Milling cutter holder feed control method, control device, control system and double-wheel slot milling machine

Abstract

The present disclosure relates to a milling cutter holder feed control method, a control device, a control system and a double-wheel trench milling machine, wherein the milling cutter holder feed control method comprises: obtaining mode selection information, a pressure correlation value and a speed correlation value, wherein the mode selection information comprises a constant pressure and speed limiting mode, the pressure correlation value comprises at least one of a working pressure and a torque of a driving component, and the speed correlation value comprises at least one of a rotating speed and a working stroke of the driving component; calculating a rock breaking pressure of the milling cutter holder according to the pressure correlation value and calculating a feed speed of the milling cutter holder according to the speed correlation value; in the case that the mode selection information is the constant pressure and speed limiting mode, setting a preset pressure and a preset maximum speed; adjusting the speed correlation value according to a comparison result of the feed speed and the preset maximum speed, so that the feed speed does not exceed the preset maximum speed; and adjusting the pressure correlation value according to a comparison result of the rock breaking pressure and the preset pressure, so that the rock breaking pressure is equal to the preset pressure.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of trenching construction machinery for underground continuous walls, and in particular to a milling cutter holder feeding control method, a control device, a control system and a double-wheel trencher. BACKGROUND

[0002] The double-wheel trencher is a kind of trenching equipment for underground continuous walls. The milling cutter holder is lowered into the trench hole filled with slurry through the hoisting steel wire rope. The milling wheel at the lower end of the milling cutter holder rotates to mill the soft soil layer or rock layer at the bottom of the trench hole. The milled and broken rock-soil is transported to the outside of the trench hole together with the slurry by the slurry pump. During the milling operation, the milling cutter holder remains stationary or feeds at a uniform speed under the combined action of the tension of the steel wire rope, the weight of the milling cutter holder, the buoyancy of the slurry and the reaction force of the broken rock.

[0003] During the double-wheel trenching feeding control process, the rock breaking pressure and the feeding speed of the milling cutter holder are two key control parameters. The geological conditions are complex and changeable in different regions and at different depths. In the related technology known to the inventors, there is a lack of mode control during the feeding of the milling cutter holder. If the feeding speed is too fast, it may lead to risks such as trench hole deflection or milling wheel jamming, or if the rock breaking pressure is too large, it may lead to problems such as the rotation stripping device being stuck, and it is impossible to achieve smooth and continuous milling, resulting in poor milling quality and low milling efficiency. SUMMARY

[0004] Embodiments of the present disclosure provide a milling cutter holder feeding control method, a control device, a control system and a double-wheel trencher, which can improve the milling quality and efficiency.

[0005] According to a first aspect of the present disclosure, a milling cutter holder feeding control method is provided, comprising:

[0006] obtaining mode selection information, a pressure correlation value and a speed correlation value, wherein the mode selection information includes a constant pressure limited speed mode, the pressure correlation value includes at least one of the working pressure and the torque of the driving component, and the speed correlation value includes at least one of the rotation speed and the working stroke of the driving component;

[0007] calculating the rock breaking pressure of the milling cutter holder according to the pressure correlation value, and calculating the feeding speed of the milling cutter holder according to the speed correlation value;

[0008] in the case where the mode selection information is the constant pressure limited speed mode, setting a preset pressure and a preset maximum speed;

[0009] adjusting the speed correlation value according to the comparison result of the feeding speed and the preset maximum speed, so that the feeding speed does not exceed the preset maximum speed;

[0010] adjusting the pressure correlation value according to the comparison result of the rock breaking pressure and the preset pressure, so that the rock breaking pressure is equal to the preset pressure.

[0011] In some embodiments, adjusting the speed-related value according to the comparison result of the feed speed and the preset maximum speed further comprises:

[0012] decreasing the speed-related value to make the feed speed less than or equal to the preset maximum speed when the feed speed is greater than the preset maximum speed;

[0013] keeping the speed-related value unchanged when the feed speed is less than or equal to the preset maximum speed.

[0014] In some embodiments, adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset pressure further comprises:

[0015] keeping the pressure-related value unchanged when the rock breaking pressure is equal to the preset pressure;

[0016] decreasing the pressure-related value to make the rock breaking pressure increase to equal to the preset pressure when the rock breaking pressure is less than the preset pressure;

[0017] increasing the pressure-related value to make the rock breaking pressure decrease to equal to the preset pressure when the rock breaking pressure is greater than the preset pressure.

[0018] In some embodiments, the mode selection information further comprises a constant speed and pressure limiting mode, and the control method further comprises:

[0019] setting the preset speed and the preset maximum pressure when the mode selection information is the constant speed and pressure limiting mode;

[0020] adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset maximum pressure to make the rock breaking pressure not exceed the preset maximum pressure;

[0021] adjusting the feed speed according to the comparison result of the feed speed and the preset speed to make the feed speed equal to the preset speed.

[0022] In some embodiments, adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset maximum pressure further comprises:

[0023] increasing the pressure-related value to make the rock breaking pressure less than or equal to the preset maximum pressure when the rock breaking pressure is greater than the preset maximum pressure;

[0024] keeping the pressure-related value unchanged when the rock breaking pressure is less than or equal to the preset maximum pressure.

[0025] In some embodiments, adjusting the feed speed according to the comparison result of the feed speed and the preset speed further comprises:

[0026] keeping the speed-related value unchanged when the feed speed is equal to the preset speed;

[0027] In the case that the feed speed is less than the preset speed, the speed correlation value is increased to increase the feed speed to be equal to the preset speed.

[0028] In the case that the feed speed is greater than the preset speed, the speed correlation value is decreased to decrease the feed speed to be equal to the preset speed.

[0029] In some embodiments, the milling cutter holder feed control method further comprises:

[0030] obtaining formation working condition information, the formation working condition information comprising formation hardness;

[0031] In the case that the formation hardness is greater than a preset hardness, a constant pressure speed limiting mode is selected;

[0032] In the case that the formation hardness is less than or equal to the preset hardness, a constant speed pressure limiting mode or the constant pressure speed limiting mode is selected.

[0033] In some embodiments, the formation working condition information further comprises formation viscosity, and the milling cutter holder feed control method further comprises:

[0034] In the case that the formation viscosity is greater than a preset viscosity, the constant pressure speed limiting mode is selected.

[0035] In some embodiments, the milling cutter holder feed control method further comprises:

[0036] obtaining a working depth of the milling cutter holder;

[0037] In the case that the working depth is less than a preset depth, the constant speed pressure limiting mode is selected;

[0038] In the case that the working depth is greater than or equal to the preset depth, the constant pressure speed limiting mode is selected.

[0039] According to a second aspect of the present disclosure, a milling cutter holder feed control device is provided for implementing the milling cutter holder feed control method of the above-mentioned embodiments.

[0040] According to a third aspect of the present disclosure, a milling cutter holder feed control system is provided, comprising:

[0041] a driving component configured to provide driving force for feed of the milling cutter holder;

[0042] a lifting device connected between an output end of the driving component and the milling cutter holder;

[0043] a first detection device configured to detect at least one of working pressure and torque of the driving component;

[0044] a second detection device configured to detect at least one of rotation speed and working stroke of the driving component; and

[0045] the milling cutter holder feed control device of the above-mentioned embodiments.

[0046] In some embodiments, the milling cutter holder feeding control system further comprises:

[0047] a display device configured to display at least one of the pressure correlation value, the speed correlation value, the rock breaking pressure and the feeding speed.

[0048] In some embodiments, the driving component comprises at least one of a hydraulic motor, an electric motor or a hydraulic cylinder.

[0049] In some embodiments, the milling cutter holder feeding control system further comprises:

[0050] a pressure adjusting component configured to adjust the pressure correlation value; and

[0051] a speed adjusting component configured to adjust the speed correlation value.

