Intelligent rapid tunneling cutting system and cutting feed method

Abstract

The invention provides an intelligent rapid tunneling cutting system and a cutting feed method. Intelligent rapid and efficient cutting is achieved through a series of programmable control processes such as cutting feed of a cutting walking system, sliding cutting of a cutting sliding system and telescopic difference compensation of a cutting telescopic mechanism. The method has the advantages that the heading machine body can cut the required roadway shape at a fixed point, the section formed by automatic cutting is relatively flat, the roadway outline is relatively smooth, the outline error of each time of cutting is small, the cutting forming precision can be effectively improved, safe and convenient supporting work and smooth passing of equipment are facilitated, the roadway heading speed is increased, and the working efficiency is improved. And the comprehensive mechanical operation level of the fully-mechanized excavation face is improved, the adaptability of intelligent tunneling development requirements is enhanced, the labor intensity of workers is reduced, and potential safety hazards of underground tunneling operation are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine underground tunnel excavation and cutting system machinery, and in particular to an intelligent rapid excavation and cutting system and a cutting feed method. Background Art

[0002] A roadheader is a commonly used equipment. It is a large-scale mechanical equipment used for excavating underground tunnels, roadways and other projects. A roadheader can perform rock breaking, loading, and transportation operations underground, crushing rocks or soil and transporting them out, while continuously advancing forward to form the required passage. A roadheader has the advantages of high degree of mechanization, fast excavation speed, good construction quality, and high safety. It is widely used in mining, tunnel construction, water conservancy projects and other fields.

[0003] The traditional cantilevered tunneling and cutting system is operated by the driver to cut and shape the cross section, relying on the swing of the cutting arm and the rotation of the cutting head to achieve the cutting of the coal and rock in the tunnel. The cutting process is cumbersome and time-consuming, with an average monthly advance of only 180m for comprehensive excavation, and an average monthly tunnel consumption of more than 600m for each comprehensive mining face. The average ratio of coal mine tunneling teams to comprehensive mining teams in China is 3.1:1, which still cannot meet the needs of comprehensive mining, seriously restricting the safe and efficient production of coal. There are about 16,000 underground tunneling working faces in my country's coal mines, with more than 700,000 tunneling personnel. Water, gas, roof, dust, and impact ground pressure on the working face seriously threaten the safety of personnel. In recent years, my country has vigorously developed the field of coal mine robots. The cutting equipment and processes of traditional tunneling and cutting systems need to move the fuselage frequently during the cutting process, and need to repeatedly position and change positions, which are no longer suitable for the needs of intelligent and fast tunneling and cutting system groups. Summary of the invention

[0004] In view of the problem that the prior art roadheaders need to frequently move their bodies during the tunnel cutting process and are not suitable for intelligent rapid roadheading and cutting, the present invention provides an intelligent rapid roadheading and cutting system and a cutting feed method, which enable the roadheading and cutting system to quickly cut tunnels, reduce repeated positioning and posture changes caused by the frequent movement of the body of the intelligent system, and at the same time ensure that the cutting section is smooth and the contour transition quality is good.

[0005] In order to achieve the above-mentioned purpose, the present invention proposes a technical solution: an intelligent rapid excavation and cutting system, including a walking propulsion module, a cutting sliding module, a cutting arm telescopic module and a detection control module. The walking propulsion module is located on the ground, and is used to support the whole machine and drive the whole machine to move. One end of the cutting sliding module is connected to the top of the walking propulsion module, and the other end of the cutting sliding module is connected to the cutting arm telescopic module. The walking propulsion module, the cutting sliding module, and the cutting arm telescopic module are respectively connected to the detection control module.

[0006] Furthermore, the walking propulsion module includes a crawler walking system and a main frame, the crawler walking system includes a crawler, a walking motor and a crawler frame, the crawler is installed on both sides of the crawler frame, the walking motor is installed inside the crawler frame, and the crawler frame is fixedly connected to the main frame.

