State acquisition device for executing part of intelligent heading machine
By equipping the tunneling machine with an intelligent actuator status acquisition device featuring magnetic columns and giant magnetoresistive sensors, the problem of the lack of sensors in the hydraulic cylinders has been solved, enabling piston position acquisition under harsh working conditions, meeting the needs of unmanned tunneling machines, and reducing modification costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2026-04-14
AI Technical Summary
Existing tunneling machine hydraulic cylinders lack sensors to collect piston travel distance data, which fails to meet the requirements for unmanned operation. Furthermore, traditional sensors perform poorly under high vibration and dust conditions, and retrofitting them is costly.
The intelligent actuator status acquisition device, which uses a magnetic column and a giant magnetoresistive sensor, is adapted to harsh working conditions. The magnetic column is set parallel to the piston, and the giant magnetoresistive sensor is used to detect the length of the magnetic column to calculate the piston position.
It enables low-cost piston position acquisition in high-vibration and high-dust environments, meeting the needs of unmanned tunneling machines and avoiding the high costs of hydraulic cylinder modification.
Smart Images
Figure CN224120247U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of coal mining equipment and relates to an intelligent tunneling machine actuator status acquisition device. Background Technology
[0002] As the current development vision of the mining industry, unmanned coal mining has led to automated coal mining machines and tunneling machines becoming the main intelligent transformation equipment.
[0003] The intelligentization of coal mining machines or tunneling machines requires the ability to accurately collect the operating status of the equipment's actuators in order to rationally plan subsequent operations. The actuators of a tunneling machine mainly include the traveling components and the working components. The working components generally include: motor-driven rotating parts and hydraulically driven cylinders, such as the tunneling machine's cutting head and blades for recovering rock and soil, or the hydraulic cylinders that drive the tunneling machine's boom to rotate.
[0004] Currently, most tunneling machines' hydraulic cylinders lack sensors to collect piston travel distance data, making them unsuitable for current unmanned operation requirements. Furthermore, retrofitting the hydraulic cylinders is costly. In addition, traditional distance sensors are unsuitable for the high vibration and dust conditions encountered by tunneling machines. Utility Model Content
[0005] To overcome the shortcomings of the aforementioned related technologies, this utility model proposes an intelligent tunneling machine actuator status acquisition device, which is suitable for harsh working conditions and can acquire the piston running position of the hydraulic cylinder of the tunneling machine.
[0006] To achieve the above technical objectives, this utility model provides a device for acquiring the status of actuators in an intelligent tunneling machine. The device is configured to acquire the travel distance of linearly driven actuators on the intelligent tunneling machine. The actuators include a housing and a plunger.
[0007] The intelligent tunneling machine actuator status acquisition device includes a magnetic rod and an electromagnetic detection element. The magnetic rod is a cylindrical rod, arranged parallel to the plunger, with one end of the magnetic rod fixedly connected to the plunger end. The electromagnetic detection element is fixed to the housing, and the magnetic rod is movably disposed within the electromagnetic detection element. The electromagnetic detection element is configured to detect the length of the magnetic rod passing through the detection element.
[0008] Preferably, the magnetic column comprises a main body rod and magnetic blocks. The main body rod is generally a cylindrical rod structure, and multiple magnetic block mounting slots are provided on the side wall of the main body rod. The multiple magnetic block mounting slots are evenly arranged along the extension direction of the main body rod. Each magnetic block mounting slot contains a fixed magnetic block. The magnetic blocks and the main body rod form a cylindrical structure with smooth curved side walls. The multiple magnetic blocks are arranged sequentially along the axis of the main body rod, and the magnetic poles of the multiple magnetic blocks facing the outer side of the main body rod are arranged at intervals.
[0009] Preferably, the electromagnetic detection element comprises: a detection housing and a giant magnetoresistive sensor. The detection housing has an annular structure and is fixed to the outer wall of the housing, with the magnetic column movably penetrating through the detection housing. The giant magnetoresistive sensor is fixed to the inner wall of the detection housing and is configured to collect the magnetic poles of the magnetic column located within the detection housing.
