CN109812267B - Multi-perception intelligent cutting control system and control method for heading machine - Google Patents
Multi-perception intelligent cutting control system and control method for heading machine Download PDFInfo
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- CN109812267B CN109812267B CN201910248344.7A CN201910248344A CN109812267B CN 109812267 B CN109812267 B CN 109812267B CN 201910248344 A CN201910248344 A CN 201910248344A CN 109812267 B CN109812267 B CN 109812267B
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- 230000003993 interaction Effects 0.000 claims abstract description 6
- 230000002452 interceptive effect Effects 0.000 claims abstract 2
- 239000003921 oil Substances 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 6
- 238000005065 mining Methods 0.000 claims description 3
- 230000005641 tunneling Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 claims description 2
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- Excavating Of Shafts Or Tunnels (AREA)
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Abstract
The invention discloses a multi-perception intelligent cutting control system and a control method of a development machine, wherein the multi-perception intelligent cutting control system comprises a perception unit, a data acquisition unit, a main control unit, a cutting motor, an electromagnetic valve group, a human-computer interface and various instruments and sensors, the perception unit is connected with the data acquisition unit, the data acquisition unit is in interactive connection with the main control unit, the main control unit is in control connection with the cutting motor, the electromagnetic valve group and the human-computer interface respectively, the perception unit comprises a cutting part, a body part, an operation table, a pump station system and an electric control part of the development machine, and signals of the various instruments and sensors are in information interaction with the data acquisition unit and the main control unit through the electric control part. The problems of high vibration, high impact, frequent overload shutdown, blind cutting and other working conditions of the excavating operation of the excavating machine are solved, so that the labor intensity and skill requirements of operators are reduced, the stress impact intensity of the excavating machine is improved, the fault-free running time of equipment is prolonged, the comprehensive excavating efficiency is improved, and the intelligent automatic cutting problem of the working face of the excavating machine under the remote unmanned operation condition is particularly solved.
Description
Technical Field
The invention relates to a multi-perception intelligent cutting control system and a control method for a heading machine, and belongs to the technical field of heading machines.
Background
With the rapid development of national economy, the urban process of China is continuously accelerated, and in a quite long period in the future, projects such as domestic urban subway tunnels, hydraulic tunnels, river crossing tunnels, railway tunnels, highway tunnels, municipal pipelines and the like need a large number of tunnel construction and tunnelling machines for construction.
In the prior art, the following problems exist in the excavating operation of the heading machine:
1) The working condition of the excavating machine is very bad, coal seam gangue inclusion and faults are commonly existed, and the vibration of the structural parts and the transmission parts is severe, so that the oil cylinder is over-pressed and the structural parts are over-fatigued;
2) Due to the difference of the operation proficiency and the complex and changeable working conditions, the existing development machine has the common super-working condition use condition, so that the pressure impact of an oil cylinder, the vibration impact of a structural member and an operator and the frequent overcurrent protection of cutting are aggravated, the personal safety is endangered, the service life of equipment is influenced, and the productivity of the equipment is reduced;
3) The existing heading machine lacks necessary working condition detection, and even if a part of detection instruments are installed, the detection data lacks scientific analysis, and an effective control strategy is not available, so that the problems are not fundamentally solved.
Disclosure of Invention
The invention aims to provide a multi-perception intelligent cutting control system and a control method for a development machine, which aim to solve the problems of high vibration, high impact, frequent overload shutdown, blind cutting and other working conditions of the development machine during the working operation, thereby reducing the labor intensity and skill requirements of operators, improving the stress impact intensity of the development machine, improving the fault-free operation time of equipment, improving the comprehensive mining efficiency, and particularly solving the intelligent automatic cutting problem of the development machine under the remote unmanned operation condition.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a development machine multi-perception intelligence cutting control system includes perception unit, data acquisition unit, main control unit, cutting motor, solenoid valve group, human-computer interface and various instruments and sensors, and the perception unit is connected with data acquisition unit, and data acquisition unit and main control unit interconnect, main control unit with cut motor, solenoid valve group, human-computer interface control connection respectively, the perception unit include cutting portion, body portion, operation panel, pump station system and the automatically controlled portion of development machine, the signal of various instruments and sensors pass through automatically controlled portion and data acquisition unit and main control unit information interaction.