[0007] Furthermore, the cutting sliding module includes a sliding track, a sliding platform, a rotating table, a rotating bearing, a rotating oil cylinder and a pushing oil cylinder. The sliding track is fixedly connected to the upper part of the main frame of the walking propulsion module. The sliding platform is sleeved on the sliding track and can move along the sliding track. A rotating bearing is installed at the bottom of the rotating table, and the bottom of the rotating bearing is fixedly connected to the sliding platform. The rotary cylinder comprises a rotary cylinder piston rod and a rotary cylinder body, wherein the rotary cylinder piston rod is connected to the rotary table, and the rotary cylinder body is connected to the sliding platform, and the rotary cylinder is used to drive the rotary table to rotate relative to the sliding platform; The push cylinder comprises a push cylinder piston rod and a push cylinder body, the push cylinder piston rod is connected to the sliding platform, the push cylinder body is connected to the main frame, and the push cylinder is used to drive the sliding platform to move along the sliding track.

[0008] Furthermore, the cutting arm telescopic module includes a cutting arm, a telescopic sleeve, a cutting motor, a cutting reducer, a cutting head, a telescopic oil cylinder and a lifting oil cylinder. The cutting arm is hinged to the turntable. One end of the telescopic sleeve is connected to the cutting arm, and the other end is connected to the cutting motor in turn. One end of the cutting reducer is connected to the cutting motor, and the other end is connected to the cutting head. The telescopic oil cylinder comprises a telescopic oil cylinder piston rod and a telescopic oil cylinder body, the telescopic oil cylinder piston rod is connected to the cutting arm, the telescopic oil cylinder body is connected to the telescopic sleeve, and the telescopic oil cylinder is used to drive the telescopic sleeve to extend and shorten; The lifting cylinder comprises a lifting cylinder piston rod and a lifting cylinder body, the lifting cylinder piston rod is connected to the cutting arm, the lifting cylinder body is connected to the turntable, and the lifting cylinder is used to drive the cutting arm to move up and down.

[0009] Further, the detection control module includes an electric control cabinet, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a first inclination sensor, a second inclination sensor and a current sensor; the electric control cabinet is arranged on the walking propulsion module and is respectively connected to the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the first inclination sensor, the second inclination sensor and the current sensor signal; The first displacement sensor is arranged on the push cylinder and is used to detect the displacement change of the push cylinder; The second displacement sensor is arranged on the rotary cylinder and is used to detect the displacement change of the rotary cylinder; The third displacement sensor is arranged on the lifting cylinder and is used to detect the displacement change of the lifting cylinder; The fourth displacement sensor is arranged on the telescopic oil cylinder and is used to detect the displacement change of the telescopic oil cylinder; The first inclination sensor is arranged on the cutting arm and is used to detect the change in the angle of the cutting arm; The second inclination sensor is arranged on the walking propulsion module and is used to detect the angle change of the fuselage; The current sensor is arranged on the cutting motor and is used to detect the current change of the cutting motor; The monitoring control module controls the actions of the push cylinder, the rotary cylinder, the upgrade cylinder, and the telescopic cylinder according to the detection signal, and controls the current of the cutting motor and the cutting reducer.

[0010] Furthermore, it also includes a hydraulic system, which is used to provide power for the push cylinder, the rotary cylinder, the lifting cylinder, and the telescopic cylinder.

[0011] Also disclosed is a cutting and feeding method using the above intelligent rapid excavation and cutting system, which is characterized by comprising the following steps: S1 establishes a three-dimensional model of the excavation working face; S2 obtains the spatial position information and working status parameters of the tunneling and cutting system; S3 obtains the position of the excavation and cutting system relative to the tunnel, the position of the cutting head relative to the machine body, and the spatial position coordinates of the cutting head; S4 inputs the spatial position information and working state parameters of the tunneling and cutting system into a preset neural network model to obtain feedback control quantity; S5 adjusts the spatial position and working parameters of the tunneling and cutting system in real time according to the feedback control quantity, so that the cutting head can cut along the predetermined cutting route.

[0012] Furthermore, in step S2, the spatial position information of the tunneling and cutting system includes the pitch angle of the fuselage, the pitch angle of the cutting arm, the yaw angle of the fuselage, and the yaw angle of the cutting arm; The working state parameters include the current of the cutting motor, the displacement of the cutting arm telescopic cylinder, the displacement of the cutting arm lifting cylinder, the displacement of the turntable rotating cylinder, and the displacement of the sliding platform push cylinder.

