Heading machine control system and heading machine

Abstract

The utility model provides a heading machine control system and a heading machine, the heading machine control system comprises a plurality of electric control handles, each electric control handle is used for connecting and sending a control instruction to a first controller; the first controller is used for receiving a control instruction from the electric control handle and converting the control instruction into a control parameter of the bus pilot module; the at least one bus pilot module is connected with the first controller through a first CAN bus and used for receiving the control parameters sent by the first controller and adjusting the direction and flow of pilot oil according to the control parameters; the at least one power valve is connected with the bus pilot module and is used for controlling the action of an actuating mechanism according to the direction and the flow of the pilot oil; the execution mechanism is connected with the power valve and used for executing specific actions, the purposes of reducing the number of oil ways and fault points and completely controlling the heading machine in a line control mode are achieved, and the difficulty of system installation and arrangement is lowered.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel boring machine control, in particular to a tunnel boring machine control system and a tunnel boring machine. Background Art

[0002] Cantilevered roadheaders are a type of mechanical equipment widely used in coal mines and tunneling projects. They primarily consist of a cutting unit, loading unit, transport unit, travel unit, frame, hydraulic system, and electrical system. Cantilevered roadheaders offer advantages such as strong adaptability, high cutting efficiency, flexible operation, and high reliability. However, currently used cantilevered roadheaders generally utilize a mechanical hydraulic handle and hydraulically controlled multi-way valve to implement control functions. This control scheme has several drawbacks, including the numerous hydraulic pipelines required. The system utilizes a mechanical hydraulic handle to control the pilot hydraulic module of the multi-way valve, requiring the handle to also have oil inlet and outlet pipelines. This increases the number of pipelines and complicates system installation and layout. Summary of the Invention

[0003] The utility model provides a roadheader control system and a roadheader, which are used to solve the defects of a traditional roadheader control system that realizes control functions by controlling a pilot hydraulic module of a multi-way valve through a mechanical hydraulic handle. Since the mechanical hydraulic handle part also requires oil inlet and oil outlet pipelines, the number of pipelines is increased, and the difficulty of system installation and layout is also increased.

[0004] The utility model provides a roadheader control system, comprising:

[0005] A plurality of electric control handles, each of the electric control handles is used to connect to the first controller and send control instructions;

[0006] A first controller is used to receive control instructions from the electric control handle and convert them into control parameters of the bus pilot module;

[0007] at least one bus pilot module, connected to the first controller via a first CAN bus, configured to receive control parameters sent by the first controller and adjust the direction and flow of the pilot oil according to the control parameters;

[0008] at least one power valve connected to the bus pilot module, for controlling the action of the actuator according to the direction and flow of the pilot oil;

[0009] The actuator is connected to the power valve and is used to perform specific actions.

[0010] The tunnel boring machine control system provided by the utility model further includes a second CAN bus;

[0011] Each of the electric control handles is connected to the first controller via the second CAN bus, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

[0012] The tunnel boring machine control system provided by the utility model also includes a short-range wireless communication module;

[0013] Each of the electric control handles is connected to the first controller via the short-range wireless communication module, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

[0014] The tunnel boring machine control system provided by the utility model also includes a console and a network communication module;

[0015] The console sends a control instruction to the first controller through the network communication module, so that the first controller converts the control instruction into a control parameter of a corresponding bus pilot module.

[0016] According to the tunnel boring machine control system provided by the present invention, the priority of the first controller in receiving control instructions is electric control handle control > short-range wireless communication > network communication control.

[0017] According to the tunnel boring machine control system provided by the present utility model, the network communication module includes at least one of a time-sensitive network, a 4G network and a 5G network.

[0018] The tunnel boring machine control system provided by the present invention also includes a second controller, which is communicatively connected to the first controller and is used to obtain monitoring information of the tunnel boring machine and send the monitoring information to the first controller.

[0019] The tunnel boring machine control system provided by the utility model also includes:

[0020] Multiple intrinsically safe power supplies are used to power the electric control handle, the first controller, and the second controller. The starting quantity of the multiple intrinsically safe power supplies is determined according to the power of the bus pilot module, the power of the intrinsically safe power supply, and the number of the bus pilot modules.