[0052] According to a fourth aspect of the present disclosure, a double-wheel trencher is provided, comprising the milling cutter holder feeding control device of the above-mentioned embodiments, or the milling cutter holder feeding control system of the above-mentioned embodiments.

[0053] Based on the above technical solutions, the milling cutter holder feeding control method of the embodiments of the present disclosure comprises a constant-pressure speed-limiting mode, which is suitable for various stratum hardness, stratum viscosity and operation depth, and has good working condition adaptability; by adjusting the speed correlation value of the driving component, the feeding speed of the milling cutter holder can be limited, so as to avoid hole deflection or the situation of wheel sticking in clay layer and the like during construction, reduce downtime, and improve construction efficiency; by adjusting the pressure correlation value of the driving component, the rock breaking pressure of the milling cutter holder can be steplessly adjusted, control is fast and accurate, the rock breaking pressure can be maintained stable, milling is stable and continuous, the rotary stripping device is prevented from being stuck, continuous and efficient milling is ensured, and the milling quality and milling efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which are included to provide a further understanding of the present disclosure and constitute a part of the present disclosure, illustrate the illustrative embodiments of the present disclosure and specific examples thereof and serve to explain the present disclosure, and do not constitute an improper limitation on the present disclosure. In the drawings:

[0055] Figure 1 A flowchart of some embodiments of the milling cutter holder feeding control method of the present disclosure.

[0056] Figure 2 A flowchart of some other embodiments of the milling cutter holder feeding control method of the present disclosure.

[0057] Figure 3 A schematic diagram of some embodiments of the milling cutter holder feeding control system of the present disclosure.

[0058] Figure 4Flowchart of the milling cutter holder feed control method of some embodiments of the present disclosure.

[0059] Figure 5 Structural diagram of some embodiments of the double-wheel trencher of the present disclosure.

[0060] Legend of reference signs

[0061] 1, control device; 2, driving component; 3, milling cutter holder; 4, lifting device; 41, winch; 42, steel wire rope; 5, first detection device; 6, second detection device; 7, display device; 8, pressure regulating component; 9, speed regulating component; 10, hydraulic pump; 11, main machine; 12, rotary stripping device; 13, operating device. DETAILED DESCRIPTION

[0062] The present disclosure is described below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect thus defined can be combined with any other aspect or aspects, unless explicitly stated otherwise. In particular, any feature described as preferred or advantageous can be combined with any other feature or features described as preferred or advantageous.

[0063] The terms "first", "second", and the like appearing in the present disclosure are only for the convenience of description, to distinguish different components with the same name, and do not represent a chronological or primary and secondary relationship.

[0064] In the description of the present disclosure, it is understood that the terms "inner", "outer", "upper", "lower", "left" and "right" indicate the orientation or positional relationship based on the driver sitting on the driver's seat as the reference, only for the convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present disclosure.

[0065] The inventor found in the production process that most of the current double-wheel trenchers do not have a milling cutter holder feed control mode, and some control methods obtain the tension of the steel wire rope and control the feed state of the steel wire rope according to the tension of the steel wire rope and the set value, but such control methods have many shortcomings:

[0066] 1. The tension of the steel wire rope remains unchanged, and as the hardness of the stratum increases, the rock breaking pressure of the milling cutter holder gradually decreases, the feed speed decreases, constant speed automatic feed cannot be achieved, and the milling efficiency is low;

[0067] 2. If the feed speed is to be adjusted, the steel wire rope tension set value needs to be adjusted to change the steel wire rope tension, thereby affecting the feed speed change, but the steel wire rope tension and the feed speed are related but not linearly related, the required speed cannot be accurately adjusted, and the cutter holder vibration and stratum change interference are large;

[0068] 3、In the hard rock formation construction, adjusting the steel wire rope tension by rising or falling a set distance can easily cause the rock breaking pressure of the milling cutter holder to be too large or too small, the milling wheel load to fluctuate greatly, the milling wheel to be stuck and the reduction gearbox to be damaged, or the working device to be empty and the milling efficiency to be low;

[0069] 4、The steel wire rope tension measured by the strain type force sensor is easily affected by the vibration of the milling cutter holder, causing the measured value to fluctuate greatly, the processing and judgment time to be long, and the steel wire rope action to be inaccurate and lagging.

[0070] To solve the inconvenience of not having a milling cutter holder feed control mode, the present disclosure provides a milling cutter holder feed control method, hereinafter referred to as "control method", which can be used for the control of the milling cutter holder of a double-wheel trencher (double-wheel miller), and can improve the milling quality and efficiency, thus also solving the above-mentioned shortcomings of the feed control by obtaining the tension of the steel wire rope.

[0071] In some illustrative embodiments, as shown in Figures 1 to 5 the milling cutter holder feed control method comprises:

[0072] Step 110, acquiring mode selection information, pressure correlation values and speed correlation values, wherein the mode selection information includes a constant pressure and speed limiting mode, the pressure correlation values include at least one of the working pressure and the torque of the driving component, and the speed correlation values include at least one of the rotating speed and the working stroke of the driving component;

[0073] Step 120, calculating the rock breaking pressure of the milling cutter holder according to the pressure correlation values, and calculating the feed speed of the milling cutter holder according to the speed correlation values;

[0074] Step 130, setting a preset pressure and a preset maximum speed when the mode selection information is the constant pressure and speed limiting mode;

[0075] Step 140, adjusting the speed correlation values according to the comparison result of the feed speed and the preset maximum speed, so that the feed speed does not exceed the preset maximum speed;

[0076] Step 150, adjusting the pressure correlation values according to the comparison result of the rock breaking pressure and the preset pressure, so that the rock breaking pressure is equal to the preset pressure.

[0077] Specifically, the steps 110 to 150 can be executed sequentially, and optionally, the execution order of the steps 120 and 130 is not limited. Specifically, the step 140 is a prerequisite for the execution of the step 150, and only when the feeding speed does not exceed the preset maximum speed, the rock breaking pressure and the preset pressure are compared, and the pressure correlation value is adjusted so that the rock breaking pressure of the milling cutter holder is equal to the preset pressure. Optionally, the pressure correlation value and the speed correlation value obtained in the step 110 are both obtained in real time, and the rock breaking pressure of the milling cutter holder calculated according to the pressure correlation value and the feeding speed of the milling cutter holder calculated according to the speed correlation value in the step 120 are also both calculated in real time, so that the rock breaking pressure in the step 150 is the rock breaking pressure after the feeding speed meets the step 140.

[0078] Optionally, the step 130 can also inversely calculate the preset pressure correlation value through the preset pressure and inversely calculate the preset maximum speed correlation value through the preset maximum speed, in which case the step 120 can be omitted, and the step 140 is replaced by adjusting the speed correlation value according to the comparison result of the speed correlation value and the preset maximum speed correlation value, so that the speed correlation value does not exceed the preset maximum speed correlation value, and the step 150 is replaced by adjusting the pressure correlation value according to the comparison result of the pressure correlation value and the preset pressure correlation value, so that the pressure correlation value is equal to the preset pressure correlation value.

[0079] Optionally, the calculation of the rock breaking pressure of the milling cutter holder according to the pressure correlation value in the step 120 can also be executed between the steps 140 and 150, and correspondingly, the execution order of the step 110 of obtaining the pressure correlation value can also be adaptively adjusted, for example, to be executed before the calculation of the rock breaking pressure of the milling cutter holder according to the pressure correlation value between the steps 140 and 150. Optionally, in the step 130, the sub-step of setting the preset maximum speed can be executed at any time before the step 140 after the mode selection information is determined, and the sub-step of setting the preset pressure can be executed at any time before the step 150 after the mode selection information is determined.

[0080] Specifically, because the calculation of the feeding speed and the rock breaking pressure of the milling cutter holder can be real-time calculation, the adaptive adjustment of the execution order of part of the sub-steps does not affect the control logic. Specifically, in addition to the above-mentioned adjustment of the execution order of the sub-steps, other adaptive adjustments of the execution order of the sub-steps of the steps 110 to 150 can also be made, which are not specifically limited here.