[0013] Furthermore, in step S3, the posture of the excavation and cutting system relative to the tunnel is obtained through the pitch angle and yaw angle of the fuselage, and the posture of the cutting head relative to the fuselage and the spatial position coordinates of the cutting head are obtained according to the pitch angle and yaw angle of the cutting arm.

[0014] Furthermore, the step S3 is specifically as follows: S41 controls the traveling and propulsion module to move forward so that the cutting head enters the coal wall and reaches a predetermined cutting position; S42 gives a cutting parameter command through the detection control module, and the cutting head starts to move forward and cut; After S43 cuts to a certain depth, the cutting arm is controlled to swing up and down and left and right through the lifting cylinder and the rotating cylinder; During the swinging process, each sensor of the detection control module detects the displacement change of the propulsion cylinder, the lifting cylinder, the rotation cylinder, and the telescopic cylinder in real time; S45 detects the displacement change parameters of each cylinder detected by the control module and inputs them into a preset neural network model to obtain the feedback control amount of each cylinder.

[0015] Furthermore, the step S5 is specifically as follows: S51 controls the extension or shortening of the telescopic sleeve through the telescopic cylinder according to the feedback control amount of the telescopic cylinder; After the telescopic sleeve of S52 reaches the limit stroke, the travel propulsion module remains stationary, and the sliding platform is controlled by the push cylinder to move forward for cutting according to the feedback control amount of the push cylinder; S53 controls the rotary table to rotate left and right through the rotary cylinder according to the feedback control amount of the rotary cylinder, driving the cutting arm to swing left and right for cutting; S54 controls the cutting arm to swing up and down through the lifting cylinder according to the feedback control amount of the lifting cylinder to perform cutting; S55 always keeps the cutting depth of the coal wall tunnel consistent through the coordinated control of the rotary cylinder, lifting cylinder and push cylinder, so that the cutting head can cut along the predetermined cutting route.

[0016] Beneficial effects of the present invention: 1. A cutting sliding module is set in the excavation and cutting system. Through the cooperation of the sliding platform and the sliding track, driven by the push cylinder, the excavation and cutting system can more flexibly control the cutting depth during fixed-point cutting, reduce the movement frequency of the machine body, and improve the cutting control efficiency.

[0017] 2. Cutting by the cutting and feeding method of this design can achieve a flat cross-section, relatively smooth contour, and small contour error for each cut when the excavation cutting system is fixed-point cutting, which is conducive to the safety and convenience of support work and the smooth passage of equipment. The programmable control process improves the tunnel excavation rate, improves the comprehensive mechanized operation level of the comprehensive excavation working face, enhances the adaptability to the development needs of intelligent excavation, reduces the labor intensity of workers, and reduces the safety hazards of underground excavation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. For those skilled in the art, other drawings can be obtained based on the drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the overall structure of an intelligent rapid excavation and cutting system of the present invention; Figure 2 This is a schematic diagram of the structure of a walking and propulsion module of an intelligent and fast excavation and cutting system of the present invention; Figure 3 This is a schematic diagram of the structure of a cutting and sliding module of an intelligent rapid excavation and cutting system of the present invention; Figure 4 It is a schematic diagram of the structure of a telescopic module of a cutting arm of an intelligent rapid excavation and cutting system of the present invention; Figure 5 A flow chart of a cutting and feeding method of an intelligent fast excavation and cutting system of the present invention; Figure 6 A flow chart of an embodiment of a cutting and feeding method of an intelligent fast excavation and cutting system of the present invention; Figure 7 A flowchart of an embodiment of a cutting and feeding method of an intelligent fast excavation and cutting system of the present invention is provided in detail; Figure 8 The present invention provides a cutting path diagram of a cutting method of an intelligent rapid excavation and cutting system.

