A control system of a multifunctional boom roadheader and the multifunctional boom roadheader

Abstract

The present application relates to a kind of multifunctional control system of cantilever excavator and multifunctional cantilever excavator, belong to tunneling construction field.The host mode of the present application is used to realize excavation and cutting, arch anchor mode is used to realize rock drilling and hit anchor rod;When hydraulic pressure is less than set value when being in host mode, it is considered that cutting arm will not interfere with the use of arch anchor mechanical arm, so the switching of mode is allowed;When arch anchor platform is retracted to a certain position when being in arch anchor mode, it is considered that it will not interfere with the use of cutting arm, so the switching of mode is allowed.The present application effectively avoids possible safety problems when controlling multifunctional cantilever excavator by interlocking of mode and reasonable switching condition.

Description

Technical Field

[0001] This invention relates to a control system for a multi-functional cantilever tunneling machine and the multi-functional cantilever tunneling machine itself, belonging to the field of tunnel excavation construction. Background Technology

[0002] In the field of tunnel excavation, there is a problem that the geology is not compatible with the existing excavation equipment, making it difficult to excavate. Therefore, integrating auxiliary equipment such as anchor bolting machines into existing excavation equipment, such as cantilever tunneling machines, to adapt to the excavation geology and improve excavation efficiency can alleviate the problem of geology mismatch.

[0003] However, the integration process also means that more tunneling procedures and more operators are needed to adapt to the geological conditions of the tunneling. Furthermore, the increased complexity of the operations increases safety risks, and it is difficult to guarantee the quality and efficiency of tunneling. For example, when the boom of a cantilever tunneling machine is raised, there is a risk of interference or collision if a bolting machine is used at this time. Therefore, it is necessary to reasonably control multiple devices. Summary of the Invention

[0004] The purpose of this invention is to provide a control system for a multi-functional cantilever tunneling machine and the multi-functional cantilever tunneling machine itself, so as to solve the problem of the risk of interference or collision when controlling the multi-functional cantilever tunneling machine.

[0005] To achieve the above objectives, the present invention includes:

[0006] The present invention discloses a control system for a multi-functional cantilever tunneling machine, comprising a main engine mode and an arch-anchor mode. The main engine mode includes functions of tunneling and cutting, while the arch-anchor mode includes functions of rock drilling and driving in anchor bolts. When the multi-functional cantilever tunneling machine is in the main engine mode, the current hydraulic pressure of the main engine is acquired. Switching to other modes is only possible when the hydraulic pressure of the main engine is less than a first set hydraulic pressure. When the multi-functional cantilever tunneling machine is in the arch-anchor mode, switching to other modes is only possible when the arch-anchor platform equipped with the arch-anchor mechanism is retracted to a first set position.

[0007] Furthermore, a first limit switch is provided at the first set position. When the arch anchor platform is retracted to the first set position, the first limit switch is triggered, thereby sending a corresponding control signal to the first control unit to allow switching to other modes.

[0008] Furthermore, it also includes an excavator mode, whose functions include slag removal; when the multi-functional cantilever tunneling machine is in excavator mode, it obtains the current excavator hydraulic pressure, and can only switch to other modes when the excavator hydraulic pressure is less than the second set hydraulic pressure.

[0009] Furthermore, the arch-anchor mechanism includes three robotic arms; when the multi-functional cantilever tunneling machine is in arch-anchor mode, the rock-drilling device on the main arm is controlled to perform rock-drilling and anchor bolt driving operations, and the left / right arms are controlled to perform corresponding operations according to the corresponding control signals in the left / right baskets, with the left / right baskets located on the left / right arms respectively.

[0010] Furthermore, when the multi-functional cantilever tunneling machine is in the arch-anchor mode, when the propulsion pressure of the rock drilling device is greater than the set propulsion pressure threshold, the propulsion pressure is set to a first propulsion pressure setting value, so that the rock drilling device propels at a first propulsion speed corresponding to the first propulsion pressure setting value; when the propulsion pressure is less than the propulsion pressure threshold, the propulsion pressure is set to a second propulsion pressure setting value, so that the rock drilling device propels at a second propulsion speed corresponding to the second propulsion pressure setting value; the first propulsion pressure setting value is greater than the second propulsion pressure setting value but less than or equal to the propulsion pressure threshold.

