An anchor box and drill box switching control system and control method

Abstract

The present invention belongs to the technical field of coal mine mechanization control, and specifically relates to a switching control system and control method for an anchor box and a drill box. A switching control system for an anchor box and a drill box includes a displacement sensor disposed in a drill-anchor switching oil cylinder, a pressure sensor disposed on a positioning oil cylinder, proximity switches disposed on both sides of a sliding track plate, and an encoder. The displacement sensor, the pressure sensor, the proximity switches, and the encoder are connected to a data acquisition unit, the data acquisition unit is connected to a controller, the controller controls a solenoid valve group to operate a switching mechanism oil cylinder, the controller is connected to a host computer, and the controller is connected to a remote controller through a receiver. The present invention can effectively reduce the working space of the drill rig, can judge the positions of the drill box and the anchor box, increase the stability during the switching process of the drill box and the anchor box, realize the free switching of the drill box and the anchor box in a limited space, provide technical support for the automation of bolt support, and improve the reliability of bolt support.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine mechanization control, and specifically relates to a switching control system and control method for an anchor box and a drill box. Background Art

[0002] During the process of roadway driving in coal mines, bolt support is mainly used to control the deformation of surrounding rocks in the roadway. At present, when a downhole bolt drill is performing bolt operations, an automatic drill rig is usually equipped with a drill box and an anchor box. The anchor box mainly completes the anchoring of bolts, and the drill box is mainly used to complete drilling. During the bolt support process, in order to enable the free switching between the drill box and the anchor box, usually two switching cylinders are provided to drive the drill box and the anchor box separately. This control method increases the lateral working space of the drill rig, that is, increases the width of the system. Sometimes, one switching cylinder is provided for the drill box and the anchor box to drive the movement of the drill box and the anchor box simultaneously. This control method will increase the longitudinal working space of the drill rig, that is, increase the height of the system. Due to the limited space in coal mine roadways, this poses higher requirements for the structural layout of the whole machine. The increase in the working space also increases the operation difficulty of the staff, making the safety of workers' underground operations unable to be guaranteed. Therefore, there is an urgent need for a switching control system and its control method for an anchor box and a drill box. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides a switching control system and control method for an anchor box and a drill box.

[0004] The present invention adopts the following technical solutions: A switching control system for an anchor box and a drill box includes a displacement sensor arranged in a drill-anchor switching cylinder, a pressure sensor arranged on a positioning cylinder, proximity switches arranged on both sides of a sliding track plate, and an encoder. The displacement sensor, the pressure sensor, the proximity switches, and the encoder are connected to a data acquisition unit, the data acquisition unit is connected to a controller, the controller controls a solenoid valve group to operate a switching mechanism cylinder, the controller is connected to a host computer, and the controller is connected to a remote controller through a receiver.

[0005] A control method for a switching control system of an anchor box and a drill box includes a remote control manual mode, and the specific steps are as follows:

[0006] S100: The controller reads the data of the displacement sensor, the proximity sensor, the encoder, and the pressure sensor, judges the positions and states of the drill box, the anchor box, the intermediate sliding plate, the positioning cylinder, and the double-link switching cylinder through the data of these sensors, and displays them on the display interface of the host computer.

[0007] S200: When the drill box is moved by toggling the remote control, first use the pressure sensor to determine whether the double-acting cylinder jams the drill box. If it does not jam, the system reports the corresponding fault and the switching mechanism cannot operate. Then use the pressure sensor or encoder to determine whether the intermediate sliding plate is in place. If the intermediate sliding plate is not in the corresponding position, the switching mechanism cannot operate, and the control system reports the corresponding fault on the upper computer.

[0008] S300: The control method for the anchor box by the remote control is similar to that for the drill box.