[0021] The tunnel boring machine control system provided by the utility model further includes a display screen;

[0022] The display screen is connected to the first controller and is used to display system status information.

[0023] The utility model also provides a heading machine, including the heading machine control system as above-mentioned.

[0024] The utility model provides a kind of heading machine control system and heading machine, and the heading machine control system includes multiple electric control handles, each electric control handle is used to send control instruction to the first controller connection;First controller is used to receive the control instruction from the electric control handle, and conversion becomes the control parameter of bus pilot module;At least one bus pilot module is connected with the first controller by first CAN bus, for receiving the control parameter sent by the first controller, and according to the control parameter adjustment pilot oil direction and flow;At least one power valve is connected with the bus pilot module, for according to the direction and flow control of the pilot oil the action of actuating mechanism;Actuating mechanism is connected with the power valve, for executing specific action, realizes the purpose of reducing the number of oil circuit and fault point, completely line control control heading machine, and reduce the difficulty of system installation and arrangement. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the utility model or the prior art, the following will be a simple introduction to the drawings needed to be used in embodiment or prior art description, obviously, the following description in the drawings is some embodiments of the utility model, for those skilled in the art, without creative labor, other drawings can also be obtained according to these drawings.

[0026] Figure 1 It is the structural schematic diagram of the heading machine control system provided by the utility model embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantage of the utility model more clearly, the following will be combined with the drawings in the utility model, and the technical scheme in the utility model is clearly and completely described, obviously, the described embodiment is a part of the embodiment of the utility model, not all embodiments. Based on the embodiment in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0028] Figure 1 The structural diagram of the heading machine control system provided by the utility model embodiment, the heading machine control system includes:

[0029] Multiple electric control handles, each electric control handle is used to send control instruction to the first controller connection;

[0030] First controller is used to receive the control instruction from the electric control handle, and conversion becomes the control parameter of bus pilot module;

[0031] at least one bus pilot module, connected to the first controller via a first CAN bus, configured to receive control parameters sent by the first controller and adjust the direction and flow of the pilot oil according to the control parameters;

[0032] at least one power valve connected to the bus pilot module, for controlling the action of the actuator according to the direction and flow of the pilot oil;

[0033] The actuator is connected to the power valve and is used to perform specific actions.

[0034] In this embodiment of the present invention, electric control handles 1, 2, and n are connected to controller 1 via a CAN bus. The number of electric control handles is determined by the number of controlled objects. The wireless transmitting module communicates with the wireless receiving module via wireless signals, and the wireless receiving module is connected to controller 1 via a CAN bus.

[0035] Bus pilot module 1, bus pilot module 2, ..., and bus pilot module n are connected to controller 1 via the CAN bus. The number of pilot modules is determined by the number of controlled objects. Power valves 1, power valves 2, ..., and power valves n are connected to actuators 1, actuators 2, ..., and actuators n via oil pipes. The bus pilot modules correspond one-to-one with the power valves, and the power valves correspond one-to-one with the actuators. The pilot modules control the direction and flow of the pilot oil, thereby controlling the direction and flow of the power valves, and thus driving the actuators to complete the corresponding actions.

[0036] Traditional roadheaders typically use a mechanical hydraulic handle and hydraulically controlled multi-way valves to control the control system. This control solution has several drawbacks, including the large number of hydraulic lines. The system uses a mechanical hydraulic handle to control the pilot hydraulic module of the multi-way valve. Therefore, the handle also requires oil inlet and outlet lines, increasing the number of lines and the complexity of system installation and layout.

