Self-adaptive cutting speed regulating device of hard rock tunneling machine

Abstract

The utility model relates to a kind of hard rock tunneling machine self-adapting cutting speed regulating device, including the torque sensor for monitoring transmission torque between cutting head and cutting motor, electric control system and speed regulating system;The speed regulating system includes cutting arm swing adjustment system and cutting head rotating speed adjustment system;The electric control system receives the transmission torque and output power signal of torque sensor and cutting motor, controls cutting arm swing adjustment system or cutting head rotating speed adjustment system, and the corresponding adjustment of the up-down swing speed of cutting arm or the rotating speed of cutting head is carried out respectively.The utility model adjusts two parameters of the swing speed of cutting arm and the rotating speed of cutting head of tunneling machine, and the adjustment range is larger, more flexible, more accurately matches actual load working condition, realizes the self-adapting speed regulation of hard rock tunneling machine cutting operation, with cutting stable, cutting efficiency is high, effectively protects cutting mechanism, and the advantages of greatly reducing the failure rate of cutting mechanism.

Description

Technical Field

[0001] This utility model relates to an adaptive cutting speed regulation device for a hard rock tunneling machine, belonging to the field of mining machinery technology. Background Technology

[0002] Cantilever tunneling machines are a crucial component of coal mine roadway excavation, integrating rock cutting, material collection, and transportation functions. Due to varying geological conditions, rock hardness changes accordingly, resulting in dynamic loads and impacts during tunneling. In existing hard rock tunneling machine technology, the swing speed of the cutting arm and the rotational speed of the cutting head are typically fixed or can only be adjusted manually. This adjustment method is not only inefficient but also unable to accurately adapt to the dynamic changes in tunneling load. Furthermore, because tunneling machines need to withstand significant loads and impacts during operation, failure to adjust the cutting speed and force in a timely manner may lead to equipment damage or reduced work efficiency.

[0003] Patent CN202690051U discloses an adaptive speed control device for a tunneling machine, including a cutting section and an electrical control system. The cutting section includes a reducer and a dual-speed cutting motor. A torque sensor is installed between the reducer and the dual-speed cutting motor. Based on the real-time measurement value of the torque sensor and the real-time power value of the dual-speed cutting motor, the device adaptively adjusts the speed for low-speed underload acceleration, high-speed overload deceleration, and low-speed overload protection to adapt to continuous tunneling and coal mining tasks, thereby improving the working efficiency and economic value of the tunneling machine. However, since the dual-speed cutting motor only has two motor windings (high-speed and low-speed), this technical solution uses a method of shutting down one motor and turning on the other, i.e., switching between high-speed and low-speed to change the cutting head speed. Because the cutting head speed can only switch between high-speed and low-speed states, its adjustment range is limited, and the adjustment method is relatively simple, thus it still cannot accurately adapt to the dynamic changes of actual tunneling load.

[0004] Therefore, there is an urgent need for an adaptive cutting speed control device for hard rock tunneling machines that offers diverse adjustment methods, a wide adjustment range, and can accurately and automatically adapt to dynamic changes in tunneling load. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide an adaptive cutting speed regulation device for hard rock tunneling machines with diverse adjustment methods, a large adjustment range, and the ability to accurately and automatically adapt to dynamic changes in tunneling load.

[0006] The purpose of this utility model is achieved as follows:

[0007] An adaptive cutting speed control device for a hard rock tunnel boring machine includes a cutting arm that is hinged at the rear end and mounted at the front end of the tunnel boring machine and driven to swing by a swing arm cylinder, a cutting head mounted at the front end of the cutting arm, a torque sensor mounted between the cutting head and the cutting motor for monitoring the transmission torque, and also includes an electronic control system and a speed control system; the speed control system includes a cutting arm swing adjustment system and a cutting head speed adjustment system.

