Adjustable shield tunneling machine cutterhead based on laser radar

Abstract

The invention belongs to the technical field of shield tunneling machines, and particularly relates to an adjustable shield tunneling machine cutterhead based on a laser radar, comprising a laser radar device which is installed in the middle of a cutterhead frame on a shield tunneling machine and is used for accurately measuring the distance between the cutterhead frame and a target object in front of tunneling; the multiple sets of cutter head inclination angle adjusting devices are arranged in the circumferential direction of the cutter head frame, and the cutter head inclination angle adjusting devices are used for adjusting the inclination angle of a hob arranged on a body of the cutter head inclination angle adjusting devices; and the laser radar device and the cutterhead inclination angle adjusting device are electrically connected with the PLC control system. The laser radar model is light in weight and can be integrated on the shield tunneling machine, on the premise that the working performance is met, the structure is simple enough, the working stability of the radar is improved, the inclination angle of the hob can be adjusted in real time to be matched with the tunnel angle, and the tunneling efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of shield machines, and in particular relates to an adjustable shield machine cutterhead based on laser radar. Background Art

[0002] The shield machine is a large-scale mechanical equipment specially used for underground tunnel construction. It plays an important role in tunnel projects such as urban subways, railways, highways, and hydropower. The cutterhead is the core component of the shield machine's excavation system. The cutterhead opening and the arrangement of the cutters will directly affect the shield machine's excavation efficiency, project progress, and economic benefits.

[0003] However, traditional shield machine excavation has the following disadvantages: the shield machine cannot detect tunnel diseases and obstacles in time during excavation; the shield machine cutterhead cannot fine-tune the tool installation inclination angle to respond to the above problems in a single project; from detection to fine-tuning the tool, it relies on manual labor and cannot be handled by the shield machine itself.

[0004] Therefore, in response to the current problems, an adjustable shield machine cutterhead based on lidar was designed to reduce the energy consumption of rock breaking and extend the life of the cutterhead. Summary of the invention

[0005] The purpose of the present invention is to provide an adjustable shield machine cutterhead based on laser radar to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides an adjustable shield machine cutterhead based on laser radar, comprising:

[0007] A laser radar device, which is installed in the middle of the cutterhead frame on the shield machine and is used to accurately measure the distance between the cutterhead frame and the target object in front of the tunneling;

[0008] A plurality of sets of cutter disc inclination adjustment devices, wherein the plurality of sets of the cutter disc inclination adjustment devices are arranged along the circumference of the cutter disc frame, and the cutter disc inclination adjustment devices are used to adjust the inclination angle of the roller cutter arranged on the body thereof;

[0009] PLC control system, the laser radar device and the cutter disc inclination angle adjustment device are both electrically connected to the PLC control system.

[0010] Preferably, the laser radar device includes a shell installed in the middle of the cutter head frame, a laser ranging sensor is rotatably connected to the middle of one end of the shell away from the cutter head frame, and an electric control drive mechanism for driving the laser ranging sensor to rotate is arranged inside the shell.

[0011] Preferably, a transmission shaft is rotatably connected to the middle part of one end of the shell away from the cutter head frame, the one end of the transmission shaft away from the cutter head frame is connected to the laser ranging sensor, and the other end of the transmission shaft is in transmission cooperation with the electric control drive mechanism.

[0012] Preferably, the electric control drive mechanism includes a stator Pcb and a motor, the stator Pcb is electrically connected to the motor, a speed regulator is provided inside the motor, and the output shaft of the motor is matched with the driving shaft through a reduction gear box.

[0013] Preferably, each group of the cutter disc inclination angle adjustment devices includes a plurality of the cutter disc inclination angle adjustment devices arranged radially along the cutter disc frame.

[0014] Preferably, the cutter disc inclination angle adjustment device comprises a flap mechanism and a roller cutter fixing mechanism, the flap mechanism is connected to the cutter disc frame, the roller cutter fixing mechanism is used to fix the roller cutter, and the flap mechanism is used to adjust the inclination angle of the roller cutter.

[0015] Preferably, the cutter disc inclination adjustment device includes a mounting seat connected to the cutter disc frame, two brackets are connected to the mounting seat, a pin is rotatably connected between the two brackets, one end of a base is rotatably connected to the pin, an inclination sensor is installed on the base, one end of the mounting seat away from the bracket is hinged to one end of a hydraulic rod, the telescopic end of the hydraulic rod is hinged to the end of the base away from the pin, the inclination sensor is electrically connected to the PLC control system, and the roller cutter fixing mechanism is connected to a side of the base away from the mounting seat.