[0010] Preferably, the electromagnetic detection element further includes a first support base, which is fixed to the housing on one side of the electromagnetic detection element.
[0011] The first support base includes: a first outer ring, a first compression spring, a first movable column, a first ball bearing, and a first inner ring. The first outer ring is an annular component, with multiple blind holes evenly distributed on its inner wall. A first compression spring is disposed within each blind hole. A first movable column, a cylindrical block adapted to the blind hole, is also movably disposed within the blind hole located outside the first compression spring. A first ball bearing is also disposed within the blind hole outside each first movable column. The first inner ring is an annular component, with multiple tapered through holes. The diameter of the tapered through holes located outside the first inner ring is larger than the diameter of the tapered through holes located inside the first inner ring. The diameter of the smaller diameter end of each tapered through hole is smaller than the diameter of the first ball bearing. The first inner ring is fixed to the inner wall of the first outer ring, and a corresponding first ball bearing is movably disposed within each tapered through hole, with the first ball bearing protruding from the first inner ring.
[0012] Preferably, the first support further includes a first rubber ring, the inner diameter of which is smaller than that of the main body rod. The first rubber ring is an annular membrane structure. The first rubber ring is fixed to the side of the first outer ring away from the electromagnetic detection element, and the first rubber ring is fitted onto the main body rod.
[0013] Preferably, the electromagnetic detection element further includes a second support base, which is fixed to the housing on the other side of the electromagnetic detection element, and the position of the second support base is adapted to the position of the electromagnetic detection element and the position of the first support base;
[0014] The second support includes: a second outer ring, a second compression spring, a second movable column, a second ball bearing, and a second inner ring. The second outer ring is an annular component, with multiple blind holes evenly distributed on its inner wall. A second compression spring is disposed within each blind hole. A second movable column, a cylindrical block adapted to the blind hole, is also movably disposed within the blind hole located outside the second compression spring. A second ball bearing is also disposed within the blind hole outside each second movable column. The second inner ring is an annular component, with multiple tapered through holes. The diameter of the tapered through holes located outside the second inner ring is larger than the diameter of the tapered through holes located inside the second inner ring. The diameter of the smaller diameter end of each tapered through hole is smaller than the diameter of the second ball bearing. The second inner ring is fixed to the inner wall of the second outer ring, and a corresponding second ball bearing is movably disposed within each tapered through hole, with the second ball bearing protruding from the second inner ring.
[0015] Preferably, the second support further includes a second rubber ring, the inner diameter of which is smaller than that of the main body rod. The second rubber ring is an annular membrane structure. The second rubber ring is fixed to the side of the second outer ring away from the electromagnetic detection element, and the second rubber ring is fitted onto the main body rod.
[0016] Preferably, the intelligent tunneling machine actuator status acquisition device further includes a controller, which comprises a microprocessor and a power supply. The microprocessor is electrically connected to the giant magnetoresistive sensor and the wireless transmission module. The power supply includes a rechargeable power supply, which powers the operation of the controller and the giant magnetoresistive sensor.
[0017] The beneficial effects of this utility model are as follows:
[0018] This invention employs a giant magnetoresistive sensor and multiple magnetic columns, which can adapt to environments with vibration and high dust levels in hydraulic cylinders. It can also be installed on the outside of the hydraulic cylinder without replacing the hydraulic cylinder or dismantling and modifying the existing hydraulic cylinder. It is inexpensive, highly adaptable, and can meet the needs of the current large-scale modification work of tunneling machines. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a structural diagram of the present invention;
[0021] Figure 2This is a diagram showing the installation structure of this utility model on a hydraulic cylinder;
[0022] Figure 3 For the present utility model Figure 2 Sectional view along the AA direction;
[0023] Figure 4 For the present utility model Figure 3 Sectional view along the BB direction. Detailed Implementation
[0024] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0025] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0027] like Figures 1 to 4 As shown in the figure, some embodiments of this utility model are illustrated. This utility model provides a smart tunneling machine actuator status acquisition device. The smart tunneling machine actuator status acquisition device is configured to acquire the running distance of the actuators that perform linear drive on the smart tunneling machine. The actuators include: a housing 1 and a plunger 2.
