CN110439558A - A kind of cantilever excavator pick state of wear detection system and method - Google Patents
A kind of cantilever excavator pick state of wear detection system and method Download PDFInfo
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- CN110439558A CN110439558A CN201910580884.5A CN201910580884A CN110439558A CN 110439558 A CN110439558 A CN 110439558A CN 201910580884 A CN201910580884 A CN 201910580884A CN 110439558 A CN110439558 A CN 110439558A
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title abstract description 19
- 238000005520 cutting process Methods 0.000 claims abstract description 88
- 238000005299 abrasion Methods 0.000 claims abstract description 24
- 238000010276 construction Methods 0.000 claims abstract description 14
- 238000012360 testing method Methods 0.000 claims abstract description 4
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000011017 operating method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 239000011435 rock Substances 0.000 description 10
- 238000007689 inspection Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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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- Mining & Mineral Resources (AREA)
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The present invention relates to cantilever excavator field, specifically a kind of cantilever excavator pick state of wear detection system and method, including main controller, vibrating sensor, current sensor, infrared thermal imager and display output units structure；The vibrating sensor and current sensor are fixedly installed on the cutting arm of cantilever excavator, and the cutting motor of the current sensor and cantilever excavator is electrically connected；The infrared thermal imager is mounted on the cutting arm upper section of cantilever excavator；The display output units structure and main controller are electrically connected, and are exported in the form of figure and/or sound to operator for will test result；The detection system and method can find pick eccentric wear in time, avoid adjacent pick abrasion aggravation failure, pick degree of wear information can be exported, improve drivage efficiency, and the acquisition of pick abrasion detection characteristic is carried out using the practical cutting operation in construction site, the authenticity of characteristic is improved, guarantees detection anticipation effect.
Description
Technical field
The present invention relates to cantilever excavator field, specifically a kind of cantilever excavator pick state of wear detection system and
Method.
Background technique
A kind of heading equipment of the boom-type roadheader as high efficient and flexible, has been widely used for the excavation in tunnel, tunnel
With the exploitation of ore.Pick is the consumables in development machine driving, and manipulator need to pay close attention to the mill of pick in real time in tunneling process
Damage state can reduce working efficiency when there is part pick eccentric wear and accelerate the loss of other picks, can seriously damage pick
Seat and cutterhead ontology.There is such case and need the prolonged REPAIR WELDING in scene, influences Homes Using TV.Existing scheme
It is used in the pick patent of the infrared temperature-sensitive feedback wear-out failure of CN109113740A- and temperature measuring equipment is installed on each pick and is adopted
Temperature signal is uploaded with wireless method, this scheme is with small vibration in cutting soft rock and has under the premise of clinging pick there is no soil
Have certain practical, and pick needs to increase cost payout by special manufacturing process.Also patent proposition pacifies in pick
Electric resistance sensor is filled, as the abrasion resistence signal of pick also changes therewith, pick is judged by the signal of detection variation
State of wear, but be all fundamentally all there is above-mentioned disadvantage by wired or wirelessly for the acquisition of wear signal
End can not implement at this stage, therefore, above-mentioned technical problem and defect how be overcome to become what emphasis needed to solve
Problem.
Summary of the invention
Goal of the invention of the invention is to overcome defect described in background technique, to realize a kind of cantilever excavator
Pick state of wear detection system and method, the system and method can find pick eccentric wear in time, and adjacent pick is avoided to wear
Aggravation improves drivage efficiency, and the acquisition of pick abrasion detection characteristic is carried out using the practical cutting operation in construction site,
The authenticity of characteristic is improved, guarantees detection anticipation effect.
