Anchor trolley automatic control system and anchor trolley

Abstract

The present invention proposes an automatic control system for an anchor trolley and an anchor trolley, which belong to the technical field of tunnel construction. The upper computer sends the target position to the boom control unit, and the boom control unit calculates the length and angle of each joint of the mechanical arm at the target position according to the data collected by the sensors at each joint of the mechanical arm, and uses a double PID loop composed of a position loop PID and a speed loop PID to control the hydraulic valve to realize automatic positioning of the mechanical arm; after the mechanical arm is automatically positioned, the drilling assembly, the grouting assembly and the anchor assembly are controlled according to the data collected by the head sensor to realize automatic drilling, automatic grouting and automatic anchoring. The present invention directly uploads the mechanical arm sensor data and the head sensor data to the boom control unit for calculation, and obtains the calculation result and directly sends it to the valve control unit to realize automatic positioning of the mechanical arm, automatic drilling, automatic grouting and automatic anchoring of the head, thereby improving the positioning accuracy, improving the work efficiency, and reducing the labor intensity of the workers on site.

Description

Technical Field

[0001] The invention provides an automatic control system for an anchor trolley and an anchor trolley, belonging to the technical field of tunnel construction. Background Art

[0002] As an integrated movable device for anchor grouting support, the anchor trolley is widely used in the reinforcement support of tunnels. Existing anchor trolleys are all equipped with operating arms, which are used to control the operating arms to achieve drilling, grouting and anchoring to achieve the purpose of tunnel support. At present, the anchor trolley can basically realize the integration of drilling, grouting and anchoring, but manual operation is generally required during the construction process. This manual operation method not only takes a long time to operate, but also cannot guarantee the safety of workers. Therefore, how to solve the problems of low construction efficiency and high safety risks of workers in the actual operation of the current anchor mechanism has become a technical problem that needs to be solved. In the patent application number CN112943323A entitled "Anchor Trolley Control System", in order to improve the automation degree and safety performance of the anchor trolley, an anchor trolley control system is disclosed. Although the composition and function realization of the anchor trolley remote control system are described from the perspective of remote control, the control system and system architecture composition of the anchor trolley itself are not mentioned, and no specific control strategy is explained to realize the automation of the anchor trolley. In addition, the current anchor trolley mainly adopts a single-stage PID control method to realize the automatic control of each joint. Because the construction environment in which the anchor trolley is located may be interfered by different signals in the environment, and the electricity and magnetism generated by the anchor trolley's own equipment may also cause signal interference, which reduces the automation performance of the anchor trolley and makes it difficult to ensure work efficiency. Summary of the invention

[0003] The present invention provides an automatic control system for an anchor trolley and an anchor trolley, the purpose of which is to realize automatic control of a mechanical arm, improve work efficiency, and enhance target alignment accuracy.

[0004] The present invention provides an automatic control system for an anchor trolley, comprising a host computer and a boom control unit, wherein the boom control unit is connected to a mechanical arm sensor unit, a head sensor unit and a valve control unit;

[0005] The robot arm sensor unit includes a boom left-right swing angle encoder 13 for installation at the boom left-right swing joint, a boom up-down pitch angle encoder 14 for installation at the boom up-down pitch joint, a boom telescopic length encoder 15 for installation at the boom telescopic joint, a forearm up-down pitch angle encoder 16 for installation at the forearm up-down pitch joint, a forearm left-right swing encoder for installation at the forearm left-right swing joint, a head flip angle encoder 18 for installation at the head flip joint 11, and a head swing angle encoder 19 for installation at the head swing joint;

[0006] The valve control unit includes corresponding hydraulic valves respectively installed on the boom cylinder group 7, the arm cylinder group 10, and the head swing cylinder 12;