[0011] Furthermore, when the multi-functional cantilever tunneling machine is in the arch-anchor mode, when the slewing pressure of the main boom's propulsion beam is greater than the first slewing pressure setting value but less than the second slewing pressure setting value, the rock drilling device is controlled to stop advancing; when the slewing pressure is greater than the second slewing pressure setting value, the rock drilling device is controlled to stop advancing and begin to retreat.

[0012] Furthermore, when the multi-functional cantilever tunneling machine is in the arch-anchor mode, the angle data between the left / right suspended platform and the horizontal plane is collected, and the left / right suspended platform is kept horizontal through PID control.

[0013] Furthermore, when the multi-functional cantilever tunneling machine is in the arch-anchor mode, when the propulsion beam extends to its limit position, the second limit switch is triggered, which in turn sends a corresponding control signal to the second control unit to control the propulsion beam to automatically retract.

[0014] Furthermore, when the multi-functional cantilever tunneling machine is in the arch-anchor mode, upon receiving a corresponding emergency stop signal, the machine is controlled to stop the corresponding action.

[0015] A multi-functional cantilever tunneling machine is provided, which is controlled by the control system described above.

[0016] The beneficial effects of this invention are as follows: This invention is a pioneering creation. The main unit mode is used for tunneling and cutting, while the arch-anchor mode is used for rock drilling and anchor bolt driving. In main unit mode, when the hydraulic pressure is less than a set value, it is assumed that the cutting boom will not interfere with the use of the arch-anchor robotic arm, thus allowing mode switching. In arch-anchor mode, when the arch-anchor platform retracts to a certain position, it is assumed that it will not interfere with the use of the cutting boom, thus allowing mode switching. This invention, through mode interlocking and reasonable switching conditions, effectively avoids potential safety problems when controlling a multi-functional cantilever tunneling machine. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a system composition according to the present invention;

[0018] Figure 2 This is a communication schematic diagram of the present invention;

[0019] Figure 3 A schematic diagram of a control flow according to the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] The concept of this invention lies in the fact that when a multi-functional cantilever tunneling machine is using its cutting boom, i.e., in main unit mode, the hydraulic power required for its tilted-up state differs from that required for its low-lying or horizontally tilted-down state, with the maximum hydraulic power required at the highest position. Therefore, the state of the cutting boom is determined by judging the magnitude of the hydraulic pressure. Similarly, when using the anchor platform, as long as the anchor platform retracts to a certain position, even if the anchor boom extends, it will not interfere with the operation of the cutting boom. Therefore, it is necessary to determine whether the anchor platform has retracted to the set position. Switching to other modes is only possible through corresponding judgments within the appropriate mode. The multi-functional cantilever tunneling machine of this invention enters main unit mode upon startup.

[0022] System Implementation Example:

[0023] This embodiment provides a control system for a multi-functional cantilever tunneling machine. This control system includes multiple subsystems that work together to control the integrated multi-functional cantilever tunneling machine, which combines the cantilever main unit, the arch anchor machine (arch anchor mechanism), and the excavator. Figure 1 As shown, it includes the main control system, crane control system, status display system, remote control system, safety control system, excavator control system, rear support control system, arch-anchor three-arm control system, rock drilling control system, and local control system.

[0024] The main control system of the equipment includes the control of the equipment electrical control box, the control of the operating box, an audible and visual alarm system, a mode switching system, and a CAN communication system. The equipment electrical control box includes the main unit and the arch-anchor machine electrical control box, which contain the control of all operating circuits. The mode switching system is used to switch the working modes of the multi-functional cantilever tunneling machine, including main unit mode, arch-anchor mode, and excavator mode. The main unit mode functions include tunneling and cutting control of the cutting boom, travel control, and hydraulic power source control; the arch-anchor mode functions include rock drilling and anchor bolt driving; and the excavator mode functions include slag removal.

[0025] The multi-functional cantilever tunneling machine of the present invention uses a single oil pump to supply oil to three cylinders. The three cylinders supply hydraulic power to three hydraulic circuits, which respectively correspond to the main machine mode, the arch-anchor mode, and the excavator mode. The oil pump supplies oil to a certain cylinder through the oil circuit switching solenoid valve, thereby controlling the multi-functional cantilever tunneling machine to work in a certain mode. When a certain mode is in operation, the other modes do not have hydraulic power.