For achieving the above object, the technical scheme is that a kind of cantilever excavator pick state of wear detects
System, including main controller, vibrating sensor, current sensor, infrared thermal imager and display output units structure；The vibrating sensing
Device and current sensor are fixedly installed on the cutting arm of cantilever excavator, and the vibrating sensor exists for recording cutting arm
X, the cutting motor of the vibration data on tri- coordinate directions of Y, Z, the current sensor and cantilever excavator is electrically connected；
The infrared thermal imager is mounted on the cutting arm upper section of cantilever excavator, and the alignment lens cutterhead of infrared thermal imager；
The display output units structure and main controller are electrically connected, and are exported in the form of figure and/or sound to behaviour for will test result
Work person.
Further, the display output units structure is set in the operation cockpit of cantilever excavator, the display output
Mechanism includes display and phonetic alarm, is shown for pick state of wear and audio alert.
The cantilever excavator pick state of wear detection method based on said detecting system that the present invention also provides a kind of, including
Following steps
A. operation is equipped with the normal cutting of cantilever excavator of completely new pick, completes a cutting working cycles；
B. main controller acquires and stores the specific data under normal condition, obtains different operations under normal pick cutting state
The real time on-line monitoring data of operating condition, analysis handle under normal pick cutting state different operating conditions and specific data parameter it
Between correlation, form normal pick working status parameter characteristic set；
C. operation cantilever excavator continues cutting operation, until pick is in moderate abrasion and state is seriously worn；
D. main controller acquires and stores the specific data under state of wear, obtains moderate abrasion and is seriously worn under state not
With the real time on-line monitoring data of operating condition, analyzes the abrasion of processing moderate and different operating conditions and spy is seriously worn under state
Determine the correlation between data parameters, forms abrasion pick working status parameter characteristic set；
E. the cutterhead of cantilever excavator is changed to completely new pick, the normal cutting work of operation cantilever excavator；
F. main controller acquires and monitoring feature data in real time in cutting course, and in real time with normal pick working condition, mill
It damages pick working status parameter characteristic set to compare, to assess pick state of wear；
G. pick state of wear is carried out according to the state of wear display and phonetic alarm of assessment to show and phonetic warning；
When cantilever excavator cutting geological condition changes or replace construction site, then repeatedly a~g step carries out feature
The foundation and assessment of data acquisition system.
Further, a cutting working cycles are completed in step a refers to manipulator according to the cutting operating method of specification
It treats cutting section and carries out primary reciprocal cutting operation, by taking cutterhead backsight rotates clockwise as an example: rock is on the right side of cutterhead
When, cutting from up to down, backhaul sky knife.When rock is on the left of cutterhead, bottom-up cutting, backhaul sky knife.Rock is in cutting
When head top, cutting from left to right, backhaul sky knife.When rock is below cutterhead, right-to-left cutting, backhaul sky knife.
Further, main controller acquisition stores the specific data under normal or state of wear in step b and d, described specific
Data include: in the continuous-stable cutting course of left and right or more, and cutting motor electric current is IaWhen cutting arm vibrating sensor output
Data and the cutterhead temperature pattern data of infrared camera acquisition；Vibrating sensor exports on tri- coordinate directions of X, Y, Z
Vibration data；Cutting motor electric current IaValue are as follows: 0.8 × Irate≤Ia≤1.1×Irate, IrateFor the specified electricity of cutting motor
Stream, value range can utmostly embody the status data of cantilever excavator in normal working conditions, the volume lower than 0.8 times
Constant current, equipment belong to light condition, and greater than 1.1 times rated current belong to overload, and underloading and overload cannot be objective
Reflect characteristic.
Further, the vibration data includes the vibration acceleration and vibration amplitude of vibrating sensor acquisition, selection vibration
Dynamic acceleration information carries out root mean square treated characteristic of the root-mean-square value as vibration data；Vibration acceleration data are equal
Root calculation formula are as follows:
XrmsFor vibration acceleration data root mean square,For the square value of i-th of data
Further, when cantilever excavator cutterhead replaces with completely new pick, main controller marks replacing construction, and is output to
On display, the prompt of pick inspection or replacement is carried out for manipulator.
