Self-adaptive feed control method for double-wheel milling trenching in micro-weathered volcanic rock geological environment

Abstract

This invention relates to an adaptive feed control method for dual-wheel milling in slightly weathered volcanic rock geological environments, applicable to slightly weathered volcanic rock layers with a hardness of 130MPa-210MPa. The method includes the following steps: Step 1: Obtaining the pressure difference information between the input and output of the hydraulic motors corresponding to the two milling wheels, namely the first pressure difference and the second pressure difference; Step 2: Determining whether the first pressure difference and / or the second pressure difference are within a set range, and adjusting the feed force of the milling wheels based on the determination result. This invention utilizes the characteristic that the milling wheel load torque is equal to the hydraulic motor output torque and has a linear correlation with the hydraulic motor input-output pressure difference. By analyzing and obtaining the pressure difference information between the input and output of the hydraulic motors corresponding to the two milling wheels, and determining whether the first pressure difference and / or the second pressure difference are within a set range, the milling wheel load state is further determined, and adaptive feed control is performed to achieve reasonable control of the milling load, realize reasonable and stable milling, and improve construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of construction technology in slightly weathered geological environments, and in particular to an adaptive feed control method for dual-wheel milling in slightly weathered volcanic rock geological environments. Background Technology

[0002] Trenching is a prerequisite for continuous wall construction. For slightly weathered strata with high rock hardness, twin-wheel trenching machines are generally used for trenching. The twin-wheel trenching machine achieves feed by rationally controlling the rotation of the drive winch system through a control system. In milling mode, the twin-wheel trenching machine precisely controls the descent speed of the milling head through a proportional speed control valve. The entire milling head assembly generates a relatively stable feed force in the vertical direction, which is applied to the bottom surface of the trench, achieving normal milling feed.

[0003] The volcanic rock formations are extremely hard, with an average uniaxial compressive strength of 130 MPa and a maximum exceeding 210 MPa. Using a conical double-wheel milling machine, and employing a combined drilling and milling method, the milling speed for volcanic rock is typically 10-50 cm / h.

[0004] Currently, the feed control methods for the cutter head of a twin-wheel trenching machine include manual and automatic control. Manual feed control relies on the operator's experience, making it difficult to achieve precise control for low-speed, minute feeds of 10-50 cm / h. Automatic feed control involves setting a feed speed, and the operator then judges whether the feed speed is appropriate based on the pressure value displayed on the screen. If not, the operator adjusts the feed speed according to geological information, pressure values, and experience. Therefore, the current feed control method for the cutter head of a twin-wheel trenching machine still primarily relies on the operator's experience. Achieving precise and automated feed speed control is a crucial technical problem that urgently needs to be solved in the trenching construction of underground continuous walls in slightly weathered volcanic rock formations. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive feed control method for dual-wheel milling in slightly weathered volcanic rock geological environments, so as to solve the problem that it is difficult to achieve precise and automated feed speed control when using dual-wheel milling in existing volcanic rock formations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An adaptive feed control method for dual-wheel milling groove forming in slightly weathered volcanic rock geological environment, applied to slightly weathered volcanic rock layers with hardness of 130MPa-210MPa;

[0008] Includes the following steps:

[0009] Step 1: Obtain the pressure difference information between the input and output of the hydraulic motors corresponding to the two milling wheels, which are the first pressure difference and the second pressure difference;

[0010] Step 2: Determine whether the first pressure difference and / or the second pressure difference are within the set range, and adjust the feed force of the milling wheel based on the determination result.

[0011] Preferably, in step one,

[0012] A first pressure sensor is installed at the input port of the hydraulic motor corresponding to the first milling wheel, and a second pressure sensor is installed at the output port. The input pressure value P of the first milling wheel is measured by the first pressure sensor. a1 The output pressure value P of the first milling wheel is measured by the second pressure sensor. a2 Then the first pressure difference ΔP a =P a1 -P a2 ;

[0013] A third pressure sensor is installed at the input port of the hydraulic motor corresponding to the second milling wheel, and a fourth pressure sensor is installed at the output port. The input pressure value P of the second milling wheel is measured by the third pressure sensor. b1 The output pressure value of the second milling wheel is measured by the second pressure sensor as P. b2 Then the second pressure difference ΔP b =P b1 -P b2 .