[0007] The arm control unit is used to calculate the target telescopic length and / or rotation angle of each joint of the robotic arm according to the target position sent by the host computer, and adopts a dual PID loop composed of a position loop PID and a speed loop PID for control, and makes a difference between the target telescopic length and / or rotation angle of the joint and the actual telescopic length and / or rotation angle of the joint, and uses the difference as the input of the position loop PID. After being processed by the position loop PID, the joint target speed is generated, and the target speed is made different from the actual joint speed, and the difference is used as the input of the speed loop PID. After being processed by the speed loop PID, the opening of the corresponding hydraulic valve is generated, and each hydraulic valve is controlled according to the obtained opening to realize the movement of each joint of the robotic arm, so that each joint of the robotic arm reaches the corresponding target telescopic length and / or rotation angle, and then the data collected by the head sensor unit is used to control the head to automatically perform drilling, grouting and anchoring in sequence.

[0008] The present invention also provides an anchor trolley, comprising a vehicle body 1, a cab 2, a mechanical arm mounting frame 3, a service arm 4, a mechanical arm boom 5 and a machine head 6, and also comprises an anchor trolley automation control system for realizing the automatic control of the anchor trolley.

[0009] The anchor trolley automation control system proposed in the present invention calculates the target telescopic length and target rotation angle of each joint of the robotic arm according to the target position sent by the host computer through the angle encoder or length encoder installed at each joint of the robotic arm, and controls each hydraulic valve to realize the telescopic and rotation of each joint of the robotic arm based on the solution result according to the result collected by the robotic arm sensor unit, so that the end of the robotic arm reaches the target position, and the automatic positioning of the robotic arm is realized. There is no need for manual operation of the robotic arm, which improves work efficiency. At the same time, the automatic positioning of the robotic arm is realized through the calculation result, which also improves the target alignment accuracy.

[0010] Furthermore, in order to realize automatic drilling to improve work efficiency, the head sensor unit includes a station conversion angle encoder 27 for installation on the station swing frame 31, a drilling length encoder for installation on the drilling assembly 22, and a top cylinder pressure sensor 30 for installation on the frame top cylinder 29; the valve control unit also includes hydraulic valves for installation at the frame top cylinder 29 and the station conversion cylinder 28 respectively;

[0011] The arm control unit also controls the connected drilling assembly 22, controls the station conversion cylinder 28 through the angle data of the station conversion angle encoder 27 to swing the station swing frame 31 to the target drilling position, and controls the drilling assembly 22 to automatically drill through the length data of the drilling length encoder 25.

[0012] Furthermore, in order to realize automatic grouting to improve work efficiency, the arm control unit also controls the connection of the grouting assembly 23. The arm control unit is used to control the station conversion cylinder 28 to swing the station swing frame 31 to the grouting station through the angle data of the station conversion angle encoder 27 after the drilling is completed, and realize automatic grouting by controlling the grouting assembly 23.

[0013] Furthermore, in order to realize automatic anchoring to improve work efficiency, the arm control unit also controls the connection of the anchor assembly 21, and the head sensor unit also includes an anchor length encoder 26 for installation on the anchor assembly 21. The arm control unit is used to control the station conversion cylinder 28 to swing the station swing frame 31 to the anchor station through the angle data of the station conversion angle encoder 27 after the grouting is completed, and control the anchor assembly 21 to realize automatic anchoring through the length data of the anchor length encoder 26.

[0014] Furthermore, in order to improve the anti-interference ability of each joint during automatic control, each joint in the drilling component 22, the grouting component 23 and the anchor component 21 is controlled by a dual PID loop consisting of a position loop PID and a speed loop PID. The target telescopic length and / or rotation angle of the joint is subtracted from the actual telescopic length and / or rotation angle of the joint, and the difference is used as the input of the position loop PID. After processing by the position loop PID, the target joint speed is generated, the target speed is subtracted from the actual joint speed, and the difference is used as the input of the speed loop PID. After processing by the speed loop PID, the opening of the corresponding hydraulic valve is generated, and each hydraulic valve is controlled according to the obtained opening to realize the movement of each joint of the robotic arm, so that each joint of the robotic arm reaches the corresponding target telescopic length and / or rotation angle.