The vibration instrument on the cutting part detects vibration intensity signals of the structural part in more than two directions of transverse and longitudinal directions, and the pressure instrument detects working pressures of the lifting oil cylinder and the telescopic oil cylinder of the cutting part;
the vibration instrument on the body part detects vibration intensity signals of the structure part in more than two directions of transverse and longitudinal directions, and the pressure instrument detects working pressure of the rotary oil cylinder of the cutting part;
the vibration instrument on the operating platform detects vibration intensity signals of the structural part in more than two directions of transverse and longitudinal directions, and the pressure instrument detects working pressure of the pump head/valve group system;
the flow meter on the pump station system detects the leakage quantity of the oil pump, and the temperature and liquid level meter respectively detect the temperature and liquid level of hydraulic oil of the pump station system;
the vibration instrument of the electric control part detects vibration intensity signals of the structural part in more than two directions of transverse and longitudinal directions, and the data acquisition unit detects the sensor/instrument information and detects information such as system voltage, motor current, temperature and the like.
Preferably, the data acquisition unit acquires and stores working state information such as vibration, pressure, flow, temperature, liquid level, current, voltage and the like of each part of the development machine, the main control unit monitors the deviation of the current working state of the development machine and the set working process route information, and sends out a control instruction to control the start and stop of the cutting motor and the speed switching, control the driving current or voltage of the electromagnetic valve group and regulate the swing of the oil cylinder and the running speed of the motor.
Preferably, the cutting motor drives the cutting head to rotate through the speed reducer, the cutting motor has one or more running speeds, and when the cutting motor has two or more speeds, the main control unit automatically sends out a command to realize switching between different speeds of the cutting motor according to the data information deviation of the excavating working condition of the heading machine.
Preferably, the man-machine interface is in data interaction with the main control unit, displays the running states of the heading machine system and the main control unit and warning prompt information, and can set and adjust parameters of the main control unit.
Further preferably, the machine interface can set and adjust the vibration intensity of pre-stored standard working conditions, the working pressure of the oil cylinder and the pump station, the current value of the motor and the working condition time, and meets the customization requirements of different clients or working conditions.
Preferably, the electromagnetic valve group is a mining explosion-proof or safe valve group, at least meets the requirement of lifting and rotating actions of the cutting part, and the electric control of walking, one-operation, star wheel motors and oil cylinders can be realized through the increase of the number and the adjustment of the types of the valve groups.
Further preferably, the electromagnetic valve group is preferably a pilot electromagnetic valve, and is matched with a four-way reversing handle to control the lifting and rotating directions and the speed of the cutting part, wherein the four-way reversing handle controls the lifting and lowering directions, the left and right swinging directions of the cutting part, and the opening of the pilot electromagnetic valve is automatically adjusted to control the lifting and rotating oil cylinder swinging speed of the cutting part.
The operation steps of the multi-perception intelligent cutting control system of the heading machine are as follows:
the method comprises the steps that firstly, a main control unit automatically invokes preset standard working process route information, or adjusts and resets the working process route information through a human-computer interface;
secondly, the main control unit sends out a control instruction according to an initial working condition to control the excavating operation of the heading machine;
thirdly, the main control unit monitors real-time working condition data information, performs deviation comparison with a set standard process route, and corrects a control instruction;
fourth, the execution mechanism executes the control instruction, corrects the working process route of the tunneling machine, changes the working condition data information along with the control instruction and improves the working condition data information;
and fifthly, circularly executing the second step to the fourth step, and realizing automatic sensing and automatic adjustment under different working conditions.
Compared with the prior art, the invention has the beneficial effects that: 1) The method is independent of the working experience of operators and accurate judgment of geological conditions of tunnel sections, under complex working conditions, the lifting speed and the swinging speed of a cutting part and the swinging speed of a rotary oil cylinder are automatically adjusted, light load/no-load ineffective cutting and frequent overload protection shutdown are reduced, intelligent efficient cutting of heading machine equipment is realized, and unit time footage is improved;
2) When working hardness of the working machine exceeds that of the heading machine, and the working machine vibrates or overshoots, the cutting motor is automatically switched from a high-speed working mode to a low-speed working mode, so that the equipment operates in the most economical cutting mode, and overstress fatigue damage, oil cylinder overshooting pressure damage, cutting pick transitional consumption and the like of structural parts of the heading machine are avoided;
3) The multi-perception unit, the data acquisition unit and the main control unit are used for comprehensively analyzing and scientifically diagnosing working condition information of the heading machine equipment, judging hidden dangers such as leakage of a structure weak point, a pump station and an oil cylinder in advance, greatly reducing or even avoiding serious sudden faults, and improving effective working time and heading footage of the equipment.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a block diagram of the system components of the present invention;
FIG. 3 is a flow chart of the current sensing control operation of the cutting motor according to an embodiment of the present invention;
FIG. 4 is a graph showing the comparison of the opening of the solenoid valve in the current sensing control process of the cutting motor according to the embodiment of the invention;
fig. 5 is a schematic diagram of the current sensing control effect of the cutting motor according to the embodiment of the invention.