[0081] Optionally, the mode selection information can further include other modes, such as a constant speed and pressure limiting mode, etc. Optionally, the driving component can be a hydraulic motor, an electric motor, a hydraulic cylinder, etc. Specifically, in the case of the driving component being a hydraulic motor, the pressure correlation value can be the working pressure and / or output torque of the hydraulic motor, and the speed correlation value can be the rotating speed; in the case of the driving component being an electric motor, the pressure correlation value can be the torque, and the speed correlation value can be the rotating speed; in the case of the driving component being a hydraulic cylinder, the pressure correlation value can be the working pressure of the hydraulic cylinder, and the speed correlation value can be the working stroke. Specifically, the change of the speed correlation value is directly proportional to the change of the feeding speed, and the change of the pressure correlation value is inversely proportional to the change of the rock breaking pressure.

[0082] Specifically, in the case of the driving component being a hydraulic motor or an electric motor, the output shaft of the hydraulic motor or the electric motor can rotate to drive the winding drum to rotate, thereby realizing the length change of the steel wire rope 42; in the case of the driving component being a hydraulic cylinder, the extension and retraction of the hydraulic cylinder can drive the steel wire rope 42 to realize the length change, for example, in the case of the hydraulic cylinder being extended, the mill cutter holder is lowered.

[0083] Specifically, the working pressure is the pressure of the hydraulic oil, and the unit is bar or Pa. Specifically, the pressure correlation value is used to calculate the rock breaking pressure of the mill cutter holder, and the rock breaking pressure refers to the force acting on the mill cutter holder and the milling working face. The units of the rock breaking pressure, the preset pressure and the pressure in the pressure correlation value are N. Specifically, the speed correlation value is used to calculate the feeding speed of the mill cutter holder, and the unit of the feeding speed is m / s, the unit of the rotating speed is r / min, and the unit of the working stroke is m. Specifically, the preset pressure can be a rock breaking pressure target value, and the preset maximum speed can be a maximum feeding speed.

[0084] Specifically, when the feeding speed of the mill cutter holder exceeds the preset maximum speed, there is a risk of slot hole deflection or mill wheel jamming, at which time the speed correlation value should be adjusted so that the feeding speed does not exceed the preset maximum speed, and then step 150 is performed. Specifically, in the case of the rock breaking pressure being greater than the preset pressure, the rotary stripping device 12 is prone to being stuck, in the case of the rock breaking pressure being less than the preset pressure, the milling efficiency is relatively low, and in the case of the rock breaking pressure being equal to the preset pressure, the milling quality and the milling efficiency can be considered.

[0085] The mill cutter holder feeding control method of this embodiment includes a constant pressure and speed limiting mode, is suitable for various stratum hardness, stratum viscosity and operation depth, and has good working condition adaptability; by adjusting the speed correlation value of the driving component, the feeding speed of the mill cutter holder can be limited, the slot hole deflection or mill wheel jamming in the construction of clay layer, etc. can be avoided, the downtime can be reduced, and the construction efficiency can be improved; by adjusting the pressure correlation value of the driving component, the rock breaking pressure of the mill cutter holder can be steplessly adjusted, the control is fast and accurate, the rock breaking pressure can be maintained stable, the milling can be realized stably and continuously, the rotary stripping device can be prevented from being stuck, continuous and efficient milling can be ensured, and the milling quality and the milling efficiency can be improved.

[0086] In some embodiments, as shown in FIG. 1, in the case of non-real-time updating of the speed correlation value and the pressure correlation value, or in the case of non-real-time updating of the feed speed and the rock breaking pressure of the milling tool holder, the control method can also include the following steps executed sequentially: Figures 1 to 5

[0087] obtaining mode selection information, wherein the mode selection information includes a constant pressure speed limit mode;

[0088] in the case of the constant pressure speed limit mode, setting a preset pressure and a preset maximum speed;

[0089] obtaining a speed correlation value, calculating the feed speed of the milling tool holder according to the speed correlation value, the speed correlation value including at least one of the rotation speed of the driving component and the working stroke;

[0090] adjusting the speed correlation value according to the comparison result of the feed speed and the preset maximum speed, so that the feed speed does not exceed the preset maximum speed;

[0091] obtaining a pressure correlation value, calculating the rock breaking pressure of the milling tool holder according to the pressure correlation value, the pressure correlation value including at least one of the working pressure and the torque of the driving component;

[0092] adjusting the pressure correlation value according to the comparison result of the rock breaking pressure and the preset pressure, so that the rock breaking pressure is equal to the preset pressure.

[0093] In some embodiments, as shown in FIG. 1, adjusting the speed correlation value according to the comparison result of the feed speed and the preset maximum speed further includes: Figures 1 to 5 in the case of the feed speed being greater than the preset maximum speed, reducing the speed correlation value so that the feed speed is less than or equal to the preset maximum speed;

[0094] in the case of the feed speed being less than or equal to the preset maximum speed, keeping the speed correlation value unchanged.

[0095] Specifically, in the case of the feed speed of the milling tool holder being greater than the preset maximum speed, there is a risk of slot hole deflection or milling wheel gudgeon, at which time the speed correlation value should be reduced to reduce the feed speed of the milling tool holder, for example, to reduce the rotation speed or reduce the cylinder stroke, so that the feed speed is less than or equal to the preset maximum speed. Specifically, the feed speed of the milling tool holder is continuously reduced to be less than or equal to the preset maximum speed, which can ensure that the feed speed is within the permitted range.

[0096]

[0097] ​​Specifically, when the feed speed of the milling cutter holder is less than or equal to the preset maximum speed, it indicates that the feed speed is within the permissible range, and the slot hole deflection or the wheel sticking situation in the clay layer and the like can be avoided, at this time the speed correlation value is kept unchanged, then the feed speed of the milling cutter holder is kept unchanged under the same stratum condition, and then the subsequent step 150 can be executed. Alternatively, the order of the sub-steps can be adjusted as in the foregoing embodiments, or the pressure correlation value can be obtained again under the premise that the speed correlation value is kept unchanged, the rock breaking pressure is calculated according to the pressure correlation value, and then the step 150 is executed.

[0098] The control method of this embodiment can limit the feed speed of the milling cutter holder by reducing or keeping the speed correlation value unchanged, avoid the slot hole deflection or the wheel sticking situation in the clay layer and the like, reduce the downtime, and improve the milling quality and the milling construction efficiency.

[0099] In some embodiments, as shown in Figures 1 to 5 adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset pressure further includes:

[0100] keeping the pressure correlation value unchanged when the rock breaking pressure is equal to the preset pressure;

[0101] reducing the pressure correlation value to increase the rock breaking pressure to equal to the preset pressure when the rock breaking pressure is less than the preset pressure;

[0102] increasing the pressure correlation value to reduce the rock breaking pressure to equal to the preset pressure when the rock breaking pressure is greater than the preset pressure.

[0103] Specifically, the rock breaking pressure is equal to the preset pressure, which indicates that the current rock breaking pressure of the milling cutter holder is just equal to the required rock breaking pressure, and the milling quality and the milling efficiency are high, at this time the pressure correlation value of the driving part can be kept unchanged to keep the current rock breaking pressure of the milling cutter holder for milling.

[0104] Specifically, the rock breaking pressure is less than the preset pressure, which indicates that the current rock breaking pressure of the milling cutter holder is lower than the required rock breaking pressure, and the milling efficiency is low, at this time the pressure correlation value is reduced, for example, the working pressure of the hydraulic motor is reduced, so that the upward tension acting on the milling cutter holder, for example, the tension of the steel wire rope, is reduced, the milling cutter holder is relatively closer to the milling working surface than before, thereby increasing the rock breaking pressure until the rock breaking pressure is equal to the preset pressure. Specifically, the pressure correlation value stops reducing after the rock breaking pressure is equal to the preset pressure, and the milling cutter holder will keep the preset pressure for milling.