[0015] Furthermore, in order to realize chassis control of the anchor trolley, the upper computer is also connected to a chassis control unit, which includes a chassis sensor unit, a hydraulic pump and a corresponding hydraulic valve installed on the anchor trolley chassis to drive the chassis leg lifting, trolley travel and steering, the chassis sensor unit includes a height sensor installed on the chassis lifting component, a length sensor installed on the trolley travel component and an angle sensor installed on the trolley steering component, and the chassis control unit is used to control the chassis to lift, move and turn according to the instructions of the upper computer and the data collected by the chassis sensor unit.

[0016] Furthermore, in order to realize manual control of the anchor trolley, the host computer is also connected to an operating unit, and the operating unit includes a handle assembly and a button assembly.

[0017] Furthermore, in order to identify the arch features in the tunnel, the host computer is also connected to a three-dimensional scanning unit via a switch, and the three-dimensional scanning unit is used to scan the environmental data in the tunnel and upload it to the host computer via the switch. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the architecture diagram of the automatic control system of the anchor trolley of the present invention;

[0019] Figure 2 This is a structural diagram of the anchor trolley of the present invention;

[0020] Figure 3 This is a structural diagram of the mechanical arm and forearm of the anchor trolley of the present invention;

[0021] Figure 4 This is a top view of the head of the anchor trolley of the present invention;

[0022] Figure 5 This is a bottom view of the head of the anchor trolley of the present invention;

[0023] Figure 6 It is a schematic diagram of the sensor unit structure of the robot arm of the present invention;

[0024] Figure 7 It is the control diagram of the head sensor unit of the present invention;

[0025] Figure 8 It is a diagram of the chassis control unit architecture of the present invention;

[0026] Fig. 9 It is a diagram of the operating unit architecture of the present invention;

[0027] Fig.10 It is a diagram of the valve control unit architecture of the present invention;

[0028] Fig.11 This is a manual control flow chart of the anchor trolley control system of the present invention;

[0029] Fig.12 This is a semi-automatic control flow chart of the anchor trolley control system of the present invention;

[0030] Fig.13 This is an automatic control flow chart of the anchor trolley control system of the present invention;

[0031] Fig.14 It is a double PID loop control flow chart of each joint of the robot arm of the present invention;

[0032] Figure 2-Figure 5Marking description, 1-car body, 2-cab, 3-mechanical arm mounting frame, 4-service arm, 5-mechanical arm boom, 6-machine head, 7-big arm cylinder group, 8-big arm telescopic joint, 9-mechanical arm forearm, 10-forearm cylinder group, 11-machine head flip joint, 12-machine head swing cylinder, 13-big arm left and right swing angle encoder, 14-big arm up and down pitch angle encoder, 15-big arm telescopic length encoder, 16-forearm up and down pitch angle encoder , 17-arm left and right swing encoder, 18-machine head flip angle encoder, 19-machine head swing angle encoder, 20-anchor library, 21-anchor assembly, 22-drilling assembly, 23-grouting assembly, 24-frame, 25-drilling length encoder, 26-anchor length encoder, 27-station conversion angle encoder, 28-station conversion cylinder, 29-frame top cylinder, 30-top cylinder pressure sensor, 31-station swing frame. DETAILED DESCRIPTION

[0033] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0034] System Example

[0035] The present invention proposes an automatic control system for an anchor trolley, which calculates the target telescopic length and target rotation angle of each joint of the robotic arm according to the target position sent by the host computer through angle encoders or length encoders installed at each joint of the robotic arm, and controls each hydraulic valve to realize the telescopic and rotation of each joint of the robotic arm based on the solution result according to the result collected by the robotic arm sensor unit, so that the end of the robotic arm reaches the target position, and the automatic positioning of the robotic arm is realized. Manual operation of the robotic arm is not required, which improves work efficiency. At the same time, the automatic positioning of the robotic arm is realized through the calculation result, which improves the target alignment accuracy.

