CN113446002A - Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine - Google Patents
Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine Download PDFInfo
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- CN113446002A CN113446002A CN202110772778.4A CN202110772778A CN113446002A CN 113446002 A CN113446002 A CN 113446002A CN 202110772778 A CN202110772778 A CN 202110772778A CN 113446002 A CN113446002 A CN 113446002A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 395
- 238000000034 method Methods 0.000 title claims abstract description 90
- 230000005641 tunneling Effects 0.000 title claims abstract description 85
- 238000004873 anchoring Methods 0.000 title claims abstract description 84
- 230000008569 process Effects 0.000 claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims description 15
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- 238000005065 mining Methods 0.000 description 9
- 239000003245 coal Substances 0.000 description 8
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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Abstract
The invention provides a control method, a control device and a control system of a cutting arm of a tunneling and anchoring all-in-one machine, wherein the control method comprises the following steps: acquiring numerical values of parameters in the operation process of a loading motor, a cutting motor, a transportation motor and a cutting arm; calculating control parameters of a pushing oil cylinder of the cutting arm and an electromagnetic valve of a lifting oil cylinder according to the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm; and correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm. Therefore, the method can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of the system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
Description
Technical Field
The invention relates to the technical field of coal mine excavation, in particular to a control method of a cutting arm of a tunneling and anchoring all-in-one machine, a control device of the cutting arm of the tunneling and anchoring all-in-one machine and a control system of the cutting arm of the tunneling and anchoring all-in-one machine.
Background
Along with the rapid development of the automation, intelligence and unmanned technology of the complete equipment of the underground fully-mechanized mining face of the coal mine, the mining efficiency of the fully-mechanized mining face is higher and higher, the requirement on the efficiency of underground roadway tunneling of the coal mine is higher and higher, the problem of irregular mining proportion is more and more serious, and the fully-mechanized mining face becomes a main restriction factor for restricting the improvement of the coal mine capacity.
With the rapid development of tunnel excavation equipment, the related technology of the domestic tunneling and anchoring all-in-one machine is gradually mature, the tunneling efficiency of the domestic tunneling and anchoring all-in-one machine is 4 times of that of the traditional tunneling machine due to the characteristics of tunneling and anchoring parallel operation and primary tunneling, the bolting and anchoring automatic operation can be realized, the problem of unbalanced excavation can be effectively solved, the domestic tunneling and anchoring all-in-one machine mainly adopts a manual remote control operation mode, but dust, water mist and the like easily influence the visual field of a driver when the tunneling and anchoring all-in-one machine works, the driver can only operate a remote controller to cut a coal wall by means of feeling, experience and human-computer interface display, a cutting, loading and transporting motor can fluctuate in a large range frequently, the service life of the motor is influenced, the loss of the motor and cutting teeth is increased, and the tunneling efficiency, reliability and continuity of a tunneling working face are influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the invention is to provide a control method of a cutting arm of a tunneling and anchoring all-in-one machine, which can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of a system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
The second purpose of the invention is to provide a control device of the cutting arm of the tunneling and anchoring all-in-one machine.
The third purpose of the invention is to provide a control system of the cutting arm of the tunneling and anchoring all-in-one machine.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a cutting arm of a tunneling and anchoring all-in-one machine, including the following steps: acquiring numerical values of parameters in the operation process of a loading motor, a cutting motor, a transportation motor and a cutting arm; calculating control parameters of electromagnetic valves of a pushing oil cylinder and a lifting oil cylinder of the cutting arm according to the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm; and correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
According to the control method of the cutting arm of the tunneling and anchoring all-in-one machine, the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm are firstly obtained, then the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm are calculated according to the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm, and finally the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm are correspondingly adjusted according to the control parameters of the pushing oil cylinder and the electromagnetic valves of the lifting oil cylinder of the cutting arm. Therefore, the method can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of the system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
In addition, the control method of the cutting arm of the driving and anchoring all-in-one machine provided by the first aspect of the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the values of the parameters during the operation of the loading motor, the cutting motor, the transport motor and the cutting arm comprise: the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm cutting groove.