[0026] like Figure 3 As shown, when it is necessary to control the multi-functional cantilever tunneling machine, you can choose between manual control and remote control. Manual control will enter the local control system, while remote control will enter the remote control system. When using remote control, you can control it through the buttons or screen on the remote transmitter.

[0027] CAN communication system such as Figure 2 As shown, three remote control transmitters are set up for remote control of the multi-functional cantilever tunneling machine. When a corresponding operation is performed on the button or screen of the remote control transmitter, the corresponding control signal is sent to the corresponding remote control receiver, and then sent to the corresponding controller via the CAN network to achieve the corresponding control. Alternatively, in manual control, the operator sends a control signal to the corresponding controller through a locally set button to manually control a certain mode. Among them, the main controller 1 is used to realize the manual control of the main mode, and the main controller 2 is used to realize the remote control of the main mode. The audible and visual alarm is used to issue an alarm message to remind the operator when the switching conditions are not met during mode switching.

[0028] When the multi-functional cantilever tunneling machine starts, it enters the main control system and then the host mode. At this time, the operation of the cutting boom or the vehicle's movement can be controlled manually or remotely. Since the hydraulic pressure required for the cutting boom varies at different positions, with the highest hydraulic power required at its highest position, the main hydraulic pressure of the cylinders providing hydraulic power to the host mode is detected. When the main hydraulic pressure is lower than a first set hydraulic pressure, it is considered that the cutting boom is in a position that will not interfere with the use of the anchoring machine. Therefore, a corresponding control signal is sent to the main control system, and only then can the mode be switched. The first set hydraulic pressure described in this embodiment is the hydraulic pressure required when the cutting boom is in a certain position, and this position ensures that it will not interfere with the normal use of the anchoring mode.

[0029] When the multi-functional cantilever tunneling machine operates in arch-anchor mode, it enters the arch-anchor three-arm control system. The three arms refer to the main arm and the left / right arms. The main arm is equipped with a rock-drilling device for rock drilling and anchor bolt driving. The left / right arms are equipped with left / right suspended baskets. The operator stands on a platform inside the basket, presses the enable pedal to open the local mode of the basket control box, and sends corresponding control signals to the arch-anchor three-arm control system via joysticks and knobs, thereby controlling the left / right arms to perform corresponding actions. Actions in arch-anchor mode include pitching of the main arm and left / right arms, swinging of the main arm and left / right arms, extension and retraction of the main arm and left / right arms, left and right swinging of the propulsion beam, extension and rotation of the propulsion beam, and swinging and clamping of the mechanical grippers of the main arm and left / right arms, such as installing the arch frame. The arch-anchor three-arm mechanical structure is mounted on top of the main unit and is designed with a two-stage telescopic platform (arch-anchor platform) for the overall movement of the arch-anchor three-arm mechanical structure (arch-anchor mechanism), allowing for telescopic or lateral movement as needed during construction.

[0030] The rock drilling control system enables rock drilling propulsion and impact control, thereby facilitating the main boom's rock drilling and anchor bolt driving operations. The propulsion and impact systems utilize a dual-valve control design: one valve controls the enable action, and the other controls the action pressure. Rock drilling propulsion is used for conventional anchor bolt driving, while rock drilling impact is used for anchor bolt driving in hard rock. To facilitate operator operation, when the operator deems it appropriate to maintain a constant drilling speed, they can push the propulsion lever to the desired position and press the rock drilling lock button. The propulsion beam will then automatically advance according to the settings. At this time, the propulsion pressure of the rock drilling device is collected. When the propulsion pressure exceeds the high / low impact switching propulsion pressure value (propulsion pressure threshold), the propulsion pressure is set to the first propulsion pressure setting value, and the rock drilling device advances at the first propulsion speed corresponding to the first propulsion pressure setting value. When the propulsion pressure is less than the high / low impact switching propulsion pressure value, the propulsion pressure is set to the second propulsion pressure setting value, and the rock drilling device advances at the second propulsion speed corresponding to the second propulsion pressure setting value. To prevent jamming, an anti-jamming system is designed. The rock drilling control system monitors the rotational pressure of the main boom's feed beam in real time. When the rotational pressure is greater than the first rotational pressure setting value but less than the second rotational pressure setting value, the rock drilling device is controlled to stop advancing. When the rotational pressure is greater than the second rotational pressure setting value, the rock drilling device is controlled to stop advancing and begin reversing. The feed pressure threshold, the first feed pressure setting value, the second feed pressure setting value, the first rotational pressure setting value, and the second rotational pressure setting value can all be set through the screen during local control or the screen of the remote control during remote control. The first feed pressure setting value is greater than the second feed pressure setting value but less than or equal to the feed pressure threshold. Feed pressure refers to the axial thrust of the feed beam, and rotational pressure refers to the pressure generated when the feed beam drives the drill rod to rotate.