[0036] The anchor trolley automatic control system proposed in the present invention has a specific structure as follows: Figure 1 The system includes a host computer and a boom control unit. The boom control unit is connected to a robot sensor unit and a valve control unit. The robot sensor unit is used to collect the length and angle data of each joint of the robot. The valve control unit controls the movement of the robot by controlling the hydraulic valve. The host computer communicates with the boom control unit through Ethernet and realizes a large amount of data interaction through a switch. Figure 2-3 and Figure 6As shown, the robot arm sensor unit includes a boom left-right swing angle encoder 13 for installation at the boom left-right swing joint, a boom up-down pitch angle encoder 14 for installation at the boom up-down pitch joint, a boom telescopic length encoder 15 for installation at the boom telescopic joint, a forearm up-down pitch angle encoder 16 for installation at the forearm up-down pitch joint, a forearm left-right swing encoder for installation at the forearm left-right swing joint, a head flip angle encoder 18 for installation at the head flip joint 11, and a head swing angle encoder 19 for installation at the head swing joint; the valve control unit includes corresponding hydraulic valves for installation on the boom cylinder group 7, the forearm cylinder group 10, and the head swing cylinder 12. In this embodiment, as shown in FIG. Fig.10 As shown, the hydraulic valve of the valve control unit is an electro-hydraulic proportional valve. The arm control unit calculates the target motion length and / or rotation angle of each joint of the manipulator according to the target position sent by the host computer, and realizes the positioning of the manipulator through the dual PID loop control valve control unit based on the data collected by the manipulator sensor and the calculated result. In this process, the 3D dynamic real-time display of the arm can be realized in the host computer according to the data collected by the manipulator sensor unit.

[0037] In this embodiment, the robot arm positioning process is as follows: Fig.14 As shown, a double PID loop consisting of a position loop PID and a speed loop PID is used for control, and the upper computer sends the target position to the boom control unit. The boom control unit uses an inverse algorithm to calculate the target rotation angle and target telescopic length of each joint of the robotic arm when it is at the target position based on the actual angle and length data of each joint collected by each sensor of the current robotic arm (the upper arm left and right swing angle encoder 13, the upper arm up and down pitch angle encoder 14, the upper arm telescopic length encoder 15, the forearm up and down pitch angle encoder 16, the forearm left and right swing encoder 17, the head flip angle encoder 18, and the head swing angle encoder 19), and compares the target telescopic length and / or rotation angle of each joint with the joint The actual telescopic length and / or rotation angle are subtracted, and the difference is used as the input of the position loop PID. After the position loop PID is processed, the joint target speed is generated. The target joint speed is subtracted from the actual joint speed, and the difference is used as the input of the speed loop PID. After the speed loop PID is processed, the opening of the corresponding hydraulic valve is generated; the arm control unit sends the calculated opening value of each joint to the electro-hydraulic proportional valve to each joint electro-hydraulic proportional valve, thereby controlling the action of each joint (big arm cylinder group 7, big arm telescopic joint 8, small arm cylinder group 9, head flip joint 11 and head swing cylinder 12), and then the end of the manipulator (i.e., head 6) reaches the target position sent by the upper computer to achieve the positioning of the manipulator. The cascade PID increases the damping of the system by introducing the speed loop, which can improve the anti-interference ability of the system.