[0028] The intelligent tunneling machine actuator status acquisition device includes a magnetic rod 3 and an electromagnetic detection element 4. The magnetic rod 3 is a cylindrical rod, arranged parallel to the plunger 2, with one end of the magnetic rod 3 fixedly connected to the end of the plunger 2. The electromagnetic detection element 4 is fixed to the housing 1, and the magnetic rod 3 is movably disposed within the electromagnetic detection element 4. The electromagnetic detection element 4 is configured to detect the length of the magnetic rod 3 passing through the detection element.
[0029] Preferably, the magnetic column 3 comprises a main body rod 31 and magnetic blocks 32. The main body rod 31 is generally a cylindrical rod structure, and multiple magnetic block mounting slots are provided on the side wall of the main body rod 31. The multiple magnetic block mounting slots are evenly arranged along the extension direction of the main body rod 31. Each magnetic block mounting slot is fixed with a magnetic block 32. The magnetic blocks 32 and the main body rod 31 form a cylindrical structure with smooth curved side walls. The multiple magnetic blocks 32 are arranged sequentially along the axis of the main body rod 31, and the magnetic poles of the multiple magnetic blocks 32 facing the outside of the main body rod 31 are arranged at intervals.
[0030] Preferably, the electromagnetic detection element 4 includes a detection housing 41 and a giant magnetoresistive sensor 42. The detection housing 41 has an annular structure and is fixed to the outer wall of the housing 1, with the magnetic column 3 movably penetrating through the detection housing 41. The giant magnetoresistive sensor 42 is fixed to the inner wall of the detection housing 41 and is configured to collect the magnetic poles of the magnetic column 3 located inside the detection housing 41.
[0031] Preferably, the electromagnetic detection element 4 further includes a first support base, which is fixed to the housing 1 on one side of the electromagnetic detection element 4.
[0032] The first support base includes: a first outer ring 411, a first compression spring 412, a first movable column 413, a first ball bearing 414, and a first inner ring 415. The first outer ring 411 is an annular component, and multiple blind holes are evenly distributed on its inner wall. A first compression spring 412 is disposed within each blind hole. A first movable column 413 is also movably disposed within a blind hole located outside the first compression spring 412; the first movable column 413 is a cylindrical block adapted to the blind hole. A first ball bearing 414 is also disposed within a blind hole outside each first movable column 413. The first inner ring 415 is an annular component, and a plurality of tapered through holes are provided on the first inner ring 415. The diameter of the opening of the tapered through hole located on the outer side of the first inner ring 415 is larger than the diameter of the opening of the tapered through hole located on the inner side of the first inner ring 415. The diameter of the smaller diameter end of the tapered through hole is smaller than the diameter of the first ball 414. The first inner ring 415 is fixed to the inner wall of the first outer ring 411, and a corresponding first ball 414 is movably disposed in each tapered through hole. The first ball 414 protrudes from the first inner ring 415.
[0033] Preferably, the first support base further includes a first rubber ring 416, the inner diameter of the first rubber ring 416 is smaller than that of the main body rod 31, the first rubber ring 416 is an annular membrane structure, the first rubber ring 416 is fixed to the side of the first outer ring 411 away from the electromagnetic detection element 4, and the first rubber ring 416 is fitted onto the main body rod 31.