According to an embodiment of the present invention, the calculating the control parameters of the electromagnetic valves of the pushing cylinder and the lifting cylinder of the cutting arm according to the values of the parameters of the loading motor, the cutting motor, the transporting motor and the cutting arm in the operation process comprises: judging whether the numerical values of the parameters in the operation processes of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values or not; and under the condition that the data of each parameter is equal to the corresponding preset value, calculating the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
According to an embodiment of the present invention, before obtaining values of parameters during the operation of the loading motor, the cutting motor, the transportation motor and the cutting arm, the method further includes: controlling a loading motor, a cutting motor and a transportation motor to start, and judging whether the loading motor, the cutting motor and the transportation motor start normally or not; and if the loading motor, the cutting motor and the transportation motor are all started normally, acquiring the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
According to an embodiment of the invention, after the correspondingly adjusting the running speeds of the pushing cylinder and the lifting cylinder of the cutting arm, the method further comprises the following steps: acquiring the running speeds of a pushing oil cylinder and a lifting oil cylinder of the cutting arm after adjustment, the running currents of electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine; and displaying the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
In order to achieve the above object, a second embodiment of the present invention provides a control device for a cutting arm of a tunneling and anchoring all-in-one machine, including: the first acquisition module is used for acquiring numerical values of parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm; the calculation module is used for calculating control parameters of the pushing oil cylinder and the electromagnetic valve of the lifting oil cylinder of the cutting arm according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process; and the adjusting module is used for correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
According to the control device of the cutting arm of the tunneling and anchoring all-in-one machine, the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process are obtained through the first obtaining module, the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder are calculated through the calculating module according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, and the operation speeds of the pushing oil cylinder of the cutting arm and the lifting oil cylinder are correspondingly adjusted through the adjusting module according to the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder. Therefore, the device can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of the system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
In addition, the control device for the cutting arm of the driving and anchoring all-in-one machine provided by the second aspect of the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the values of the parameters during the operation of the loading motor, the cutting motor, the transport motor and the cutting arm comprise: the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm cutting groove.
According to an embodiment of the invention, the calculation module comprises: the judging unit is used for judging whether the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values or not; and the calculating unit is used for calculating control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process under the condition that the data of each parameter is equal to the corresponding preset value.
Further, the control device described above further includes: the control module is used for controlling the loading motor, the cutting motor and the transportation motor to start and judging whether the loading motor, the cutting motor and the transportation motor start normally or not; the first acquisition module is further used for acquiring the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process under the condition that the loading motor, the cutting motor and the transportation motor are all normally started.
Further, the control device further includes: the second acquisition module is used for acquiring the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm after adjustment, the running currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine; and the display module is used for displaying the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
In order to achieve the above purpose, a third aspect of the present invention provides a control system for a cutting arm of a tunneling and anchoring all-in-one machine, which includes the control device for the cutting arm of the tunneling and anchoring all-in-one machine.
According to the control system of the cutting arm of the tunneling and anchoring all-in-one machine, the cutting efficiency of the tunneling and anchoring all-in-one machine can be improved, the loss of cutting parts is reduced, the reliability of the system is improved, the labor intensity of workers is reduced, and the use performance of the tunneling and anchoring all-in-one machine is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
figure 1 is a flow chart of a method of controlling a cutting arm of a machine according to an embodiment of the invention;
figure 2 is an overall block diagram of a control system for a cutting arm of the machine according to one embodiment of the invention;
figure 3 is a feedback control architecture diagram of a control system for a cutting arm of a machine according to one embodiment of the present invention;
figure 4 is a control block diagram of a controller of a cutting arm of the machine according to one embodiment of the present invention;
figure 5 is a flow chart of a method of controlling a cutting arm of a machine according to one embodiment of the present invention;
figure 6 is a block schematic diagram of a control arrangement for a cutting arm of a machine according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method of a cutting arm of a tunneling and anchoring all-in-one machine, a control device of the cutting arm of the tunneling and anchoring all-in-one machine, and a control system of the cutting arm of the tunneling and anchoring all-in-one machine according to embodiments of the present invention with reference to the accompanying drawings.
