Self-adaptive speed regulation control system and method for cutting of hard rock heading machine

Abstract

The invention discloses a cutting self-adaptive speed regulation control system and method for a hard rock heading machine. The cutting self-adaptive speed regulation control system comprises a control module, the current detection mechanism is connected with the input end of the control module and is used for detecting the real-time current value of the cutting motor; the operation mechanism is connected with the input end of the control module and used for inputting operation instructions; the cutting arm lifting and left-right swinging electromagnetic valve is connected with the output end of the control module and is used for controlling the movement of the cutting arm; the control module obtains the swing speed factor of the cutting arm by comparing the real-time current value detected by the current detection mechanism with a preset piecewise function mathematical model, and controls the cutting arm to swing according to the speed factor and an operation instruction input by the operation mechanism. The cutting arm is controlled to drive the cannon head to move up, down, left and right in a self-adaptive selected interval through lifting of the cutting arm and the left-right swing electromagnetic valve, self-adaptive adjustment of the swing speed of the cutting arm can be achieved according to the size of an external load, the cutting mechanism is effectively protected, and the fault rate of the cutting mechanism is greatly reduced.

Description

Technical Field

[0001] The invention relates to a cutting adaptive speed regulation control system and method for a hard rock tunneling machine, belonging to the technical field of mining machinery. Background Art

[0002] The cantilevered roadheader is an important part of coal mine tunnel excavation, integrating rock cutting, material collection and transportation functions. Due to different geological conditions, the hardness of the rock also changes accordingly. When encountering coal seams or semi-coal rocks, the cutting arm needs to swing quickly (up, down, left, right) to improve production efficiency. When encountering coal rocks or the load pressure of the cutting arm is relatively large, the cutting arm needs to reduce its swing speed (up, down, left, right) to protect the cutting motor, cutting reducer, internal bearings of the cutting mechanism, and cutting teeth. However, the roadheaders on the market cannot adapt to the hardness of the rock to adjust the swing speed of the cutting arm. The roadheader operator operates the handle on the remote control to control the swing of the cutting arm, usually using the maximum stroke of the handle, and the cutting arm moves at the maximum swing speed (up, down, left, right). When encountering hard rock, the cutting motor runs at full load or overload for a long time, which causes the cutting motor to overheat and damage, and even the cutting mechanism vibrates too much, damaging the internal parts. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a hard rock tunnel boring machine cutting adaptive speed control system and method, which can adaptively adjust the swing speed of the cutting arm according to the size of the external load, effectively protect the cutting mechanism, and greatly reduce the failure rate of the cutting mechanism.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a hard rock tunnel boring machine cutting adaptive speed control system, comprising: Control module; A current detection mechanism connected to the input terminal of the control module is used to detect the real-time current value of the cutting motor; An operating mechanism connected to the input terminal of the control module, used for inputting operating instructions; The cutting arm lifting and left-right swinging solenoid valve connected to the output end of the control module is used to control the movement of the cutting arm; The control module obtains the speed factor of the swing of the cutting arm by comparing the real-time current value detected by the current detection mechanism with the preset piecewise function mathematical model, and controls the cutting arm through the cutting arm lifting and left and right swinging solenoid valves to drive the gun head to move up, down, left and right within the adaptively selected range based on the speed factor and the operating instructions input by the operating mechanism.

[0005] Furthermore, the current detection mechanism includes two current sensors, which are respectively installed in the high-speed circuit and the low-speed circuit of the cutting motor, and are used to detect the real-time three-phase current of the cutting motor.

[0006] Furthermore, the operating mechanism includes a remote control with an integrated gear knob and an X, Y dual-axis operating handle. The remote control is a wired or wireless remote control. The gear knob is divided into 5 gears. Selecting gear 0 is suitable for no swing of the cutting arm. Step 1- step 4 gears, the higher the gear, the faster the swing speed of the cutting arm at the extreme position of the radio remote control operating handle.

[0007] Furthermore, the control module adopts a vehicle-mounted movable controller or a PLC module.

[0008] Furthermore, the horizontal axis of the piecewise function mathematical model is the opening of the operating handle, and the vertical axis is the swing speed factor. The load and the gear knob determine the adaptive piecewise function curve of the cutting arm swing speed.

[0009] Furthermore, the piecewise function mathematical model includes four speed factors, namely speed factor 1, speed factor 2, speed factor 3 and speed factor 4, wherein speed factor 1 < speed factor 2 < speed factor 3 < speed factor 4, and the control module adaptively selects the speed factor according to the real-time current value of the cutting motor, and the priority of the adaptively selected speed factor is higher than the knob gear selection.