[0016] Preferably, the flap mechanism comprises a base plate, two brackets 2 are connected to the base plate, a rotating shaft is rotatably connected between the two brackets 2, and the roller is fixedly sleeved on the rotating shaft.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects:

[0018] The present invention provides an adjustable shield machine cutterhead based on laser radar. The laser radar device can accurately measure the distance between the cutterhead frame and the target object in front of the shield machine and the angle information of the tunnel, and transmit the measurement information to the PLC control system in real time. The PLC control system transmits the data to the PC on the shield machine. The PC calculates and processes the data detected by the laser radar device, and the cutterhead inclination adjustment device executes the action to adjust the inclination of the roller cutter. The roller cutter can be automatically adjusted and accurately matched with the angle of the tunnel.

[0019] The present invention proposes a lightweight laser radar model that can be integrated on a shield machine. On the premise of meeting the working performance requirements, the structure is simple enough, thereby improving the stability and reliability of the radar operation.

[0020] The present invention designs multiple protection measures for the laser radar in the working environment of strong vibration and strong wind and sand when the shield machine is running. The protection box and dust cover matched with the radar can effectively reduce the failure rate of the radar. The installation of the DAD controller and the speed regulator can control the speed and direction of the radar probe rotation, so as to adapt to the rotation state of the shield machine cutter head and improve the excavation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0022] Figure 1 A schematic diagram of the structure of an adjustable shield machine cutterhead based on laser radar proposed in the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the laser radar device in the present invention;

[0024] Figure 3 It is a schematic structural diagram of the cutter disc inclination angle adjustment device of the present invention;

[0025] Among them: 1. Mounting seat; 2. Bracket 1; 3. Pin; 4. Base; 5. Hydraulic rod; 6. Base plate; 7. Bracket 2; 8. Rotating shaft; 9. Hob; 10. Shell; 11. Stator PCB; 12. Motor; 13. Drive shaft; 14. Laser ranging sensor; 15. Cutter head frame; 16. Inclination sensor. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figures 1 to 3 As shown, the present invention provides an adjustable shield machine cutter head based on laser radar, comprising:

[0029] A laser radar device is installed in the middle of the cutterhead frame 15 on the shield machine. The laser radar device is used to accurately measure the distance between the cutterhead frame 15 and the target object in front of the tunneling;

[0030] A plurality of sets of cutter disc inclination adjustment devices, which are arranged along the circumference of the cutter disc frame 15, and the cutter disc inclination adjustment devices are used to adjust the inclination angle of the roller cutter 9 arranged on the body thereof;

[0031] The PLC control system, the laser radar device, and the cutter disc inclination angle adjustment device are all electrically connected to the PLC control system.

[0032] In this embodiment, the PLC control system adopts Siemens S7-400, which is a commercially available part; there is no through hole in the rotary cutter head frame 15 of the shield machine, and the laser radar device is connected to the power line led out from the DAD controller and the power supply module through the through hole; the DAD controller is connected to the stator PCB with a twisted pair cable, and is connected to the control room computer through a twisted pair cable with professional industrial buses such as Profibus and Can; the power supply module includes a power input and output interface, a filter, a step-down transformer, a voltage stabilizer, a rectifier circuit, a protection circuit, etc.; the power input interface is connected to a 220-volt AC power supply from the shield tail; the rectifier circuit, filter capacitor, and voltage stabilizer are integrated in a specially designed electrical control box; the protection circuit is integrated in a position adjacent to the voltage stabilizer to timely monitor and respond to abnormal conditions of the circuit.

[0033] The laser radar device can accurately measure the distance between the cutter head frame 15 and the target object in front of the shield machine and the angle information of the tunnel, and transmit the measurement information to the PLC control system in real time. The PLC control system transmits the data to the PC on the shield machine. The PC calculates and processes the data detected by the laser radar device, and the processed data is input to the PLC control system. The PLC control system controls the cutter head inclination adjustment device to execute the action to adjust the inclination of the roller cutter 9, thereby realizing automatic angle adjustment of the roller cutter 9 and accurately matching it with the angle of the tunnel.

[0034] Furthermore, the laser radar device includes a shell 10 installed in the middle of the cutter head frame 15, and a laser ranging sensor 14 is rotatably connected to the middle of one end of the shell 10 away from the cutter head frame 15, and an electric control drive mechanism for driving the laser ranging sensor 14 to rotate is arranged inside the shell 10.

[0035] Specifically, a cylindrical hole is excavated in the center of the shield machine cutter head frame 15 to accommodate the laser radar device; the laser radar device cover is provided with a protective cover to prevent hard objects from hitting and damaging the laser radar device. The laser ranging sensor 14 includes a protective shell, in which a laser ranging sensor, a laser, a transmitting reflector, a receiver, and a receiving reflector are arranged. The laser and the transmitting reflector together constitute a transmitting module for generating a laser beam and enhancing the transmitting signal. The receiver and the receiving reflector together constitute a receiving module, which is located on the side of the laser ranging sensor 14 protective shell away from the laser and forms a certain angle with the above-mentioned transmitting module for capturing the reflected signal and imaging, and is connected to the PLC control system through a signal line.