[0034] Preferably, the electromagnetic detection element 4 further includes a second support base, which is fixed to the housing 1 on the other side of the electromagnetic detection element 4, and the position of the second support base is adapted to the position of the electromagnetic detection element 4 and the position of the first support base;
[0035] The second support includes: a second outer ring, a second compression spring, a second movable column, a second ball bearing, and a second inner ring. The second outer ring is an annular component, with multiple blind holes evenly distributed on its inner wall. A second compression spring is disposed within each blind hole. A second movable column, a cylindrical block adapted to the blind hole, is also movably disposed within the blind hole located outside the second compression spring. A second ball bearing is also disposed within the blind hole outside each second movable column. The second inner ring is an annular component, with multiple tapered through holes. The diameter of the tapered through holes located outside the second inner ring is larger than the diameter of the tapered through holes located inside the second inner ring. The diameter of the smaller diameter end of each tapered through hole is smaller than the diameter of the second ball bearing. The second inner ring is fixed to the inner wall of the second outer ring, and a corresponding second ball bearing is movably disposed within each tapered through hole, with the second ball bearing protruding from the second inner ring.
[0036] Preferably, the second support further includes a second rubber ring, the inner diameter of which is smaller than that of the main body rod 31. The second rubber ring is an annular membrane structure. The second rubber ring is fixed to the side of the second outer ring away from the electromagnetic detection element 4, and the second rubber ring is fitted onto the main body rod 31.
[0037] Preferably, the intelligent tunneling machine actuator status acquisition device further includes a controller, which comprises a microprocessor and a power supply. The microprocessor is electrically connected to the giant magnetoresistive sensor 42 and the wireless transmission module. The power supply includes a rechargeable power supply, which powers the operation of the controller and the giant magnetoresistive sensor 42.
[0038] The specific operation process of this utility model is as follows:
[0039] One end of the magnetic column 3 is fixedly connected to the piston end, and the magnetic column 3 is kept parallel to the piston rod. The magnetic column 3 is simultaneously inserted into the electromagnetic detection component 4. Specifically, the magnetic column 3 passes through the following in sequence: the first rubber ring 416, the first inner ring 415, the detection housing 41, the second inner ring, and the second rubber ring. The first ball bearing 414 and the second ball bearing 414 are evenly distributed on the first inner ring 415, which can support the magnetic column 3, keep the magnetic column 3 horizontal with the piston rod, and reduce piston rod vibration. When the magnetic column 3 passes through the first rubber ring 416 or the second rubber ring, it can remove the loose soil attached to them.
[0040] When the magnetic column 3 is running, multiple magnetic blocks 32 pass through the giant magnetoresistive sensor 42 in sequence. The giant magnetoresistive sensor 42 detects different magnetic poles and generates signals that are uploaded to the controller. By counting the number of high and low level signals, the running position of the piston can be calculated. Specifically, when the giant magnetoresistive sensor 42 passes through one magnetic block 32 to another, the electrical signals generated by the giant magnetoresistive sensor 42 are high level, low level, and high level in sequence. By counting the number of high and low level signals, the approximate position of the magnetic column 3 relative to the giant magnetoresistive sensor 42 can be obtained, and then the approximate position of the piston can be obtained. The approximate position of the piston can meet the requirements of unmanned tunneling machine.
[0041] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.
[0042] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.
Claims
1. A device for acquiring the status of actuators in an intelligent tunneling machine, characterized in that, The intelligent tunneling machine actuator status acquisition device is configured to acquire the running distance of the actuators that perform linear drive on the intelligent tunneling machine. The actuators include: a housing and a plunger. The intelligent tunneling machine actuator status acquisition device includes: A magnetic column, which is a cylindrical rod, is arranged parallel to the plunger, and one end of the magnetic column is fixedly connected to the end of the plunger; An electromagnetic detection element is fixed to the housing, and a magnetic column is movably disposed within the electromagnetic detection element. The electromagnetic detection element is configured to detect the length of the magnetic column passing through the detection element.