Reference numerals: the system comprises a sensing unit 1, a data acquisition unit 2, a main control unit 3, a cutting motor 4, an electromagnetic valve group 5, a man-machine interface 6, a cutting part 1-1, a body part 1-2, an operation table 1-3, a pump station system 1-4 and an electric control part 1-5.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present embodiment provides a technical solution: the utility model provides a development machine multi-perception intelligence cutting control system contains perception unit 1, data acquisition unit 2, master control unit 3, cutting motor 4, solenoid valve group 5, man-machine interface 6 and various instruments and sensors, and perception unit 1 is connected with data acquisition unit 2, and data acquisition unit 2 and master control unit 3 interconnect, master control unit 3 with respectively with cutting motor 4, solenoid valve group 5, man-machine interface 6 control connection, perception unit 1 include cutting portion 1-1, body portion 1-2, operation panel 1-3, pump station system 1-4 and electric control unit 1-5 of development machine, the signal of various instruments and sensors is through electric control unit 1-5 and data acquisition unit 2 and master control unit 3 information interaction.
3-4, taking current sensing control of a cutting motor as an example, a control logic and curve adjusting method is as follows: setting a target working current interval, a target working period and an initial opening of an electric proportional control valve of a cutting motor; when the actual working current of the cutting motor is in the target working current interval, maintaining the current valve opening (the direction is given by manual or remote operation); when the actual working current of the cutting motor is continuously lower than or higher than the target working current interval, the opening degree of the proportional electromagnetic valve is adjusted to be the limit value (such as the minimum of 30 percent and the maximum of 100 percent) in an ascending or descending mode, and the opening degree can be set through a human-computer interface.
As shown in fig. 5, the implementation effect of current sensing control of a cutting motor is as follows: setting 80% -100% of rated current as a control target, setting 5 seconds, (1) completely opening the proportional pressure reducing electromagnetic valve in an initial state, (2) keeping the opening of the electromagnetic valve unchanged in 80% -100% of rated current intervals, (3) decreasing the opening of the electromagnetic valve by 2%/seconds in 100% -120% of rated current intervals, (4) decreasing the opening of the electromagnetic valve by 4%/seconds in 120% -150% of rated current intervals, and (5) decreasing the opening of the electromagnetic valve by 10%/seconds in more than 150% of rated current intervals.