[0105] Specifically, the rock breaking pressure greater than the preset pressure indicates that the rock breaking pressure of the current milling cutter holder is higher than the required rock breaking pressure, and the rotary stripping device 12 is prone to be stuck, at this time, the pressure correlation value is increased, for example, the working pressure of the hydraulic motor is increased, so that the upward tension of the milling cutter holder, for example, the tension of the steel wire rope, is increased, the milling cutter holder is relatively farther away from the milling working surface than before, thereby reducing the rock breaking pressure until the rock breaking pressure is equal to the preset pressure. Specifically, after the rock breaking pressure is equal to the preset pressure, the pressure correlation value stops increasing, and the milling cutter holder will maintain the preset pressure for milling.

[0106] Optionally, the process of adjusting the pressure correlation value to make the rock breaking pressure tend to the preset pressure may also cause oscillation beyond the preset pressure, for example, the rock breaking pressure returns to the preset pressure in a manner similar to a damped vibration displacement time curve.

[0107] The control method of this embodiment can steplessly adjust the rock breaking pressure of the milling cutter holder by adjusting the pressure correlation value to make the rock breaking pressure equal to the preset pressure, maintain the stability of the rock breaking pressure, ensure continuous and efficient milling, avoid the rotary stripping device from being stuck, and improve the milling quality and efficiency.

[0108] In some embodiments, as shown in Figures 2 to 5 The mode selection information also includes a constant speed pressure limiting mode, and the control method further includes:

[0109] Step 230: In the case where the mode selection information is the constant speed pressure limiting mode, a preset speed and a preset maximum pressure are set;

[0110] Step 240: Adjust the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset maximum pressure, so that the rock breaking pressure does not exceed the preset maximum pressure;

[0111] Step 250: Adjust the feed speed according to the comparison result of the feed speed and the preset speed, so that the feed speed is equal to the preset speed.

[0112] Specifically, steps 110 to 250 can be executed sequentially, and optionally, the execution order of steps 120 and 230 is not limited. Specifically, step 240 is a prerequisite for the execution of step 250, only when the rock breaking pressure does not exceed the preset maximum pressure, the feed speed and the preset speed are compared, and the speed correlation value is adjusted to make the feed speed of the milling cutter holder equal to the preset speed. Optionally, the pressure correlation value and the speed correlation value obtained in step 110 are obtained in real time, and the rock breaking pressure of the milling cutter holder calculated according to the pressure correlation value in step 120 and the feed speed of the milling cutter holder calculated according to the speed correlation value are also calculated in real time, so that the feed speed in step 250 is the feed speed after the rock breaking pressure meets step 240.

[0113] Optionally, step 230 can also reversely calculate the preset speed correlation value from the preset speed and reversely calculate the preset maximum pressure correlation value from the preset maximum pressure, in which case step 120 can be omitted and step 240 can be replaced by adjusting the pressure correlation value based on the comparison result of the pressure correlation value and the preset maximum pressure correlation value so that the pressure correlation value is not lower than the preset maximum pressure correlation value, and step 250 can be replaced by adjusting the speed correlation value based on the comparison result of the speed correlation value and the preset speed correlation value so that the speed correlation value is equal to the preset speed correlation value.

[0114] Optionally, the calculation of the feed speed of the milling tool holder based on the speed correlation value in step 120 can also be performed between step 240 and step 250, and correspondingly, the execution order of the acquisition of the speed correlation value in step 110 can also be adaptively adjusted, for example, to be executed before the calculation of the feed speed of the milling tool holder based on the speed correlation value between step 240 and step 250. Optionally, the sub-step of setting the preset maximum pressure in step 230 can be executed at any time before step 240 after the mode selection information is determined, and the sub-step of setting the preset speed can be executed at any time before step 250 after the mode selection information is determined.

[0115] Specifically, because the calculation of the rock breaking pressure and the feed speed of the milling tool holder can be real-time calculation, the adaptive adjustment of the execution order of part of the sub-steps does not affect the control logic. Specifically, in addition to the above-mentioned adjustment of the execution order of the sub-steps, other adaptive adjustments can also be made to the execution order of the sub-steps of steps 110 to 250, which are not specifically limited here.

[0116] Specifically, the preset speed can be a target value of the feed speed, and the preset maximum pressure can be a maximum rock breaking pressure. Specifically, when the rock breaking pressure of the milling tool holder exceeds the preset maximum pressure, there is a risk of the rotary stripping device 12 being stuck or damaged, at which time the pressure correlation value should be adjusted so that the rock breaking pressure does not exceed the preset maximum pressure, and then step 250 is executed. Specifically, when the feed speed is greater than the preset speed, it is easy to cause the slot hole to be skewed, when the feed speed is less than the preset speed, the milling efficiency is low, and when the feed speed is equal to the preset speed, the equipment safety and the milling efficiency can be taken into account.

[0117] The milling tool holder control method of this embodiment also includes a constant speed and pressure limiting mode, and the dual-mode feed control method is more adaptable to complex and variable strata conditions; by adjusting the pressure correlation value of the driving component, the rock breaking pressure of the milling tool holder can be limited, so that the rock breaking pressure of the milling tool holder does not exceed a safety value, the rotary stripping device can be protected from damage, the downtime for maintenance can be reduced, and the equipment safety can be improved; by adjusting the speed correlation value of the driving component, the feed speed is controlled through closed-loop feedback control, the feed speed can be kept constant, the control precision is high, the anti-interference performance is strong, and the milling quality and milling efficiency can be improved.

[0118] In some embodiments, as shown in FIG. 1 1, the control method can further comprise the following steps executed sequentially: Figures 1 to 5

[0119] obtaining mode selection information, wherein the mode selection information further comprises a constant speed and pressure limiting mode;

[0120] in the case that the mode selection information is the constant speed and pressure limiting mode, setting a preset speed and a preset maximum pressure;

[0121] obtaining a pressure correlation value, and calculating the rock breaking pressure of the milling tool holder according to the pressure correlation value, wherein the pressure correlation value comprises at least one of a working pressure and a torque of the driving component;

[0122] adjusting the speed correlation value according to a comparison result of the feed speed and the preset maximum speed, so that the feed speed does not exceed the preset maximum speed;

[0123] obtaining a speed correlation value, and calculating the feed speed of the milling tool holder according to the speed correlation value, wherein the speed correlation value comprises at least one of a rotating speed and a working stroke of the driving component;

[0124] adjusting the speed correlation value according to a comparison result of the feed speed and the preset speed, so that the feed speed is equal to the preset speed.

[0125] In some embodiments, as shown in FIG. 1 1, the control method can further comprise the following steps executed sequentially: Figures 2 to 5

[0126] in the case that the rock breaking pressure is greater than the preset maximum pressure, increasing the pressure correlation value, so that the rock breaking pressure is less than or equal to the preset maximum pressure;

[0127] in the case that the rock breaking pressure is less than or equal to the preset maximum pressure, keeping the pressure correlation value unchanged.

[0128] Specifically, in the case that the rock breaking pressure of the milling tool holder is greater than the preset maximum pressure, it indicates that the upward tension of the driving component acting on the milling tool holder is too small, for example, the tension of the steel wire rope is too small, the milling tool holder is too close to the milling working surface, and there is a risk of the rotary stripping device 12 being stuck or damaged, at this time, the pressure correlation value should be increased to reduce the rock breaking pressure of the milling tool holder, for example, the working pressure or the torque is increased, so that the rock breaking pressure is less than or equal to the preset maximum pressure. Specifically, the rock breaking pressure of the milling tool holder is continuously reduced to be less than or equal to the preset maximum pressure, which can ensure that the rotary stripping device works under a safe rock breaking pressure.

