Planetary wheel squeegee conveyor and control method thereof

Abstract

The application discloses a planetary wheel type scraper conveyor and a control method thereof, and the control method comprises the following steps: acquiring load comparison information of a left side area and a right side area; judging whether the working state of the planetary wheel type scraper conveyor is a partial load state according to the load comparison information; collecting a first overflow flow of a hydraulic motor in a left slag scraping assembly, a second overflow flow of a hydraulic motor in a right slag scraping assembly, and a third overflow flow of a hydraulic motor in a conveying assembly; judging whether the planetary wheel type scraper conveyor is in a jam state according to the first overflow flow, the second overflow flow and the third overflow flow; and when the working state of the planetary wheel type scraper conveyor is neither the partial load state nor the jam state, determining that the working state of the planetary wheel type scraper conveyor is a normal state. The application can timely judge whether the jam and the locked-rotor state occur, and then timely process and eliminate the partial load and the jam, so that the planetary wheel type scraper conveyor is prevented from being easily damaged due to the long-time partial load or the jam, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular, to a planetary scraper conveyor and its control method. Background Technology

[0002] Full-face hard rock tunnel boring machines (TBMs) are essential equipment for tunnel construction and are widely used in water conservancy tunnels, urban rail transit, municipal transportation, and railway tunnels. TBM construction environments are typically hard rock formations, frequently experiencing rock bursts, roof collapses, and other geological hazards. This leads to severe debris accumulation at the tunnel floor. If not cleared promptly, this can delay shotcreting of the tunnel walls, laying of invert blocks, and track installation, thus hindering construction progress.

[0003] The industry has developed a large number of tunnel cleaning devices to replace manual cleaning operations. Some solutions use planetary wheel scraper conveyors for cleaning and transporting accumulated slag. However, due to the uncertainty of the location and volume of the falling slag, it is easy to cause uneven loading or jamming. The existing planetary wheel scraper conveyors cannot detect uneven loading or jamming in time and deal with it in time. Summary of the Invention

[0004] The purpose of this invention is to provide a planetary wheel scraper conveyor and its control method to solve the technical problem that existing planetary wheel scraper conveyors cannot detect and handle unbalanced loads or jams in a timely manner.

[0005] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0006] This invention provides a control method for a planetary scraper conveyor. The planetary scraper conveyor includes a bucket, a left scraper assembly, a right scraper assembly, and a conveying assembly. The left scraper assembly is installed on the left side of the bucket, the right scraper assembly is installed on the right side of the bucket, and the conveying assembly is connected to the bucket. The control method includes the following steps: acquiring load comparison information between the left and right sides; determining whether the working state of the planetary scraper conveyor is an off-center load state based on the load comparison information; collecting the first overflow flow rate of the hydraulic motor in the left scraper assembly, the second overflow flow rate of the hydraulic motor in the right scraper assembly, and the third overflow flow rate of the hydraulic motor in the conveying assembly; determining whether the planetary scraper conveyor is in a jammed state based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate; and determining that the working state of the planetary scraper conveyor is normal when it is neither in an off-center load state nor in a jammed state.

[0007] In an embodiment of the present invention, obtaining the load comparison information of the left side region and the right side region includes the following steps: collecting first pressure data of the left side region and second pressure data of the right side region; generating the load comparison information based on the first pressure data and the second pressure data; or calculating the first weight of the excavated soil in the left side region based on the first pressure data and calculating the second weight of the excavated soil in the right side region based on the second pressure data; the load comparison information includes the weight difference between the first weight of the excavated soil and the second weight of the excavated soil; or collecting the first inclination angle of the left side region and the second inclination angle of the right side region; generating the load comparison information based on the first inclination angle and the second inclination angle.

[0008] In an embodiment of the present invention, determining whether the working state of the planetary wheel scraper conveyor is in an off-center load state based on the load comparison information includes: if the weight difference is greater than a weight difference set threshold, determining that the working state of the planetary wheel scraper conveyor is in an off-center load state.

[0009] In an embodiment of the present invention, the bucket is connected to the tunneling equipment via a left lifting structure and a right lifting structure. When the working state is an off-center load state, the control method further includes the following steps: comparing the weight of the first muck and the weight of the second muck to determine the off-center load direction; determining the degree of off-center load based on the weight difference; determining the correction object based on the off-center load direction; wherein the correction object includes the hydraulic motor of the left muck-loading assembly, the hydraulic motor of the right muck-loading assembly, the left lifting structure, and / or the right lifting structure; determining the correction amount based on the degree of off-center load; wherein the correction amount includes the rotational speed of the hydraulic motor of the left muck-loading assembly, the rotational speed of the hydraulic motor of the right muck-loading assembly, the extension and retraction of the left lifting structure, and / or the extension and retraction of the right lifting structure.

[0010] In an embodiment of the present invention, determining whether the planetary wheel scraper conveyor is jammed based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate includes the following steps: if the first overflow flow rate is greater than a first flow rate setting threshold, or the second overflow flow rate is greater than a second flow rate setting threshold, or the overflow flow rate is greater than a third flow rate setting threshold, the working state of the planetary wheel scraper conveyor is determined to be jammed.

[0011] In an embodiment of the present invention, when the working state is a stuck state, the control method further includes the following steps: comparing the first overflow flow rate with the first flow rate setting threshold, the second overflow flow rate with the second flow rate setting threshold, and the overflow flow rate with the third flow rate setting threshold to determine the unblocking object; wherein, the unblocking object includes the hydraulic motor of the left slag removal assembly, the hydraulic motor of the right slag removal assembly, and / or the hydraulic motor of the conveying assembly; controlling the unblocking object to rotate first in the reverse direction and then in the forward direction.

