Automatic anchor drilling rig control system and control method

Abstract

The present invention belongs to the field of anchor drilling vehicle control technology, specifically an automatic anchor drilling rig control system and control method. It includes a drilling rig hydraulic solenoid valve group for driving the actions of various actuators. The feed cylinder is equipped with an encoder and a pressure sensor. The encoder is used to measure the feed stroke of the drill box and anchor box, and the pressure sensor is used to measure the top pressure and bottom pressure of the feed cylinder. The drill box cylinder is equipped with a speed sensor and a pressure sensor. The anchor box cylinder is equipped with a pressure sensor. The hand telescopic cylinder is equipped with a pressure sensor and a displacement sensor. The drilling anchor box telescopic cylinder and the drill rod clamping cylinder are equipped with a displacement sensor. The anchor magazine cylinder, the drilling anchor box switching cylinder, the hand opening and closing cylinder, the spraying cylinder, the drilling anchor box positioning cylinder, and the drill clamp opening and closing cylinder are equipped with pressure sensors for judging the action status of each cylinder. A pressure sensor is connected to the waterway to measure the waterway pressure when the drill box is drilling. The above-mentioned actuators are connected to the controller group.

Description

Technical Field

[0001] The invention belongs to the technical field of anchor drilling vehicle control, and in particular relates to an automatic anchor drilling rig control system and a control method. Background Art

[0002] Coal mine tunneling and support is one of the key technologies in underground mining. With the increasing mechanization of coal mine tunneling equipment, the requirements for the automation of coal mine support equipment are becoming increasingly higher. The existing anchor support technical process mainly includes laying the network, installing steel belts, positioning, drilling, filling anchoring agents, installing anchors, mixing anchors, tightening anchors, etc. Many processes require manual operation. The anchor support time and the number of operators account for more than 60% of the tunneling. The degree of automation of anchor support is low, making it difficult to achieve automated anchor support. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides an automatic anchor drilling rig control system and a control method.

[0004] The present invention adopts the following technical solution: an automatic anchor drilling rig control system, including a drilling rig hydraulic solenoid valve group for driving the actions of various actuators, the actuators including a drill clamp opening and closing cylinder, a drill rod clamping cylinder, a drill anchor box positioning cylinder, a spraying cylinder, a feed cylinder, a drill box cylinder, an anchor box cylinder, a hand opening and closing cylinder, a hand telescopic cylinder, a drill anchor box telescopic cylinder, an anchor magazine cylinder and a drill box switching cylinder.

[0005] The feed cylinder is equipped with an encoder and a pressure sensor. The encoder is used to measure the feed stroke of the drill box and the anchor box, and the pressure sensor is used to measure the top pressure and bottom pressure of the feed cylinder.

[0006] The drill box cylinder is equipped with a speed sensor and a pressure sensor to measure the rotation speed and rotation pressure of the drill box.

[0007] A pressure sensor is installed on the anchor box cylinder to measure the tightening force of the anchor box.

[0008] The hand telescopic cylinder is equipped with a pressure sensor and a displacement sensor to measure the displacement and motion state of the manipulator.

[0009] Displacement sensors are installed on the drilling and anchor box telescopic cylinder and the drill rod clamping cylinder to measure the displacement of the drilling and anchor box telescopic cylinder and the displacement of the drill rod clamping cylinder.

[0010] Pressure sensors are installed on the anchor magazine cylinder, drilling and anchor box switching cylinder, manual opening and closing cylinder, spraying cylinder, drilling and anchor box positioning cylinder and clamping drill opening and closing cylinder to judge the operating status of each cylinder.

[0011] A pressure sensor is connected to the water circuit to measure the water pressure during drilling of the drill box.

[0012] The above-mentioned actuator is connected to the controller group.

[0013] The controller group is signal-connected to the remote control through a receiver.

[0014] The controller group is connected to the upper computer and is displayed in real time on the display of the upper computer.

[0015] A control method for an automatic anchor drill control system includes the following steps.

[0016] S100: The controller reads the data of all sensors, and judges the positions and states of the clamping and opening cylinder, drill pipe clamping cylinder, drill and anchor box positioning cylinder, spraying cylinder, feeding cylinder, drill box cylinder, anchor box cylinder, hand opening and closing cylinder, hand telescopic cylinder, drill and anchor box telescopic cylinder, anchor rod bin cylinder, and drill box switching cylinder through the sensor data; the upper computer reads the positions and states of each actuator of the automatic anchor drill controller group, and runs each actuator to the initial position through the remote control, so that the initial state indicator light on the display interface of the upper computer or the remote control panel is lit. The drill box feeding heights are h0 < h1 < h2 < h3, the displacement of the drill rig clamping cylinder is x1 < x2 < x3, the displacement of the drill and anchor box switching cylinder is s1 < s2, the displacement of the manipulator is w1 > 0, and the anchor box feeding heights are H0 < H1 < H2 < H3. All these parameters can be set through the display interface of the upper computer for controlling the execution process of the automatic drill rig.