[0031] To ensure the safety of operators inside the left / right suspended baskets, an automatic leveling control system for the left / right suspended baskets was designed. Inclinometers are installed inside the left / right suspended baskets, and the left / right arm controllers of the arch anchor collect the angle data between the left / right suspended baskets and the horizontal plane. Through PID control, the left / right suspended baskets are kept parallel to the horizontal plane as the corresponding left / right arms pitch.

[0032] To prevent mechanical collisions during rock drilling, limit switches are installed at the extreme positions of the rock drilling device's propulsion beam. When the propulsion beam extends to its extreme position, the second limit switch is triggered, which in turn sends a corresponding signal to the rock drilling control system (second control unit) to control the propulsion beam to automatically retract.

[0033] When switching from the anchor platform mode to the main control mode or the excavator mode, a corresponding control signal is sent to the main control system (first control unit) only when the anchor platform is fully retracted to the first limit switch installed at the first set position (e.g., the initial position) of the anchor platform, allowing the main control system to switch modes. The first set position described in this embodiment is such that when the anchor platform is in this position, even if the main boom is fully extended, it will not interfere with the boom raising action in the main control mode.

[0034] When the multi-functional cantilever tunneling machine is operating in excavator mode, it enters the excavator control system. Cameras installed near the excavator provide real-time monitoring, allowing operators to control the excavator for digging and transporting excavated material. When switching from excavator mode to main unit mode or anchor / arch mode, the hydraulic pressure of the cylinders providing hydraulic power to the excavator mode is detected. If the hydraulic pressure is lower than a second set hydraulic pressure, a corresponding control signal is sent to the main control system, allowing the mode switch to proceed.

[0035] The safety control system includes a switching interlock switch installed on the remote control and a circuit switching solenoid valve installed in the hydraulic circuit of the arch anchor machine. One switching solenoid valve is installed on each mounting arm, and this solenoid valve is controlled by the arch anchor machine remote control. The switching solenoid valve installed in the main circuit opens when switching from host mode to arch anchor mode. It also includes a safety control switch to determine the equipment's operating mode and achieve interlocking between host mode, arch anchor mode, and excavator mode. Emergency stop buttons are also included; each of the three modes has a corresponding emergency stop button, and these buttons can perform the corresponding emergency stop function. In arch anchor mode, since the operator is standing inside the basket, operator safety is paramount. Simply stopping the three-arm arch anchor mechanism would still result in a safety accident (e.g., the vehicle would continue to move normally). Therefore, in arch anchor mode, the operator sends a corresponding emergency stop signal to the main control system via the corresponding emergency stop button inside the basket, thereby achieving the corresponding emergency stop control. Emergency stop control in arch anchor mode includes emergency stop control of the three-arm arch anchor and travel control of the multi-functional cantilever tunneling machine.

[0036] The rear-mounted trailer system includes auxiliary systems such as belt conveyors, dust removal fans, water systems, and air systems. It provides auxiliary support for the entire machine during tunneling, and can assist in transporting excavated soil from the main machine to the outside of the tunnel, as well as assist in the transport and installation of the arch frame.

[0037] The crane control system controls the crane to lift the arch frame transported from the rear trailer to the rear of the main unit, and then transfer the arch frame to the arch anchor machine for installation.

[0038] The status display system consists of two parts: local status display and remote control status display. Based on the displayed content, it is further divided into cantilever main unit status display and anchor crane status display. The local status display collects equipment status information through various sensors (e.g., pressure sensors, current sensors, temperature sensors, etc.), processes the data, and then sends it to the screen via the CAN bus for display. The remote control status display is displayed on the screen integrated with the remote control transmitter. Data is sent to the corresponding remote control receiver via the CAN bus, and the remote control receiver then sends it back to the remote control transmitter. The displayed content is the same as the local status display.