In the related art, only control methods for the existing cantilever type tunneling machine exist, and the control methods cannot be applied to the tunneling and anchoring all-in-one machine, because a cutting mechanism of the tunneling and anchoring all-in-one machine is essentially different from the cantilever type tunneling machine, the cutting process flow is different, the cutting arm of the tunneling and anchoring all-in-one machine is mainly controlled by a group of lifting oil cylinders and a group of pushing oil cylinders, and the cutting arm of the cantilever type tunneling machine is controlled by telescopic oil cylinders and rotary oil cylinders. Therefore, in order to improve the cutting efficiency of the tunneling and anchoring all-in-one machine and improve the reliability, stability and automation level of a cutting system, a control method, a control device and a control system of a cutting arm of the tunneling and anchoring all-in-one machine are provided, so that the cutting efficiency of the tunneling and anchoring all-in-one machine is improved, the loss of cutting parts is reduced, the reliability of the system is improved, the labor intensity of workers is reduced, and the service performance of the tunneling and anchoring all-in-one machine is improved.
Fig. 1 is a flowchart of a control method of a cutting arm of a tunneling and anchoring all-in-one machine according to an embodiment of the invention.
As shown in fig. 1, the method for controlling the cutting arm of the tunneling and anchoring all-in-one machine according to the embodiment of the present invention includes the following steps:
and S11, acquiring the numerical values of the operation parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
In this embodiment, the values of the parameters during the operation of the loading motor, the cutting motor, the transport motor and the cutting arm include: the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the conveying motor, the temperature of the conveying motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut.
For example, referring to fig. 2, the current of the loading motor may be collected by a current sensor installed on the main loop of the loading motor; collecting the temperature of the loading motor through a temperature sensor arranged on the loading motor; collecting the current of a cutting motor through a current sensor arranged on a main loop of the cutting motor; the temperature of the cutting motor is collected through a temperature sensor arranged on the cutting motor; collecting the current of a transport motor through a current sensor arranged on a main loop of the transport motor; collecting the temperature of the transportation motor through a temperature sensor arranged on the transportation motor; collecting the gas content in the air in the cutting process through a gas sensor; collecting the flow of the cutting gear box through a flow sensor arranged on the cutting gear box; the temperature of the cutting gear box is collected through a temperature sensor arranged on the cutting gear box; collecting the vibration frequency of the cutting gear box through a vibration sensor arranged on the cutting gear box; the displacement of the cutting arm cut is collected through a displacement sensor arranged on the cutting arm cut. After the corresponding data are collected by each sensor, the collected data are sent to a mining pouring and intrinsic safety type data collector (or a mining pouring and intrinsic safety type data collection box), and the collected data are sent to the controller by the mining pouring and intrinsic safety type data collector (or the mining pouring and intrinsic safety type data collection box).
Wherein, as shown in fig. 3, the resistance of the cutting drum when cutting the coal wall is reflected by the current of the cutting motor and the temperature of the cutting motor; the coal cutting amount of the cutting arm is reflected by the current of the loading motor, the temperature of the loading motor, the current of the transportation motor and the temperature of the transportation motor.
And S12, calculating control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
As a way that the step S2 can implement, it is determined whether the values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values; and under the condition that the data of each parameter is equal to the corresponding preset value, calculating the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder according to the numerical values of the parameters in the running process of the loading motor, the cutting motor, the transportation motor and the cutting arm.
The current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow rate of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the preset value corresponding to the displacement of the cutting arm undercutting can be preset, for example, the preset value can be set according to an empirical value, and the preset value can also be set according to historical data.