[0009] S400: When the intermediate sliding plate is controlled by the remote control to move up and down, first use the encoder and pressure sensor to determine the positions of the drill box or the anchor box. If the positions of the drill box and the anchor box affect the movement of the intermediate sliding plate, the intermediate sliding plate cannot move up and down. In addition, use the pressure sensor to determine whether the positioning cylinder on the intermediate sliding plate extends. If the positioning cylinder does not extend, the intermediate sliding plate cannot move up and down. The control system reports the corresponding fault on the upper computer to remind the operator to perform the correct operation. During the drilling process of the drill rig, if the moving distance of the intermediate sliding plate is greater than 2 / 3 of the side length of the mounting plate, the controller determines the state of the double-acting cylinder through the data of the pressure sensor, and uses the double-acting cylinder to limit the other mounting plate. If the state of the double-acting cylinder is incorrect, the intermediate sliding plate is prohibited from sliding upward and can only move downward. According to the hydraulic cylinder during movement, the pressure sensor collects the oil pressure in the hydraulic pipe. When the stroke of the hydraulic cylinder is in place, the pressure in the hydraulic pipe will rise, and the data collected by the pressure sensor also increases. The control system can determine the movement stroke of the hydraulic cylinder through the pressure sensor by setting an appropriate pressure judgment value.

[0010] Automatic control method, the specific steps are as follows:

[0011] D100: The controller reads the data of the displacement sensor, proximity sensor, encoder, and pressure sensor, determines the positions and states of the drill box, anchor box, intermediate sliding plate, positioning cylinder, and double-switching cylinder through the data, and reads the positions and states of each component of the control system through the upper computer.

[0012] D200: During automatic drilling, the drill box mounting plate is in the working position of the intermediate sliding plate, the anchor box mounting plate is in the side waiting position, and the positioning cylinder is in the extended state, and the double-switching cylinder is in the drill box position; when the controller determines that the above states are all normal, the automatic process is executed.

[0013] D300: When the drill box automatically rises, if the rising distance of the drill box is greater than 2 / 3 of the side length of the side mounting plate, the double-link oil cylinder operates and automatically switches to the anchor box position to limit the position of the anchor box. If the state of the double-link oil cylinder has not been switched completely, the drill box stops rising and reports the corresponding fault. If the double-link oil cylinder has been switched completely, the drill box can continue to rise.

[0014] D400: When the system automatically anchors, the anchor box mounting plate is on the middle sliding plate, the drill box mounting plate is in the side waiting position, the positioning oil cylinder on the middle sliding plate is in the extended state, and the double-link switching oil cylinder is in the anchor box position. When the control system determines that all the above states are normal, it executes the automatic anchor protection process.

[0015] D500: When the anchor box automatically rises during the automatic anchor protection process, if the rising distance of the anchor box is approximately greater than 2 / 3 of the side length of the mounting plate, the double-link oil cylinder operates and automatically switches to the drill box position to limit the position of the drill box. If the state of the double-link oil cylinder has not been switched completely, the anchor box stops rising and reports the corresponding fault. If the double-link oil cylinder has been switched completely, the anchor box can continue to rise.

[0016] Compared with the prior art, the present invention can effectively reduce the operating space of the drill rig, can judge the positions of the drill box and the anchor box, increase the stability during the switching process of the drill box and the anchor box, realize the free switching of the drill box and the anchor box within a limited space, provide technical support for the automation of bolt support, and improve the reliability of bolt support. Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of the anchor box and drill box switching control system;

[0018] Figure 2 is a schematic block diagram of the control system principle;

[0019] Figure 3 is a flow chart of the remote control manual control method steps of the embodiment of the present invention;

[0020] Figure 4 is a flow chart of the automatic control steps of the embodiment of the present invention;

[0021] In the figure, 1 - proximity switch I, 2 - mounting plate I, 3 - positioning oil cylinder, 4 - sliding guide rail, 5 - middle sliding plate, 6 - mounting plate II, 7 - proximity switch II, 8 - displacement sensor, 9 - drill-anchor switching oil cylinder, 10 - double-link switching oil cylinder. Detailed Embodiment