[0008] The torque sensor, cutting motor, cutting arm swing adjustment system, and cutting head speed adjustment system are all electrically connected to the electronic control system; the cutting arm swing adjustment system is controlled and connected to the hydraulic system of the swing arm cylinder; and the cutting head speed adjustment system is controlled and connected to the drive system of the cutting motor.

[0009] The electronic control system receives the transmission torque and output power signals from the torque sensor and the cutting motor. After determining the actual load conditions, it controls the cutting arm swing adjustment system or the cutting head speed adjustment system to adjust the up-and-down swing speed of the cutting arm or the speed of the cutting head accordingly.

[0010] Furthermore, the cutting arm swing adjustment system includes a regulating valve installed on the hydraulic pipeline of the swing arm cylinder. The valve opening is adjusted by the electronic control system to control the oil inlet and outlet rhythm of the swing arm cylinder, thereby controlling the swing speed of the cutting arm.

[0011] Furthermore, the cutting head speed regulation system includes a frequency converter connected to the cutting motor. The frequency converter is adjusted by the electronic control system to change the operating frequency of the motor, thereby regulating the speed of the cutting motor.

[0012] Furthermore, the electrical control system includes an electrical control box located at the tail of the tunneling machine and an operating box located at the operating position; the electrical control box is connected to the control signals of the torque sensor, the cutting motor, the hydraulic system of the boom cylinder, and the drive system of the cutting motor; the operating box is for manual operation by the tunneling machine operator, and there is an electrical signal connection between the operating box and the electrical control box.

[0013] Furthermore, the electrical control box includes a signal receiving unit, a calculation and judgment unit, and a control output unit; the signal receiving unit is connected to the torque sensor and the cutting motor respectively; the calculation and judgment unit determines the load condition based on the torque and power signals received by the signal receiving unit; and the control output unit is connected to the hydraulic system of the swing arm cylinder and the drive system of the cutting motor respectively.

[0014] Furthermore, the cutting head and the cutting motor are connected by a speed reducer, and the torque sensor is installed between the cutting motor and the speed reducer.

[0015] Furthermore, the cutting motor is a dual-speed motor, namely a high-speed motor and a low-speed motor.

[0016] Furthermore, the cutting head speed adjustment system includes a high-speed switch and a low-speed switch, which control the opening and closing of the high-speed motor and the low-speed motor, respectively.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This invention adjusts two parameters—the swing speed of the cutting arm and the rotation speed of the cutting head—of the tunneling machine, allowing for a wider and more flexible adjustment range. This enables more accurate matching of actual load conditions and achieves adaptive speed regulation for cutting operations in hard rock tunneling machines. It offers advantages such as stable cutting, high cutting efficiency, effective protection of the cutting mechanism, and a significant reduction in the failure rate of the cutting mechanism. Attached Figure Description

[0019] Fig. 1 This is a schematic diagram of the connection structure of an adaptive cutting speed regulation device for a hard rock tunneling machine according to the present invention.

[0020] Fig. 2 This is a schematic diagram of the installation structure of an adaptive cutting speed regulation device for a hard rock tunneling machine according to this utility model.

[0021] in:

[0022] 1. Cutting arm; 2. Cutting head; 3. Torque sensor; 4. Cutting motor; 5. Speed ​​control system; 6. Swing arm cylinder; 7. Electrical control system; 8. Reducer.

[0023] Cutting arm swing adjustment system 51, cutting head speed adjustment system 52, electrical control box 71, operation box 72. Detailed Implementation Example

[0024] See Figs. 1-2 This utility model relates to an adaptive cutting speed control device for a hard rock tunneling machine, comprising a cutting arm 1 hinged at the rear end and mounted at the front end of the tunneling machine and driven to swing by a swing arm cylinder 6, a cutting head 2 mounted at the front end of the cutting arm 1, a torque sensor 3 mounted between the cutting head 2 and the cutting motor 4 for monitoring the transmission torque, an electrical control system 7, and a speed control system 5; the cutting head 2 and the cutting motor 4 are connected by a reducer 8, and the torque sensor 3 is mounted between the cutting motor 4 and the reducer 8 for monitoring the torque values ​​of the cutting motor 4 and the reducer 8;