[0012] In an embodiment of the present invention, the bucket is connected to the tunneling equipment via a left lifting structure and a right lifting structure; when the working state is a stuck state, the control method further includes the following steps: controlling the left lifting structure and the right lifting structure to simultaneously shorten slowly and then extend rapidly, thereby causing the bucket to vibrate; controlling the left lifting structure and the right lifting structure to rapidly reciprocate and extend in opposite directions, thereby causing the bucket to sway.

[0013] In an embodiment of the present invention, when the planetary scraper conveyor is in normal working condition, the control method further includes: adjusting the rotational speed of the hydraulic motor in the left scraper assembly, the rotational speed of the hydraulic motor in the right scraper assembly, and the rotational speed of the hydraulic motor in the conveying assembly according to the weight of the first slag and the weight of the second slag.

[0014] In an embodiment of the present invention, adjusting the rotational speed of the hydraulic motor in the left slag removal assembly, the rotational speed of the hydraulic motor in the right slag removal assembly, and the rotational speed of the hydraulic motor in the conveying assembly based on the weight of the first slag and the weight of the second slag includes the following steps: calculating the total weight of the slag based on the weight of the first slag and the weight of the second slag; matching a target rotational speed level corresponding to the total weight of the slag based on a preset multiple weight ranges and their corresponding multiple rotational speed levels; and adjusting the rotational speed of the hydraulic motor in the left slag removal assembly, the rotational speed of the hydraulic motor in the right slag removal assembly, and the rotational speed of the hydraulic motor in the conveying assembly based on the target rotational speed level.

[0015] The present invention also provides a planetary scraper conveyor, comprising: a bucket; a left slag-removing assembly installed on the left side of the bucket and having a hydraulic motor for driving slag removal; a right slag-removing assembly installed on the right side of the bucket and having a hydraulic motor for driving slag removal; a conveying assembly connected to the bucket and having a hydraulic motor for driving the conveying of slag; and a control mechanism including a control structure, an off-center load detection structure, and a flow detection structure, wherein the control structure is signal-connected to the off-center load detection structure and the flow detection structure, the off-center load detection structure is installed on the bucket, and the flow detection structure is installed on the overflow pipes of each hydraulic motor of the left slag-removing assembly, the right slag-removing assembly, and the conveying assembly; wherein the control structure can monitor the working status of the planetary scraper conveyor according to the detection signals of the off-center load detection structure and the flow detection structure.

[0016] In an embodiment of the present invention, the control mechanism further includes a first control valve structure, which includes a first proportional directional valve, a second proportional directional valve, and a third proportional directional valve. The first proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the left slag removal assembly, the second proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the right slag removal assembly, and the third proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the conveying assembly. The control structure is signal-connected to the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve, respectively. The control structure controls the rotation of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly by controlling the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve.

[0017] In an embodiment of the present invention, the planetary scraper conveyor further includes a left lifting structure and a right lifting structure. The bucket is connected to the tunneling equipment through the left lifting structure and the right lifting structure. The left lifting structure is arranged on the same side as the left muck-loading assembly, and the right lifting structure is arranged on the same side as the right muck-loading assembly. The control mechanism can control the left lifting structure and the right lifting structure to extend to reduce the height of the bucket and shorten to raise the height of the bucket under the control of the control mechanism.

[0018] In embodiments of the present invention, both the left lifting structure and the right lifting structure are hydraulic cylinders. The control mechanism further includes a second control valve structure, which includes a fourth proportional directional valve and a fifth proportional directional valve. The fourth proportional directional valve is installed on the inlet and outlet oil lines of the left lifting structure, and the fifth proportional directional valve is installed on the inlet and outlet oil lines of the right lifting structure. The control structure is signal-connected to the fourth proportional directional valve and the fifth proportional directional valve, respectively. The control structure controls the extension and retraction of the left lifting structure and the right lifting structure by controlling the fourth proportional directional valve and the fifth proportional directional valve.

[0019] In embodiments of the present invention, the off-center load detection structure includes a plurality of left pressure detection elements and a plurality of right pressure detection elements, which are symmetrically distributed on the left and right sides of the bucket; or the off-center load detection structure includes a tilt sensor, which is installed at the center of the bucket.

[0020] The flow detection structure includes a first flow detection element, a second flow detection element, and a third flow detection element. The first flow detection element is installed on the overflow pipe of the hydraulic motor of the left slag removal assembly, the second flow detection element is installed on the overflow pipe of the hydraulic motor of the right slag removal assembly, and the third flow detection element is installed on the overflow pipe of the hydraulic motor of the conveying assembly.

[0021] The features and advantages of this invention are:

[0022] The planetary scraper conveyor and its control method of the present invention can determine whether the working state of the planetary scraper conveyor is in an off-center load state by acquiring load comparison information of the left and right regions of the bucket; by collecting the overflow flow of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly, it can determine whether each hydraulic motor is stalled, and thus determine whether the working state of the planetary scraper conveyor is in a jammed state; thereby, off-center load and jamming can be dealt with and eliminated in a timely manner, avoiding damage to the planetary scraper conveyor due to prolonged off-center load or jamming, and improving construction efficiency.

[0023] The planetary scraper conveyor and its control method of the present invention, under the condition of eccentric loading, selects the hydraulic motors of the left and right scraper components, the left lifting structure and / or the right lifting structure as the correction objects according to the direction of eccentric loading, and controls the rotational speed of the hydraulic motors of the left and right scraper components, the extension and retraction of the left lifting structure and / or the right lifting structure according to the degree of eccentric loading, thereby automatically eliminating eccentric loading.