[0014] Preferably, in step two,

[0015] The feed force of the milling wheels is adjusted by the feed system, which includes an adaptive feed controller, a hoisting system, and a tool post system, with both milling wheels mounted on the tool post system;

[0016] The adaptive feed controller acquires and compares the input and output pressure values ​​of the hydraulic motor to obtain the pressure difference, and compares it with a set range; the adaptive feed controller is communicatively connected to the hoisting system.

[0017] When it is necessary to increase the feed force of the milling wheel, the adaptive feed controller sends information to the hoisting system to control the hoisting system to rotate forward by the corresponding angle. The wire rope of the hoisting system lowers the tool holder system, the wire rope tension decreases, and the feed force increases.

[0018] When it is necessary to reduce the feed force of the milling wheel, the adaptive feed controller sends information to the hoisting system to control the hoisting system to reverse the corresponding angle. The wire rope of the hoisting system lifts the tool holder system, the wire rope tension increases, and the feed force decreases.

[0019] Preferably, step two further includes:

[0020] If the current milling operation is determined to be a non-sloping milling operation, then the set range is [ΔP]. 低 ΔP 高 ],

[0021] If the first pressure difference ΔP a and / or the second pressure difference ΔP b Greater than ΔP 高 Then the feed force of the milling wheel needs to be reduced until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [ΔP] 低 ΔP 高 ];

[0022] If the first pressure difference ΔP a Second pressure difference ΔP b One of them is within the set range [ΔP] 低 ΔP 高 In the [context missing], the other is less than ΔP. 低 Then adjust the feed force of the milling wheel to reduce the first pressure difference ΔP. a Second pressure difference ΔP b The larger value in (ΔP) is controlled within (ΔP) 低 +ΔP 高 ) / 2, until the first pressure difference ΔP a Second pressure difference ΔP b Once the basic balance is achieved, the feed force of the milling wheel is increased, resulting in the first pressure difference ΔP. a Second pressure difference ΔP b The larger value in the range is close to or reaches ΔP. 高 The smaller value is within the set range [ΔP] 低 ΔP 高 ]middle;

[0023] Such as the first pressure difference ΔP a and / or the second pressure difference ΔP b All are less than ΔP 低 Then the feed force of the milling wheel needs to be increased until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [ΔP] 低 ΔP 高 ].

[0024] Preferably, step two further includes:

[0025] If the current milling operation is determined to be inclined plane milling, then the range is set to [0, ΔP]. 斜 ],and First pressure difference ΔP a and / or the second pressure difference ΔPb Greater than ΔP 斜 Then the feed force of the milling wheel needs to be reduced until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [0, ΔP] 斜 ].

[0026] Preferably, step two further includes:

[0027] Based on different rock hardness, a range [ΔP] is set. 低 ΔP 高 ΔP in ] 高 and ΔP 低 The settings are different;

[0028] For non-sloping milling of rock strata with a hardness of 130-160 MPa, the first set range [ΔP] is used. 低1 ΔP 高1 When performing inclined plane milling,

[0029] For non-sloping milling of rock strata with a hardness of 160-200 MPa, the second set range [ΔP] is used. 低2 ΔP 高2 When performing inclined plane milling,

[0030] For non-sloping milling of rock strata with a hardness exceeding 200 MPa, the third setting range [ΔP] is used. 低3 ΔP 高3 When performing inclined plane milling,

[0031] Preferably, step two further includes:

[0032] Compare the first pressure difference ΔP a Second pressure difference ΔP b Determine whether the current milling operation is a slope milling operation;

[0033] If the first pressure difference ΔP a Second pressure difference ΔP b One of them remains essentially unchanged over time, while the other increases significantly over time, and the first pressure difference ΔP a Second pressure difference ΔP b If the difference between the values ​​is greater than the set value, it is judged as inclined milling.