[0037] The tunnel boring machine control system provided by an embodiment of the present invention includes multiple electric control handles, each of which is used to connect to a first controller to send control instructions; the first controller is used to receive control instructions from the electric control handles and convert them into control parameters of a bus pilot module; at least one bus pilot module is connected to the first controller via a first CAN bus, is used to receive control parameters sent by the first controller, and adjust the direction and flow of the pilot oil according to the control parameters; at least one power valve is connected to the bus pilot module, is used to control the action of the actuator according to the direction and flow of the pilot oil; the actuator is connected to the power valve, is used to perform specific actions, thereby achieving the purpose of reducing the number of oil circuits and failure points, and completely controlling the tunnel boring machine by wire, and reducing the difficulty of system installation and layout.

[0038] Based on any of the above embodiments, the roadheader control system further includes a second CAN bus;

[0039] Each of the electric control handles is connected to the first controller via the second CAN bus, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

[0040] In an embodiment of the present invention, the roadheader control system further includes a short-range wireless communication module;

[0041] Each of the electric control handles is connected to the first controller via the short-range wireless communication module, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

[0042] In an embodiment of the present invention, the roadheader control system further includes a control console and a network communication module;

[0043] The console sends a control instruction to the first controller through the network communication module, so that the first controller converts the control instruction into a control parameter of a corresponding bus pilot module.

[0044] In an embodiment of the present invention, the priority of the control instructions received by the first controller is electric handle control > short-range wireless communication > network communication control.

[0045] In this embodiment of the present invention, the system supports three control modes: electric handle control, remote short-range control, and network medium-range and long-range control. When the system is in a low-level control mode and receives a high-level control command, the system automatically switches to the corresponding high-level control mode. The operator must manually switch from a high-level control mode to a low-level control mode.

[0046] In the electric control handle control mode, when the operator manipulates the electric control handle, the electric control handle sends the handle position status to the controller 1. The controller 1 converts the electric control handle position status into a control instruction of the corresponding pilot module and sends it to the corresponding pilot module through the CAN bus. After receiving the control instruction, the pilot module adjusts the direction and flow of the pilot oil circuit to control the position of the power valve spool, and then controls the direction and flow of the power valve oil outlet to complete the control of the actuator.

[0047] In remote control mode, when the operator wirelessly sends the handle or switch on the module, the electric control handle sends the position status of the handle or switch to the controller 1. The controller 1 converts the position status of the handle or switch into a control instruction of the corresponding pilot module and sends it to the corresponding pilot module through the CAN bus. After receiving the control instruction, the pilot module adjusts the direction and flow of the pilot oil circuit to control the position of the power valve spool, and then controls the direction and flow of the power valve outlet to complete the control of the actuator.

[0048] Under the network control mode, when the operator issues a control instruction through the operation console or operation interface in the middle or remote direction, the instruction is transmitted to the controller 1 through the network and the network communication module. The controller 1 converts the instruction into a control instruction of the corresponding pilot module and sends it to the corresponding pilot module through the CAN bus. After receiving the control instruction, the pilot module adjusts the direction and flow of the pilot oil circuit, thereby controlling the position of the power valve spool, and then controlling the direction and flow of the power valve outlet, thereby completing the control of the actuator.

[0049] In an embodiment of the present invention, the network communication module includes at least one of a time-sensitive network, a 4G network, and a 5G network, thereby enabling communication between the system and an external network and completing the transmission of information such as status, instructions, and diagnosis.

[0050] In an embodiment of the present invention, the tunnel boring machine control system further includes a second controller, which is communicatively connected to the first controller and is configured to obtain monitoring information of the tunnel boring machine and send the monitoring information to the first controller.

[0051] In an embodiment of the present invention, controller 1 and controller 2 are connected through a suitable communication method (not limited to CAN bus). Controller 2 completes other control functions of the tunnel boring machine and communicates with controller 1 to complete information transmission and collaborative work such as status, instructions, and diagnosis, thereby improving the system's fault location efficiency.

[0052] In an embodiment of the present invention, the roadheader control system further includes:

[0053] Multiple intrinsically safe power supplies are used to power the electric control handle, the first controller, and the second controller. The starting quantity of the multiple intrinsically safe power supplies is determined according to the power of the bus pilot module, the power of the intrinsically safe power supply, and the number of the bus pilot modules.