[0020] Among them: 1. walking propulsion module; 110. crawler walking system; 111. crawler; 112. walking motor; 113. crawler frame; 120. main frame; 2. cutting sliding module; 210. sliding track; 220. sliding platform; 230. turntable; 240. slewing bearing; 250. slewing cylinder; 251. slewing cylinder piston rod; 252. slewing cylinder body; 260. push cylinder; 3. cutting arm telescopic module; 310. cutting arm; 320. telescopic sleeve; 330. cutting motor; 340. cutting reducer; 350. cutting head; 360. telescopic cylinder; 361. telescopic cylinder piston rod; 362. telescopic cylinder body; 370. lifting cylinder; 371. lifting cylinder piston rod; 372. lifting cylinder body; DETAILED DESCRIPTION

[0021] 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.

[0022] like Figures 1 to 4 As shown, an intelligent rapid excavation and cutting system includes a walking and propulsion module 1, a cutting and sliding module 2, a cutting arm telescopic module 3, a hydraulic system, and a detection and control system. The walking and propulsion module 1 is located on the ground to support the entire machine body and can drive the entire machine equipment to move forward. The cutting and sliding module 2 is connected to the walking and propulsion module 1 to achieve secondary cutting feed. The cutting arm telescopic module 3 is connected to the cutting and sliding module 2 to achieve tertiary cutting feed. The hydraulic system is used to drive the rotary cylinder group, the lifting cylinder group, the telescopic cylinder group, and the push cylinder group to move. The detection system detects the position information and working state parameters of the excavation and cutting system, and controls the actions of the rotary cylinder group, the lifting cylinder group, the telescopic cylinder group, and the push cylinder group according to the detection signal, thereby achieving cutting feed for a preset cutting path.

[0023] The walking propulsion module 1 includes a crawler walking system 110 and a main frame 120; wherein, the crawler walking system 110 includes a crawler 111, a walking motor 112, and a crawler frame 113, the crawler 111 is installed on both sides of the crawler frame 113, and the walking motor 112 is installed in the crawler frame 113 to provide forward power for the crawler walking module, and the crawler walking system 110 relies on the walking motor 112 to provide feed traction.

[0024] In this embodiment, the crawler 111 is a crawler used in a common tunneling and cutting system.

[0025] The cutting sliding module 2 includes a sliding track 210, a sliding platform 220, a turntable 230, a slewing bearing 240, a slewing cylinder 250, and a push cylinder 260. The sliding track is fixedly installed above the main frame 120. The sliding platform 220 is connected to the sliding track 210. The sliding platform 220 and the sliding track 210 can slide relatively. The turntable 230 is connected to the sliding platform 220 through a slewing bearing 240 installed on the sliding platform 220. The turntable 230 and the sliding platform 220 can rotate relatively. The slewing cylinder 250 includes a slewing cylinder piston rod 251 and a slewing cylinder body 252. The slewing cylinder piston rod 251 is connected to the hinge ears on the left and right sides of the turntable 230 through a pin shaft, and the slewing cylinder body 252 is connected to the hinge ears on the left and right sides above the sliding platform 220 through a pin shaft. The push cylinder 260 includes a push cylinder piston rod and a push cylinder body. The push cylinder piston rod is connected to the hinge ears on the left and right sides below the sliding platform through a pin shaft, and the push cylinder body is connected to the hinge ears on the left and right sides behind the main frame 120 through a pin shaft.

[0026] The cutting arm telescopic module 3 includes a cutting arm 310, a telescopic sleeve 320, a cutting motor 330, a cutting reducer 340, a cutting head 350, a telescopic cylinder 360, and a lifting cylinder 370. The cutting arm 310 is provided with hinge ears on both sides below. The cutting arm 310 is hinged to the turntable 230. The lifting cylinder piston rod 371 of the lifting cylinder 370 is connected to the hinge ears below the cutting arm 310 through a pin shaft. The lifting cylinder body 372 of the lifting cylinder 372 is connected to the turntable 230. The platform 230 is connected with hinge ears on both sides below, the cutting motor 330 is connected with the cutting reducer 340, the cutting reducer 340 is connected with the telescopic sleeve 320, the telescopic sleeve 320 is connected with the cutting arm 310, the cutting head 350 is connected with the telescopic sleeve 320, the piston rod 361 of the telescopic cylinder 360 is connected with the hinge ears on both sides above the cutting arm 310 through a pin shaft, and the cylinder body 362 end of the telescopic cylinder 360 is connected with the hinge ears on the telescopic sleeve 320 through a pin shaft.