[0024] The planetary scraper conveyor and its control method of the present invention, in the case of jamming, control the hydraulic motor that is stuck to alternately rotate in the forward and reverse directions; and / or make the bucket vibrate by slowly contracting and then quickly extending the left and right lifting structures, and make the left and right lifting structures quickly reciprocate in opposite directions to make the bucket sway; thereby automatically eliminating jamming. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the planetary wheel scraper conveyor in this invention.

[0027] Figure 2 This is a side view of the bucket in this invention.

[0028] Figure 3 This is a schematic diagram of the installation of the planetary wheel scraper conveyor in this invention.

[0029] Figure 4 This is a structural block diagram of the control mechanism in this invention.

[0030] Figure 5 This is a timing diagram of the control of the left lifting structure and the right lifting structure in the stuck state in this invention.

[0031] Figure 6 This is a schematic diagram of the off-center load detection structure in another embodiment of the present invention.

[0032] In the picture:

[0033] 100. Tunneling equipment; 1. Main beam; 2. Belt conveyor; 3. Planetary scraper conveyor;

[0034] 31. Bucket; 32. Slag removal assembly; 321. Left planetary gear; 322. Left hydraulic motor; 323. Right planetary gear; 324. Right hydraulic motor; 33. Conveying assembly; 331. Conveying hydraulic motor; 332. Sprocket; 34. Lifting structure; 341. Left lifting structure; 342. Right lifting structure;

[0035] 35. Control structure; 36. Off-center load detection structure; 361. Tilt sensor; 37. First control valve structure; 38. Second control valve structure; 39. Flow detection structure; 391. First flow detection element; 392. Second flow detection element; 393. Third flow detection element; 310. Amplifier board assembly. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0037] Implementation Method 1

[0038] like Figure 1 As shown, the present invention provides a control method for a planetary scraper conveyor 3. The planetary scraper conveyor 3 has a bucket 31, two slag removal assemblies 32 and a conveying assembly 33. For ease of description, the two slag removal assemblies 32 are defined as a left slag removal assembly and a right slag removal assembly. The left slag removal assembly is installed in the left side area of ​​the bucket 31, and the right slag removal assembly is installed in the right side area of ​​the bucket 31. The conveying assembly 33 is connected to the bucket 31.

[0039] Specifically, in combination Figure 1 and Figure 2 As shown, each slag-removing assembly 32 includes a planetary gear and a hydraulic motor for driving the planetary gear to rotate. For ease of description, the left planetary gear 321 and the left hydraulic motor 322 of the left slag-removing assembly are defined as follows: the planetary gear 323 of the right slag-removing assembly and the right hydraulic motor 324. Figure 2 From the perspective shown, the left planetary gear 321 rotates clockwise, and the right planetary gear 323 rotates counterclockwise. The excavated soil on the bucket 31, driven by the rotation of the left and right planetary gears 321 and 323, gathers towards the center and is transferred to the conveying assembly 33. The conveying assembly 33 includes a conveying chain, scrapers, sprockets 332, and a hydraulic motor (defined as the conveying hydraulic motor 331 for ease of description). The scrapers are mounted on the conveying chain, and the conveying hydraulic motor 331 drives the conveying chain to rotate via the sprockets 332, causing the scrapers to carry the excavated soil backward. Figure 3As shown, the planetary scraper conveyor 3 is installed on the tunneling equipment 100. Specifically, the bucket 3131 is hinged to the main beam 1 at the rear of the main unit of the tunneling equipment 100 via two lifting structures 34. The two lifting structures 34 are symmetrically arranged. For ease of definition, the lifting structure 34 on the same side as the left muck-loading assembly is designated as the left lifting structure 341, and the lifting structure 34 on the same side as the right muck-loading assembly is designated as the right lifting structure 342. The front end of the bucket 31 can scoop up muck as the tunneling equipment 100 moves forward. The rear end of the bucket 31 is connected to the belt conveyor 2 inside the main beam 1 via the conveying assembly 33, thereby transferring the muck to the belt conveyor 2.

[0040] Combination Figure 1 As shown, the control method includes the following steps: acquiring load comparison information of the left and right regions; determining whether the working state of the planetary scraper conveyor 3 is an off-center load state based on the load comparison information; collecting the first overflow flow rate of the hydraulic motor in the left slag removal assembly, the second overflow flow rate of the hydraulic motor in the right slag removal assembly, and the third overflow flow rate of the hydraulic motor in the conveying assembly 33; determining whether the planetary scraper conveyor 3 is in a jammed state based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate; and determining that the working state of the planetary scraper conveyor 3 is normal when the working state of the planetary scraper conveyor 3 is neither an off-center load state nor a jammed state.

[0041] The control method of the planetary scraper conveyor 3 of the present invention obtains the load comparison information of the left and right regions of the bucket 31, thereby determining whether the working state of the planetary scraper conveyor 3 is in an off-center load state based on the load comparison information of the left and right regions; by collecting the overflow flow of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly 33, it can determine whether each hydraulic motor is stalled based on the overflow flow of each hydraulic motor, and thus determine whether the working state of the planetary scraper conveyor 3 is in a jammed state; thereby, it can promptly handle and eliminate off-center load and jamming, avoid damage to the planetary scraper conveyor 3 due to prolonged off-center load or jamming, and improve construction efficiency.

[0042] like Figure 4As shown, the planetary scraper conveyor 3 can implement the control method of the present invention through a control mechanism. The control mechanism includes a control structure 35, an off-center load detection structure 36, and a flow detection structure 39. The control structure 35 is signal-connected to the off-center load detection structure 36 and the flow detection structure 39, respectively. The off-center load detection structure 36 is installed on the bucket 31, and the flow detection structure 39 is installed on the overflow pipes of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly 33. The control structure 35 can monitor the working status of the planetary scraper conveyor 3 based on the detection signals from the off-center load detection structure 36 and the flow detection structure 39. Specifically, the load comparison information can be information directly detected and obtained by the off-center load detection structure 36, or information generated through further analysis and processing based on the information detected by the off-center load detection structure 36.

