the shovel cylinder is driven to extend to the maximum extension of the shovel cylinder when the shovel is lowered. The controller records the number of times the left / right star wheel hydraulic motor fails to rotate forward. When the number of times the left / right star wheel hydraulic motor fails to rotate forward reaches the preset number of times the left / right star wheel hydraulic motor fails to rotate forward and the shovel is not in a shaking state, the controller controls the shovel to start automatically shaking up and down.

2. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that, Also includes: When the reverse rotation of the hydraulic motor reaches the preset reverse rotation time, the hydraulic motor is controlled to rotate forward.

3. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that, Also includes: The controller records the number of times the hydraulic motor rotates forward. When the number of times the hydraulic motor rotates forward reaches the preset maximum number of failures, the controller will issue an alarm.

4. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that... Also includes: If the reversal time of the left / right star wheel hydraulic motor reaches the set reversal duration, the controller will control the left / right star wheel hydraulic motor to rotate forward.

5. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that... Also includes: If the number of forward rotation failures of the left / right star wheel hydraulic motor reaches the preset maximum number of forward rotation failures of the left / right star wheel hydraulic motor, the controller will issue an alarm.

6. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that... It also includes: the controller records the number of times the shovel shakes. If the number of times the shovel shakes reaches the preset number of times the shovel shakes up and down, the controller controls the solenoid valve to drive the shovel cylinder to extend and return to the position before the up and down shaking.

7. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that... Also includes: If, within the time limit for clearing a fault in the forward rotation of a hydraulic motor, the forward rotation pressure of the hydraulic motor is not less than the preset alarm value for the forward rotation pressure of the hydraulic motor and the fault time of the forward rotation is not less than the preset fault time of the forward rotation, then the hydraulic motor will be driven to reverse.

8. The intelligent control method for a tunneling machine loading mechanism as described in claim 1, characterized in that... Also includes: If, within the time limit for clearing the forward rotation fault of the left / right star wheel, the forward rotation pressure of the left / right star wheel hydraulic motor is not less than the preset alarm value for the forward rotation pressure of the left / right star wheel hydraulic motor and the forward rotation fault time of the left / right star wheel hydraulic motor is not less than the preset forward rotation fault time of the left / right star wheel hydraulic motor, then the left / right star wheel hydraulic motor will be driven to reverse.

9. An intelligent control system for a tunneling machine loading mechanism, employing an intelligent control method for a tunneling machine loading mechanism as described in any one of claims 1-8, characterized in that, include: The sensor unit is used to collect information on the extension of the shovel cylinder in the loading mechanism of the tunneling machine, as well as the forward rotation pressure information of the left star wheel hydraulic motor, the right star wheel hydraulic motor, and the first conveying hydraulic motor, and transmit it to the controller. The controller is used to receive information transmitted by the sensors, make judgments, and then send operation commands to the solenoid valve assembly. The solenoid valve assembly receives the control commands from the controller and controls the movement of the shovel cylinder, left star wheel hydraulic motor, right star wheel hydraulic motor and first conveyor hydraulic motor in the tunneling machine's loading mechanism according to the control commands.

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