[0034] Preferably, step two further includes:

[0035] If the first pressure difference ΔP a Second pressure difference ΔP b All are close to or reach ΔP斜 If so, it is determined to be non-sloping milling;

[0036] Or, the first pressure difference ΔP a Second pressure difference ΔP b If the difference is less than the set value and increases synchronously, it is judged as non-sloping milling.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] The construction method described above is mainly applied to slightly weathered volcanic rock layers with a hardness of 130MPa-210MPa. It proposes the concept of a stable milling state, which refers to a milling state where, for volcanic rock layers of a certain hardness, with a suitable milling wheel speed, the feed rate is rationally controlled to achieve a relative balance between feed rate, feed force, and milling wheel torque. This controls the milling load (the torque load of the two milling wheels) to vary within a certain range, resulting in a satisfactory feed rate for the user. The milling load in a stable milling state is not a specific value but a range. Therefore, this invention utilizes the characteristic that the milling wheel load torque is equal to the hydraulic motor output torque and has a linear correlation with the input-output pressure difference of the hydraulic motor. By analyzing the input and output pressure difference information of the hydraulic motor corresponding to the two milling wheels, and determining whether the first pressure difference and / or the second pressure difference are within the set range, the milling wheel load state is further judged, and adaptive feed control is performed to achieve rational control of the milling load, realizing rational and stable milling and improving construction efficiency. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the framework of the method provided in the embodiments of the present invention.

[0041] Figure 2 This is a schematic diagram of the dual-wheel milling groove adaptive feed control system corresponding to the method of this embodiment of the invention.

[0042] Figure 3 This is a schematic diagram of the vertical force analysis and feed force of a twin-wheel milling cutter head system.

[0043] Figure 4 This is a schematic diagram showing the pressure difference setting range corresponding to the stable milling state in an embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram of the rock condition during inclined plane milling.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. First milling wheel; 2. Second milling wheel; 3. Tool holder system; 4. Wire rope; 5. Fixed pulley; 6. Hoisting system; 7. Adaptive feed controller; 8. Rock surface; 9. Hydraulic motor. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] For extremely hard volcanic rock formations, the average uniaxial compressive strength of the rock is 130 MPa, with a maximum exceeding 210 MPa. Due to the extremely high strength of these rock formations, direct milling with a bevel gear milling machine results in an average advance of only 20-50 cm / day, or even virtually no advance. In engineering practice, a bevel gear twin-wheel milling machine is primarily used, employing a combined drilling and milling method. This method can achieve a milling advance of 10-50 cm / h, improving construction efficiency. During this process, operators typically need to judge the feed rate based on the pressure value displayed on the screen. If it is unsuitable, the feed rate must be adjusted based on formation information, pressure values, and experience. Excessive feed rate can lead to overwinding of the wire rope, excessive cutting load on the milling wheel, preventing proper rock cutting, accelerating tool wear, shortening tool life, or even causing the milling cutter to fail. Conversely, insufficient feed rate reduces the efficiency of the twin-wheel milling machine.

[0051] Based on this, the present invention provides an adaptive feed control method for dual-wheel milling groove forming of slightly weathered volcanic rock layers with a hardness of 130MPa-210MPa, specifically including the following steps:

[0052] Step 1: Obtain the pressure difference information between the input and output of the hydraulic motor 9 corresponding to the two milling wheels, which are the first pressure difference and the second pressure difference;

[0053] Step 2: Determine whether the first pressure difference and / or the second pressure difference are within the set range, and adjust the feed force of the milling wheel based on the determination result.

[0054] The working principle of a twin-wheel milling grooving machine is that a motor drives a hydraulic pump to rotate, generating hydraulic oil pressure. This hydraulic oil pressure then drives a hydraulic motor 9 to rotate the milling wheels. In actual construction, to ensure normal milling, the milling wheel speed is typically set first. By adjusting the feed and controlling the load, a balance between load and speed is achieved for twin-wheel milling grooving. The calculation formula for the output torque of the hydraulic motor 9 is used... ΔP is the pressure difference between the input and output of hydraulic motor 9, i.e., the first pressure difference or the second pressure difference; v is the displacement; and u is the mechanical efficiency. Since the displacement v per revolution is known, the mechanical efficiency u can be considered a constant for a specific system. From the formula, it can be seen that the output torque T of hydraulic motor 9 is linearly related to the pressure difference ΔP between the input and output of hydraulic motor 9. The output torque T of hydraulic motor 9 can be calculated by measuring the pressure difference ΔP between the input and output of hydraulic motor 9. At the same time, the output torque of hydraulic motor 9 is determined by the load torque, i.e., the milling wheel load torque is equal to the output torque of hydraulic motor 9. The output torque of hydraulic motor 9 and the pressure difference ΔP between the input and output of hydraulic motor 9 are linearly related, i.e., the milling wheel load torque and the pressure difference ΔP between the input and output of hydraulic motor 9 have a linear correlation.