[0036] Furthermore, the engineering plastics used for the shell 10 are high-performance engineering plastics such as polycarbonate PC and polyetheretherketone PEek, and the performance can be improved by adding fibers, which has little effect on the pulse signal. The middle part of the end of the shell 10 away from the cutter head frame 15 is rotatably connected with a transmission shaft 13, and the end of the transmission shaft 13 away from the cutter head frame 15 is connected to the laser ranging sensor 14, and the other end of the transmission shaft 13 is matched with the electric control drive mechanism for transmission. The laser ranging sensor 14 is electrically connected to the PLC control system through a conductive slip ring and a twisted pair. The current limiting resistor in the conductive slip ring adopts a low contact resistance to reduce energy loss and signal attenuation. At the same time, materials with high conductivity such as copper foil or copper strip and a multi-layer concentric ring structure are selected to realize the miniaturization and lightweight of the conductive slip ring.

[0037] The laser distance measuring sensor 14 is driven to rotate by the electric control driving mechanism, so that the cutter head frame 15 rotates while the laser distance measuring sensor 14 rotates, thereby realizing all-round detection of the interior of the tunnel and improving detection efficiency.

[0038] Furthermore, the electric control drive mechanism includes a stator Pcb11 and a motor 12, the stator Pcb11 is electrically connected to the motor 12, a speed regulator is provided in the motor 12, the output shaft of the motor 12 is matched with the transmission shaft 13 through a reduction gear box, the output shaft of the reduction gear box is matched with the transmission shaft 13 through an elastic coupling, the elastic coupling is a plum blossom-shaped elastic coupling, which can adapt to harsh working environments, and the elastic elements therein can provide buffering and shock absorption effects.

[0039] Specifically, the rotor PCB is coated with a three-conformal paint coating, and the stator PCB is etched with a power supply circuit, a level conversion circuit, an encoder receiving circuit, and a motor drive circuit, which facilitates decoding and processing of pulse signals and realizes efficient and stable control of the motor.

[0040] Furthermore, each set of cutter disc inclination adjustment devices includes a plurality of cutter disc inclination adjustment devices arranged along the radial direction of the cutter disc frame 15 .

[0041] Furthermore, the cutter disc inclination angle adjustment device includes a flap mechanism and a roller cutter fixing mechanism, the flap mechanism is connected to the cutter disc frame 15, the roller cutter fixing mechanism is used to fix the roller cutter 9, and the flap mechanism is used to adjust the inclination angle of the roller cutter 9.

[0042] By controlling the tilt angle of the flap of the flap mechanism, the tilt angle of the roller cutter fixing mechanism is further controlled, and finally the tilt angle control of the roller cutter 9 is achieved.

[0043] Furthermore, the cutter disc inclination adjustment device includes a mounting base 1 connected to the cutter disc frame 15, two brackets 2 are connected to the mounting base 1, a pin shaft 3 is rotatably connected between the two brackets 2, one end of a base 4 is rotatably connected to the pin shaft 3, an inclination sensor 16 is installed on the base 4, one end of the mounting base 1 away from the bracket 2 is hinged to one end of a hydraulic rod 5, the telescopic end of the hydraulic rod 5 is hinged to the end of the base 4 away from the pin shaft 3, the inclination sensor 16 is electrically connected to the PLC control system, and the roller cutter fixing mechanism is connected to the side of the base 4 away from the mounting base 1.

[0044] The inclination sensor 16 is set to monitor the change of the inclination angle of the base 4 in real time and dynamically, and then monitor the change of the inclination angle of the roller cutter 9, and input the monitored data to the PLC control system. The PLC control system detects the change of the tunnel angle based on the laser ranging sensor 14, and then calculates the data through the PC to control the flow and flow rate of the hydraulic pressure in the hydraulic pump connected to the hydraulic rod 5 in real time. Specifically, the hydraulic pump is connected to the oil inlet of the hydraulic rod 5 via a hydraulic pipeline and a threaded joint, and is equipped with a servo valve to control the flow and speed of the oil, so as to realize the change of the inclination angle of the base 4 relative to the mounting seat 1.

[0045] Furthermore, the flap mechanism includes a base plate 6 , two brackets 7 are connected to the base plate 6 , a rotating shaft 8 is rotatably connected between the two brackets 7 , and a roller 9 is fixedly sleeved on the rotating shaft 8 .

[0046] The roller cutter 9 is supported and fixed by two brackets 7 to ensure the stability of the roller cutter 9 during excavation.