[0027] The detection control module includes an electric control cabinet arranged on the walking and propulsion module 1, a first displacement sensor arranged on the push cylinder 260, a second displacement sensor arranged on the rotary cylinder 250, a third displacement sensor arranged on the lifting cylinder 370, a fourth displacement sensor arranged on the telescopic cylinder 360, a first inclination sensor arranged on the cutting arm 310, a second inclination sensor arranged on the walking and pushing module 1, and a first current sensor arranged on the cutting motor 330. The displacement sensor, the inclination sensor, and the current sensor are all connected to the electric control cabinet signal. The working state parameters and position information of the excavation and cutting system are detected by the arranged displacement sensor, inclination sensor, and current sensor, and the actions of the pushing cylinder, the rotary cylinder, the upgrading cylinder, and the telescopic cylinder are controlled according to the detection data, and the rotation speed of the cutting head is adjusted by controlling the current of the cutting motor and the cutting reducer.

[0028] like Figure 5 The cutting and feeding method of the intelligent rapid excavation system comprises the following steps: S1 establishes a three-dimensional model of the excavation working face; S2 obtains the spatial position information and working status parameters of the tunneling and cutting system; S3 obtains the position of the excavation and cutting system relative to the tunnel, the position of the cutting head relative to the machine body, and the spatial position coordinates of the cutting head; S4 inputs the spatial position information and working state parameters of the tunneling and cutting system into a preset neural network model to obtain feedback control quantity; S5 adjusts the spatial position and working parameters of the tunneling and cutting system in real time according to the feedback control quantity, so that the cutting head can cut along the predetermined cutting route.

[0029] Specifically: first, a three-dimensional model of the excavation working face is established, and the spatial position information of the excavation and cutting system, the working state parameters of the excavation and cutting system, and the spatial position coordinates of the cutting head 350 are obtained. The cutting head 350 enters the coal wall and reaches the predetermined cutting position by controlling the walking propulsion module 1 to move forward, thereby realizing the first-level feeding of cutting. After cutting to a certain depth, the rotary cylinder 250 controls the cutting arm 310 to start swinging left and right through the turntable 230. During the swinging process, each sensor detects the displacement of the push cylinder 260, the lifting cylinder 370, the rotary cylinder 250, and the telescopic cylinder 360 in real time, and inputs each displacement into the preset neural network model to obtain the feedback control amount of each cylinder. The feedback control amount of the telescopic cylinder 360 is used to control the extension or shortening of the cutting arm telescopic module 3 to keep the cutting depth of the coal wall consistent. , realizing two-stage feeding of cutting; when the telescopic sleeve 320 reaches the limit stroke, the feedback control amount of the push cylinder 260 obtained by the neural network model controls the cutting sliding module 2, so that the cutting head 360 moves forward to continue cutting. During this process, the whole machine equipment remains stationary, and the cutting arm 310 continues to swing left and right, and the cutting head 350 interpolates and slides forward to always keep the cutting depth of the coal wall consistent, realizing three-stage feeding of cutting; the cutting principle of the up and down swing process of the cutting arm 310 controlled by the lifting cylinder 370 is the same as the left and right swing, and the cutting principle of the contour shaping process is the same as the left and right swing. The position of the whole machine remains unchanged during the whole cutting process, which is called fixed-point cutting, ensuring that the cut section has a high quality. The fixed-point forming series process of the tunneling cutting system group can realize intelligent control through machine vision and programming, thereby realizing rapid cutting.

[0030] In this embodiment, the position of the whole machine is fixed and unchanged, the position information of the whole machine is kept constant, and rapid cutting is completed in a fixed-point cutting manner according to the working state parameters. When the sliding platform 220 and the telescopic sleeve 330 have reached the limit stroke, the walking propulsion module 1 drives the whole machine forward, the position information of the whole machine is re-determined, and the above-mentioned cutting process is repeated to complete rapid excavation and cutting, and the cutting excavation depth can be consistent and the cutting surface is regular.