[0055] Due to the complex load characteristics of rocks, feed rate, cutting speed, milling force, and feed pressure all exhibit nonlinear coupling relationships, and their dynamic characteristics are complex, making it difficult to establish an accurate mathematical model. However, a qualitative analysis of the milling state of a twin-wheel milling machine can be performed. In rock milling, a stable and efficient milling state certainly exists. The stable milling state proposed in this invention refers to a milling state where, for volcanic rock formations of a certain hardness, under appropriate milling wheel speed settings, the feed rate is rationally controlled to achieve a relative balance among factors such as feed rate, feed force, and milling wheel torque, controlling the milling load (torque load of the two milling wheels) to vary within a certain range, thereby obtaining a satisfactory cutting depth for the user. The milling load in the stable milling state is not a specific value, but a range. This range can be set based on construction experience, combined with theoretical analysis and calculations. Within this range, a satisfactory milling depth can be achieved for the user.

[0056] Since the milling load is linearly related to the pressure difference ΔP between the input and output of the hydraulic motor 9, the milling load can be determined in reverse by setting a reasonable range for the pressure difference ΔP between the input and output. This allows for the determination of whether the milling load is within the range of stable milling conditions, and the feed force of the milling wheel can be adjusted accordingly. This achieves the purpose of reasonably controlling the milling load, enabling reasonable and stable milling by the milling wheel, and improving construction efficiency.

[0057] As attached Figure 1 and attached Figure 2 As shown, step one, the method for obtaining the pressure difference information between the input and output of the hydraulic motors 9 corresponding to the two milling wheels, is as follows: pressure sensors are set at the input and output ports of the hydraulic motors 9 respectively. Specifically, a first pressure sensor is set at the input port of the hydraulic motor 9 corresponding to the first milling wheel 1, and a second pressure sensor is set at the output port. The input pressure value P of the first milling wheel 1 is measured by the first pressure sensor. a1 The output pressure value P of the first milling wheel 1 is measured by the second pressure sensor. a2 Then the first pressure difference ΔP a =P a1 -P a2 A third pressure sensor is installed at the input port of the hydraulic motor 9 corresponding to the second milling wheel 2, and a fourth pressure sensor is installed at the output port. The input pressure value P of the second milling wheel 2 is measured by the third pressure sensor. b1 The output pressure value of the second milling wheel 2 is measured by the second pressure sensor. b2 Then the second pressure difference ΔP b =P b1 -P b2 .

[0058] The first, second, third, and fourth pressure sensors are selected as shock-resistant pressure sensors. The pressure measurement range is required to meet the application requirements. When processing the pressure information, a filter can be added to process the pressure information.

[0059] The adaptive feed control system corresponding to the method in this embodiment of the invention includes an adaptive feed controller 7, a hoisting system 6, and a tool holder system 3. The hoisting system 6 is connected to the tool holder system 3 via a fixed pulley 5 and a wire rope 4, driving the tool holder system 3 to rise or fall. The first milling wheel 1 and the second milling wheel 2 are mounted on the tool holder system 3. The vertical force analysis of the milling wheels is shown in the attached figure. Figure 3 The tension in the wire rope 4 is F, and the load of the gravel and soil covering the tool holder system 3 is F. 土 The weight of the tool holder system 3 is G, and the supporting force of the rock surface 8 on the tool holder system 3 is N, that is, the feed force of the tool holder system 3 is F. 进给 =G-F+F 土 -N, during the milling process, F 土 It may be a variable value, but because of F 土 The equivalent is relatively small, generally F 土 Treat it as a constant, or ignore it. When the hoisting system 6 rotates forward, the tool holder system 3 descends, the tension F of the wire rope 4 decreases, and the feed force F... 进给 The feed force F will increase when the hoisting system 6 reverses, the tool holder system 3 lifts, the tension F of the wire rope 4 increases, and the feed force F increases. 进给 It will decrease.