[0022] The anchor box and drill box switching control system according to the embodiments of the present invention includes: a drill box and anchor box switching component, a displacement sensor, a pressure sensor, proximity switches, a solenoid valve group, a controller component, a remote control system, a display, etc. The drill box and anchor box switching component includes a mounting plate I, a mounting plate II, and a sliding guide plate. The mounting plate I and the mounting plate II are respectively used to mount the drill box and the anchor box, and both can move on the sliding guide. The sliding guide plate is divided into three pieces, namely A, B, and C. The middle sliding plate is the working position, and the two side sliding plates are the waiting positions; a hydraulic drive component, which is composed of a double-switching oil cylinder 10 and a drill-anchor box switching oil cylinder 9. The double-switching oil cylinder is located on the drill-anchor switching oil cylinder. The double oil cylinder is used to switch between the drill box and the anchor box. Through the cooperation of the two mechanisms, the independent switching of the drill box and the anchor rod can be realized; two proximity switches are installed on both sides of the sliding guide plate, and a displacement sensor 8 is installed in the drill-anchor switching oil cylinder. The positions of the drill box and the anchor box on the sliding guide plate can be judged through the proximity switches on both sides. The switching displacement of the drill box and the anchor box can be accurately read through the displacement sensor, and the switching position of the drill box and the anchor box can be adjusted through the displacement sensor to improve the switching accuracy of the drill box and the anchor box; a positioning oil cylinder is provided on the middle sliding plate, and the positioning oil cylinder is used to fix the mounting plate I and the mounting plate II. The positioning oil cylinder is connected with a pressure sensor to judge the state of the positioning oil cylinder. The middle sliding plate is generally fixed on the sliding guide and can slide up and down. The displacement of the middle sliding plate on the sliding guide can be accurately judged through the encoder; the anchor box and drill box switching control system is used to collect the relative positions and states of the drill box and the anchor box. The controller analyzes the positions and states of the drill box and the anchor box in real time by receiving the data collected by the sensors. When the control system receives the operation signal from the remote control, it first judges the positions and states of the drill box and the anchor box, and displays them in real time on the upper computer display software. On the basis of accurately judging the positions and states of the drill box and the anchor box and the state of the positioning oil cylinder, the sliding of the drill box and the anchor box and the up and down movement of the middle sliding plate can be controlled.

[0023] A control method for an anchor box and drill box switching control system includes a remote control manual mode, and the specific steps are as follows:

[0024] S100: The controller reads the data of the displacement sensor, proximity sensor, encoder and pressure sensor, judges the positions and states of the drill box, anchor box, middle sliding plate, positioning oil cylinder, and double-switching oil cylinder through the data of the sensors, and displays them on the upper computer display interface.

[0025] S200: When the drill box is moved by the remote control, first judge whether the double oil cylinder jams the drill box through the pressure sensor. If it does not jam, the system reports the corresponding fault and the switching mechanism cannot act. Then judge whether the middle sliding plate is in place through the pressure sensor or the encoder. If the middle sliding plate is not in the corresponding position, the switching mechanism cannot act, and the control system reports the corresponding fault on the upper computer.

[0026] S300: The control method of the anchor box by the remote controller is similar to that of the drill box.

[0027] S400: When controlling the middle sliding plate to move up and down by the remote controller, first, the positions of the drill box or the anchor box are judged by the encoder and the pressure sensor. If the positions of the drill box and the anchor box affect the movement of the middle sliding plate, the middle sliding plate cannot move up and down. In addition, the pressure sensor is used to judge whether the positioning oil cylinder on the middle sliding plate extends. If the positioning oil cylinder does not extend, the middle sliding plate cannot move up and down. The control system reports the corresponding faults on the upper computer to remind the operator to perform correct operations. During the drilling process of the drill rig, if the moving distance of the middle sliding plate is greater than 2 / 3 of the side length of the mounting plate, the controller judges the state of the double-link oil cylinder through the pressure sensor, and uses the double-link oil cylinder to limit the other mounting plate. If the state of the double-link oil cylinder is incorrect, the middle sliding plate is prohibited from sliding up and can only move down. According to the movement of the hydraulic cylinder, the pressure sensor collects the oil pressure in the hydraulic pipe. When the stroke of the oil cylinder reaches the position, the pressure in the hydraulic pipe will rise, and the data collected by the pressure sensor also increases. The control system can judge the movement stroke of the hydraulic cylinder through the pressure sensor by setting a suitable pressure judgment value.

[0028] Automatic control method, the specific steps are as follows:

[0029] D100: The controller reads the data of the displacement sensor, proximity sensor, encoder, and pressure sensor, judges the positions and states of the drill box, anchor box, middle sliding plate, positioning oil cylinder, and double-link switching oil cylinder through the data, and reads the positions and states of each component of the control system through the upper computer.

