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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., and achieve the goal of improving control accuracy, high promotion value, and precise excavation Effect

Active Publication Date: 2021-06-18
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 existing soft-boom roadheader has low design precision, large error and cumbersome process in the aspect of parallel oil cylinder arm control; making the construction of the flexible-boom roadheader automatic and less labor-intensive

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

[0039] Example 1, such as figure 2 As shown, a control calculation method for the propulsion system of a flexible boom roadheader, the parallel cylinder arm includes a static platform 3 and a dynamic platform 4, when in the initial position, the static platform 3 and the dynamic platform 4 are arranged in parallel, and the center of the static platform 3 is in line with the The center of the moving platform 4 is located on the same straight line, the static platform 3 is rotationally connected with the main beam system through the main bearing 5, the moving platform 4 is connected with the static platform 3 through 6 parallel oil cylinders 2, and the static platform 3 is provided with a cutter head 1 . The position of the center of the cutter head 1 indicates the position of the cutter head.

[0040] The calculation method for controlling the expansion and contraction of parallel cylinder arms includes the following steps: figure 1 as shown,

[0041] S1: According to the p...

Embodiment 2

[0045] Embodiment 2, a control calculation method for the propulsion system of a flexible boom roadheader, in step S3, the theoretical stretching amount S of the parallel oil cylinder arm cylinder is calculated i The steps are as follows:

[0046] S3.1 Measure the radius R of the static platform of the parallel cylinder arm and the initial rod length of the cylinder driver

[0047] S3.2 as Figure 4 As shown, let the static platform of the parallel oil cylinder arm follow the main bearing of the flexible arm roadheader to rotate at a certain moment θ, and the coordinates of the hinge point of the parallel oil cylinder arm cylinder on the static platform B θ (x 0 ,y 0 ,z 0 ) and the corresponding relationship between the rotation angle θ is: x 0 ,y 0 ,z 0 When the rotation angle of the static platform is θ, the coordinates of the hinge point of the parallel cylinder arm cylinder on the static platform;

[0048] S3.3 as image 3 As shown, the static coordinate syste...

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Abstract

The invention discloses a method for controlling and calculating the propulsion system of a flexible-arm roadheader, which comprises 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; The excavation path of the cutter head is discretized by high-frequency sampling and straight line fitting method to obtain the coordinate data of the trajectory path and the coordinates of the center of the cutter head; The trajectory path coordinate data and the cutterhead center coordinates are used to calculate the theoretical expansion and contraction of the parallel cylinder arm cylinder; S4: compare the theoretical expansion and contraction of the parallel cylinder arm cylinder with the actual expansion and contraction measured by the displacement sensor in the parallel cylinder arm cylinder, Make corrections. The invention provides reliable guarantee for controlling the movement of parallel oil cylinder arms, 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 flexible-arm roadheaders, in particular to a control calculation method for a propulsion system of a flexible-arm roadheader. Background technique [0002] The parallel flexible 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 Problems in tunnel 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 plan...

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 姜礼杰李建斌文勇亮杨航原晓伟赵梦媛
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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