[0060] Therefore, the adaptive feed controller 7 acquires and compares the input and output pressure values ​​of the hydraulic motor 9 to obtain the pressure difference, and compares it with a set range. The adaptive feed controller 7 is communicatively connected to the hoisting system 6. When it is necessary to increase the feed force of the milling wheel, the adaptive feed controller 7 sends information to the hoisting system 6 to control the hoisting system 6 to rotate forward by the corresponding angle. The wire rope 4 of the hoisting system 6 lowers the tool holder system 3, the tension of the wire rope 4 decreases, and the feed force increases. When it is necessary to decrease the feed force of the milling wheel, the adaptive feed controller 7 sends information to the hoisting system 6 to control the hoisting system 6 to reverse by the corresponding angle. The wire rope 4 of the hoisting system 6 raises the tool holder system 3, the tension of the wire rope 4 increases, and the feed force decreases. This keeps the milling load within a stable milling range, achieving reasonable and stable milling of the milling wheel and improving construction efficiency.

[0061] During construction, rock strata of varying hardness and shape may be encountered during milling. The stable milling state is related to the inclination of the milling wheel's working surface, the hardness of the rock strata, and the user's feed requirements. Based on pre-construction rock sampling information, the approximate hardness information of rocks at different depths and the rock surface depth orientation information are obtained. This information is stored in the adaptive feed controller 7, and its correspondence with the set pressure difference range is configured. This facilitates the adaptive feed controller 7 in calling upon and adjusting the feed force during subsequent construction. The adaptive feed controller 7 needs to store information including the correspondence between rock depth and hardness, rock depth and rock orientation information, feed requirements for rocks of different hardness, and the stable milling state pressure difference range [ΔP] corresponding to rocks of different hardness. 低 ΔP 高 [Settings, information on inclined plane milling advance requirements, and pressure difference ΔP for inclined plane milling conditions corresponding to rocks of different hardness] 斜 Settings information.

[0062] Firstly, for non-sloping milling, when the first milling wheel 1 and the second milling wheel 2 are in normal rock milling mode, the difference between the first pressure difference and the second pressure difference will not be significant, and the same pressure difference setting range can be used; however, for inclined milling, as shown in the attached... Figure 5 As shown in the rock surface 8, there may be situations where one milling wheel is milling the rock while the other milling wheel is not, or the two milling wheels have a large difference in the depth of cut. In this case, due to the large difference in the milling wheel load between the first milling wheel 1 and the second milling wheel 2, a smaller milling feed is generally required to avoid milling deviation. Consequently, the maximum pressure difference setting value of the hydraulic motor 9 will be significantly smaller than the maximum pressure difference setting value under non-sloping milling conditions, and the corresponding pressure difference setting range will also be different.

[0063] Specifically, in the milling state, the first pressure difference ΔP is compared first. a Second pressure difference ΔP b Determine whether the current milling operation is a slope milling operation; the determination strategy is as follows:

[0064] If the first pressure difference ΔP a Second pressure difference ΔP b One of them remains essentially unchanged over time, while the other increases significantly over time, and the first pressure difference ΔP a Second pressure difference ΔP b If the difference between the two values ​​is greater than the set value, and the current milling depth and the rock depth direction information are consistent, then it is determined to be inclined milling;

[0065] If the first pressure difference ΔP a Second pressure difference ΔP b All are close to or reach ΔP 斜 If so, it is determined to be non-sloping milling;

[0066] Or, the first pressure difference ΔP a Second pressure difference ΔP b If the difference is less than the set value and increases synchronously, it is judged as non-sloping milling.

[0067] The adaptive feed controller 7 periodically collects the first pressure difference ΔP. a Second pressure difference ΔP b It compares and promptly determines whether the current milling surface is a non-sloping surface milling, and can collect and judge data in real time during the start of milling or during continuous milling.

[0068] Of course, in other embodiments, the data collected in the early stage, such as rock depth and rock orientation information, are more accurate, and the rock position corresponding to the current milling surface can be inferred based on the feed rate and construction time. It can also be determined whether the current milling surface is a non-sloping milling surface.