[0129] ​​Specifically, when the rock breaking pressure of the milling cutter holder is less than or equal to the preset maximum pressure, it indicates that the rock breaking pressure is within the permissible range, at this time the pressure correlation value is kept unchanged, then the rock breaking pressure will not change under the same stratum condition, and then the subsequent step 250 can be executed. Alternatively, as in the foregoing embodiments, the order of sub-steps can be adjusted, or the speed correlation value can be obtained again under the premise that the pressure correlation value is kept unchanged, the feed speed is calculated according to the speed correlation value, and then step 250 is executed.

[0130] The control method of this embodiment can limit the rock breaking pressure of the milling cutter holder by increasing or keeping the pressure correlation value unchanged, thereby protecting the rock breaking pressure of the milling cutter holder from exceeding the safety value, avoiding damage to the rotary stripping device, reducing downtime maintenance time, and improving equipment safety.

[0131] In some embodiments, as shown in FIG. 8, adjusting the feed speed according to the comparison result of the feed speed and the preset speed further comprises: Figures 2 to 5

[0132] keeping the speed correlation value unchanged when the feed speed is equal to the preset speed;

[0133] increasing the speed correlation value when the feed speed is less than the preset speed, so that the feed speed is increased to be equal to the preset speed;

[0134] decreasing the speed correlation value when the feed speed is greater than the preset speed, so that the feed speed is decreased to be equal to the preset speed.

[0135] Specifically, the feed speed is equal to the preset speed, which indicates that the current feed speed of the milling cutter holder is just equal to the required feed speed, the control precision is high, the anti-interference performance is strong, the milling quality and milling efficiency are high, at this time the speed correlation value of the driving part can be kept unchanged, so that the milling cutter holder keeps the preset speed for milling.

[0136] Specifically, the feed speed is less than the preset speed, which indicates that the current feed speed of the milling cutter holder is less than the required feed speed, the milling efficiency is low, at this time the speed correlation value is increased, for example, the speed or working stroke is increased, so that the feed speed of the milling cutter holder is increased until the feed speed is equal to the preset speed. Specifically, the speed correlation value stops increasing after the feed speed is equal to the preset speed, and the milling cutter holder will keep the preset speed for milling.

[0137] Specifically, the feed speed is greater than the preset speed, which indicates that the current feed speed of the milling cutter holder is greater than the required feed speed, which is easy to cause the hole to be skewed, the milling quality is poor, and the milling efficiency is low, at this time the speed correlation value is decreased, for example, the speed or working stroke is decreased, so that the feed speed of the milling cutter holder is decreased until the feed speed is equal to the preset speed. Specifically, the speed correlation value stops decreasing after the feed speed is equal to the preset speed, and the milling cutter holder will keep the preset speed for milling.​

[0138] Optionally, the process of adjusting the speed correlation value to make the feed speed tend to the preset speed can also cause oscillation beyond the preset speed, for example, the feed speed returns to the preset speed in the form of a damped vibration displacement-time curve.

[0139] The control method of this embodiment can achieve constant feed speed, high control accuracy, strong anti-interference, and improve milling quality and milling efficiency by adjusting the speed correlation value to make the feed speed equal to the preset speed.

[0140] In some embodiments, the control method further comprises:

[0141] Obtaining formation working condition information, the formation working condition information including formation hardness;

[0142] In the case where the formation hardness is greater than the preset hardness, selecting the constant-pressure speed-limiting mode;

[0143] In the case where the formation hardness is less than or equal to the preset hardness, selecting the constant-speed pressure-limiting mode or the constant-pressure speed-limiting mode.

[0144] Specifically, the constant-pressure speed-limiting mode is suitable for soft and hard formations, and the constant-speed pressure-limiting mode is suitable for soft formations. Specifically, in the case where the bottom layer hardness is less than or equal to the preset hardness, the constant-pressure speed-limiting mode or the constant-speed pressure-limiting mode can be selected according to actual production needs. The constant-pressure speed-limiting mode adjusts the rock-breaking pressure of the milling tool holder steplessly to maintain stable rock-breaking pressure and ensure continuous and efficient milling. The constant-speed pressure-limiting mode can achieve constant feed speed, high control accuracy, strong anti-interference, and the pressure-limiting setting can protect the rock-breaking pressure of the milling tool holder from exceeding the safety value to avoid damaging the rotary stripping device.

[0145] Optionally, the controller or other control device can be programmed to automatically switch the control mode when it is detected that the formation hardness changes, for example, in the case where the formation hardness is greater than the preset hardness, automatically switching from the constant-speed pressure-limiting mode with high control accuracy to the constant-pressure speed-limiting mode for continuous and efficient milling.

[0146] This embodiment can select one of the modes according to production needs in the case of soft formations to fully exert the respective advantages of the constant-pressure speed-limiting mode and the constant-speed pressure-limiting mode, and select the constant-pressure speed-limiting mode in the case of hard formations to improve adaptability to complex and variable formation conditions.

[0147] In some embodiments, the formation working condition information further includes formation viscosity, and the milling tool holder feed control method further comprises:

[0148] In the case where the formation viscosity is greater than the preset viscosity, selecting the constant-pressure speed-limiting mode.

[0149] Specifically, the speed limiting setting of the constant pressure speed limiting mode can avoid the paste wheel situation during the clay layer construction, thereby reducing the downtime and improving the construction efficiency. Alternatively, the controller or the like control device can be programmed to automatically switch the control mode when the formation viscosity is detected to change, for example, automatically switch from the constant speed pressure limiting mode with high control accuracy to the constant pressure speed limiting mode with continuous efficient milling when the formation viscosity is detected to be greater than the preset viscosity.

[0150] This embodiment can switch to the constant pressure speed limiting mode when milling the clay layer, thereby avoiding the paste wheel situation of the rotary stripping device, reducing the downtime and improving the construction efficiency.

[0151] In some embodiments, the control method further comprises:

[0152] obtaining the working depth of the milling cutter holder;

[0153] selecting the constant speed pressure limiting mode when the working depth is less than the preset depth;

[0154] selecting the constant pressure speed limiting mode when the working depth is greater than or equal to the preset depth.

[0155] Alternatively, the controller or the like control device can be programmed to automatically switch the control mode with the change of the working depth, for example, automatically switch from the constant speed pressure limiting mode more suitable for shallow formation to the constant pressure speed limiting mode more suitable for hard formation when the working depth reaches the preset depth. Alternatively, the working depth is also related to the formation hardness, for example, the formation is generally softer when the working depth is shallow, and the formation is generally harder when the working depth is deep.

[0156] This embodiment can select the constant speed pressure limiting mode when the working depth is small and select the constant pressure speed limiting mode when the working depth is large, thereby fully exerting the respective advantages of the two control modes and improving the adaptability to complex and variable formation conditions.

[0157] Secondly, as shown in Figure 3 and Figure 5 The present disclosure provides a milling cutter holder feeding control device for implementing the milling cutter holder feeding control method of the above-mentioned embodiments. Specifically, the control device 1 can be a computer or the like controller.

[0158] The milling cutter holder feeding control device of the embodiment can be suitable for various stratum hardness, stratum viscosity and working depth, and has good working condition adaptability by implementing the control method; the feeding speed of the milling cutter holder can be limited by adjusting the speed correlation value of the driving component, so as to avoid hole deflection or paste wheel phenomenon during construction in clay layer and the like, reduce downtime, and improve construction efficiency; the rock breaking pressure of the milling cutter holder can be steplessly adjusted by adjusting the pressure correlation value of the driving component, control is fast and accurate, the rock breaking pressure can be maintained stable, stable and continuous milling is realized, the rotating stripping device can be prevented from being stuck, continuous and efficient milling can be ensured, and the milling quality and milling efficiency can be improved.