[0038] Furthermore, in order to realize automatic drilling to improve work efficiency, such as Figure 1 As shown, the arm control unit is also connected to the machine head sensor unit; Figure 4-5 and Figure 7 As shown, the head sensor unit includes a station conversion angle encoder 27 for installation on the station swing frame 31, a drilling length encoder for installation on the drilling assembly 22, and a top cylinder pressure sensor 30 for installation on the frame top cylinder 29; the valve control unit also includes hydraulic valves for installation at the frame top cylinder 29 and the station conversion cylinder 28 respectively; the arm control unit also controls the connection to the drilling assembly 22, controls the station conversion cylinder 28 through the angle data of the station conversion angle encoder 27 to make the station swing frame 31 swing to the target drilling position, and controls the drilling assembly 22 to automatically drill through the length data of the drilling length encoder 25. In this embodiment, after the positioning of the robotic arm is completed, the arm control unit controls the frame top cylinder 29 to extend. When the top cylinder pressure sensor 30 reaches the set pressure, it is determined that the top cylinder hits the rock wall, and the extension of the frame top cylinder 29 is stopped, and the extension of the top cylinder is completed; then the arm control unit controls the station conversion cylinder 28 to make the station swing frame 31 swing. When the angle value collected by the station conversion angle encoder 27 reaches the drilling station angle, the arm control unit controls the station conversion cylinder 28 to stop moving, and the head 6 reaches the drilling station at this time; after reaching the drilling station, the arm control unit controls the drilling assembly 22 to start drilling. When the length value collected by the drilling length encoder reaches the set target value, drilling is stopped, the drilling assembly returns to the initial position, and the automatic drilling process ends.

[0039] Furthermore, in order to realize automatic grouting to improve work efficiency, such as Figure 4-5 As shown, the arm control unit also controls the connection of the grouting assembly 23. The arm control unit is used to control the station conversion cylinder 28 to swing the station swing frame 31 to the grouting station through the angle data of the station conversion angle encoder 27 after the drilling is completed, and realize automatic grouting by controlling the grouting assembly 23. In this embodiment, when the automatic drilling process is completed, the arm control unit controls the station conversion cylinder 28 to swing the station swing frame 31. When the angle value collected by the station conversion angle encoder 27 reaches the grouting station angle, the arm control unit controls the station conversion cylinder 28 to stop the action and reach the grouting station; after reaching the grouting station, the arm control unit controls the grouting assembly 23 to start injecting slurry into the drilled hole. When the grouting time reaches the set time value, the grouting assembly 23 stops grouting and retreats to the initial position, and the automatic grouting process ends.

[0040] Furthermore, in order to realize automatic anchoring to improve work efficiency, such as Figure 4-5As shown, the boom control unit also controls the connection of the anchor rod assembly 21, and the head sensor unit also includes an anchor rod length encoder 26 for installation on the anchor rod assembly 21. The boom control unit is used to control the station conversion cylinder 28 to swing the station swing frame 31 to the anchor rod station through the angle data of the station conversion angle encoder 27 after the grouting is completed, and control the anchor rod assembly 21 through the length data of the anchor rod length encoder 26 to realize automatic anchoring. In this embodiment, when the automatic grouting process is completed, the boom control unit controls the station conversion cylinder 28 to swing the station swing frame 31. When the angle value collected by the station conversion angle encoder reaches the angle value of the anchor rod station, the boom control unit controls the station conversion cylinder 28 to stop moving and reach the anchor rod station; after reaching the anchor rod station, the boom control unit controls the anchor rod assembly 21 to grab the anchor rod from the anchor rod library 20, and push the anchor rod into the grouting hole. When the length data collected by the anchor rod length encoder 26 reaches the set anchor rod depth value, the anchor rod assembly 21 stops the anchor rod and retreats to the initial position, and the automatic anchor rod process ends.