[0031] Reference Figure 6 As shown, the specific operation process of the fixed-point cutting in this embodiment is as follows: the excavation cutting system is in place to prepare for cutting, and the position information of the cutting head 350 is first verified. If it has not reached the predetermined position, the excavation cutting system is driven, and the cutting head 350 is adjusted so that when the excavation cutting system is in the central position, the cutting head 350 is swung to a horizontal position to just contact the cross section; After reaching the predetermined position, the cutting head 350 swings to the lower left corner of the tunnel, and the driving and cutting system moves forward a set distance. The limit position of the distance is the contact section of the cutting head 350 after the sliding platform 220 and the telescopic sleeve 330 are fully retracted. After that, the cutting head 350 starts to cut into the coal wall until the depth reaches the preset distance. If the preset distance is not reached, the extension 320 pushes the cutting head 350 forward. If the preset distance is still not reached, the sliding platform 220 continues to move forward to push the cutting head 350 forward. When the preset depth is reached, the cutting arm 310 is controlled to swing left and right, and step A is performed at the same time. Step A is specifically as follows: the displacement of the cutting head 350 is detected to determine whether the cutting depth reaches the preset distance. If the displacement of the cutting head 350 exceeds the preset distance (i.e., over-excavation), the cutting head 350 is retracted to the preset distance by retracting the telescopic sleeve 320 and moving the sliding platform 220 backward. If the displacement of the cutting head 350 does not reach the preset distance, the cutting head 350 is extended to the preset distance by extending the telescopic sleeve 320 and moving the sliding platform 220 forward. Control the cutting arm 310 to swing to the rightmost position, and then control the cutting arm 310 to swing upward to a preset angle to reach the top of the tunnel. If the cutting to the preset depth is completed, the process ends. If the cutting to the preset depth is not completed, proceed to step A. Then the cutting arm 310 is controlled to swing to the left, and step A is performed; Then, the cutting arm 310 is controlled to swing upward at a preset angle to reach the top of the tunnel. If the cutting to the preset depth is completed, the process ends. If the cutting to the preset depth is not completed, step A is performed. Repeat the above steps to complete the fixed-point cutting.

[0032] Reference Figure 7 and Figure 8 As shown, the detailed description of the movement of the excavation and cutting system of the fixed-point cutting process of this embodiment is as follows: Drive the excavation and cutting system so that the cutting head and the section to be cut face each other; Control the cutting head to start rotating, the cutting arm to extend, and the cutting arm to swing to the lower left corner; The walking and propulsion module propels and the sliding platform slides forward, so that the cutting head enters the coal wall to a set distance; Control the cutting arm to swing to the right, at this time the telescopic sleeve does not extend or retract, and the sliding platform moves backward; The sliding platform stops and remains motionless, and the telescopic sleeve gradually retracts, so that the cutting arm continues to swing to the right at a constant cutting depth and a preset distance; The cutting arm swings to the right to the middle point of the tunnel, at which time the telescopic sleeve retracts to the limit position and the sliding platform slides backward to the limit position; The cutting arm continues to swing to the right, while the sliding platform remains stationary and the telescopic sleeve gradually extends to keep the cutting depth at the preset distance; The cutting arm continues to swing to the right, and the telescopic sleeve extends to the limit position, controlling the sliding platform to slide forward; The cutting arm swings rightward to the rightmost point of the tunnel, at which time the telescopic sleeve extends to the limit position and the sliding platform slides forward to the limit position; The cutting arm swings upward to a preset angle, at which time the telescopic sleeve and the sliding platform are both located at the right limit position of the cutting plane, entering the next cutting plane; The cutting arm swings to the left. During this process, the telescopic sleeve remains at the limit position unchanged, and the sliding platform moves backward to ensure that the cutting depth always maintains the preset distance; The cutting arm is controlled to continue to swing to the left. At this time, after the sliding platform moves backward to the limit position, the telescopic sleeve is gradually retracted to ensure that the cutting depth always maintains the preset distance; The cutting arm swings to the left to the middle point of the tunnel. At this time, the telescopic sleeve retracts to the limit position and the sliding platform slides backward to the limit position; The cutting arm continues to swing to the left, while the sliding platform remains stationary and the telescopic sleeve gradually extends to keep the cutting depth at the preset distance; The cutting arm continues to swing to the left, and the telescopic sleeve is extended to the limit position, controlling the sliding platform to slide forward so that the cutting depth remains at the preset distance; The cutting arm swings rightward to the leftmost point of the tunnel, at which time the telescopic sleeve extends to the limit position and the sliding platform slides forward to the limit position; The cutting arm swings upward to a preset angle, at which time the telescopic sleeve and the sliding platform are both located at the left limit position of the cutting plane, entering the next cutting plane; Repeat the above steps to complete the fixed-point cutting action.