[0159] Again, as shown in Figure 3 and Figure 5 , the disclosure also proposes a milling cutter holder feeding control system, hereinafter referred to as "control system" for short, comprising:

[0160] a driving component 2 configured to provide driving force for feeding of the milling cutter holder 3;

[0161] a lifting device 4 connected between the output end of the driving component 2 and the milling cutter holder 3;

[0162] a first detection device 5 configured to detect at least one of the working pressure and the torque of the driving component 2;

[0163] a second detection device 6 configured to detect at least one of the rotation speed and the working stroke of the driving component 2; and

[0164] the milling cutter holder feeding control device 1 of the above embodiment.

[0165] Specifically, the lifting device 4 can include a winch 41 and a steel wire rope 42. Specifically, the first detection device 5 is a pressure correlation value detection device, and the second detection device 6 is a speed correlation value detection device. Alternatively, the driving component 2 can be a hydraulic motor, a motor or a hydraulic cylinder and the like.

[0166] Specifically, in the case where the driving component is a hydraulic motor, the pressure correlation value can be the working pressure and / or output torque of the hydraulic motor, the first detection device 5 can be a working pressure sensor and / or a torque sensor, the speed correlation value can be the rotation speed, and the second detection device 6 can be a rotation speed sensor; in the case where the driving component is a motor, the pressure correlation value can be the torque, the first detection device 5 can be a torque sensor, the speed correlation value can be the rotation speed, and the second detection device 6 can be a rotation speed sensor; in the case where the driving component is a hydraulic cylinder, the pressure correlation value can be the working pressure of the hydraulic cylinder, the first detection device 5 can be a working pressure sensor, the speed correlation value can be the working stroke, and the second detection device 6 can be a working stroke sensor; the working pressure is the pressure of the hydraulic oil, and the unit is bar or Pa.

[0167] The control system of the embodiment detects the pressure correlation value through the first detection device and detects the speed correlation value through the second detection device, can calculate the rock breaking pressure and the feeding speed in real time or instantaneously, and facilitates the calculation of the rock breaking pressure and the feeding speed to participate in the control in the single mode or the dual mode. The control system can be applied to various formation hardness, formation viscosity and operation depth according to the control method implemented according to the calculation value, has good working condition adaptability, can maintain the rock breaking pressure stable, realizes the smooth and continuous milling, can avoid the rotation stripping device from being stuck, can ensure the continuous and efficient milling, and can improve the milling quality and the milling efficiency.

[0168] In some embodiments, as shown in Figure 3 and Figure 5 , the control system further comprises:

[0169] The display device 7 is configured to display at least one of the pressure correlation value, the speed correlation value, the rock breaking pressure and the feeding speed. The embodiment displays the measurement value or the calculation value related to the control mode through the display device 7, can facilitate the operator such as the pilot to understand the equipment state in time, and improves the use convenience and the operation pertinence of the control system.

[0170] In some embodiments, the driving component 2 comprises at least one of a hydraulic motor, an electric motor or a hydraulic cylinder.

[0171] In some embodiments, as shown in Figure 3 and Figure 5 , the control system further comprises:

[0172] The pressure adjusting component 8 is configured to adjust the pressure correlation value; and

[0173] The speed adjusting component 9 is configured to adjust the speed correlation value.

[0174] Specifically, in the case that the driving component 2 comprises the hydraulic motor and the pressure correlation value is the working pressure, the pressure adjusting component 8 can be a pressure regulating valve, and the speed adjusting component 9 can be a speed regulating valve. The working pressure or the rotating speed can be adjusted by changing the size of the valve core opening, for example, the valve core opening is increased to increase the rotating speed of the hydraulic motor.

[0175] The control system of the embodiment adjusts the pressure correlation value through the pressure adjusting component and adjusts the speed correlation value through the speed adjusting component, can adjust the pressure and the speed correlation value in real time or instantaneously, can realize the accurate control of the rock breaking pressure and the feeding speed in the constant pressure and speed limiting mode or the constant speed and pressure limiting mode, facilitates the closed loop feedback control of the rock breaking pressure and the feeding speed, can improve the control precision of the control system, and improve the milling quality and the milling efficiency.

[0176] In some embodiments, as shown in Figure 3 and Figure 5As shown, the control system further comprises an operating device 13 for inputting the set value. Specifically, the operating device 13 is used to set at least one of the preset pressure, preset maximum speed, preset speed and preset maximum pressure. Optionally, the operating device 13 can be integrated with the control device 1 or the display device 7, for example, the set value is inputted through the display device 7. The control system of this embodiment can improve the convenience of use.

[0177] In some specific embodiments, as Figure 3 As shown, the control system comprises the control device 1, the driving component 2, the milling cutter holder 3, the lifting device 4, the first detection device 5, the second detection device 6, the display device 7, the pressure regulating component 8, the speed regulating component 9 and the operating device 13, the driving component 2 is a hoist motor (hydraulic motor), the pressure-related value is the working pressure, the first detection device 5 is a pressure measuring device, the second detection device 6 is a speed measuring device, the speed-related value is the rotational speed, and the control mode of each device and component in the milling cutter holder feeding control system is as follows:

[0178] During operation, the operating device 13 sends the feeding speed and rock breaking pressure requirements to the control device 1, the control device 1 controls the speed regulating component 9 and the pressure regulating component 8 to adjust the speed and working pressure of the driving component 2, and then controls the feeding of the lifting device 4, thereby finally controlling the speed and pressure of the milling cutter holder 3. At the same time, the second detection device 6 and the first detection device 5 measure in real time and display the speed and pressure values on the display device 7 through the control device 1. According to the formation conditions, the operating device 13 selects different control modes and sends instructions to the control device 1, and the control device 1 sends two different control signals according to the received mode instructions.

[0179] I. In the constant speed and pressure limiting mode:

[0180] The operating device 13 sends the preset speed information to the control device 1, the control device 1 receives the signal and sends the speed control signal to the speed regulating component 9, the speed regulating component 9 receives the speed control signal and controls the speed of the driving component 2. The second detection device 6 measures the speed of the lifting device 4 in real time and sends it to the control device 1, the control device 1 receives the speed signal and calculates the feeding speed of the milling cutter holder 3, judges whether it is equal to the preset speed, if not, controls the speed regulating component 9 to adjust the rotational speed of the driving component 2 to make the feeding speed of the milling cutter holder 3 equal to the preset speed, if yes, keeps the constant feeding at the preset speed. At the same time, the first detection device 5 measures the working pressure value of the lifting device 4 in real time and sends it to the control device 1, if the pressure value exceeds the limited safe pressure range, i.e. exceeds the preset maximum pressure, the control device 1 sends the signal to the pressure regulating component 8 to control the working pressure of the driving component 2 to increase.

[0181] II. In the constant pressure and speed limiting mode:

[0182] The operation device 13 sends preset pressure information to the control device 1, and the control device 1 sends a pressure control signal to the pressure regulating component 8 after receiving the signal. The pressure regulating component 8 controls the working pressure of the driving component 2 after receiving the pressure control signal. The first detection device 5 measures the working pressure value of the driving component 2 in real time and sends it to the control device 1. The control device 1 calculates the rock breaking pressure of the milling cutter holder 3 after receiving the working pressure signal and judges whether it is equal to the preset pressure. If not, the control device 1 controls the pressure regulating component 8 to adjust the working pressure of the driving component 2 so that the rock breaking pressure of the milling cutter holder 3 is equal to the preset pressure. At the same time, the second detection device 6 measures the rotating speed value of the driving component 2 in real time and sends it to the control device 1. If the rotating speed of the driving component 2 exceeds the limited rotating speed, i.e., exceeds the preset maximum rotating speed, the control device 1 sends a signal to the speed regulating component 9 to reduce the rotating speed of the driving component 2.

[0183] Specifically, in the two modes, the second detection device 6 and the first detection device 5 both measure in real time, and the signals are processed by the control device 1 and displayed on the display device 7, so that the operator can know the feeding state in time.