[0069] Then, if it is determined that the current milling is a non-sloping milling, the range is set to [ΔP]. 低 ΔP 高 ],

[0070] If the first pressure difference ΔP a and / or the second pressure difference ΔP b Greater than ΔP 高 Then the feed force of the milling wheel needs to be reduced until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [ΔP] 低 ΔP 高 ];

[0071] If the first pressure difference ΔP a Second pressure difference ΔP b One of them is within the set range [ΔP] 低 ΔP 高 In the [context missing], the other is less than ΔP. 低 Then adjust the feed force of the milling wheel to reduce the first pressure difference ΔP. a Second pressure difference ΔP b The larger value in (ΔP) is controlled within (ΔP) 低 +ΔP 高 ) / 2, until the first pressure difference ΔP a Second pressure difference ΔP b Once the basic balance is achieved, the feed force of the milling wheel is increased, resulting in the first pressure difference ΔP. a Second pressure difference ΔP b The larger value in the range is close to or reaches ΔP. 高 The smaller value is within the set range [ΔP] 低 ΔP 高 ]middle;

[0072] Such as the first pressure difference ΔP a and / or the second pressure difference ΔP b All are less than ΔP 低 Then the feed force of the milling wheel needs to be increased until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [ΔP] 低 ΔP 高 ].

[0073] If the current milling operation is inclined plane milling, then the set range is [0, ΔP]. 斜 ],and First pressure difference ΔP a and / or the second pressure difference ΔP b Greater than ΔP 斜 Then the feed force of the milling wheel needs to be reduced until the first pressure difference ΔP is reached. a Second pressure difference ΔP b All have been restored to the set range [0, ΔP] 斜 ].

[0074] ΔP 斜 and ΔP 低 ΔP 高 The relationship can be seen in the appendix. Figure 4 As shown, And ΔP 斜 Less than ΔP 低 and ΔP 高 At this time, [ΔP 低 ΔP 高 The range of ] is relatively small, corresponding to the optimal stable milling state; however, in some embodiments, And ΔP 斜 In [ΔP] 低 ΔP 高 Within the range of ], there is a relatively relaxed stable milling state.

[0075] At the same time, based on different rock hardness, a range [ΔP] is set. 低 ΔP 高 ΔP in ] 高 and ΔP 低 The settings are different;

[0076] For non-sloping milling of rock strata with a hardness of 130-160 MPa, the first set range [ΔP] is used. 低1 ΔP 高1 When performing inclined plane milling,

[0077] For non-sloping milling of rock strata with a hardness of 160-200 MPa, the second set range [ΔP] is used.低2 ΔP 高2 When performing inclined plane milling,

[0078] For non-sloping milling of rock strata with a hardness exceeding 200 MPa, the third setting range [ΔP] is used. 低3 ΔP 高3 When performing inclined plane milling,

[0079] Under certain rock hardness and drilling requirements, the pressure difference range [ΔP] 低 ΔP 高 ΔP in ] 高 and ΔP 低 The setting is determined based on a combination of theoretical analysis and calculations, as well as construction experience. For example, in a volcanic rock drilling and milling operation, based on equipment and geological conditions, and combined with construction experience, the milling speed for slightly weathered volcanic rock is determined to be 10-50 cm / h. When the rock hardness is 130-160 MPa, the milling speed is 50 cm / h, requiring automatic feed control. Therefore, ΔP can be calculated based on the milling speed and rock hardness. 高1 ΔP 低1 and ΔP 斜1 The set values ​​are determined, and the pressure difference setting range for non-slope milling and slope milling is set; when the rock hardness is 160-200MPa and the milling progress is 30cm / h, ΔP can be calculated based on the milling progress and rock hardness. 高2 ΔP 低2 and ΔP 斜2 The set values ​​are determined, and the pressure difference setting range for non-slope milling and slope milling is set; when the rock hardness exceeds 200MPa, the milling progress is 10cm / h, and ΔP can be calculated based on the milling progress and rock hardness. 高3 ΔP 低3 and ΔP 斜3 The set value is set, and the pressure difference setting range for non-slope milling and slope milling is set; and the above data is stored in the adaptive feed controller 7.