[0010] Furthermore, when the real-time current value of the cutting motor is in different ranges, the control module adaptively selects the speed factor according to the following rules: When the rated current of the cutting motor is less than 0.85 times the rated current, the speed factor 4 is adaptively selected; When 0.85 times the rated current < the rated current of the cutting motor < 0.95 times the rated current, the speed factor 3 is adaptively selected; When 0.95 times the rated current < the rated current of the cutting motor < 1.05 times the rated current, the speed factor 2 is adaptively selected; When 1.05 times the rated current < the rated current of the cutting motor < 1.15 times the rated current, the speed factor 1 is adaptively selected.

[0011] Furthermore, the control system also includes a human-machine interactive display for setting relevant parameters.

[0012] Furthermore, the control module transmits commands to the remote controller via the remote controller receiving module, so as to control the up, down, left and right movements of the cutting arm.

[0013] In a second aspect, the present invention provides a hard rock tunnel boring machine cutting adaptive speed control method, applicable to any of the above hard rock tunnel boring machine cutting adaptive speed control systems, comprising: The current value of the cutting motor is detected in real time by the current detection mechanism; The current value detected in real time is compared with a preset piecewise function mathematical model to determine the speed factor of the swing of the cutting arm; Receiving operation instructions input by an operating mechanism; According to the determined speed factor and the received operation instruction, the control module controls the lifting and lowering and left and right swinging electromagnetic valves of the cutting arm, so that the cutting arm moves up, down, left and right within the adaptively selected interval.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a cutting adaptive speed regulation control system and method for a hard rock tunnel boring machine. The real-time current value of a cutting motor is detected by a current detection mechanism, and then the speed factor of the swing of the cutting arm is obtained by comparing the real-time current value with a piecewise function mathematical model established by a program in a control module. The control module combines the speed factor of the swing of the cutting arm and the manually set speed gear to adaptively select the speed range of the swing of the cutting arm, and drives the solenoid valve through the output port of the control module to realize the cutting action of the cutting arm with adaptive speed regulation. The cutting action has the advantages of stable cutting, no need for human intervention, adaptive adjustment of the swing speed of the cutting arm according to the external load, and greatly reducing the failure rate of the cutting arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a principle block diagram of the adaptive speed regulation of the hard rock tunnel boring machine of the present invention; Figure 2 It is a piecewise function mathematical model diagram established by a program in the control module of the present invention; Figure 3 The present invention is a flowchart of the adaptive speed regulation of a hard rock tunnel boring machine. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0017] Embodiment 1, as Figure 1As shown, this embodiment introduces a hard rock tunnel boring machine cutting adaptive speed control system, including: a control module, a current detection mechanism and an operating mechanism connected to the input end of the control module, and a cutting arm lifting and left and right swinging solenoid valve connected to the output end of the control module; the current detection mechanism is suitable for detecting the real-time current value of the cutting motor, and comparing it with the piecewise function mathematical model established by the control module to obtain the speed factor of the cutting arm swing; and the control module is suitable for controlling the cutting arm through the cutting lifting and left and right solenoid valves to drive the gun head to move up, down, left and right within the adaptively selected range.

[0018] Optionally, the control module may be, for example but not limited to, a vehicle-mounted movable controller or a PLC module.

[0019] Optionally, the current detection mechanism includes: two current sensors, namely, a current sensor installed in the high-speed circuit of the cutting motor and a current sensor installed in the low-speed circuit of the cutting motor, to detect the real-time three-phase current of the cutting motor.

[0020] Optionally, the remote control integrates a gear knob and an X, Y dual-axis operating handle, such as but not limited to a wired remote control or a wireless remote control.

[0021] like Figure 2 As shown, the opening of the remote control cutting arm operating handle is 0-100%, which corresponds to the remote control output value 0-128-255. When the remote control is in the middle position, the remote control outputs 128. For example, when the cutting arm swings left and right, the remote control outputs 0-128-255. When the output is 0-128 (excluding 128), it means swinging to the left. 0-128 (excluding 128) corresponds to the direction to the left, and the operating handle opening is 100%. 128 The remote control handle is in the middle position and the cutting arm does not move. When the output is 128-255 (excluding 128), it means swinging to the right. 255 corresponds to the direction to the right, and the operating handle opening is 100%.

[0022] The cutting arm swings up and down in the same way, which will not be described in detail.

[0023] Furthermore, the horizontal axis of the piecewise function mathematical model is the opening of the operating handle 0-100%, the direction is the left-right swing or up-and-down swing of the cutting arm, and the vertical axis is the swing speed factor.