After the controller obtains the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut, the controller judges the magnitude relation between the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut and the preset values correspondingly set by the controller if the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, The gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut are equal to the preset values which are correspondingly set, and then the opening amounts of the solenoid valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm are calculated according to the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the conveying motor, the temperature of the conveying motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut and the preset values which are correspondingly set.
And S13, correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
The controller correspondingly adjusts the running speeds of the cutting arm lifting oil cylinder and the front and rear pushing oil cylinders in real time according to the opening amounts of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
In the running process of the tunneling and anchoring all-in-one machine, the control principle of an adaptive controller of the cutting arm is shown in figure 4, a system forms closed-loop control through the current and the temperature of a cutting motor, the current and the temperature of a transportation motor, the current and the temperature of a loading motor, the running speed of a lifting oil cylinder, the running speed of a pushing oil cylinder, the vibration intensity and the gas content of the cutting arm, the controller controls the opening amounts of the pushing oil cylinder of the cutting arm and an electromagnetic valve of the lifting oil cylinder through the parameters, further controls the lifting oil cylinder of the cutting arm and front and back pushing oil cylinders, controls the cutting drum to cut coal through the lifting oil cylinder of the cutting arm and the front and back pushing oil cylinders together, and controls the feeding speed of the cutting drum through controlling the moving speeds of the pushing oil cylinder and the lifting oil cylinder. And PID control parameters of a controller (such as a PID controller) are obtained by the fuzzy RBF neural network, so that the self-adaptive cutting control of the whole system is realized.
Further, according to an embodiment of the present invention, before obtaining values of parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the method further includes: controlling the loading motor, the cutting motor and the transportation motor to start, and judging whether the loading motor, the cutting motor and the transportation motor start normally or not; and if the loading motor, the cutting motor and the transportation motor are all started normally, acquiring numerical values of parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm.
In order to enable a user to know the operation parameters of the tunneling and anchoring all-in-one machine more, after the operation speeds of the pushing cylinder and the lifting cylinder of the cutting arm are correspondingly adjusted, the method further comprises the following steps: acquiring the adjusted running speeds of a pushing oil cylinder and a lifting oil cylinder of the cutting arm, the running currents of electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling-anchoring all-in-one machine; and displaying the numerical values of parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
After the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm are correspondingly adjusted, the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm after adjustment can be correspondingly obtained through speed sensors or displacement sensors respectively arranged on the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the running currents of electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm are collected through an electromagnetic valve controller, the lifting height, the lifting speed and the speed change rate of the cutting arm are collected through an encoder (such as an angle encoder) arranged on the cutting arm, the body posture of the tunneling and anchoring all-in-one machine is collected through a body posture sensor arranged on the tunneling and anchoring all-in-one machine, and the current of a loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of a conveying motor, the gas content and the flow of a cutting gear box are adjusted, The temperature of the cutting gear box, the vibration frequency of the cutting gear box, the displacement of the cutting arm cut groove, the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm after adjustment, the running currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine are displayed on a human-computer interface, and the data are transmitted to the main control box.
To make the present invention more clear to those skilled in the art, fig. 5 is a flowchart of a control method of a cutting arm of a heading and anchoring all-in-one machine according to an embodiment of the present invention. As shown in fig. 5, the method for controlling the cutting arm of the tunneling and anchoring all-in-one machine according to the embodiment of the present invention includes:
s501, reading control parameters of the electromagnetic valve.
And S502, judging whether the transportation motor normally operates. If yes, go to step S503; if not, return to step S501.
And S503, judging whether the loading motor normally operates. If yes, go to step S504; if not, return to step S501.
And S504, judging whether the cutting motor normally operates. If yes, go to step S505; if not, return to step S501.
And S505, reading the sensor data.
S506, reading the set value.