[0025] The speed control system 5 includes a cutting arm swing adjustment system 51 and a cutting head speed adjustment system 52. In this embodiment, the cutting arm swing adjustment system 51 includes a regulating valve installed on the hydraulic line of the swing arm cylinder 6. This valve can be either a solenoid valve or a pneumatic valve. Adjusting the valve opening controls the oil inlet and outlet rhythm of the swing arm cylinder 6, thereby controlling the swing speed of the cutting arm 1. The adjustment is convenient and flexible. The cutting head speed adjustment system 52 includes a frequency converter connected to the cutting motor 4. Adjusting the frequency converter changes the motor's operating frequency, thus adjusting the speed of the cutting motor 4. Because the frequency converter has a large frequency adjustment range, the speed adjustment range of the cutting motor 4 is also large, meaning the speed adjustment range of the cutting head 2 is large, not limited to a fixed speed value. The adjustment is convenient and flexible, with a fast response and high efficiency.

[0026] The electrical control system 7 includes an electrical control box 71 located at the rear of the tunneling machine and an operating box 72 located in the middle operating position. The operating box 72 is for manual operation by the tunneling machine operator, and the operating box 72 and the electrical control box 71 are electrically connected. The torque sensor 3, the cutting motor 4, the cutting arm swing adjustment system 51, and the cutting head speed adjustment system 52 are all electrically connected to the electrical control system 7. The cutting arm swing adjustment system 51 is controlled by the hydraulic system of the swing arm cylinder 6, and adjusts the extension and retraction of the swing arm cylinder 6 by controlling the valve opening of the regulating valve, thereby controlling the swing of the cutting arm 1. The cutting head speed adjustment system 52 is controlled by the drive system of the cutting motor 4, and changes the speed of the cutting motor 4 by adjusting the frequency converter frequency, thereby controlling the speed of the cutting head 2. Specifically, the electrical control box 71 is connected to the frequency converter control signal of the torque sensor 3, the cutting motor 4, the regulating valve in the hydraulic line of the swing arm cylinder 6, and the cutting motor 4.

[0027] The electronic control system 7 receives the transmission torque and output power signals from the torque sensor 3 and the cutting motor 4. After determining the actual load conditions, it controls the cutting arm swing adjustment system 51 or the cutting head speed adjustment system 52 to adjust the up-and-down swing speed of the cutting arm 1 or the speed of the cutting head 2 accordingly. Specifically, the electronic control box 71 includes a signal receiving unit, a calculation and judgment unit, and a control output unit. The signal receiving unit is connected to the torque sensor 3 and the cutting motor 4 to receive the motor torque value and output power value. The calculation and judgment unit determines the load conditions based on the torque and power signals received by the signal receiving unit. The control output unit is connected to the hydraulic system of the swing arm cylinder 6 and the drive system of the cutting motor 4 to adjust the swing speed of the cutting arm 1 and the speed of the cutting head 2 according to the load conditions.

[0028] The specific working process of this utility model is as follows:

[0029] 1. Initial settings:

[0030] Before the tunneling machine starts working, the calculation and judgment unit of the electronic control system 7 is initially set, including setting control parameters and calibrating sensors. Based on the rock hardness and the load of the tunneling machine, a set of correspondences between the swing speed of the cutting arm 1 and the rotation speed of the cutting head 2 is preset;

[0031] 2. Real-time monitoring:

[0032] After the tunneling machine starts working, the varying rock hardness causes changes in the load conditions. The torque sensor 3 monitors the load and movement status of the tunneling machine in real time. The monitored signals are transmitted to the signal receiving unit of the electronic control system 7, where they are processed and analyzed by the calculation and judgment unit.

[0033] 3. Signal Processing:

[0034] The signal receiving unit performs filtering, noise reduction, and feature extraction on the received signal; the calculation and judgment unit determines the current load condition of the tunneling machine and the rock hardness based on the processing results.