[0024] Furthermore, the four segmented function curves are determined by the load and the gear knob. The segmented function curve to which the cutting arm swing speed is adapted is also determined by the real-time current value of the cutting motor and the gear knob. When the operating handle is pushed to 100% of the opening, the swing speed of the cutting arm is different for different speed factors. Speed ​​factor 1 (step 1) < speed factor 2 (step 2) < speed factor 3 (step 3) < speed factor 4 (step 4).

[0025] Furthermore, the priority of the adaptive speed factor selection is slightly higher than the knob gear selection.

[0026] When the rated current of the cutting motor is less than 0.85 times the rated current, the cutting arm swing speed factor will adaptively select speed factor 4 (step 4). At this time, the cutting arm should run at the fastest swing speed, that is, the highest working efficiency. At this time, the gear knob can be selected from step 4 to step 1. For the maximum working efficiency requirement, the operator will use step 4 gear for cutting. The operator can also manually select step 3, step 2 or step 1 low speed operation.

[0027] When 0.85 times the rated current < the rated current of the cutting motor < 0.95 times the rated current, the cutting arm swing speed factor will adaptively select speed factor 3, and the cutting arm should run at a faster swing speed. If the gear selection button is selected as step 4 at this time, it will be invalid, and the cutting arm swing speed will still adaptively select speed factor 3, and will not swing at speed factor 4. The operator can also manually select step 3, step 2 or step 1 for low speed operation.

[0028] When 0.95 times the rated current < the rated current of the cutting motor < 1.05 times the rated current, the cutting arm swing speed factor will adaptively select speed factor 2, and the cutting arm should run at a relatively fast swing speed. If the gear selection button selects step 4 or step 3 at this time, it will be invalid, and the cutting arm swing speed will still adaptively select speed factor 2, and will not swing at speed factor 4 or speed factor 3. The operator can also manually select step 2 or step 1 for low speed operation.

[0029] When 1.05 times the rated current < the rated current of the cutting motor < 1.15 times the rated current, the cutting arm swing speed factor adaptively selects speed factor 1, and the cutting arm should run at a slower swing speed. If the gear selection button selects step 4, step 3, or step 2 at this time, it will be invalid, and the cutting arm swing speed will still adaptively select speed factor 1, and will not swing at speed factor 4, speed factor 3, or speed factor 2. The operator can also manually select step 1 for low speed operation.

[0030] The adaptive cutting speed control technology for hard rock tunnel boring machine of the present embodiment 1 detects the real-time current value of the cutting motor through the current detection mechanism, and then obtains the speed factor of the swing of the cutting arm based on the comparison between the real-time current value and the piecewise function mathematical model established by the program in the control module. The control module combines the speed factor of the swing of the cutting arm and the manually set speed gear, adaptively selects the speed range of the swing of the cutting arm, and drives the solenoid valve through the output port of the control module to realize the cutting action of the adaptive speed regulation of the cutting arm. The cutting action has the advantages of stable cutting, no need for human intervention, adaptively adjusting the swing speed of the cutting arm according to the external load, and greatly reducing the failure rate of the cutting arm.

[0031] Furthermore, the hard rock tunnel boring machine adaptive cutting speed control technology also includes a human-machine interactive display for setting relevant parameters (such as the setting of speed factor, etc.).

[0032] Furthermore, the hard rock tunnel boring machine adaptive cutting speed control technology also includes an operating mechanism, such as a radio remote handheld remote controller or a wired handheld remote controller; The control module can transmit commands to a remote control unit such as a radio remote handheld remote controller via a remote controller receiving module to control the up, down, left and right movements of the cutting arm.

[0033] In summary, the cutting control system and working method of the continuous mining machine detect the real-time current value of the cutting motor through the cutting circuit current sensor, and compare it with the piecewise function model established by the program in the control module in real time to obtain the speed factor of the cutting arm swing, which can ensure that the greater the load, the slower the swing speed of the cutting arm during the swing of the cutting arm of the hard rock tunnel boring machine, thereby reducing the vibration of the cutting arm. If the manual gear knob selects the cutting arm swing speed gear (the cutting arm swing speed gear corresponds to the corresponding speed factor) higher than the speed factor obtained by comparing the real-time current with the piecewise function mathematical model, the control module adaptively selects the speed factor obtained by comparing the real-time current with the piecewise function mathematical model, which is also a lower speed factor. This process reflects the adaptability of the adaptive cutting speed control technology of the hard rock tunnel boring machine. The human-computer interactive display and the remote control unit can keep the operator away from the collection area, avoid the harm of the collection environment to the human body, and improve safety. Therefore, the adaptive cutting speed control technology of hard rock tunnel boring machine realizes the adaptive speed regulation of the cutting operation of hard rock tunnel boring machine, which has the advantages of stable cutting, effective protection of the cutting mechanism, and greatly reducing the failure rate of the cutting mechanism.