Further, signified moderate wears and is seriously worn refer to be zequin at the top of pick alloy head in step c,
It is mild wear that abrasion loss, which is less than 10mm, is worn between 10mm~20mm for moderate, is to be seriously worn greater than 20mm, practice of construction
In, it is noted that replacement pick, severe answer hard stop to replace pick when wearing when moderate is worn.
Cantilever excavator pick state of wear detection system and method for the invention the utility model has the advantages that
1. cantilever excavator pick state of wear detection system of the invention and method avoid and install resistance in cutterhead
Sensor or temperature sensor detect the drawbacks of abrasion is brought by wired or wireless form, can find that in time pick is inclined
Mill avoids adjacent pick abrasion aggravation, improves the Homes Using TV of equipment, guarantee tunneling construction efficiency.
2. cantilever excavator pick state of wear detection system of the invention and method are grasped using the practical cutting in construction site
The acquisition and foundation for making progress pick abrasion detection characteristic, improve the authenticity of characteristic, ensure that detection anticipation effect
Fruit.
3. cantilever excavator pick state of wear detection system of the invention and method select cutting electricity when steady cutting
The Rule of judgment that electromechanical flow valuve is acquired as characteristic can exclude complex geological condition and operation randomness to data sample
Interference, to keep the reliability of data assessment higher.
Detailed description of the invention
Fig. 1 is the schematic diagram of cantilever excavator pick state of wear detection system of the invention；
Fig. 2 is the control flow chart of cantilever excavator pick state of wear detection method of the invention.
Specific embodiment
Cantilever excavator pick state of wear of the invention is detected with reference to the accompanying drawing and by specific embodiment
System and method does more detailed description.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Referring to Fig. 1, the cantilever excavator pick state of wear detection system of the present embodiment, including main controller, vibrating sensing
Device, current sensor, infrared thermal imager and display output units structure；The vibrating sensor and current sensor are fixedly installed
In on the cutting arm of cantilever excavator, the vibrating sensor is for recording vibration of the cutting arm on tri- coordinate directions of X, Y, Z
The cutting motor of dynamic data, the current sensor and cantilever excavator is electrically connected；The infrared thermal imager is mounted on outstanding
The cutting arm upper section of arm development machine, and the alignment lens cutterhead of infrared thermal imager；The display output units structure and main controller
It being electrically connected, being exported in the form of figure and/or sound to operator for will test result.
At the scene under condition of construction, the display output units structure is set in the operation cockpit of cantilever excavator, described
Display output units structure includes display and phonetic alarm, is shown for pick state of wear and audio alert.
Referring to fig. 2, the present embodiment also provides a kind of cantilever excavator pick state of wear inspection based on said detecting system
Survey method, includes the following steps
A. operation is equipped with the normal cutting of cantilever excavator of completely new pick, completes a cutting working cycles；
B. main controller acquires and stores the specific data under normal condition, obtains different operations under normal pick cutting state
The real time on-line monitoring data of operating condition, analysis handle under normal pick cutting state different operating conditions and specific data parameter it
Between correlation, form normal pick working status parameter characteristic set；
C. operation cantilever excavator continues cutting operation, until pick is in moderate abrasion and state is seriously worn；
D. main controller acquires and stores the specific data under state of wear, obtains moderate abrasion and is seriously worn under state not
With the real time on-line monitoring data of operating condition, analyzes the abrasion of processing moderate and different operating conditions and spy is seriously worn under state
Determine the correlation between data parameters, forms abrasion pick working status parameter characteristic set；
E. the cutterhead of cantilever excavator is changed to completely new pick, the normal cutting work of operation cantilever excavator；
F. main controller acquires and monitoring feature data in real time in cutting course, and in real time with normal pick working condition, mill
It damages pick working status parameter characteristic set to compare, to assess pick state of wear；
G. pick state of wear is carried out according to the state of wear display and phonetic alarm of assessment to show and phonetic warning；
When cantilever excavator cutting geological condition changes or replace construction site, then repeatedly a~g step carries out feature
The foundation and assessment of data acquisition system.