[0041] Furthermore, in order to realize automatic control of each joint of the machine head, each joint in the drilling assembly 22, the grouting assembly 23 and the anchor assembly 21 is controlled by a double PID loop consisting of a position loop PID and a speed loop PID. Taking the control of each joint of the drilling component 22 as an example, after the positioning of the mechanical arm is completed, when the top cylinder pressure sensor 30 reaches the set pressure, it is determined that the top cylinder hits the rock wall, the extension action of the frame top cylinder 29 is stopped, and the extension of the top cylinder is completed; then the angle data collected by the station conversion angle encoder 27 is subtracted from the calculated target rotation angle value, and the obtained difference is used as the input of the position loop PID. After being processed by the position loop PID, the target speed of the station swing frame 31 joint is generated, the target speed is subtracted from the station swing frame speed, and the difference is used as the input of the speed loop PID. After being processed by the speed loop PID, the opening value of the corresponding hydraulic valve is generated, and the station conversion cylinder 28 is controlled according to the obtained opening value to make the station swing frame 31 reach the specified position; at this time, the head 6 reaches the drilling station; after reaching the drilling station, the arm control unit controls the drilling component 22 to start the drilling action, and when the length value collected by the drilling length encoder reaches the set target value, the drilling is stopped, the drilling component retreats to the initial position, and the automatic drilling process ends.

[0042] Furthermore, in order to realize the chassis control of the anchor trolley, such as Figure 1 and Figure 8As shown, the host computer is also connected to a chassis control unit, wherein the chassis control unit includes a chassis sensor unit, a hydraulic pump and a corresponding hydraulic valve for installing on the anchor trolley chassis to drive the chassis to lift the outriggers, the trolley to travel, and the steering, and the chassis sensor unit includes a height sensor for installing on the chassis lifting assembly, a length sensor for installing on the trolley walking assembly, and an angle sensor for installing on the trolley steering assembly, and the chassis control unit is used to control the chassis to lift, travel, and turn according to the instructions of the host computer and the data collected by the chassis sensor unit. In this embodiment, the chassis control unit is connected to the host computer, and the height data, length data, and angle data collected by the chassis sensor are uploaded to the host computer. After the host computer processes the uploaded data, it issues a command to the chassis control unit, such as the chassis lifting height, travel length, and steering angle. After receiving the command issued by the host computer, the chassis control unit controls the hydraulic pump and the corresponding hydraulic valve for driving the chassis to lift the outriggers, travel, and steering, and realizes the lifting of the chassis outriggers, travel, and steering of the trolley.

[0043] Furthermore, different operation modes can be selected according to the actual situation on site to switch between automatic mode and manual mode. For example, after the boom control unit fails, the anchor trolley can still be manually operated by switching to manual mode to ensure safety. Figure 1 and Fig. 9 As shown in the figure, the host computer is connected to the operating unit, which includes a handle assembly and a button assembly for manually controlling the anchor trolley. The working modes in the host computer include manual mode, semi-automatic mode and automatic mode. The staff can select the corresponding operating mode according to the actual situation on site. The specific operation process is as follows Figure 11-13 shown.

[0044] Fig.11 This is a flowchart of manual control of the anchor trolley automatic control system. In the manual control mode, both the mechanical arm and the machine head are manually operated to achieve manual positioning of the mechanical arm and manual control of drilling, grouting, and anchoring by the machine head. In the manual control mode, the manual operation handle component and the button component send operation instructions to the host computer, and the host computer directly sends the operation instructions to the valve control unit to manually control the mechanical arm of the anchor trolley to reach the target position; then the anchor trolley head is manually controlled to complete drilling, grouting, and anchoring actions; in this process, the mechanical arm sensor unit and the machine head sensor will still upload the data collected by each sensor to the arm control unit, and the arm control unit will then upload it to the host computer according to the switch for information display.

[0045] Fig.12This is a flowchart of the semi-automatic control of the anchor trolley automation control system. The semi-automatic control mode is that the manipulator is manually controlled and the head is automatically controlled, realizing manual positioning of the manipulator and automatic drilling, automatic grouting, and automatic anchoring of the head. In the semi-automatic mode, the operating unit sends an operation instruction to the upper computer, and the upper computer directly controls the valve control unit to manually control the electro-hydraulic proportional valves at each joint of the manipulator to complete the positioning of the manipulator; after the positioning of the manipulator is completed, the head semi-control command is selected in the upper computer, and the head sensor unit uploads the data collected by each sensor to the arm control unit for calculation and processing, and then sends the calculation result to the valve control unit to drive the hydraulic valve to realize automatic drilling, automatic grouting, and automatic anchoring.