[0033] Although the preferred implementation cases of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms of specific changes without departing from the scope of protection of the invention spirit and claims, which all fall within the scope of protection of the present invention.

Claims

1. An intelligent rapid excavation and cutting system, characterized in that: It includes a walking propulsion module, a cutting sliding module, a cutting arm telescopic module and a detection control module. The walking propulsion module is located on the ground, and is used to support the whole machine and drive the whole machine to move. One end of the cutting sliding module is connected to the top of the walking propulsion module, and the other end of the cutting sliding module is connected to the cutting arm telescopic module. The walking propulsion module, the cutting sliding module and the cutting arm telescopic module are respectively connected to the detection control module.

2. The intelligent rapid excavation and cutting system according to claim 1 is characterized in that: The walking propulsion module includes a crawler walking system and a main frame. The crawler walking system includes a crawler, a walking motor and a crawler frame. The crawler is installed on both sides of the crawler frame. The walking motor is installed inside the crawler frame. The crawler frame is fixedly connected to the main frame.

3. The intelligent rapid excavation and cutting system according to claim 2 is characterized in that: The cutting sliding module includes a sliding track, a sliding platform, a rotating table, a rotating bearing, a rotating oil cylinder and a pushing oil cylinder. The sliding track is fixedly connected to the upper part of the main frame of the walking and propulsion module. The sliding platform is sleeved on the sliding track and can move along the sliding track. A rotating bearing is installed at the bottom of the rotating table, and the bottom of the rotating bearing is fixedly connected to the sliding platform. The rotary cylinder comprises a rotary cylinder piston rod and a rotary cylinder body, wherein the rotary cylinder piston rod is connected to the rotary table, and the rotary cylinder body is connected to the sliding platform, and the rotary cylinder is used to drive the rotary table to rotate relative to the sliding platform; The push cylinder comprises a push cylinder piston rod and a push cylinder body, the push cylinder piston rod is connected to the sliding platform, the push cylinder body is connected to the main frame, and the push cylinder is used to drive the sliding platform to move along the sliding track.

4. The intelligent rapid excavation and cutting system according to claim 3 is characterized in that: The cutting arm telescopic module includes a cutting arm, a telescopic sleeve, a cutting motor, a cutting reducer, a cutting head, a telescopic oil cylinder and a lifting oil cylinder. The cutting arm is hinged to the turntable. One end of the telescopic sleeve is connected to the cutting arm, and the other end is connected to the cutting motor in turn. One end of the cutting reducer is connected to the cutting motor, and the other end is connected to the cutting head. The telescopic oil cylinder comprises a telescopic oil cylinder piston rod and a telescopic oil cylinder body, the telescopic oil cylinder piston rod is connected to the cutting arm, the telescopic oil cylinder body is connected to the telescopic sleeve, and the telescopic oil cylinder is used to drive the telescopic sleeve to extend and shorten; The lifting cylinder comprises a lifting cylinder piston rod and a lifting cylinder body, the lifting cylinder piston rod is connected to the cutting arm, the lifting cylinder body is connected to the turntable, and the lifting cylinder is used to drive the cutting arm to move up and down.