[0043] In some embodiments of the present invention, obtaining load comparison information between the left and right regions includes the following steps: calculating the first weight of the slag in the left region based on the first pressure data, and calculating the second weight of the slag in the right region based on the second pressure data; the load comparison information includes the weight difference between the first and second slag weights.

[0044] Specifically, in combination Figure 1 and Figure 4 As shown, the off-center load detection structure 36 includes multiple pressure detection elements, which are divided into multiple left pressure detection elements and multiple right pressure detection elements, symmetrically distributed on the left and right sides of the bucket 31. The control structure 35 receives the pressure data from the multiple left and right pressure detection elements, and then performs smoothing filtering and averaging processing on them respectively to obtain the first load weight W. L Second slag weight W R .

[0045] The data processing procedure performed by control structure 35 is as follows:

[0046] Each time a collection command is sent to multiple pressure sensors corresponding to a target area, the corresponding initial pressure data is received. The initial weight data of the target area is then determined based on the initial pressure data from the multiple pressure sensors. Weighting coefficients are then determined based on the installation positions of the pressure sensors, and the initial weight data is weighted to obtain weighted weight data. Furthermore, by smoothing and filtering the multiple weighted weight data generated from the processed initial pressure data and averaging them, the weight data of the target area is obtained. Therefore, by summing the average of the multiple weighted weight data generated from the processed initial pressure data of each left pressure sensor installed on bucket 31, the weight data of the left side of bucket 31, i.e., the first muck weight, can be obtained. Similarly, by summing the average of the multiple weighted weight data generated from the processed initial pressure data of each right pressure sensor installed on bucket 31, the weight data of the right side of bucket 31, i.e., the second muck weight, can be obtained.

[0047] Since the bucket 31 is not a plane, the pressure direction of the pressure detection component is not always vertically downward. When the pressure detection value (i.e. the initial pressure data) is F, the component of the force in the direction of gravity is calculated as F cosθ according to its installation position. This is the weighted weight data after adding weight, where θ is the angle between the pressure direction of the pressure detection component and vertically downward.

[0048] In this embodiment, the Savitzky-Golay method is used to perform smoothing filtering on the weighted weight data corresponding to the N acquisition commands. In addition, similar effects can be achieved using various algorithms such as moving window smoothing, neural networks, and machine learning.

[0049] The Savitzky-Golay method is implemented based on the following formula:

[0050]

[0051] In the above formula, x represents the weighted weight data, and its subscript indicates the index of the weighted weight data; y represents the weighted weight data after smoothing filtering, and its subscript indicates the index of the weighted weight data after smoothing filtering; X is a quadratic matrix, X trans It is the transpose of a quadratic matrix.

[0052] Furthermore, based on the load comparison information, it is determined whether the planetary wheel scraper conveyor 3 is in an off-center load state, including: if the weight difference is greater than a set weight difference threshold, the planetary wheel scraper conveyor 3 is determined to be in an off-center load state. Specifically, the first slag weight W is calculated in real time. L Second slag weight W RThe absolute value after subtraction is the weight difference ΔW; the weight difference threshold is set to b; if ΔW > b, the working state is off-center load state.

[0053] Furthermore, combined Figure 1 As shown, in order to achieve automatic processing of the off-center loading state, in the embodiments of the present invention, when the working state is off-center loading, the control method further includes the following steps: comparing the weight of the first slag and the weight of the second slag to determine the off-center loading direction; determining the degree of off-center loading based on the weight difference; determining the correction object based on the off-center loading direction; wherein, the correction object includes the hydraulic motor of the left slag removal assembly, the hydraulic motor of the right slag removal assembly, the left lifting structure 341 and / or the right lifting structure 342; determining the correction amount based on the degree of off-center loading; wherein, the correction amount includes the rotational speed of the hydraulic motor of the left slag removal assembly, the rotational speed of the hydraulic motor of the right slag removal assembly, the extension and retraction of the left lifting structure 341 and / or the extension and retraction of the right lifting structure 342.

[0054] Specifically, after the working state is determined to be an off-center load state, if the weight W of the first slag... L Greater than the weight of the second slag W R If the weight of the first slag is W, then the eccentric loading direction is to the left; L Less than the weight of the second slag W R If the load is off-center, the direction of the load is to the right. Multiple weight difference ranges (i.e., the weight class of the total weight of the waste soil) can be preset from small to large, and corresponding off-center load levels can be set from small to large. Therefore, the corresponding weight difference range is matched according to the size of the weight difference, thereby determining the level of the off-center load. Furthermore, different objects requiring correction also have different levels of correction amount preset according to different off-center load levels, thus matching the correction amount of the object to the level of the off-center load.

[0055] For example, if the off-center load direction is to the left and the off-center load level is one, the correction target is the hydraulic motor of the left slag removal assembly (i.e., the left hydraulic motor 322). The correction amount is to increase the initial speed of the left hydraulic motor 322 to the first-level speed corresponding to the first-level off-center load level. The initial speed of the left hydraulic motor 322 is equal to the initial speed of the right hydraulic motor 324, both being less than the first-level speed. Since the off-center load level is low, the off-center load can be eliminated simply by increasing the speed of the hydraulic motor on the off-center side. Another example is if the off-center load direction is to the right and the off-center load level is five, the correction target is the left lifting assembly... The structure 341 and the right lifting structure 342 are configured to correct the eccentricity by extending the right lifting structure 342 to the level corresponding to the fifth-level eccentricity and shortening the left lifting structure 341 to the level corresponding to the fifth-level eccentricity. Because the eccentricity is high, the hydraulic motor on the eccentric side experiences a heavy load and is not suitable for increasing its speed. Therefore, the corresponding lifting structure 341 is used to raise the eccentric side and lower the opposite side, causing the slag on the eccentric side to shift to the opposite side, thereby eliminating or reducing the eccentricity. The eccentricity is then eliminated by increasing the speed of the hydraulic motor on the eccentric side. Therefore, in this invention, the correction object and correction amount can be selected and set as needed under different eccentricity conditions, without specific limitations.