[0035] 4. Adaptive adjustment:

[0036] Based on the preset speed control strategy and algorithm, as well as the current load condition of the tunneling machine and the rock hardness, the calculation and judgment unit automatically adjusts the swing speed of the cutting arm 1 and the rotation speed of the cutting head 2: when the rock hardness is low, the swing speed of the cutting arm 1 and the rotation speed of the cutting head 2 are increased to improve cutting efficiency; when the rock hardness is high, the swing speed of the cutting arm 1 and the rotation speed of the cutting head 2 are decreased to reduce cutting impact and vibration, protecting the tunneling machine from damage. Specifically, this can be divided into the following situations:

[0037] Low-speed underload acceleration: When the torque sensor 3 detects that the cutting motor 4 is in a low torque state and the power value is lower than the set threshold, the calculation and judgment unit will determine that it is a low-speed underload state. At this time, it will instruct the motor to increase the speed to increase the tunneling efficiency.

[0038] High-speed overload speed reduction: If the torque sensor 3 detects a sharp increase in torque value and the power value exceeds the set upper limit, it indicates that the motor may be in an overload state. At this time, the calculation and judgment unit will quickly reduce the motor speed to protect the motor from damage.

[0039] Low-speed overload protection: During low-speed tunneling, if the torque sensor 3 detects an abnormal increase in torque, even if the power value does not reach the overload standard, the calculation and judgment unit will activate the low-speed overload protection mechanism to avoid potential faults by reducing the speed or temporarily stopping the machine.

[0040] 5. Feedback and adjustments:

[0041] During the adaptive adjustment process, the electronic control system 7 continuously monitors the load and motion status of the tunneling machine. It makes feedback adjustments based on the actual situation to optimize the relationship between the swing speed of the cutting arm 1 and the rotational speed of the cutting head 2. Through continuous optimization and adjustment, the tunneling machine can maintain its optimal working condition under different rock hardness and load conditions, thereby improving cutting efficiency.

[0042] The adaptive cutting speed control device for hard rock tunneling machines of this invention mainly relies on the coordinated action of torque sensor 3 and electronic control system 7. During tunneling operations, torque sensor 3 monitors the torque change between the reducer and the cutting motor in real time, converts this data into an electrical signal, and transmits it to the calculation and judgment unit of electronic control system 7. After receiving the signal, the calculation and judgment unit immediately monitors the real-time power value of cutting motor 4 synchronously and adaptively adjusts the motor speed based on a preset algorithm model.

[0043] Compared to existing technologies that only allow for high and low speed adjustments to the cutting motor, this embodiment allows for a wide range of adjustments to both the swing speed of the cutting arm 1 and the rotational speed of the cutting head 2. This truly achieves accurate adaptation to load conditions, significantly improving the tunneling machine's load adaptability. Specific advantages include:

[0044] Improve tunneling efficiency: By adjusting the swing speed of the cutting arm 1 and the speed of the cutting motor 4 in real time, the adjustment range is larger and can accurately adapt to the actual load conditions, ensuring that the tunneling machine operates in the best working condition and significantly improving tunneling efficiency;

[0045] Reduced equipment wear: Adaptive and accurate adjustment can effectively avoid excessive wear caused by excessive load, thus extending the service life of the tunneling machine;

[0046] Enhanced operational safety: The introduction of overload protection mechanisms effectively prevents safety accidents caused by equipment failure and improves the safety of the working environment;

[0047] Reduced operational difficulty: The automatic adjustment function reduces the need for operators to manually adjust the speed of the tunneling machine, thereby reducing labor intensity and improving work comfort. Example

[0048] Based on Example 1, the cutting motor 4 is configured as a dual-speed motor, comprising a high-speed motor and a low-speed motor. The frequency converter in the cutting head speed adjustment system 52 is replaced with a high-speed switch and a low-speed switch, which control the on and off of the high-speed motor and the low-speed motor respectively. The cutting head speed adjustment system 52, using high and low speed switches, can only switch between high and low speeds. Therefore, the rotation speed of the cutting head 2 in this example can only switch between high and low speeds, resulting in a small adjustment range. Compared to Example 1, the corresponding load adaptability is relatively weakened. Since the cutting arm swing adjustment system 51 is still used to adjust the speed of the swing arm cylinder 6, the swing speed change of the cutting arm 1 remains linear and has a large adjustment range, making adjustment convenient and flexible.