5. The intelligent rapid excavation and cutting system according to claim 4 is characterized in that: The detection control module includes an electric control cabinet, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a first inclination sensor, a second inclination sensor and a current sensor; the electric control cabinet is arranged on the walking propulsion module and is respectively connected to the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the first inclination sensor, the second inclination sensor and the current sensor signal; The first displacement sensor is arranged on the push cylinder and is used to detect the displacement change of the push cylinder; The second displacement sensor is arranged on the rotary cylinder and is used to detect the displacement change of the rotary cylinder; The third displacement sensor is arranged on the lifting cylinder and is used to detect the displacement change of the lifting cylinder; The fourth displacement sensor is arranged on the telescopic oil cylinder and is used to detect the displacement change of the telescopic oil cylinder; The first inclination sensor is arranged on the cutting arm and is used to detect the change in the angle of the cutting arm; The second inclination sensor is arranged on the walking propulsion module and is used to detect the angle change of the fuselage; The current sensor is arranged on the cutting motor and is used to detect the current change of the cutting motor; The detection control module controls the actions of the push cylinder, the rotary cylinder, the upgrade cylinder, and the telescopic cylinder according to the detection signal, and controls the current of the cutting motor and the cutting reducer.

6. The intelligent rapid excavation and cutting system according to claim 5, characterized in that: It also includes a hydraulic system, which is used to provide power for the push cylinder, the rotary cylinder, the lifting cylinder, and the telescopic cylinder.

7. A cutting and feeding method applied to the intelligent fast excavation and cutting system according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1 establishes a three-dimensional model of the excavation working face; S2 obtains the spatial position information and working status parameters of the tunneling and cutting system; S3 obtains the position of the excavation and cutting system relative to the tunnel, the position of the cutting head relative to the machine body, and the spatial position coordinates of the cutting head; S4 inputs the spatial position information and working state parameters of the tunneling and cutting system into a preset neural network model to obtain feedback control quantity; S5 adjusts the spatial position and working parameters of the tunneling and cutting system in real time according to the feedback control quantity, so that the cutting head can cut along the predetermined cutting route.

8. The cutting method of the intelligent rapid excavation and cutting system according to claim 7, characterized in that: In step S2, the spatial position information of the tunneling and cutting system includes the pitch angle of the fuselage, the pitch angle of the cutting arm, the yaw angle of the fuselage, and the yaw angle of the cutting arm; The working state parameters include the current of the cutting motor, the displacement of the cutting arm telescopic cylinder, the displacement of the cutting arm lifting cylinder, the displacement of the turntable rotating cylinder, and the displacement of the sliding platform push cylinder.

9. The cutting method of the intelligent rapid excavation and cutting system according to claim 7, characterized in that: In step S3, the posture of the excavation and cutting system relative to the tunnel is obtained through the pitch angle and yaw angle of the fuselage, and the posture of the cutting head relative to the fuselage and the spatial position coordinates of the cutting head are obtained according to the pitch angle and yaw angle of the cutting arm.

10. The cutting method of the intelligent rapid excavation and cutting system according to claim 7, characterized in that: The step S3 is specifically as follows: S41 controls the traveling and propulsion module to move forward so that the cutting head enters the coal wall and reaches a predetermined cutting position; S42 gives a cutting parameter command through the detection control module, and the cutting head starts to move forward and cut; After S43 cuts to a certain depth, the cutting arm is controlled to swing up and down and left and right through the lifting cylinder and the rotating cylinder; During the swinging process, each sensor of the detection control module detects the displacement change of the propulsion cylinder, the lifting cylinder, the rotation cylinder, and the telescopic cylinder in real time; S45 detects the displacement change parameters of each cylinder detected by the control module and inputs them into a preset neural network model to obtain the feedback control amount of each cylinder.

11. The cutting method of the intelligent rapid excavation and cutting system according to claim 7, characterized in that: The step S5 is specifically as follows: S51 controls the extension or shortening of the telescopic sleeve through the telescopic cylinder according to the feedback control amount of the telescopic cylinder; After the telescopic sleeve of S52 reaches the limit stroke, the travel propulsion module remains stationary, and the sliding platform is controlled by the push cylinder to move forward for cutting according to the feedback control amount of the push cylinder; S53 controls the rotary table to rotate left and right through the rotary cylinder according to the feedback control amount of the rotary cylinder, driving the cutting arm to swing left and right for cutting; S54 controls the cutting arm to swing up and down through the lifting cylinder according to the feedback control amount of the lifting cylinder to perform cutting; S55 always keeps the cutting depth of the coal wall tunnel consistent through the coordinated control of the rotary cylinder, lifting cylinder and push cylinder, so that the cutting head can cut along the predetermined cutting route.

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