[0080] Furthermore, the above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An adaptive feed control method for dual-wheel milling in a slightly weathered volcanic rock geological environment, characterized in that, Applicable to slightly weathered volcanic rock layers with a hardness of 130MPa-210MPa; Includes the following steps: Step 1: Obtain the pressure difference information between the input and output of the hydraulic motors corresponding to the two milling wheels, which are the first pressure difference and the second pressure difference; Step 2: Determine whether the first pressure difference and / or the second pressure difference are within the set range, and adjust the feed force of the milling wheel based on the determination result; Step two also includes: If the current milling operation is determined to be a non-sloping milling operation, then the range is set as follows: , If the first pressure difference and / or second pressure difference Greater than Then the feed force of the milling wheel needs to be reduced until the first pressure difference is reached. Second pressure difference All have been restored to the set range ; If the first pressure difference Second pressure difference One of them is within the set range In the middle, the other is smaller Then adjust the feed force of the milling wheel to achieve the first pressure difference. Second pressure difference The larger value in is controlled within until the first pressure difference Second pressure difference Once the basic balance is achieved, the feed force of the milling wheel is increased to create the first pressure difference. Second pressure difference The larger value in the middle is close to or reaches The smaller value is within the set range middle; Such as the first pressure difference and / or second pressure difference All less than Then the feed force of the milling wheel needs to be increased until the first pressure difference is reached. Second pressure difference All have been restored to the set range .

2. The method as described in claim 1, characterized in that, In step one, A first pressure sensor is installed at the input port of the hydraulic motor corresponding to the first milling wheel, and a second pressure sensor is installed at the output port. The input pressure value of the first milling wheel is measured by the first pressure sensor. The output pressure value of the first milling wheel is measured by the second pressure sensor. Then the first pressure difference ; A third pressure sensor is installed at the input port of the hydraulic motor corresponding to the second milling wheel, and a fourth pressure sensor is installed at the output port. The input pressure value of the second milling wheel is measured by the third pressure sensor. The output pressure value of the second milling wheel is measured by the second pressure sensor. Then the second pressure difference .

3. The method as described in claim 1, characterized in that, In step two The feed force of the milling wheels is adjusted by the feed system, which includes an adaptive feed controller, a hoisting system, and a tool post system, with both milling wheels mounted on the tool post system; The adaptive feed controller acquires and compares the input and output pressure values ​​of the hydraulic motor to obtain the pressure difference, and compares it with a set range; the adaptive feed controller is communicatively connected to the hoisting system. When it is necessary to increase the feed force of the milling wheel, the adaptive feed controller sends information to the hoisting system to control the hoisting system to rotate forward by the corresponding angle. The wire rope of the hoisting system lowers the tool holder system, the wire rope tension decreases, and the feed force increases. When it is necessary to reduce the feed force of the milling wheel, the adaptive feed controller sends information to the hoisting system to control the hoisting system to reverse the corresponding angle. The wire rope of the hoisting system lifts the tool holder system, the wire rope tension increases, and the feed force decreases.

4. The method as described in claim 1, characterized in that, Step two also includes: If the current milling operation is determined to be inclined plane milling, then the range is set to [0, ],and First pressure difference and / or second pressure difference Greater than Then the feed force of the milling wheel needs to be reduced until the first pressure difference is reached. Second pressure difference All have been restored to the set range [0, ].

5. The method as described in claim 4, characterized in that, Step two also includes: Based on different rock hardness, a range is set. In and The settings are different; For non-sloping milling of rock strata with a hardness of 130-160 MPa, the first set range is used. When performing inclined plane milling, ; For non-sloping milling of rock strata with a hardness of 160-200 MPa, the second set range is used. When performing inclined plane milling, ; For non-sloping milling of rock strata with a hardness exceeding 200 MPa, the third setting range is used. When performing inclined plane milling, .

6. The method as described in claim 4, characterized in that, Step two also includes: Compare the first pressure difference Second pressure difference Determine whether the current milling operation is a slope milling operation; If the first pressure difference Second pressure difference One of them remained essentially unchanged over time, while the other increased significantly over time, and the first pressure difference... Second pressure difference If the difference between the values ​​is greater than the set value, it is judged as inclined milling.

7. The method as described in claim 6, characterized in that, Step two also includes: If the first pressure difference Second pressure difference All close to or reaching If so, it is determined to be non-sloping milling; Or, the first pressure difference Second pressure difference If the difference is less than the set value and increases synchronously, it is judged as non-sloping milling.

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