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A Control Calculation Method for the Propulsion System of Flexible Boom Tunneling Machine

A technology of propulsion system and calculation method, which is applied in the direction of earth drilling, mining equipment, tunnels, etc., can solve the problems of cumbersome process, less people, large errors, etc., achieve high promotion value, precise excavation, and improve control accuracy Effect

Active Publication Date: 2021-02-23
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, problems such as over-excavation, under-excavation, difficulty in manual control, and how to maximize the working efficiency of the system may occur when excavating a large-section tunnel with a small-diameter cutterhead. The control method of the roadheader is improved to realize a series of functions such as automatic trajectory planning, automatic brushing, selection of the optimal tunneling process according to geological conditions, improvement of tunnel boundary forming quality, and provision of construction data for the owner.
However, the design accuracy of the existing flexible arm roadheader in the control of the serial oil cylinder arm is low, the error is large, and the process is cumbersome; the automation of the construction of the flexible arm roadheader is low, and the number of people is low.

Method used

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  • A Control Calculation Method for the Propulsion System of Flexible Boom Tunneling Machine
  • A Control Calculation Method for the Propulsion System of Flexible Boom Tunneling Machine
  • A Control Calculation Method for the Propulsion System of Flexible Boom Tunneling Machine

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Experimental program
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Effect test

Embodiment 1

[0046] Embodiment 1, a control calculation method for the propulsion system of a flexible boom roadheader, the series swing arm is as follows figure 2 As shown, it includes a support base 3 and a swing arm 2. The support base 3 is rotated with a rotary shaft 5. The rotary shaft 5 is provided with an eccentric lug seat 6. The eccentric lug seat 6 is connected with a swing oil cylinder 7. One end of the swing oil cylinder 7 It is hinged with the eccentric lug seat 6, and the other end is connected with the main beam support system; the expansion and contraction of the swing oil cylinder drives the rotary shaft to rotate around its central axis, so as to realize the left and right swing of the swing telescopic arm in the vertical plane. The swing arm 2 includes an upper swing arm 201 and a lower swing arm 202 of equal length, the front ends of the upper swing arm 201 and the lower swing arm 202 are hinged with the cutter head 1, and the upper swing arm 201 is connected with the l...

Embodiment 2

[0052] Embodiment 2, a control calculation method for the propulsion system of a flexible boom roadheader, the method for obtaining the rotation angle β and the swing angle α in step S2 is as follows:

[0053] S2.1: Take the axis of the rotary axis of the series swing arm as the Z axis to establish a coordinate system such as image 3 , 4 As shown, the y direction is perpendicular to the direction of the paper, and the origin O of the coordinate system is located on the upper end of the rotary axis. The coordinates of the center point A of the cutter head represent the position of the cutter head. The coordinates of A are obtained according to the geometric relationship. The coordinates of A can be expressed as:

[0054] A((L2cosα+L1+L3)cosβ, -(L2cosα+L1+L3)sinβ, L2sinα);

[0055] S2.2: Project the trajectory path coordinate data to the coordinate system yz plane. The yz plane is the same as the excavation cross section, which is convenient for calculating the actual cutterhe...

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Abstract

The invention discloses a new control calculation method for the propulsion system of a flexible arm roadheader, which includes the following steps: S1: planning the excavation path of the cutter head according to the pre-designed tunnel contour boundary and the diameter of the cutter head; Discretization processing to obtain the trajectory path coordinate data, and calculate the corresponding rotation angle and corresponding swing angle of the series swing arm according to the trajectory path coordinate data; S3: According to the corresponding rotation angle and corresponding swing angle of the series swing arm obtained in step S2, calculate The theoretical expansion and contraction of the swing cylinder of the series swing arm and the theoretical expansion and contraction of the pitch cylinder; S4: Compare the theoretical expansion and contraction of the swing cylinder of the series swing arm with the actual expansion and contraction measured by the displacement sensor in the swing cylinder, and then correct it . The invention provides reliable guarantee for controlling the action of the series swing arm, improves the control precision, provides guarantee for the efficient and accurate excavation of the flexible arm roadheader, and has high popularization value.

Description

technical field [0001] The invention relates to the technical field of tunnel construction, in particular to a method for controlling and calculating the propulsion system of a flexible arm roadheader. Background technique [0002] The soft-arm roadheader uses a six-degree-of-freedom parallel robot to control the position of the cutter head in real time. At the same time, the cutter head breaks the rock with the rotation of the main bearing, realizing the purpose of excavating a section of any shape with a small-diameter cutter head, which can effectively solve the problem of special hard rock tunnels. problems in construction. However, problems such as over-excavation, under-excavation, difficulty in manual control, and how to maximize the working efficiency of the system may occur when excavating a large-section tunnel with a small-diameter cutterhead. The control method of the roadheader is improved to realize a series of functions such as automatic trajectory planning, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E21D9/10
CPCE21D9/1006E21D9/108E21D9/1093
Inventor 李建斌文勇亮姜礼杰贾连辉杨航原晓伟赵梦媛
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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