[0056] In addition, under normal conditions when the planetary scraper conveyor 3 is not experiencing uneven loading or jamming, the speeds of the hydraulic motors in the left scraper assembly, the right scraper assembly, and the conveying assembly 33 can be adjusted according to the weights of the first and second slag loads. The greater the weights of the first and second slag loads, the higher the corresponding speeds of the hydraulic motors, ensuring that the slag discharge efficiency of the planetary scraper conveyor 3 meets the requirements.

[0057] Specifically, based on the weights of the first and second excavated soil components, the rotational speeds of the hydraulic motors in the left and right excavating components, as well as the hydraulic motor in the conveying component 33, are adjusted. This includes the following steps: calculating the total weight of the excavated soil based on the weights of the first and second excavated soil components; matching a target rotational speed level corresponding to the total weight of the excavated soil based on multiple preset weight ranges and their corresponding rotational speed levels; and adjusting the rotational speeds of the hydraulic motors in the left and right excavating components, as well as the hydraulic motor in the conveying component 33, according to the target rotational speed level. That is, the first excavated soil weight W... L Second slag weight W R Add them together to calculate the total weight W of the excavated soil on the bucket 31; then, based on the calculated total weight W, match the target speed level of each hydraulic motor. For example, when 0 < W ≤ a1, the target speed level is level 1; when a1 < W ≤ a2, the target speed level is level 2; ...; a n-1 <W≤a nAt that time, the target speed level is n; then, the speed V = [v] of each hydraulic motor is set according to the matched target speed level. 行星轮 ,v 链轮 [The left hydraulic motor 322 and the right hydraulic motor 324 both have a rotational speed of v.] 行星轮 The rotational speed of the hydraulic motor 331 is equal to the rotational speed v of the sprocket 332. 链轮 This allows for proportional allocation according to weight class, maintaining... (k is the slag discharge efficiency, a is the acceptable error), thus enabling the adjustment of different speeds of the hydraulic motor. The speed V represents a set, including v 行星轮 and v 链链 , refers to v 行星轮 and v 链轮 All are proportional to the total weight W of the construction waste, i.e., v 行星轮 / W=k1±a,,v 链轮 / ]W=k2±a.

[0058] Combination Figure 1 and Figure 4 As shown, in an embodiment of the present invention, the control mechanism further includes a first control valve structure 37. The first control valve structure 37 includes a first proportional directional valve, a second proportional directional valve, and a third proportional directional valve. The first proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the left slag removal assembly, the second proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the right slag removal assembly, and the third proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the conveying assembly 33. The control structure 35 is connected to the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve by signal connection. The control structure 35 controls the rotation of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly 33 by controlling the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve. Furthermore, both the left lifting structure 341 and the right lifting structure 342 are hydraulic cylinders. The control mechanism also includes a second control valve structure 38, which includes a fourth proportional directional valve and a fifth proportional directional valve. The fourth proportional directional valve is installed on the inlet and outlet oil lines of the left lifting structure 341, and the fifth proportional directional valve is installed on the inlet and outlet oil lines of the right lifting structure 342. The control structure 35 is connected to the fourth and fifth proportional directional valves respectively. The control structure 35 controls the extension and retraction of the left lifting structure 341 and the right lifting structure 342 by controlling the fourth and fifth proportional directional valves. Specifically, the control mechanism also includes an amplifier board assembly 310. The control structure 35 outputs analog signal information to the amplifier board assembly 310, which amplifies the signal and sends it to the proportional directional valves in the first control valve structure 37, thereby controlling each hydraulic motor and each hydraulic cylinder.

[0059] Combination Figure 1 and Figure 4 As shown, in an embodiment of the present invention, determining whether the working state of the planetary scraper conveyor 3 is stuck based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate includes the following steps: if the first overflow flow rate is greater than the first flow rate setting threshold, or the second overflow flow rate is greater than the second flow rate setting threshold, or the overflow flow rate is greater than the third flow rate setting threshold, the working state of the planetary scraper conveyor 3 is determined to be stuck. The first overflow flow rate, the second overflow flow rate, and the third overflow flow rate are the flow rates of the overflow pipe of the left hydraulic motor 322, the overflow pipe of the right hydraulic motor 324, and the overflow pipe of the conveying hydraulic motor 331, respectively. Since the overflow pipe is connected in parallel with the hydraulic motor, the hydraulic oil output by the hydraulic pump can flow through the hydraulic motor and / or through the overflow pipe. When the hydraulic motor stalls, the hydraulic oil cannot flow through the hydraulic motor but flows through the overflow pipe. Therefore, the flow rate of the overflow pipe can be used to determine whether the hydraulic motor is stalled, and thus whether the planetary scraper conveyor 3 is stuck.

[0060] Specifically, in combination Figure 1 and Figure 4 As shown, the flow detection structure 39 includes a first flow detection element 391, a second flow detection element 392, and a third flow detection element 393. The first flow detection element 391 is installed on the overflow pipe of the hydraulic motor of the left slag removal assembly, the second flow detection element 392 is installed on the overflow pipe of the hydraulic motor of the right slag removal assembly, and the third flow detection element is installed on the overflow pipe of the hydraulic motor of the conveying assembly 33. The first flow detection element 391, the second flow detection element 392, and the third flow detection element 393 convert the detected flow rate of the overflow pipe into a current or voltage signal and feed it back to the control structure 35 in real time.