In the present embodiment, a cutting working cycles are completed in step a refers to that manipulator operates according to the cutting of specification
Method treats cutting section and carries out primary reciprocal cutting operation, and by taking cutterhead backsight rotates clockwise as an example: rock is in cutterhead
When right side, cutting from up to down, backhaul sky knife.When rock is on the left of cutterhead, bottom-up cutting, backhaul sky knife.Rock exists
When above cutterhead, cutting from left to right, backhaul sky knife.When rock is below cutterhead, right-to-left cutting, backhaul sky knife.
In the present embodiment, main controller acquisition stores the specific data under normal or state of wear in step b and d, described
Specific data includes: up and down in continuous-stable cutting course, cutting motor electric current is I for left and rightaWhen cutting arm vibrating sensor
Output data and the cutterhead temperature pattern data of infrared camera acquisition；Vibrating sensor exports tri- coordinate directions of X, Y, Z
On vibration data；Cutting motor electric current IaValue are as follows: 0.8 × Irate≤Ia≤1.1×Irate, IrateFor the volume of cutting motor
Constant current, value range can utmostly embody the status data of cantilever excavator in normal working conditions, be lower than 0.8 times
Rated current, equipment belongs to light condition, and greater than 1.1 times rated current belong to overload, and underloading and overload cannot
Objectively respond characteristic.
In the present embodiment, the vibration data includes the vibration acceleration and vibration amplitude of vibrating sensor acquisition, choosing
It selects vibration acceleration data and carries out root mean square treated characteristic of the root-mean-square value as vibration data；Vibration acceleration number
According to root mean square calculation formula are as follows:
XrmsFor vibration acceleration data root mean square,For the square value of i-th of data
Processing analysis is carried out to infrared temperature image: extracting mean temperature T when cutterhead workaveAnd maximum temperature
Tmax, when cutterhead cutting, under normal circumstances, since pick is rotation when cutting works, the pick temperature for participating in cutting is big
Body is identical, tends to mean temperature Tave；With the aggravation of abrasion, pick alloy head part becomes larger to the Cutting Drag of rock, pick
Mean temperature TaveIt increases with it, therefore judges that the state of wear of pick is to meet reality by the variation tendency of mean temperature
Operating condition；(cause since pick and pick box are unable to move relatively) when some pick for participating in cutting generates eccentric wear, this section
Tooth temperature can be higher than other pick temperature, and be greater than normal pick cutting when maximum temperature Tmax, judge that cutting is inclined with this
Mill, and prompt the pick of replacement eccentric wear.It should be noted that above-mentioned temperature data is I also in cutting motor electric currentaItem
It is obtained under part.
In the present embodiment, when cantilever excavator cutterhead replaces with completely new pick, main controller marks replacing construction, and defeated
Out on display, the prompt of pick inspection or replacement is carried out for manipulator.
In the present embodiment, signified moderate wears and is seriously worn refer to be to calculate at the top of pick alloy head in step c
Starting point, it is mild wear that abrasion loss, which is less than 10mm, is worn between 10mm~20mm for moderate, is to be seriously worn greater than 20mm, real
In the construction of border, it is noted that replacement pick, severe answer hard stop to replace pick when wearing when moderate is worn.
Referring to fig. 2, be explained as follows in Fig. 2 process 1: main controller acquisition data include vibration acceleration data, it is infrared
Temperature data ultimately forms following specific features data: vibrating sensor X, Y, Z axis vibration acceleration root mean square under normal condition
Value Xrms, Yrms,Zrms；Mean temperature Tave, maximum temperature Tmax；X under moderate state of wearrms1, Yrms1,Zrms1, Tmax1, Tave1；
X under state is seriously wornrms2, Yrms2,Zrms2, Tmax2, Tave2；
It is explained as follows in above-mentioned process 2: in IaUnder the conditions of, real-time data collection is handled, when meeting following item
Part a period of time, Tave1>Tave、Tave2>Tave, audio alert and display prompts pick partial friction；When meeting one of following condition
When, Xrms1>Xrms、Yrms1>Yrms、Zrms1>Zrms、Tmax1>Tmax, audio alert and display prompts pick moderate wear-out failure；When
Meet following condition for the moment, Xrms2>Xrms、Yrms2>Yrms、Zrms2>Zrms、Tmax2>Tmax, audio alert and display prompts are cut
Failure is seriously worn in tooth.