And S507, judging whether the sensor data is equal to the corresponding set value. If so, go no S508 is executed; if not, return to step S505.
And S508, calling a fuzzy RBF neural network PID control program block to perform data processing.
And S509, outputting control parameters of the electromagnetic valve.
In summary, according to the control method of the cutting arm of the tunneling and anchoring all-in-one machine of the embodiment of the invention, the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process are obtained, then the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder are calculated according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, and finally the operation speeds of the pushing oil cylinder of the cutting arm and the lifting oil cylinder are correspondingly adjusted according to the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder. Therefore, the method can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of the system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
In order to realize the embodiment, the invention further provides a control device of the cutting arm of the tunneling and anchoring all-in-one machine.
Fig. 6 is a block schematic diagram of a control device of a cutting arm of a tunneling and anchoring all-in-one machine according to an embodiment of the present invention.
As shown in fig. 6, the control device 60 of the cutting arm of the tunneling and anchoring all-in-one machine according to the embodiment of the present invention includes: a first acquisition module 61, a calculation module 62 and an adjustment module 63.
The first acquisition module 61 is used for acquiring numerical values of parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm; the calculation module 62 is used for calculating control parameters of the pushing oil cylinder and the electromagnetic valve of the lifting oil cylinder of the cutting arm according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process; and the adjusting module 63 is used for correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the pushing oil cylinder and the electromagnetic valve of the lifting oil cylinder of the cutting arm.
According to one embodiment of the invention, the values of the parameters during the operation of the loading motor, the cutting motor, the transport motor and the cutting arm comprise: the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the conveying motor, the temperature of the conveying motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm undercut.
According to one embodiment of the invention, the calculation module 62 includes: the judging unit is used for judging whether the numerical values of the parameters in the running processes of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values or not; and the calculating unit is used for calculating control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process under the condition that the data of each parameter is equal to the corresponding preset value.
Further, the control device described above further includes: the control module is used for controlling the loading motor, the cutting motor and the transportation motor to start and judging whether the loading motor, the cutting motor and the transportation motor start normally or not; the first obtaining module 61 is further configured to obtain values of parameters of the loading motor, the cutting motor, the transporting motor and the cutting arm in the operation process under the condition that the loading motor, the cutting motor and the transporting motor are all started normally.
Further, the control device further includes: the second acquisition module is used for acquiring the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm after adjustment, the running currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling-anchoring all-in-one machine; and the display module is used for displaying the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
It should be noted that the explanation of the foregoing embodiment of the method for controlling the cutting arm of the heading and anchoring all-in-one machine is also applicable to the control device for the cutting arm of the heading and anchoring all-in-one machine of this embodiment, and details are not described here again.
According to the control device of the cutting arm of the tunneling and anchoring all-in-one machine, the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process are obtained through the first obtaining module, the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder are calculated through the calculating module according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, and the operation speeds of the pushing oil cylinder of the cutting arm and the lifting oil cylinder are correspondingly adjusted through the adjusting module according to the control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder. Therefore, the device can improve the cutting efficiency of the tunneling and anchoring all-in-one machine, reduce the loss of cutting parts, increase the reliability of the system, reduce the labor intensity of workers and improve the service performance of the tunneling and anchoring all-in-one machine.
In order to realize the embodiment, the invention also provides a control system of the cutting arm of the tunneling and anchoring all-in-one machine, which comprises the control device of the cutting arm of the tunneling and anchoring all-in-one machine.
According to the control system of the cutting arm of the tunneling and anchoring all-in-one machine, the cutting efficiency of the tunneling and anchoring all-in-one machine can be improved, the loss of cutting parts is reduced, the reliability of the system is improved, the labor intensity of workers is reduced, and the use performance of the tunneling and anchoring all-in-one machine is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a cutting arm of a tunneling and anchoring all-in-one machine is characterized by comprising the following steps:
acquiring numerical values of parameters in the operation process of a loading motor, a cutting motor, a transportation motor and a cutting arm;
calculating control parameters of electromagnetic valves of a pushing oil cylinder and a lifting oil cylinder of the cutting arm according to the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm;
and correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
2. The method of claim 1, wherein the values of the parameters during operation of the loading motor, the cutting motor, the transport motor and the cutting arm comprise:
the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm cutting groove.