[0046] Fig.13 This is a flowchart of the automatic control of the anchor trolley automation control system. The automatic mode means that both the manipulator and the head are automatically positioned, realizing automatic positioning of the manipulator and automatic drilling, automatic grouting and automatic anchoring of the head. In the automatic mode, first, switch to the automatic mode in the host computer and send the target position. The manipulator sensor unit uploads the angle data and length data measured by each sensor to the boom control unit for calculation and processing, and sends the calculated proportional valve control command to the valve control unit, and then controls the point liquid proportional action to make the joints of the manipulator telescope and rotate to the target position, completing the positioning of the manipulator; after the positioning of the manipulator is completed, the head sensor unit sends the data collected by each sensor to the boom control unit for calculation and processing, and controls the valve control unit according to the calculation results to drive the electro-hydraulic proportional valve to make the head realize automatic drilling, automatic grouting and automatic anchoring.

[0047] Furthermore, in order to identify the arch features in the tunnel, such as Figure 1 As shown, the host computer is also connected to a three-dimensional scanning unit through a switch, and the three-dimensional scanning unit is used to scan the environmental data in the tunnel and upload it to the host computer through the switch. In this embodiment, the three-dimensional scanning unit scans the environmental data in the tunnel, uploads a large amount of point cloud data to the host computer through the switch, processes the three-dimensional point cloud data, and realizes data information display.

[0048] Anchor trolley embodiment

[0049] The present invention provides an anchor trolley, such as Figure 2-5As shown, it includes a vehicle body 1, a cab 2, a mechanical arm mounting frame 3, a service arm 4, a mechanical arm boom 5 and a head 6, and also includes an automatic control system for the anchor trolley. The system uses angle encoders and / or length encoders installed at each joint, and adopts a double PID loop control method consisting of a position loop PID and a speed loop PID. According to the data collected by each encoder and the target angle and / or length calculated based on the target position, each hydraulic valve is controlled to realize the action of each joint, so as to achieve the functions of automatic drilling, automatic grouting and automatic anchoring.

[0050] Among them, the specific implementation method of the anchor trolley automatic control system has been described in detail in the above system embodiment, and will not be repeated here.

Claims

1. An automatic control system for an anchor trolley, characterized in that: It includes a host computer and an arm control unit, wherein the arm control unit is connected to a mechanical arm sensor unit, a head sensor unit and a valve control unit; The robot arm sensor unit comprises a boom left-right swing angle encoder (13) for installation at the boom left-right swing joint, a boom up-down pitch angle encoder (14) for installation at the boom up-down pitch joint, a boom telescopic length encoder (15) for installation at the boom telescopic joint, a forearm up-down pitch angle encoder (16) for installation at the forearm up-down pitch joint, a forearm left-right swing encoder for installation at the forearm left-right swing joint, a machine head flip angle encoder (18) for installation at the machine head flip joint (11), and a machine head swing angle encoder (19) for installation at the machine head swing joint; The valve control unit comprises corresponding hydraulic valves respectively used for being installed on the boom cylinder group (7), the arm cylinder group (10), and the machine head swing cylinder (12); The arm control unit is used to calculate the target telescopic length and / or rotation angle of each joint of the robotic arm according to the target position sent by the host computer, and adopts a dual PID loop composed of a position loop PID and a speed loop PID for control, and makes a difference between the target telescopic length and / or rotation angle of the joint and the actual telescopic length and / or rotation angle of the joint, and uses the difference as the input of the position loop PID. After being processed by the position loop PID, the joint target speed is generated, and the target speed is made different from the actual joint speed, and the difference is used as the input of the speed loop PID. After being processed by the speed loop PID, the opening of the corresponding hydraulic valve is generated, and each hydraulic valve is controlled according to the obtained opening to realize the movement of each joint of the robotic arm, so that each joint of the robotic arm reaches the corresponding target telescopic length and / or rotation angle, and then the data collected by the head sensor unit is used to control the head to automatically perform drilling, grouting and anchoring in sequence.