[0061] Combination Figure 1 As shown, in order to achieve automatic handling of the jammed state, in some embodiments of the present invention, when the working state is jammed, the control method further includes a de-jamming process: comparing the first overflow flow rate with a first flow rate setting threshold, the second overflow flow rate with a second flow rate setting threshold, and the overflow flow rate with a third flow rate setting threshold to determine the de-jamming target; wherein, the de-jamming target includes the hydraulic motor of the left slag removal assembly, the hydraulic motor of the right slag removal assembly, and / or the hydraulic motor of the conveying assembly 33; controlling the de-jamming target to rotate in the reverse direction first and then in the forward direction. In addition, the duration of the jammed state is recorded between determining the de-jamming target, and the de-jamming process is performed only after the duration of the jammed state exceeds a preset time.

[0062] When the first overflow flow rate is greater than the first flow rate setting threshold and / or the second overflow flow rate is greater than the second flow rate setting threshold, and the third overflow flow rate is less than or equal to the third flow rate setting threshold, the objects to be unblocked include the left hydraulic motor 322 and the right hydraulic motor 324. The left hydraulic motor 322 and the right hydraulic motor 324 are then controlled to first rotate in the reverse direction for a preset time and then rotate in the forward direction for a preset time to determine if the jamming state persists. When the third overflow flow rate is greater than the third flow rate setting threshold, the objects to be unblocked include the left hydraulic motor 322, the right hydraulic motor 324, and the conveying hydraulic motor 331. The left hydraulic motor 322, the right hydraulic motor 324, and the conveying hydraulic motor 331 are then controlled to first all rotate in the reverse direction for a preset time to discharge the slag and stone from the conveying assembly 33 and the bucket 31, and then all rotate in the forward direction for a preset time to determine if the jamming state persists. The preset times for forward and reverse rotation are not specifically limited and can be selectively set according to working conditions and construction requirements.

[0063] Specifically, the control structure 35 controls the delivery direction of the inlet and outlet oil lines of each hydraulic motor by controlling the delivery direction of the first, second, and third proportional directional valves, thereby controlling the rotation direction of each hydraulic motor. The control structure 35 also controls the delivery direction of the inlet and outlet oil lines of each cylinder by controlling the delivery direction of the fourth and fifth proportional directional valves, thereby controlling the extension and retraction of each cylinder.

[0064] like Figure 1 As shown, if the jamming cannot be released after repeatedly rotating the stalled hydraulic motor in the reverse and then forward directions, the unblocking process includes the following steps: controlling the left lifting structure 341 and the right lifting structure 342 to simultaneously and slowly shorten and then quickly extend, causing the bucket 31 to vibrate; controlling the left lifting structure 341 and the right lifting structure 342 to quickly reciprocate in opposite directions, causing the bucket 31 to sway. The vibration loosens or dislodges the debris stuck on the left planetary gear 321, the right planetary gear 323, and / or the sprocket 332, and the rapid swaying shakes the debris off the left planetary gear 321, the right planetary gear 323, and / or the sprocket 332. Figure 5 As shown, between t0 and t1, the left lifting structure 341 and the right lifting structure 342 control the oscillation of the bucket 31, and between t1 and t2, the left lifting structure 341 and the right lifting structure 342 control the sway of the bucket 31.

[0065] In addition, the above-mentioned card-unblocking steps can be repeated, and after each repetition, it can be determined whether the working state is still stuck. The control structure 35 also includes an alarm module, which is communicatively connected to the control structure 35. If the stuck state is still present after repeating a preset number of times (e.g., three times), i.e., the stuck state cannot be eliminated, the control alarm module will issue an alarm prompt, so that the construction personnel can intervene in time according to the alarm prompt and manually eliminate the stuck state.

[0066] Optionally, the unblocking process can also involve first causing the bucket 31 to vibrate and sway, and then causing the stalled hydraulic motor to rotate in the reverse direction before rotating in the forward direction.

[0067] Combination Figure 1 As shown, in some other embodiments of the present invention, obtaining load comparison information of the left and right regions includes the following steps: collecting first pressure data of the left region and second pressure data of the right region; generating load comparison information based on the first and second pressure data, that is, directly determining whether an off-center load has occurred based on the pressure magnitude of the left and right regions of the bucket 31.

[0068] Combination Figure 1 As shown, in some embodiments of the present invention, obtaining load comparison information of the left and right regions includes the following steps: collecting the first tilt angle of the left region and the second tilt angle of the right region; generating load comparison information based on the first and second tilt angles, that is, it is possible to directly determine whether an off-center load has occurred based on the tilt angle of the left and right regions of the bucket 31, or it is possible to first calculate the weight based on the tilt angle and then determine whether an off-center load has occurred based on the relationship between the tilt angle change and the weight change.

[0069] Specifically, in combination Figure 1 , Figure 4 as well as Figure 6 As shown, the off-center load detection structure 36 includes a tilt sensor 361, which is installed at the center of the bucket 31. The tilt sensor 361 detects the tilt angle of the bucket 31 in the left-right direction. The larger the tilt angle, the higher the degree of off-center load. Therefore, when the tilt angle is greater than the set angle threshold, the working state is determined to be off-center load. The tilt sensor 361 also detects the forward tilt angle of the bucket 31. The larger the tilt angle, the greater the total weight of the excavated soil on the bucket 31. Therefore, the level of the total weight of the excavated soil on the bucket 31 can be determined based on the size of the tilt angle.