[0047] The adjustable shield machine cutterhead based on laser radar provided by the present invention has a working principle as follows: during the tunneling process of the shield machine, the motor 12 drives the transmission shaft 13 and the laser ranging sensor 14 to rotate, accurately detects the internal structure and angle of the tunnel, and transmits the measurement information to the PLC control system in real time. The PLC control system transmits the data to the PC on the shield machine, and the data processed by the PC is input to the PLC control system. The PC calculates and processes the data detected by the laser ranging sensor 14, and controls the power of the hydraulic pump through the PLC control system, thereby controlling the flow and speed of the hydraulic pipeline. , and then control the length of the hydraulic rod 5. When the hydraulic rod 5 is controlled to extend, the base 4 rotates around the bracket 2, so that the angle between the base 4 and the mounting seat 1 increases, thereby increasing the inclination angle of the roller 9 fixed on the base 4, and vice versa. The inclination angle of the roller 9 decreases, and the inclination sensor 16 is used to dynamically monitor the change of the inclination angle of the base 4 in real time, thereby monitoring the change of the roller 9, and the monitoring PLC control system, the PLC control system detects the change of the tunnel angle based on the laser ranging sensor 14 and dynamically adjusts the length of the hydraulic rod 5, thereby realizing automatic angle adjustment of the roller 9 and accurately matching it with the angle of the tunnel.

[0048] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. An adjustable shield machine cutterhead based on laser radar, characterized in that: include: A laser radar device, the laser radar device being installed in the middle of a cutterhead frame (15) on the shield machine, and the laser radar device being used to accurately measure the distance between the cutterhead frame (15) and a target object in front of the tunneling; A plurality of sets of cutter disc inclination adjustment devices, wherein the plurality of sets of the cutter disc inclination adjustment devices are arranged along the circumference of the cutter disc frame (15), and the cutter disc inclination adjustment devices are used to adjust the inclination angle of the roller cutter (9) arranged on the body thereof; PLC control system, the laser radar device and the cutter disc inclination angle adjustment device are both electrically connected to the PLC control system.

2. The adjustable shield machine cutterhead based on laser radar according to claim 1 is characterized in that: The laser radar device comprises a housing (10) mounted in the middle of the cutter head frame (15); a laser distance measuring sensor (14) is rotatably connected to the middle of one end of the housing (10) away from the cutter head frame (15); and an electric control drive mechanism for driving the laser distance measuring sensor (14) to rotate is arranged inside the housing (10).

3. The adjustable shield machine cutterhead based on laser radar according to claim 2 is characterized in that: A transmission shaft (13) is rotatably connected to the middle of one end of the housing (10) away from the cutter head frame (15); one end of the transmission shaft (13) away from the cutter head frame (15) is connected to the laser distance measuring sensor (14); and the other end of the transmission shaft (13) is in transmission cooperation with the electric control drive mechanism.

4. The adjustable shield machine cutterhead based on laser radar according to claim 3 is characterized in that: The electric control drive mechanism comprises a stator Pcb (11) and a motor (12); the stator Pcb (11) is electrically connected to the motor (12); a speed regulator is provided inside the motor (12); and an output shaft of the motor (12) is transmission-matched with the moving shaft (13) via a reduction gear box.

5. The adjustable shield machine cutterhead based on laser radar according to claim 1, characterized in that: Each group of the cutter disc inclination adjustment devices comprises a plurality of the cutter disc inclination adjustment devices arranged radially along the cutter disc frame (15).

6. The adjustable shield machine cutterhead based on laser radar according to claim 5 is characterized in that: The cutter disc inclination angle adjustment device comprises a flap mechanism and a roller cutter fixing mechanism, wherein the flap mechanism is connected to the cutter disc frame (15), the roller cutter fixing mechanism is used to fix the roller cutter (9), and the flap mechanism is used to adjust the inclination angle of the roller cutter (9).

7. The adjustable shield machine cutterhead based on laser radar according to claim 6 is characterized in that: The cutter disc inclination adjustment device comprises a mounting seat (1) connected to the cutter disc frame (15), two brackets (2) are connected to the mounting seat (1), a pin shaft (3) is rotatably connected between the two brackets (2), one end of a base (4) is rotatably connected to the pin shaft (3), an inclination sensor (16) is installed on the base (4), one end of the mounting seat (1) away from the bracket (2) is hinged to one end of a hydraulic rod (5), the telescopic end of the hydraulic rod (5) is hinged to the end of the base (4) away from the pin shaft (3), the inclination sensor (16) is electrically connected to the PLC control system, and the roller cutter fixing mechanism is connected to the side of the base (4) away from the mounting seat (1).

8. The adjustable shield machine cutterhead based on laser radar according to claim 6, characterized in that: The flap mechanism comprises a base plate (6), two brackets (7) are connected to the base plate (6), a rotating shaft (8) is rotatably connected between the two brackets (7), and the roller (9) is fixedly sleeved on the rotating shaft (8).

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