Therefore, the working condition parameters such as vibration, pressure and the like in the sensing unit can be adjusted through the control logic and curve parameters as shown in the examples of figures 3-5, so that intelligent cutting control of the heading machine equipment is realized.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a tunnelling machine multi-perception intelligence cutting control system which characterized in that: the control system comprises a sensing unit (1), a data acquisition unit (2), a main control unit (3), a cutting motor (4), an electromagnetic valve group (5) and a human-computer interface (6), wherein the sensing unit (1) is connected with the data acquisition unit (2), the data acquisition unit (2) is in interactive connection with the main control unit (3), the main control unit (3) is respectively in control connection with the cutting motor (4), the electromagnetic valve group (5) and the human-computer interface (6), the sensing unit (1) comprises a cutting part (1-1) of a heading machine, a body part (1-2), an operation table (1-3), a pump station system (1-4) and an electric control part (1-5), and signals of various instruments and sensors are in information interaction with the data acquisition unit (2) and the main control unit (3) through the electric control part (1-5);
the vibration instrument on the cutting part (1-1) detects transverse and longitudinal vibration intensity signals of the cutting part (1-1), and the pressure instrument detects working pressures of the lifting oil cylinder and the telescopic oil cylinder of the cutting part;
the vibration instrument on the body part (1-2) detects transverse and longitudinal vibration intensity signals of the body part (1-2), and the pressure instrument detects working pressure of the rotary oil cylinder of the cutting part;
the vibration instrument on the operation table (1-3) detects transverse and longitudinal vibration intensity signals of the operation table (1-3), and the pressure instrument detects working pressure of the pump head/valve group system;
the flow meters on the pump station systems (1-4) detect the leakage quantity of the oil pump, and the temperature and liquid level meters respectively detect the temperature and the liquid level of hydraulic oil of the pump station systems;
the vibration instrument of the electric control part (1-5) detects vibration intensity signals of the electric control part (1-5) in the transverse direction and the longitudinal direction, and the data acquisition unit detects the sensor/instrument information and detects system voltage, motor current and temperature information;
the data acquisition unit (2) acquires and stores vibration, pressure, flow, temperature, liquid level, current and voltage working state information of each part of the development machine, the main control unit (3) monitors the deviation between the current working state of the development machine and the set working process route information, and sends out a control instruction to control the start and stop and speed switching of the cutting motor (4), control the driving current or voltage of the electromagnetic valve group (5) and adjust the swing of the oil cylinder and the running speed of the motor;
when the cutting motor (4) drives the cutting head to rotate through the speed reducer and the cutting motor (4) has two or more running speeds, the main control unit (3) automatically sends out an instruction according to the data information deviation of the excavating working condition of the heading machine to realize the switching between different speeds of the cutting motor (4);
the human-computer interface (6) is used for setting and adjusting the vibration intensity of a pre-stored standard working condition, the working pressure of the oil cylinder and the pump station, the current value of the motor and the working condition time, and meets the customization requirements of different clients or working conditions.
2. The heading machine multi-perception intelligent cutting control system according to claim 1, wherein: the man-machine interface (6) is in data interaction with the main control unit (3), displays the running states of the tunneling machine system and the main control unit (3) and warning prompt information, and sets and adjusts parameters of the main control unit (3).
3. The heading machine multi-perception intelligent cutting control system according to claim 1, wherein: the electromagnetic valve group (5) is a mining explosion-proof or safe valve group, at least meets the requirements of lifting and rotating actions of the cutting part, and realizes the electric control of walking, one-operation, star wheel motors and oil cylinders through the increase of the number of the valve groups and the adjustment of the types.
4. A heading machine multi-perception intelligent cutting control system as in claim 3 wherein: the electromagnetic valve group (5) is a pilot electromagnetic valve and is matched with a four-way reversing handle to control the lifting and rotating directions and the speed of the cutting part (1-1), wherein the four-way reversing handle controls the lifting and rotating directions, the left and right swinging directions of the cutting part (1-1), and the opening of the pilot electromagnetic valve is automatically adjusted to control the swinging speed of the lifting and rotating oil cylinder of the cutting part (1-1).
5. A control method based on the heading machine multi-perception intelligent cutting control system as defined in claim 1, which is characterized in that: the specific method comprises the following steps:
the method comprises the steps that firstly, a main control unit (3) automatically retrieves preset standard working process route information or adjusts and resets the working process route information through a human-computer interface;
secondly, the main control unit (3) sends out a control instruction according to an initial working condition to control the excavating operation of the heading machine;
third, the main control unit (3) monitors real-time working condition data information, compares the real-time working condition data information with the deviation of the set standard process route, and corrects the control instruction;
fourth, the execution mechanism executes the control instruction, corrects the working process route of the tunneling machine, changes the working condition data information along with the control instruction and improves the working condition data information;
and fifthly, circularly executing the second step to the fourth step, and realizing automatic sensing and automatic adjustment under different working conditions.
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| CN110608045A (en) * | 2019-10-24 | 2019-12-24 | 无锡华瀚能源装备科技有限公司 | Cutting anti-collision control system and control method for heading machine |
| CN113446002A (en) * | 2021-07-08 | 2021-09-28 | 中国煤炭科工集团太原研究院有限公司 | Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine |
| CN114183158B (en) * | 2021-11-15 | 2023-09-01 | 中铁工程装备集团隧道设备制造有限公司 | Cantilever development machine motor protection control system and method |
| CN217652723U (en) * | 2022-05-27 | 2022-10-25 | 三一重型装备有限公司 | Traveling speed feedback device and intelligent heading machine |
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