[0184] In addition, the disclosure also provides a double-wheel slot milling machine comprising the milling cutter holder feeding control device 1 of the above-mentioned embodiments or the milling cutter holder feeding control system of the above-mentioned embodiments.

[0185] In some specific embodiments, as shown in Figure 3 and Figure 5 the double-wheel slot milling machine comprises the control device 1, the driving component 2, the milling cutter holder 3, the lifting device 4, the first detection device 5, the second detection device 6, the display device 7, the pressure regulating component 8, the speed regulating component 9, the hydraulic pump 10, the main machine 11 and the rotary stripping device 12. The driving component 2 is a winch motor (hydraulic motor), the pressure-related value is the working pressure, the first detection device 5 is a pressure measuring device, the second detection device 6 is a speed measuring device, the pressure regulating component 8 is a pressure regulating valve, the speed-related value is the rotating speed, the speed regulating component 9 is a speed regulating valve, the lifting device comprises a winch 41 and a steel wire rope 42, and the connection relationship and control mode of each device and component in the double-wheel slot milling machine and the control system are as follows:

[0186] The winch 41 is installed on the upper part of the main machine 11 and can control the release and recovery of the steel wire rope 42. The steel wire rope 42 is hung with the milling cutter holder 3 to perform lifting movement. The milling cutter holder 3 is provided with two rotary stripping devices 12 at the bottom, which are used for milling and breaking rocks. The driving component 2 is installed on the winch 41 and is used to drive the winch 41 to wind or release the steel wire rope 42. The rotating speed of the driving component 2 determines the lifting speed of the steel wire rope 42 and the milling cutter holder 3. The working pressure of the driving component 2 determines the tension of the steel wire rope 42 and the rock breaking pressure of the milling cutter holder 3.

[0187] The winch 41 is equipped with a speed regulating component 9 for adjusting the rotational speed of the drive component 2, and a second detection device 6 for measuring the rotational speed of the drive component 2. The control device 1, installed on the main unit 11, sends a control signal to the speed regulating component 9. After receiving the signal, the speed regulating component 9 changes the valve core opening to adjust the rotational speed of the drive component 2. The second detection device 6 measures the rotational speed of the drive component 2 and sends it to the control device 1 to provide feedback and control the rotational speed of the drive component 2 to reach the set value. The control device 1 converts the rotational speed measured by the second detection device 6 into the feed speed of the milling cutter holder 3 and sends it to the display device 7 so that the operator can promptly understand the equipment status.

[0188] The main unit 11 is equipped with a hydraulic pump 10 for supplying power to the drive component 2, a pressure regulating component 8 for adjusting the working pressure of the drive component 2, and a first detection device 5 for measuring the working pressure of the drive component 2. After receiving a control signal from the control device 1, the pressure regulating component 8 changes the working pressure of the winch motor. The first detection device 5 sends the measured pressure signal to the control device 1 to provide feedback and control the working pressure of the drive component 2 to reach the set value. Simultaneously, the control device 1 converts the pressure signal into the rock-breaking pressure of the milling cutter holder 3 and sends it to the display device 7 so that the operator can promptly understand the equipment status.

[0189] The following is combined with Figure 3 and Figure 4 Specific embodiments of a milling cutter head feed control method are described, where the driving component 2 is a winch motor (hydraulic motor), the pressure correlation value is the working pressure, and the speed correlation value is the rotational speed.

[0190] First, select either constant speed and pressure limiting mode or constant pressure and speed limiting mode based on the geological conditions or operating depth. Specifically, the preset speed is the target feed rate value V. 设定 The preset maximum pressure is the maximum rock-breaking pressure F. 上限 The rock-breaking pressure of the milling cutter holder 3 is F. 压 The feed speed of the milling cutter head is V. 刀架 The preset pressure is the target value of rock-breaking pressure F. 设定 The preset maximum speed is the maximum feed rate V. 上限 .

[0191] I. Constant Speed ​​Pressure Limiting Mode

[0192] Set the target feed rate V required for the milling cutter holder 3 on the operating device 13 or the display device 7. 设定 and maximum rock-breaking pressure F 上限 The working pressure P of the hoist motor is obtained through the first detection device 5. 马 The working pressure value is transmitted to the control device 1, which calculates the rock-breaking pressure F of the milling cutter holder 3. 压 Control device 1 controls the rock-breaking pressure F of the milling cutter holder 3.压 and the maximum rock breaking pressure F 上限 are compared.

[0193] 1) When F 压 is greater than F 上限 , it means that the working pressure of the hoist motor is too small, the tension of the wire rope 42 is too small, and the rock breaking pressure of the cutter holder 3 is too large, which may cause the rotary stripping device 12 to be stuck or damaged. At this time, the control device 1 controls the pressure regulating valve to increase the pressure of the hoist motor, and the hoist 41 is lifted to reduce the rock breaking pressure of the cutter holder 3, until F 压 is less than or equal to F 上限 , the hoist 41 stops lifting, and ensures that the rotary stripping device 12 works under a safe rock breaking pressure;

[0194] 2) When F 压 is less than or equal to F 上限 , it means that the rock breaking pressure F 压 of the cutter holder 3 is within the permitted range. At this time, the working speed n of the hoist motor is obtained by the second detection device 6, and the working speed value is transmitted to the control device 1. The control device 1 calculates the feed speed V 刀架 of the cutter holder 3, and compares the feed speed V 刀架 of the cutter holder 3 with the set feed speed target value V 设定 :

[0195] a) When the feed speed V 刀架 is equal to V 设定 , it means that the current feed speed V 刀架 of the cutter holder 3 is exactly at the required feed speed. At this time, the control device 1 controls the hoist motor to keep the current speed unchanged, and the wire rope 42 hoisting the cutter holder 3 keeps the current feed speed for milling;

[0196] b) When the feed speed V 刀架 is less than V 设定 , it means that the current feed speed V 刀架 of the cutter holder 3 is lower than the required feed speed, and the milling efficiency is low. At this time, the control device 1 controls the speed regulating valve to increase the flow, the speed of the hoist motor increases, and the feed speed of the cutter holder 3 increases, until the feed speed V 刀架 is equal to V 设定 , the speed of the hoist motor stops increasing, and the cutter holder 3 keeps the current feed speed for milling;

[0197] c) When the feed speed V 刀架 is greater than V 设定 , it means that the current feed speed V 刀架If the feeding speed is higher than the required feeding speed, the slot will be inclined, and the control device 1 controls the speed regulating valve to reduce the flow of the hoist motor, the rotation speed of the hoist motor is reduced, and the feeding speed of the milling cutter holder 3 is reduced until the feeding speed V 刀架 is equal to V 设定 , the rotation speed of the hoist motor stops being small, and the milling cutter holder 3 keeps the current feeding speed for milling.

[0198] II. Constant pressure and speed limiting mode

[0199] The target value F 设定 of the rock breaking pressure required by the milling cutter holder 3 is set on the operating device 13 or the display device 7, and the maximum feeding speed V 上限 is set. The working rotation speed n of the hoist motor is obtained by the second detecting device 6, and the working rotation speed value is transmitted to the control device 1. The control device 1 calculates the feeding speed V 刀架 of the milling cutter holder 3, and the control device 1 compares the feeding speed V 刀架 of the milling cutter holder 3 with the maximum feeding speed V 上限 .