Unless otherwise defined, the technical term or scientific term used herein should be in fields of the present invention and has
The ordinary meaning that the personage of general technical ability is understood.As used " first ", " the in present specification and claims
Two " and similar word be not offered as any sequence, quantity or importance, and be used only to distinguish different composition portions
Point.Equally, such as "one" or " one " similar word is used also not necessarily to indicate that quantity limits." comprising " or "comprising" etc.
Similar word mean to occur element or object before the word cover the element for appearing in the word presented hereinafter or object and
It is equivalent, and is not excluded for other elements or object.The similar word such as " connection " or " connected " not now due to physics or
The connection of person's machinery, but may include electrical connection, it is either direct or indirect."upper", "lower", " left side ",
" right side " etc. is only used for indicating relative positional relationship, after the absolute position for being described object changes, then the relative positional relationship
May correspondingly it change.
It is described in detail exemplary embodiment of the invention above in reference to preferred embodiment, however art technology
Personnel it will be appreciated that under the premise of without departing substantially from theory of the present invention, above-mentioned specific embodiment can be made a variety of modifications and
Remodeling, and multiple combinations can be carried out to each technical characteristic proposed by the present invention, structure, and without departing from protection model of the invention
It encloses.
Claims (8)
1. a kind of cantilever excavator pick state of wear detection system, it is characterised in that: including main controller, vibrating sensor, electricity
Flow sensor, infrared thermal imager and display output units structure；The vibrating sensor and current sensor are fixedly installed on outstanding
On the cutting arm of arm development machine, the vibrating sensor is for recording vibration number of the cutting arm on tri- coordinate directions of X, Y, Z
According to the cutting motor of the current sensor and cantilever excavator is electrically connected；The infrared thermal imager is mounted on cantilever pick
Into the cutting arm upper section of machine, and the alignment lens cutterhead of infrared thermal imager；The display output units structure and main controller are electrical
Connection, is exported in the form of figure and/or sound to operator for will test result.
2. cantilever excavator pick state of wear detection system according to claim 1, it is characterised in that: the display is defeated
Mechanism is set in the operation cockpit of cantilever excavator out, and the display output units structure includes display and phonetic alarm,
It is shown for pick state of wear and audio alert.
3. a kind of cantilever excavator pick state of wear detection method based on detection system of any of claims 1 or 2, special
Sign is: including the following steps
A. operation is equipped with the normal cutting of cantilever excavator of completely new pick, completes a cutting working cycles；
B. main controller acquires and stores the specific data under normal condition, obtains different operating conditions under normal pick cutting state
Real time on-line monitoring data, analysis handles under normal pick cutting state between different operating conditions and specific data parameter
Correlation forms normal pick working status parameter characteristic set；
C. operation cantilever excavator continues cutting operation, until pick is in moderate abrasion and state is seriously worn；
D. main controller acquires and stores the specific data under state of wear, obtains moderate abrasion and different fortune are seriously worn under state
Different operating conditions and certain number under state are worn and are seriously worn to the real time on-line monitoring data of row operating condition, analysis processing moderate
According to the correlation between parameter, abrasion pick working status parameter characteristic set is formed；
E. the cutterhead of cantilever excavator is changed to completely new pick, the normal cutting work of operation cantilever excavator；
F. main controller acquires simultaneously monitoring feature data in real time in cutting course, and cuts in real time with normal pick working condition, abrasion
Tooth working status parameter characteristic set compares, to assess pick state of wear；
G. pick state of wear is carried out according to the state of wear display and phonetic alarm of assessment to show and phonetic warning；
When cantilever excavator cutting geological condition changes or replace construction site, then repeatedly a~g step carries out characteristic
The foundation and assessment of set.
