基于机器人支撑的柔臂掘进机伺服液压系统

Servo Hydraulic System of Flexible Arm Roadheader with Robot Support

硬岩掘进机常用于隧道施工,但刀盘形状固定,掘进时无法改变掌子面形状,造成应用场景受限。鉴于此,基于机器人支撑的柔臂掘进机逐渐得到应用。针对该柔臂掘进机可改变运动姿态,适用于大负载工况等特点,采用比例伺服控制系统,通过传感器将执行机构位移反馈至比例伺服阀,与给定信号对比后调整阀芯开口实时纠偏末端位姿。该系统满足了掘进机推进系统在控制时,精度更高、响应更快、稳定性更强的要求。

Tunnel construction often uses the hard rock roadheader,but the shape of cutterhead is fixed.The roadheader cannot change tunnel face,resulting in limited application scenarios.In view of this,the flexible boom roadheader based on robot support gradually applies.In view of the characteristics that the flexible boom roadheader can change its motion attitude and is suitable for large load conditions,This paper adopts proportional servo control system,The actuator displacement is fed back to proportional servo valve through sensor,comparing with the given signal,adjust the spool opening to correct the end pose in real time.The system meets the requirements in the control of roadheader propulsion system such as higher precision,faster response and stronger stability.