2. The anchor trolley automation control system according to claim 1 is characterized in that: The head sensor unit comprises a workstation conversion angle encoder (27) for installation on the workstation swing frame (31), a drilling length encoder for installation on the drilling assembly (22), and a top cylinder pressure sensor (30) for installation on the top cylinder (29) of the frame; the valve control unit also comprises hydraulic valves for installation on the top cylinder (29) of the frame and the workstation conversion cylinder (28) respectively; The arm control unit also controls the connected drilling assembly (22), controls the station conversion oil cylinder (28) through angle data of the station conversion angle encoder (27) to swing the station swing frame (31) to a target drilling position, and controls the drilling assembly (22) to automatically drill holes through length data of the drilling length encoder (25).

3. The anchor trolley automation control system according to claim 2 is characterized in that: The arm control unit also controls the connection to the grouting assembly (23). The arm control unit is used to control the station conversion cylinder (28) to swing the station swing frame (31) to the grouting station through angle data of the station conversion angle encoder (27) after the drilling is completed, and to realize automatic grouting by controlling the grouting assembly (23).

4. The anchor trolley automation control system according to claim 3 is characterized in that: The boom control unit also controls the connection of the anchor rod assembly (21); the head sensor unit also includes an anchor rod length encoder (26) for installation on the anchor rod assembly (21); the boom control unit is used to control the station conversion cylinder (28) to swing the station swing frame (31) to the anchor rod station through the angle data of the station conversion angle encoder (27) after the grouting is completed, and to control the anchor rod assembly (21) to realize automatic anchoring through the length data of the anchor rod length encoder (26).

5. The anchor trolley automation control system according to claim 4 is characterized in that: Each joint in the drilling assembly (22), the grouting assembly (23) and the anchor assembly (21) is controlled by a dual PID loop consisting of a position loop PID and a speed loop PID. The target telescopic length and / or rotation angle of the joint is subtracted from the actual telescopic length and / or rotation angle of the joint, and the difference is used as the input of the position loop PID. After being processed by the position loop PID, a target joint speed is generated. The target speed is subtracted from the actual joint speed, and the difference is used as the input of the speed loop PID. After being processed by the speed loop PID, the opening of the corresponding hydraulic valve is generated. According to the obtained opening, each hydraulic valve is controlled to realize the movement of each joint of the mechanical arm, so that each joint of the mechanical arm reaches the corresponding target telescopic length and / or rotation angle.

6. The anchor trolley automation control system according to claim 1, characterized in that: The host computer is also connected to a chassis control unit, which includes a chassis sensor unit, a hydraulic pump and a corresponding hydraulic valve installed on the anchor trolley chassis to drive the chassis to lift and lower its outriggers, move the trolley and steer. The chassis sensor unit includes a height sensor installed on a chassis lifting assembly, a length sensor installed on a trolley moving assembly and an angle sensor installed on a trolley steering assembly. The chassis control unit is used to control the lifting, moving and steering of the chassis according to the instructions of the host computer and the data collected by the chassis sensor unit.

7. The anchor trolley automation control system according to claim 1 is characterized in that: The host computer is also connected to an operating unit, which includes a handle component and a button component.

8. The anchor trolley automation control system according to claim 1, characterized in that: The host computer is also connected to a three-dimensional scanning unit through a switch, and the three-dimensional scanning unit is used to scan the environmental data in the tunnel and upload it to the host computer through the switch.

9. An anchor trolley, comprising a vehicle body (1), a cab (2), a mechanical arm mounting frame (3), a service arm (4), a mechanical arm boom (5) and a machine head (6), characterized in that: The anchor trolley also includes an anchor trolley automation control system as described in any one of claims 1 to 8 above, which is used to realize the automatic control of the anchor trolley.

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