[0034] Embodiment 2: This embodiment provides a hard rock tunnel boring machine cutting adaptive speed control method, which is applicable to the hard rock tunnel boring machine cutting adaptive speed control system described in any one of Embodiment 1, including: The current value of the cutting motor is detected in real time by the current detection mechanism; The current value detected in real time is compared with a preset piecewise function mathematical model to determine the speed factor of the swing of the cutting arm; Receiving operation instructions input by an operating mechanism; According to the determined speed factor and the received operation instruction, the control module controls the lifting and lowering and left and right swinging electromagnetic valves of the cutting arm, so that the cutting arm moves up, down, left and right within the adaptively selected interval.

[0035] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cutting adaptive speed control system for a hard rock tunnel boring machine, characterized in that: include: Control module; A current detection mechanism connected to the input terminal of the control module is used to detect the real-time current value of the cutting motor; An operating mechanism connected to the input terminal of the control module, used for inputting operating instructions; The cutting arm lifting and left-right swinging solenoid valve connected to the output end of the control module is used to control the movement of the cutting arm; The control module obtains the speed factor of the swing of the cutting arm by comparing the real-time current value detected by the current detection mechanism with the preset piecewise function mathematical model, and controls the cutting arm through the cutting arm lifting and left and right swinging solenoid valves to drive the gun head to move up, down, left and right within the adaptively selected range based on the speed factor and the operating instructions input by the operating mechanism.

2. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The current detection mechanism includes two current sensors, which are respectively installed in the high-speed circuit and the low-speed circuit of the cutting motor and are used to detect the real-time three-phase current of the cutting motor.

3. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The operating mechanism includes a remote control with an integrated gear knob and an X, Y dual-axis operating handle. The remote control is a wired or wireless remote control. The gear knob is divided into 5 gears. Selecting gear 0 is suitable for the cutting arm not to swing. Step 1- step 4 gears, the higher the gear, the faster the cutting arm swings when the radio remote control operating handle is at the extreme position.

4. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The control module adopts a vehicle-mounted movable controller or a PLC module.

5. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The horizontal axis of the piecewise function mathematical model is the opening of the operating handle, and the vertical axis is the swing speed factor. The self-adaptive piecewise function curve of the cutting arm swing speed is determined by the load and the gear knob.

6. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The piecewise function mathematical model includes four speed factors, namely speed factor 1, speed factor 2, speed factor 3 and speed factor 4, wherein speed factor 1<speed factor 2<speed factor 3<speed factor 4. The control module adaptively selects the speed factor according to the real-time current value of the cutting motor, and the priority of the adaptively selected speed factor is higher than the knob gear selection.

7. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 6, characterized in that: When the real-time current value of the cutting motor is in different ranges, the control module adaptively selects the speed factor according to the following rules: When the rated current of the cutting motor is less than 0.85 times the rated current, the speed factor 4 is adaptively selected; When 0.85 times the rated current < the rated current of the cutting motor < 0.95 times the rated current, the speed factor 3 is adaptively selected; When 0.95 times the rated current < the rated current of the cutting motor < 1.05 times the rated current, the speed factor 2 is adaptively selected; When 1.05 times the rated current < the rated current of the cutting motor < 1.15 times the rated current, the speed factor 1 is adaptively selected.

8. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The control system also includes a human-machine interactive display for setting relevant parameters.

9. The cutting adaptive speed control system for a hard rock tunnel boring machine according to claim 1, characterized in that: The control module transmits commands to the remote controller via the remote controller receiving module, so as to control the up, down, left and right movements of the cutting arm.

10. A method for controlling the cutting speed of a hard rock tunnel boring machine, applicable to the cutting speed control system of a hard rock tunnel boring machine according to any one of claims 1 to 9, characterized in that: include: The current value of the cutting motor is detected in real time by the current detection mechanism; The current value detected in real time is compared with a preset piecewise function mathematical model to determine the speed factor of the swing of the cutting arm; Receiving operation instructions input by an operating mechanism; According to the determined speed factor and the received operation instruction, the control module controls the lifting and lowering and left and right swinging electromagnetic valves of the cutting arm, so that the cutting arm moves up, down, left and right within the adaptively selected interval.

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