[0049] Additionally, it should be noted that the above-described specific implementation is merely an optimized solution of this patent, and any modifications or improvements made by those skilled in the art based on the above concept are within the scope of protection of this patent.

Claims

1. An adaptive cutting speed control device for a hard rock tunneling machine, comprising a cutting arm (1) hinged at the rear end and mounted at the front end of the tunneling machine and driven to swing by a swing arm cylinder (6), a cutting head (2) mounted at the front end of the cutting arm (1), and a torque sensor (3) mounted between the cutting head (2) and the cutting motor (4) for monitoring the transmission torque, characterized in that: It also includes an electronic control system (7) and a speed regulation system (5); the speed regulation system (5) includes a cutting arm swing adjustment system (51) and a cutting head speed adjustment system (52); The torque sensor (3), the cutting motor (4), the cutting arm swing adjustment system (51), and the cutting head speed adjustment system (52) are electrically connected to the electronic control system (7); the cutting arm swing adjustment system (51) is controlled and connected to the hydraulic system of the swing arm cylinder (6); the cutting head speed adjustment system (52) is controlled and connected to the drive system of the cutting motor (4); The electronic control system (7) receives the transmission torque and output power signals from the torque sensor (3) and the cutting motor (4), and controls the cutting arm swing adjustment system (51) or the cutting head speed adjustment system (52) to adjust the up and down swing speed of the cutting arm (1) or the speed of the cutting head (2) accordingly.

2. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 1, characterized in that: The cutting arm swing adjustment system (51) includes an adjustment valve installed on the hydraulic line of the swing arm cylinder (6). The valve opening is adjusted by the electronic control system (7) to control the oil inlet and outlet rhythm of the swing arm cylinder (6), thereby controlling the swing speed of the cutting arm (1).

3. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 1, characterized in that: The cutting head speed regulation system (52) includes a frequency converter connected to the cutting motor (4). The operating frequency of the motor is changed by adjusting the frequency converter through the electronic control system (7), thereby adjusting the speed of the cutting motor (4).

4. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 1, characterized in that: The electrical control system (7) includes an electrical control box (71) located at the tail of the tunneling machine and an operating box (72) located at the operating position. The electrical control box (71) is connected to the control signals of the hydraulic system of the torque sensor (3), the cutting motor (4), the swing arm cylinder (6), and the drive system of the cutting motor (4). The operating box (72) is for manual operation by the tunneling machine operator, and there is an electrical signal connection between the operating box (72) and the electrical control box (71).

5. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 4, characterized in that: The electrical control box (71) includes a signal receiving unit, a calculation and judgment unit and a control output unit; the signal receiving unit is connected to the torque sensor (3) and the cutting motor (4) respectively; the calculation and judgment unit determines the load condition based on the torque and power signals received by the signal receiving unit; and the control output unit is connected to the hydraulic system of the swing arm cylinder (6) and the drive system of the cutting motor (4) respectively.

6. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 1, characterized in that: The cutting head (2) and the cutting motor (4) are connected by a reducer (8), and the torque sensor (3) is installed between the cutting motor (4) and the reducer (8).

7. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 1, characterized in that: The cutting motor (4) is a dual-speed motor, namely a high-speed motor and a low-speed motor.

8. The adaptive cutting speed regulation device for hard rock tunnel boring machines according to claim 7, characterized in that: The cutting head speed regulation system (52) includes a high-speed switch and a low-speed switch, which control the opening and closing of the high-speed motor and the low-speed motor respectively.

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