4. cantilever excavator pick state of wear detection method according to claim 3, it is characterised in that: complete in step a
Refer to that manipulator treats cutting section according to the cutting operating method of specification and carries out primary reciprocal section at a cutting working cycles
Cut operation.
5. cantilever excavator pick state of wear detection method according to claim 3, it is characterised in that: in step b and d
Main controller acquisition stores the specific data under normal or state of wear, and the specific data includes: continuous-stable is cut up and down for left and right
During cutting, cutting motor electric current is IaWhen cutting arm vibrating sensor output data and infrared camera acquisition cutterhead
Temperature pattern data；Vibrating sensor exports the vibration data on tri- coordinate directions of X, Y, Z；Cutting motor electric current IaValue
Are as follows: 0.8 × Irate≤Ia≤1.1×Irate, IrateFor the rated current of cutting motor.
6. cantilever excavator pick state of wear detection method according to claim 5, it is characterised in that: the vibration number
According to the vibration acceleration and vibration amplitude for including vibrating sensor acquisition, after selecting vibration acceleration data to carry out root mean square processing
Characteristic of the root-mean-square value as vibration data；Vibration acceleration data root mean square calculation formula are as follows:
XrmsFor vibration acceleration data root mean square,For the square value of i-th of data
7. cantilever excavator pick state of wear detection method according to claim 3, it is characterised in that: cantilever excavator
When cutterhead replaces with completely new pick, main controller marks replacing construction, and is output on display, carries out pick for manipulator
The prompt for checking or replacing.
8. cantilever excavator pick state of wear detection method according to claim 3, it is characterised in that: institute in step c
Referring to moderate abrasion and be seriously worn and refers to be zequin at the top of pick alloy head, it is mild wear that abrasion loss, which is less than 10mm,
It is worn between 10mm~20mm for moderate, is to be seriously worn greater than 20mm.
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| CN201910580884.5A CN110439558B (en) | 2019-06-29 | 2019-06-29 | System and method for detecting abrasion state of cutting pick of cantilever heading machine |
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| CN201910580884.5A CN110439558B (en) | 2019-06-29 | 2019-06-29 | System and method for detecting abrasion state of cutting pick of cantilever heading machine |
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Cited By (7)
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|---|---|---|---|---|
| CN111322082A (en) * | 2020-03-09 | 2020-06-23 | 西南交通大学 | TBM hob state monitoring and fault diagnosis method and system |
| CN111502658A (en) * | 2020-04-03 | 2020-08-07 | 黑龙江科技大学 | Intelligent monitoring shearer pick state device based on linear Hall multi-probe |
| CN111811392A (en) * | 2020-08-12 | 2020-10-23 | 株洲信达机械科技有限公司 | A pick with intelligent detection failure and an intelligent detection method for pick failure |
| CN112240384A (en) * | 2020-11-05 | 2021-01-19 | 中国煤炭科工集团太原研究院有限公司 | Lubricating system for cutting speed reducer of boom-type heading machine |
| CN114004539A (en) * | 2021-11-19 | 2022-02-01 | 四川启睿克科技有限公司 | Method for evaluating abrasion loss in each direction based on vibration data |
| CN114086954A (en) * | 2021-10-29 | 2022-02-25 | 中国煤炭科工集团太原研究院有限公司 | Automatic control method and device of tunneling and anchoring all-in-one machine, electronic equipment and storage medium |
| CN114183158A (en) * | 2021-11-15 | 2022-03-15 | 中铁工程装备集团隧道设备制造有限公司 | Motor protection control system and method for cantilever excavator |
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