[0054] In this embodiment of the present invention, an intrinsically safe power supply 1 is connected to electric control handles 1...n, controller 1, wireless receiving module, communication module power supply, and display screen to provide intrinsically safe power supply. Bus pilot modules 1...n are connected to intrinsically safe power supplies 2...n. The number of intrinsically safe power supplies and the connection relationship between the pilot modules and the intrinsically safe power supplies are determined based on factors such as the power of the pilot modules, the power of the intrinsically safe power supplies, and the number of concurrently operating units to ensure safe power supply to the pilot modules.

[0055] The electric control handle, controller 1, communication module, wireless receiving module, wireless transmitting module, bus pilot module, intrinsically safe power supply, etc. meet intrinsically safe requirements. An isolation barrier is used to isolate the intrinsically safe components from non-intrinsically safe components.

[0056] In an embodiment of the present invention, the roadheader control system further includes a display screen;

[0057] The display screen is connected to the first controller and is used to display system status information.

[0058] The bus pilot module, wireless receiving module, controller 1, controller 2, and network communication module have their own fault monitoring functions. Controller 1 monitors the health status of the bus pilot module, wireless receiving module, controller 2, network communication module, and electric control handle. When a fault occurs in controller 1 itself or a subsystem, the tunnel boring machine will be stopped immediately, and the faulty subsystem and the cause of the fault will be displayed on the display.

[0059] This new roadheader control system offers the potential for automation and intelligent control. Three control modes facilitate intelligent control of the roadheader. This reduces the number of oil pipes and wiring harnesses required, simplifies system installation and layout, minimizes potential failures, meets intrinsic safety requirements, and offers a lightweight and safer system.

[0060] An embodiment of the present invention further provides a roadheader, comprising the roadheader control system as described in the above embodiment.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A roadheader control system, characterized in that: include: A plurality of electric control handles, each of the electric control handles is used to connect to the first controller and send control instructions; A first controller is used to receive control instructions from the electric control handle and convert them into control parameters of the bus pilot module; at least one bus pilot module, connected to the first controller via a first CAN bus, configured to receive control parameters sent by the first controller and adjust the direction and flow of the pilot oil according to the control parameters; at least one power valve connected to the bus pilot module, for controlling the action of the actuator according to the direction and flow of the pilot oil; The actuator is connected to the power valve and is used to perform specific actions.

2. The roadheader control system according to claim 1, characterized in that: Also includes a second CAN bus; Each of the electric control handles is connected to the first controller via the second CAN bus, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

3. The roadheader control system according to claim 1, characterized in that: Also includes a short-range wireless communication module; Each of the electric control handles is connected to the first controller via the short-range wireless communication module, and the electric control handle sends the position status of the switch on the electric handle to the first controller, so that the first controller converts the switch position status of the electric handle into the control parameters of the corresponding bus pilot module.

4. The roadheader control system according to claim 1, characterized in that: Also includes console and network communication modules; The console sends a control instruction to the first controller through the network communication module, so that the first controller converts the control instruction into a control parameter of a corresponding bus pilot module.

5. The roadheader control system according to claim 4, characterized in that: The priority of the control instructions received by the first controller is electric handle control>short-range wireless communication>network communication control.

6. The roadheader control system according to claim 4, characterized in that: The network communication module includes at least one of a time-sensitive network, a 4G network, and a 5G network.

7. The roadheader control system according to claim 1, characterized in that: It also includes a second controller, which is communicatively connected to the first controller and is used to obtain monitoring information of the tunnel boring machine and send the monitoring information to the first controller.

8. The roadheader control system according to claim 7, characterized in that: Also includes: Multiple intrinsically safe power supplies are used to power the electric control handle, the first controller, and the second controller. The starting quantity of the multiple intrinsically safe power supplies is determined according to the power of the bus pilot module, the power of the intrinsically safe power supply, and the number of the bus pilot modules.

9. The roadheader control system according to claim 1, characterized in that: Also includes a display screen; The display screen is connected to the first controller and is used to display system status information.

10. A roadheader, characterized in that: It comprises a roadheader control system as described in any one of claims 1 to 9.

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