2. The intelligent tunneling machine actuator status acquisition device according to claim 1, characterized in that, The magnetic column includes: The main rod is a cylindrical rod structure. Multiple magnetic block mounting slots are provided on the side wall of the main rod, and the multiple magnetic block mounting slots are evenly arranged along the extension direction of the main rod. Each magnetic block has one fixed in its mounting slot. The magnetic blocks and the main rod form a cylindrical structure with smooth curved sidewalls. Multiple magnetic blocks are arranged sequentially along the axis of the main rod, with their magnetic poles facing the outside of the main rod spaced apart.
3. The intelligent tunneling machine actuator status acquisition device according to claim 2, characterized in that, The electromagnetic detection element includes: The detection housing has a ring-shaped structure and is fixed to the outer wall of the housing. The magnetic column moves through the detection housing. A giant magnetoresistive sensor is fixed to the inner wall of the detection housing and is configured to acquire the magnetic poles of a magnetic column located inside the detection housing.
4. The intelligent tunneling machine actuator status acquisition device according to claim 3, characterized in that, The electromagnetic detection device further includes a first support base, which is fixed to the housing on one side of the electromagnetic detection device; The first support includes: The first outer ring is an annular component, and a plurality of blind holes are evenly distributed on the inner wall of the first outer ring. A first compression spring is provided in each blind hole; The first movable column is also movably disposed in the blind hole located outside the first compression spring. The first movable column is a cylindrical block adapted to the blind hole. The first ball bearing is also provided in the blind hole on the outside of each first movable column; The first inner ring is an annular component with multiple tapered through holes. The diameter of the tapered through hole located on the outer side of the first inner ring is larger than the diameter of the tapered through hole located on the inner side of the first inner ring. The diameter of the smaller diameter end of the tapered through hole is smaller than the diameter of the first ball bearing. The first inner ring is fixed to the inner wall of the first outer ring, and a corresponding first ball bearing is movably disposed in each tapered through hole. The first ball bearing protrudes from the first inner ring.
5. The intelligent tunneling machine actuator status acquisition device according to claim 4, characterized in that, The first support also includes a first rubber ring, the inner diameter of which is smaller than that of the main body rod. The first rubber ring is an annular membrane structure. The first rubber ring is fixed to the side of the first outer ring away from the electromagnetic detection element, and the first rubber ring is fitted onto the main body rod.
6. The intelligent tunneling machine actuator status acquisition device according to claim 5, characterized in that, The electromagnetic detection device further includes a second support base, which is fixed to the housing on the other side of the electromagnetic detection device. The position of the second support base is adapted to the position of the electromagnetic detection device and the position of the first support base. The second support includes: The second outer ring is an annular piece, and multiple blind holes are evenly distributed on the inner wall of the second outer ring. A second compression spring is provided in each blind hole; The second movable column is also movably installed in the blind hole outside the second compression spring. The second movable column is a cylindrical block adapted to the blind hole. The second ball bearing is also provided in the blind hole on the outside of each second movable column; The second inner ring is an annular component with multiple tapered through holes. The diameter of the tapered through hole located on the outer side of the second inner ring is larger than that of the tapered through hole located on the inner side of the second inner ring. The diameter of the smaller diameter end of the tapered through hole is smaller than the diameter of the second ball bearing. The second inner ring is fixed to the inner wall of the second outer ring, and a corresponding second ball bearing is movably disposed in each tapered through hole. The second ball bearing protrudes from the second inner ring.
7. The intelligent tunneling machine actuator status acquisition device according to claim 6, characterized in that, The second support also includes a second rubber ring, the inner diameter of which is smaller than that of the main rod. The second rubber ring is an annular membrane structure. The second rubber ring is fixed to the side of the second outer ring away from the electromagnetic detection element, and the second rubber ring is fitted onto the main rod.
8. The intelligent tunneling machine actuator status acquisition device according to claim 7, characterized in that, The intelligent tunneling machine actuator status acquisition device further includes a controller, which includes: The microprocessor is electrically connected to the giant magnetoresistive sensor and the wireless transmission module. The power supply includes a rechargeable power supply that powers the operation of the controller and the giant magnetoresistive sensor.