[0070] Implementation Method 2

[0071] like Figure 1 , Figure 2 as well as Figure 4As shown, to better implement the above control method, the present invention also provides a planetary scraper conveyor 3, comprising: a bucket 31; a left scraper assembly installed on the left side of the bucket 31 and having a hydraulic motor for driving scraping; a right scraper assembly installed on the right side of the bucket 31 and having a hydraulic motor for driving scraping; a conveying assembly 33 connected to the bucket 31 and having a hydraulic motor for driving conveying slag; and a control mechanism including a control structure 35, an off-center load detection structure 36, and a flow detection structure 39. The control structure 35 is signal-connected to the off-center load detection structure 36 and the flow detection structure 39, respectively. The off-center load detection structure 36 is installed on the bucket 31, and the flow detection structure 39 is installed on the overflow pipes of each hydraulic motor of the left scraper assembly, the right scraper assembly, and the conveying assembly 33. The control structure 35 can monitor the working status of the planetary scraper conveyor 3 based on the detection signals of the off-center load detection structure 36 and the flow detection structure 39.

[0072] like Figure 1 and Figure 4 As shown, in an embodiment of the present invention, the control mechanism further includes a first control valve structure 37. The first control valve structure 37 includes a first proportional directional valve, a second proportional directional valve, and a third proportional directional valve. The first proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the left slag removal assembly, the second proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the right slag removal assembly, and the third proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the conveying assembly 33. The control structure 35 is connected to the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve by signal connection. The control structure 35 controls the rotation of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly 33 by controlling the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve.

[0073] like Figure 1 and Figure 3 As shown, in an embodiment of the present invention, the planetary scraper conveyor 3 further includes a left lifting structure 341 and a right lifting structure 342. The bucket 31 is connected to the tunneling equipment 100 through the left lifting structure 341 and the right lifting structure 342. The left lifting structure 341 is arranged on the same side as the left slag removal assembly, and the right lifting structure 342 is arranged on the same side as the right slag removal assembly. The control mechanism can control the left lifting structure 341 and the right lifting structure 342 to extend and lower the height of the bucket 31 and shorten and raise the height of the bucket 31 under the control of the control mechanism.

[0074] like Figure 4As shown, in the embodiment of the present invention, both the left lifting structure 341 and the right lifting structure 342 are hydraulic cylinders. The control mechanism also includes a second control valve structure 38, which includes a fourth proportional directional valve and a fifth proportional directional valve. The fourth proportional directional valve is installed on the inlet and outlet oil lines of the left lifting structure 341, and the fifth proportional directional valve is installed on the inlet and outlet oil lines of the right lifting structure 342. The control structure 35 is connected to the fourth proportional directional valve and the fifth proportional directional valve respectively. The control structure 35 controls the extension and retraction of the left lifting structure 341 and the right lifting structure 342 by controlling the fourth proportional directional valve and the fifth proportional directional valve.

[0075] like Figure 1 and Figure 4 As shown, in an embodiment of the present invention, the off-center load detection structure 36 includes multiple left pressure detection elements and multiple right pressure detection elements, which are symmetrically distributed in the left and right regions of the bucket 31; or the off-center load detection structure 36 includes an tilt sensor 361, which is installed at the center of the bucket 31; the flow detection structure 39 includes a first flow detection element 391, a second flow detection element 392, and a third flow detection element 393, where the first flow detection element 391 is installed on the overflow pipe of the hydraulic motor of the left slag removal assembly, the second flow detection element 392 is installed on the overflow pipe of the hydraulic motor of the right slag removal assembly, and the third flow detection element is installed on the overflow pipe of the hydraulic motor of the conveying assembly 33.

[0076] The above descriptions are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A control method for a planetary wheel scraper conveyor, characterized in that, The planetary scraper conveyor includes a bucket, a left scraper assembly, a right scraper assembly, and a conveying assembly. The left scraper assembly is installed on the left side of the bucket, the right scraper assembly is installed on the right side of the bucket, and the conveying assembly is connected to the bucket. The control method includes the following steps: Obtain load comparison information between the left and right regions; Collect first pressure data of the left region and second pressure data of the right region; generate the load comparison information based on the first pressure data and the second pressure data; or The weight of the first excavated soil in the left area is calculated based on the first pressure data, and the weight of the second excavated soil in the right area is calculated based on the second pressure data; the load comparison information includes the weight difference between the first excavated soil weight and the second excavated soil weight; or The first tilt angle of the left region and the second tilt angle of the right region are collected; the load comparison information is generated based on the first tilt angle and the second tilt angle. Based on the load comparison information, it is determined whether the working state of the planetary wheel scraper conveyor is an off-center load state; If the weight difference is greater than a set weight difference threshold, the planetary scraper conveyor is determined to be in an off-center load state; the bucket is connected to the tunneling equipment through a left lifting structure and a right lifting structure; when the working state is off-center load, the control method further includes the following steps: Compare the weights of the first and second slag mucks to determine the eccentric loading direction. The degree of off-center loading is determined based on the magnitude of the weight difference. Based on the off-center loading direction, the correction target is determined; wherein, the correction target includes the hydraulic motor of the left slag removal assembly, the hydraulic motor of the right slag removal assembly, the left lifting structure and / or the right lifting structure; The correction amount is determined based on the degree of off-center loading; wherein the correction amount includes the rotational speed of the hydraulic motor of the left slag removal assembly, the rotational speed of the hydraulic motor of the right slag removal assembly, the extension and retraction of the left lifting structure and / or the extension and retraction of the right lifting structure; The first overflow flow rate of the hydraulic motor in the left slag removal assembly, the second overflow flow rate of the hydraulic motor in the right slag removal assembly, and the third overflow flow rate of the hydraulic motor in the conveying assembly are collected. Based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate, determine whether the planetary wheel scraper conveyor is stuck. When the planetary wheel scraper conveyor is not in an off-center load state or a jammed state, its working state is determined to be normal.