[0030] D200: During automatic drilling, the drill box mounting plate is in the working position of the middle sliding plate, the anchor box mounting plate is in the side waiting position, and the positioning oil cylinder is in the extended state, and the double-link switching oil cylinder is in the drill box position; when the controller judges that all the above states are normal, the automatic process is executed.

[0031] D300: When the drill box automatically rises, if the rising distance of the drill box is greater than 2 / 3 of the side length of the side mounting plate, the double-link oil cylinder acts and automatically switches to the anchor box position to limit the anchor box. If the state of the double-link oil cylinder is not switched completely, the drill box stops rising and reports the corresponding faults. If the double-link oil cylinder is switched completely, the drill box can continue to rise.

[0032] D400: When the system automatically anchors, the anchor box mounting plate is on the middle sliding plate, the drill box mounting plate is in the side waiting position, the positioning oil cylinder on the middle sliding plate is in the extended state, and the double-link switching oil cylinder is in the anchor box position. When the control system judges that all the above states are normal, the automatic anchor protection process is executed.

[0033] D500: During the automatic anchor protection process, when the anchor box automatically rises, if the rising distance of the anchor box is approximately greater than 2 / 3 of the side length of the mounting plate, the double-acting cylinder operates and automatically switches to the drill box position to limit the drill box. If the state of the double-acting cylinder has not been switched completely, the anchor box stops rising and reports the corresponding fault. If the switching of the double-acting cylinder is completed, the anchor box can continue to rise.

Claims

1. A control method for an anchor box and drill box switching control system, characterized in that: The system includes a displacement sensor disposed within the drill-anchor switching cylinder, a pressure sensor disposed on the positioning cylinder, proximity switches disposed on both sides of the sliding guide plate, and an encoder; The positions of the drill box and the anchor box on the sliding guide can be determined by the proximity switches on both sides. The switching position of the drill box and the anchor box can be adjusted by the displacement sensor to improve the switching accuracy of the drill box and the anchor box. The positioning cylinder is used to fix mounting plate I and mounting plate II. The positioning cylinder is connected with a pressure sensor to determine the state of the positioning cylinder. The displacement of the intermediate sliding plate on the sliding guide can be accurately determined by the encoder; The displacement sensor, the pressure sensor, the proximity switches, and the encoder are connected to a data acquisition unit. The data acquisition unit is connected to a controller. The controller controls the solenoid valve group to operate the switching mechanism cylinder. The controller is connected to a host computer. The controller is connected to a remote controller through a receiver; The control method is as follows: D100: The controller reads the data of the displacement sensor, the proximity sensor, the encoder, and the pressure sensor, determines the positions and states of the drill box, the anchor box, the intermediate sliding plate, the positioning cylinder, and the double-link switching cylinder through the data, and reads the positions and states of all components of the control system through the host computer; D200: During automatic drilling, the drill box mounting plate is in the working position of the intermediate sliding plate, the anchor box mounting plate is in the side waiting position, and the positioning cylinder is in the extended state, and the double-link switching cylinder is in the drill box position. When the controller determines that all the above states are normal, the automatic process is executed; D300: When the drill box automatically rises, if the rising distance of the drill box is greater than 2 / 3 of the side length of the side mounting plate, the double-link cylinder acts and automatically switches to the anchor box position to limit the anchor box. If the state of the double-link cylinder is not switched completely, the drill box stops rising and reports the corresponding fault. If the switching of the double-link cylinder is completed, the drill box can continue to rise; D400: When the system automatically anchors, the anchor box mounting plate is on the intermediate sliding plate, the drill box mounting plate is in the side waiting position, the positioning cylinder on the intermediate sliding plate is in the extended state, and the double-link switching cylinder is in the anchor box position. When the control system determines that all the above states are normal, the automatic anchor protection process is executed; D500: During the process of automatic anchor protection, when the anchor box automatically rises, if the rising distance of the anchor box is greater than 2 / 3 of the side length of the mounting plate, the double-link cylinder acts and automatically switches to the drill box position to limit the drill box. If the state of the double-link cylinder is not switched completely, the anchor box stops rising and reports the corresponding fault. If the switching of the double-link cylinder is completed, the anchor box can continue to rise.

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