[0200] 1) When V 刀架 is greater than V 上限 , it indicates that the working rotation speed of the hoist motor is too large, and the feeding speed of the milling cutter holder 3 is too large, which may cause the slot to be inclined or the milling wheel to be stuck. At this time, the control device 1 controls the speed regulating valve to reduce the flow of the hoist motor, the rotation speed of the hoist motor is reduced, and the feeding speed V 刀架 of the milling cutter holder 3 is reduced until V 刀架 is less than or equal to V 上限 , the hoist 41 stops reducing the speed, and the milling cutter holder 3 works at the permitted feeding speed;

[0201] 2) When V 刀架 is less than or equal to V 上限 , it indicates that the feeding speed V 刀架 of the milling cutter holder 3 is within the permitted range. At this time, the working pressure P 马 of the hoist motor is obtained by the first detecting device 5, and the working pressure value is transmitted to the control device 1. The control device 1 calculates the rock breaking pressure F 压 of the milling cutter holder 3, and the control device 1 compares the rock breaking pressure F 压 of the milling cutter holder 3 with the target value F 设定 of the rock breaking pressure:

[0202] a) When F 压 is equal to F 设定 , it indicates that the current rock breaking pressure F 压 of the milling cutter holder 3 is exactly the required rock breaking pressure. At this time, the control device 1 controls the hoist motor to keep the current working pressure unchanged, and the steel wire rope 42 keeps the current rock breaking pressure for milling with the milling cutter holder 3;

[0203] b) when F 压 is less than F 设定 , it means that the current rock breaking pressure F 压 of the milling cutter holder 3 is lower than the required rock breaking pressure, the milling efficiency is low, at this time the control device 1 controls the pressure regulating valve to reduce the pressure, the working pressure of the winch motor is reduced, the rock breaking pressure F 压 of the milling cutter holder 3 is increased, until F 压 equals F 设定 , the working pressure of the winch motor stops reducing, the milling cutter holder 3 keeps the current rock breaking pressure for milling;

[0204] c) when F 压 is greater than F 设定 , it means that the current rock breaking pressure F 压 of the milling cutter holder 3 is higher than the required rock breaking pressure, the rotary stripping device 12 is easy to be stuck, at this time the control device 1 controls the pressure regulating valve to increase the pressure, the working pressure of the winch motor is increased, the rock breaking pressure F 压 of the milling cutter holder 3 is reduced, until F 压 equals F 设定 , the working pressure of the winch motor stops increasing, the milling cutter holder 3 keeps the current rock breaking pressure for milling.

[0205] In some embodiments, the control device 1 described above can be a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any appropriate combination thereof, which is used to perform the functions described in the present disclosure.

[0206] The above describes in detail a milling cutter holder feeding control method, a control device, a control system and a double-wheel trencher provided by the present disclosure. The principles and implementation manners of the present disclosure are described by using specific embodiments in the present disclosure, and the above embodiment descriptions are only used to help understand the method of the present disclosure and its core idea. It should be noted that, for those skilled in the art, without departing from the principles of the present disclosure, the present disclosure can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present disclosure.

Claims

1. A method of feed control for a milling head, characterized by, The method comprises: acquiring mode selection information, a pressure correlation value and a speed correlation value, wherein the mode selection information comprises a constant pressure and speed limiting mode, the pressure correlation value comprises at least one of a working pressure and a torque of a driving component, and the speed correlation value comprises at least one of a rotating speed and a working stroke of the driving component; calculating a rock breaking pressure of the milling tool holder according to the pressure correlation value and a feed speed of the milling tool holder according to the speed correlation value; in the case that the mode selection information is the constant pressure and speed limiting mode, setting a preset pressure and a preset maximum speed; adjusting the speed correlation value according to a comparison result of the feed speed and the preset maximum speed, so that the feed speed does not exceed the preset maximum speed; the adjusting the speed correlation value according to the comparison result of the feed speed and the preset maximum speed further comprises: in the case that the feed speed is greater than the preset maximum speed, decreasing the speed correlation value, so that the feed speed is less than or equal to the preset maximum speed; and in the case that the feed speed is less than or equal to the preset maximum speed, keeping the speed correlation value unchanged; adjusting the pressure correlation value according to a comparison result of the rock breaking pressure and the preset pressure, so that the rock breaking pressure is equal to the preset pressure; the adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset pressure further comprises: in the case that the rock breaking pressure is equal to the preset pressure, keeping the pressure correlation value unchanged; in the case that the rock breaking pressure is less than the preset pressure, decreasing the pressure correlation value, so that the rock breaking pressure increases to be equal to the preset pressure; and in the case that the rock breaking pressure is greater than the preset pressure, increasing the pressure correlation value, so that the rock breaking pressure decreases to be equal to the preset pressure.

2. The method of claim 1, wherein, the mode selection information further comprises a constant speed and pressure limiting mode, and the control method further comprises: in the case that the mode selection information is the constant speed and pressure limiting mode, setting a preset speed and a preset maximum pressure; adjusting the rock breaking pressure according to a comparison result of the rock breaking pressure and the preset maximum pressure, so that the rock breaking pressure does not exceed the preset maximum pressure; adjusting the feed speed according to a comparison result of the feed speed and the preset speed, so that the feed speed is equal to the preset speed.

3. The method of claim 2, wherein, the adjusting the rock breaking pressure according to the comparison result of the rock breaking pressure and the preset maximum pressure further comprises: in the case that the rock breaking pressure is greater than the preset maximum pressure, increasing the pressure correlation value, so that the rock breaking pressure is less than or equal to the preset maximum pressure; and in the case that the rock breaking pressure is less than or equal to the preset maximum pressure, keeping the pressure correlation value unchanged.

4. The method of claim 2, wherein, the adjusting the feed speed according to the comparison result of the feed speed and the preset speed further comprises: in the case that the feed speed is equal to the preset speed, keeping the speed correlation value unchanged; in the case that the feed speed is less than the preset speed, increasing the speed correlation value, so that the feed speed increases to be equal to the preset speed; and ​ In the case that the feeding speed is greater than the preset speed, the speed correlation value is decreased to decrease the feeding speed to be equal to the preset speed.

5. The method of feed control for a milling arbor according to any one of claims 2 to 4, wherein, Further comprising: obtaining formation working condition information, the formation working condition information including formation hardness; in the case that the formation hardness is greater than preset hardness, selecting the constant-pressure speed-limiting mode; in the case that the formation hardness is less than or equal to the preset hardness, selecting the constant-speed pressure-limiting mode or the constant-pressure speed-limiting mode.

6. The method of feed control for a cutter holder according to claim 5, wherein, The formation working condition information further includes formation viscosity, and the milling cutter holder feeding control method further comprises: in the case that the formation viscosity is greater than preset viscosity, selecting the constant-pressure speed-limiting mode.

7. The method of feed control for a milling cutter holder according to any one of claims 2 to 4, characterized in that, Further comprising: obtaining the working depth of the milling cutter holder; in the case that the working depth is less than preset depth, selecting the constant-speed pressure-limiting mode; in the case that the working depth is greater than or equal to preset depth, selecting the constant-pressure speed-limiting mode.

8. A cutter holder feed control device, characterized by The milling cutter holder feeding control method as claimed in any one of claims 1-7 is implemented.

9. A cutter holder feed control system, characterized by, Comprising: a driving component (2) configured to provide driving force for feeding of a milling cutter holder (3); a lifting device (4) connected between the output end of the driving component (2) and the milling cutter holder (3); a first detection device (5) configured to detect at least one of working pressure and torque of the driving component (2); a second detection device (6) configured to detect at least one of rotating speed and working stroke of the driving component (2); and the milling cutter holder feeding control device (1) as claimed in claim 8.

10. The mill holder feed control system of claim 9, wherein, Further comprising: a display device (7) configured to display at least one of the pressure correlation value, the speed correlation value, the rock-breaking pressure and the feeding speed.

11. The mill holder feed control system of claim 9, wherein, The driving component (2) comprises at least one of a hydraulic motor, an electric motor or a hydraulic cylinder.

12. The mill holder feed control system according to any one of claims 9-11, characterized in that, Further comprising: a pressure-adjusting component (8) configured to adjust the pressure correlation value; and a speed-adjusting component (9) configured to adjust the speed correlation value.

13. A double-wheel trenching machine characterized in that, The milling cutter holder feeding control device (1) as claimed in claim 8, or the milling cutter holder feeding control system as claimed in any one of claims 9-12.

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