2. The control method according to claim 1, characterized in that, The step of determining whether the planetary scraper conveyor is jammed based on the first overflow flow rate, the second overflow flow rate, and the third overflow flow rate includes the following steps: If the first overflow flow rate is greater than the first flow rate setting threshold, or the second overflow flow rate is greater than the second flow rate setting threshold, or the overflow flow rate is greater than the third flow rate setting threshold, the working state of the planetary wheel scraper conveyor is determined to be stuck.

3. The control method according to claim 2, characterized in that, When the operating state is a stuck state, the control method further includes the following steps: The first overflow flow rate is compared with the first flow rate setting threshold, the second overflow flow rate is compared with the second flow rate setting threshold, and the overflow flow rate is compared with the third flow rate setting threshold to determine the unblocking object; wherein, the unblocking object includes the hydraulic motor of the left slag removal assembly, the hydraulic motor of the right slag removal assembly and / or the hydraulic motor of the conveying assembly; The object to be unblocked is controlled to rotate first in the reverse direction and then in the forward direction.

4. The control method according to claim 2, characterized in that, The bucket is connected to the tunneling equipment via a left lifting structure and a right lifting structure; when the working state is a stuck state, the control method further includes the following steps: The left and right lifting structures are controlled to first slowly shorten and then quickly extend simultaneously, causing the bucket to vibrate. The left and right lifting structures are controlled to rapidly reciprocate in opposite directions, causing the bucket to sway.

5. The control method according to claim 1, characterized in that, When the planetary scraper conveyor is in normal working condition, the control method further includes: adjusting the speed of the hydraulic motor in the left scraper assembly, the speed of the hydraulic motor in the right scraper assembly, and the speed of the hydraulic motor in the conveying assembly according to the weight of the first slag and the weight of the second slag.

6. The control method according to claim 5, characterized in that, The step of adjusting the speed of the hydraulic motor in the left muck-removing assembly, the speed of the hydraulic motor in the right muck-removing assembly, and the speed of the hydraulic motor in the conveying assembly based on the weights of the first and second muck loads includes the following steps: Calculate the total weight of the slag based on the weight of the first slag and the weight of the second slag. Based on multiple preset weight ranges and their corresponding speed levels, a target speed level corresponding to the total weight of the slag is matched. Adjust the speed of the hydraulic motor in the left slag removal assembly, the speed of the hydraulic motor in the right slag removal assembly, and the speed of the hydraulic motor in the conveying assembly according to the target speed level.

7. A planetary wheel scraper conveyor, characterized in that, include: Bucket; A left slag removal assembly is installed in the left side region of the bucket and has a hydraulic motor for driving the slag removal; The right slag removal assembly is installed in the right side region of the bucket and has a hydraulic motor for driving the slag removal. A conveying assembly, connected to the bucket, and having a hydraulic motor for driving the conveying of excavated soil; The control mechanism includes a control structure, an off-center load detection structure, and a flow detection structure. The control structure is signal-connected to the off-center load detection structure and the flow detection structure, respectively. The off-center load detection structure is installed on the bucket, and the flow detection structure is installed on the overflow pipes of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly. The control structure can monitor the working status of the planetary wheel scraper conveyor based on the detection signals from the off-center load detection structure and the flow detection structure. The planetary scraper conveyor also includes a left lifting structure and a right lifting structure. The bucket is connected to the tunneling equipment through the left lifting structure and the right lifting structure. The left lifting structure is arranged on the same side as the left muck-loading assembly, and the right lifting structure is arranged on the same side as the right muck-loading assembly. The control mechanism can control the left lifting structure and the right lifting structure to extend to lower the height of the bucket and shorten to raise the height of the bucket under the control of the control mechanism.

8. The planetary wheel scraper conveyor according to claim 7, characterized in that, The control mechanism further includes a first control valve structure, which comprises a first proportional directional valve, a second proportional directional valve, and a third proportional directional valve. The first proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the left slag removal assembly, the second proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the right slag removal assembly, and the third proportional directional valve is installed on the inlet and outlet oil lines of the hydraulic motor of the conveying assembly. The control structure is signal-connected to the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve, respectively. The control structure controls the rotation of each hydraulic motor of the left slag removal assembly, the right slag removal assembly, and the conveying assembly by controlling the first proportional directional valve, the second proportional directional valve, and the third proportional directional valve.

9. The planetary wheel scraper conveyor according to claim 7, characterized in that, Both the left and right lifting structures are hydraulic cylinders. The control mechanism further includes a second control valve structure, which comprises a fourth proportional directional valve and a fifth proportional directional valve. The fourth proportional directional valve is installed on the inlet and outlet oil lines of the left lifting structure, and the fifth proportional directional valve is installed on the inlet and outlet oil lines of the right lifting structure. The control structure is signal-connected to the fourth and fifth proportional directional valves, respectively. The control structure controls the extension and retraction of the left and right lifting structures by controlling the fourth and fifth proportional directional valves.

10. The planetary wheel scraper conveyor according to claim 7, characterized in that, The off-center load detection structure includes multiple left pressure detection elements and multiple right pressure detection elements, which are symmetrically distributed on the left and right sides of the bucket; or the off-center load detection structure includes a tilt sensor, which is installed at the center of the bucket. The flow detection structure includes a first flow detection element, a second flow detection element, and a third flow detection element. The first flow detection element is installed on the overflow pipe of the hydraulic motor of the left slag removal assembly, the second flow detection element is installed on the overflow pipe of the hydraulic motor of the right slag removal assembly, and the third flow detection element is installed on the overflow pipe of the hydraulic motor of the conveying assembly.

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