3. The control method according to claim 2, wherein the calculating of the control parameters of the solenoid valves of the thrust cylinder and the lift cylinder of the cutting arm according to the values of the parameters of the loading motor, the cutting motor, the transport motor and the cutting arm during operation comprises:
judging whether the numerical values of the parameters in the operation processes of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values or not;
and under the condition that the data of each parameter is equal to the corresponding preset value, calculating the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
4. The method for controlling the cutting arm of the tunneling and anchoring all-in-one machine according to claim 1, wherein before the obtaining of the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm during the operation process, the method further comprises the following steps:
controlling the loading motor, the cutting motor and the transportation motor to start, and judging whether the loading motor, the cutting motor and the transportation motor start normally or not;
and if the loading motor, the cutting motor and the transportation motor are all started normally, acquiring the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process.
5. The control method according to claim 1, wherein after the correspondingly adjusting the operating speeds of the pushing cylinder and the lifting cylinder of the cutting arm, further comprising:
acquiring the running speeds of a pushing oil cylinder and a lifting oil cylinder of the cutting arm after adjustment, the running currents of electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine;
and displaying the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the machine body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
6. A control device of a cutting arm of a tunneling and anchoring all-in-one machine is characterized by comprising:
the first acquisition module is used for acquiring numerical values of parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm;
the calculation module is used for calculating control parameters of the pushing oil cylinder and the electromagnetic valve of the lifting oil cylinder of the cutting arm according to the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process;
and the adjusting module is used for correspondingly adjusting the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm according to the control parameters of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm.
7. The control device of claim 6, wherein the values of the parameters during operation of the loading motor, the cutting motor, the transport motor and the cutting arm comprise:
the current of the loading motor, the temperature of the loading motor, the current of the cutting motor, the temperature of the cutting motor, the current of the transportation motor, the temperature of the transportation motor, the gas content, the flow of the cutting gear box, the temperature of the cutting gear box, the vibration frequency of the cutting gear box and the displacement of the cutting arm cutting groove.
8. The control device of claim 7, wherein the calculation module comprises:
the judging unit is used for judging whether the numerical values of the parameters in the operation process of the loading motor, the cutting motor, the transportation motor and the cutting arm are equal to the corresponding preset values or not;
and the calculating unit is used for calculating control parameters of the pushing oil cylinder of the cutting arm and the electromagnetic valve of the lifting oil cylinder according to the values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process under the condition that the data of each parameter is equal to the corresponding preset value.
9. The control device according to claim 6, characterized by further comprising:
the second acquisition module is used for acquiring the running speeds of the pushing oil cylinder and the lifting oil cylinder of the cutting arm after adjustment, the running currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine;
and the display module is used for displaying the numerical values of the parameters of the loading motor, the cutting motor, the transportation motor and the cutting arm in the operation process, the operation speeds of the pushing oil cylinder and the lifting oil cylinder of the adjusted cutting arm, the operation currents of the electromagnetic valves of the pushing oil cylinder and the lifting oil cylinder of the cutting arm, the lifting height, the lifting speed and the speed change rate of the cutting arm and the body posture of the tunneling and anchoring all-in-one machine on a human-computer interface.
10. A control system for a cutting arm of a machine, comprising control means for a cutting arm of a machine as claimed in any of claims 6 to 9.
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| CN202110772778.4A CN113446002A (en) | 2021-07-08 | 2021-07-08 | Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine |
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| CN202110772778.4A CN113446002A (en) | 2021-07-08 | 2021-07-08 | Control method, control device and control system of cutting arm of tunneling and anchoring all-in-one machine |
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