[0039] Example of a cantilever tunneling machine:

[0040] This embodiment provides a multi-functional cantilever tunneling machine. The control system of the multi-functional cantilever tunneling machine described in the system embodiment is used when controlling the multi-functional cantilever tunneling machine. Since the description of the control system is clear enough, it will not be repeated here.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control system for a multi-functional cantilever tunneling machine, characterized in that, The system includes a main unit mode and an arch-anchor mode. The main unit mode functions to excavate and cut, while the arch-anchor mode functions to drill and drive anchor bolts. When the multi-functional cantilever tunneling machine is in arch-anchor mode, the rock-drilling device on the main boom of the arch-anchor mechanism is controlled to perform rock-drilling and anchor bolt driving operations. When the multi-functional cantilever tunneling machine is in main unit mode, the current main unit hydraulic pressure is acquired. When the main unit hydraulic pressure is less than a first set hydraulic pressure, the cutting boom is positioned so as not to interfere with the use of the arch-anchor machine, allowing the system to switch to other modes. When the multi-functional cantilever tunneling machine is in arch-anchor mode, and the arch-anchor platform equipped with the arch-anchor mechanism retracts to the first set position, the main boom must be fully extended without interfering with the lifting action of the cutting boom in main unit mode, allowing the system to switch to other modes.

2. The control system of the multi-functional cantilever tunneling machine according to claim 1, characterized in that, A first limit switch is set at the first set position. When the arch anchor platform is retracted to the first set position, the first limit switch is triggered, thereby sending a corresponding control signal to the first control unit to allow switching to other modes.

3. The control system of the multi-functional cantilever tunneling machine according to claim 1, characterized in that, It also includes an excavator mode, the function of which includes slag removal; when the multi-functional cantilever tunneling machine is in excavator mode, the current excavator hydraulic pressure is obtained, and other modes can only be switched when the excavator hydraulic pressure is less than a second set hydraulic pressure.

4. The control system of the multi-functional cantilever tunneling machine according to claim 1, characterized in that, The arch anchor mechanism includes a three-arm mechanical structure; the three arms refer to the main arm and the left / right arm, and the left / right arm is equipped with a left / right basket. The left / right arm is controlled to perform corresponding operations according to the corresponding control signals inside the left / right basket.

5. The control system of the multi-functional cantilever tunneling machine according to claim 3, characterized in that, When the multi-functional cantilever tunneling machine is in the arch-anchor mode, if the propulsion pressure of the rock drilling device is greater than a set propulsion pressure threshold, the propulsion pressure is set to a first propulsion pressure setting value, and the rock drilling device propels at a first propulsion speed corresponding to the first propulsion pressure setting value. If the propulsion pressure is less than the propulsion pressure threshold, the propulsion pressure is set to a second propulsion pressure setting value, and the rock drilling device propels at a second propulsion speed corresponding to the second propulsion pressure setting value. The first propulsion pressure setting value is greater than the second propulsion pressure setting value but less than or equal to the propulsion pressure threshold.

6. The control system of the multi-functional cantilever tunneling machine according to claim 3, characterized in that, When the multi-functional cantilever tunneling machine is in the arch-anchor mode, when the rotational pressure of the main boom's propulsion beam is greater than the first rotational pressure setting value but less than the second rotational pressure setting value, the rock drilling device is controlled to stop advancing; when the rotational pressure is greater than the second rotational pressure setting value, the rock drilling device is controlled to stop advancing and begin to retreat.

7. The control system of the multi-functional cantilever tunneling machine according to claim 4, characterized in that, When the multi-functional cantilever tunneling machine is in the arch-anchor mode, the angle data between the left / right suspended basket and the horizontal plane is collected, and the left / right suspended basket is kept horizontal through PID control.

8. The control system of the multi-functional cantilever tunneling machine according to claim 6, characterized in that, When the multi-functional cantilever tunneling machine is in the arch-anchor mode, when the propulsion beam extends to its limit position, the second limit switch is triggered, which in turn sends a corresponding control signal to the second control unit to control the propulsion beam to automatically retract.

9. The control system of the multi-functional cantilever tunneling machine according to claim 3, characterized in that, When the multi-functional cantilever tunneling machine is in the arch-anchor mode, upon receiving a corresponding emergency stop signal, the machine will be controlled to stop the corresponding action.

10. A multi-functional cantilever tunneling machine, characterized in that, The multi-functional cantilever tunneling machine is controlled by the control system described in any one of claims 1 to 9.

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