[0017] S200: During automatic drilling, first, an operator starts the automatic anchor protection start command. The drill box rotates in reverse, the water valve opens, and the drill box starts to rise. When the encoder value of the feeding cylinder is greater than h1, the drill pipe clamping cylinder retracts to x1, and the drill box continues to rise. When the drill box feeding height is greater than h2, the clamp opens. When the drill box feeding height is greater than h3, the drill box stops rising, and the drilling feed is in place. Then the drill box starts to descend. When the drill box feeding height is less than h2, the clamp closes. When the feeding height is less than h1, the drill pipe clamping cylinder extends to x2. When the drill box feeding height is less than h0 and the pressure of the feeding cylinder is greater than the feeding cylinder bottom reference value, the water valve closes, the drill box stops descending, the drill box stops rotating, the drill pipe clamping cylinder extends to x3, and the spraying cylinder extends to wait for charging.

[0018] S300: Use high-pressure gas to load the anchor drug roll into the drill hole through the spray nozzle. After the loading is completed, the spray cylinder retracts, the drill anchor box positioning retracts, the drill rod clamping retracts to x1, the drill anchor box switching cylinder retracts to s1, the manipulator closes, grabs the anchor rod in the anchor rod bin, the manipulator extends to w1, takes the anchor rod out of the anchor rod bin, and sends it to the feed position, the drill anchor box cylinder retracts, the drill anchor box switching cylinder extends to s2, the drill anchor box retracts, the drill anchor box switch retracts to s1, the anchor box is switched to the working position, the drill anchor box positioning cylinder extends, the anchor box is locked, and it is fixed on the feed cylinder fixing plate, and then the anchor box starts to rise. When the anchor box feed height is greater than H1, the feed cylinder stops, and the manipulator opens and retracts To the initial position, the anchor box continues to rise. When the feed height is greater than H2, the anchor box starts to reverse. When the feed height is greater than H3, the feed cylinder stops, and the anchor box stirs the medicine roll for time t1. When the medicine roll stirring time is up, the anchor box stops rotating and waits for the medicine roll to solidify for time t2. When the time is up, the anchor box starts to rotate and tighten the anchor rod. When the tightening force reaches the set value P1, the anchor box stops tightening, or when the tightening time is greater than t3, the anchor box stops tightening. After the anchoring is completed, the anchor box starts to descend. When the feed height of the anchor box is less than H0 and the feed pressure is greater than the feed cylinder to the bottom reference, the feed stops and the controller group stops outputting.

[0019] S400: During the control operation, the operating status of each actuator and the program operation process are displayed in real time on the display host computer. When an error occurs in the collected data, the control system automatically stops the process and displays it on the host computer. The operator operates and maintains the remote control according to the display on the host computer, and also operates through the remote control.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] This invention designs an automatic anchor drilling rig control system and construction method based on the functions of an underground coal mine anchor drilling vehicle. This design addresses the automation control issues of existing anchor drilling rigs, reduces operator workload, allows operators to remain away from the drilling rig, and improves the safety factor of anchor construction. The control system automates the entire anchor support process, including drilling, delivering anchoring agent, installing anchors, mixing, and pre-tightening. This system also supports the automation technology of anchor drilling vehicles and improves tunneling efficiency in underground coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the principle block diagram of the control system;

[0023] Figure 2 This is a flow chart of the drilling steps in the automatic control method according to an embodiment of the present invention;

[0024] Figure 3 This is a flow chart of the automatic anchoring steps of an embodiment of the present invention. DETAILED DESCRIPTION

[0025] like Figure 1 As shown, an automatic anchor drilling rig control system includes a drilling rig hydraulic solenoid valve group for driving the actions of various actuators, and the actuators include a drill clamp opening and closing cylinder, a drill rod clamping cylinder, a drill anchor box positioning cylinder, a spraying cylinder, a feed cylinder, a drill box cylinder, an anchor box cylinder, a hand opening and closing cylinder, a hand telescopic cylinder, a drill anchor box telescopic cylinder, an anchor magazine cylinder and a drill box switching cylinder.

[0026] The feed cylinder is equipped with an encoder and a pressure sensor. The encoder is used to measure the feed stroke of the drill box and the anchor box, and the pressure sensor is used to measure the top pressure and bottom pressure of the feed cylinder.

[0027] The drill box cylinder is equipped with a speed sensor and a pressure sensor to measure the rotation speed and rotation pressure of the drill box.

[0028] A pressure sensor is installed on the anchor box cylinder to measure the tightening force of the anchor box.

[0029] The hand telescopic cylinder is equipped with a pressure sensor and a displacement sensor to measure the displacement and motion state of the manipulator.

[0030] Displacement sensors are installed on the drilling and anchor box telescopic cylinder and the drill rod clamping cylinder to measure the displacement of the drilling and anchor box telescopic cylinder and the displacement of the drill rod clamping cylinder.

[0031] Pressure sensors are installed on the anchor magazine cylinder, drilling and anchor box switching cylinder, manual opening and closing cylinder, spraying cylinder, drilling and anchor box positioning cylinder and clamping drill opening and closing cylinder to judge the operating status of each cylinder.

[0032] A pressure sensor is connected to the water channel to measure the water channel pressure when the drill box is drilling.

[0033] The above-mentioned actuator is connected with the controller group.

[0034] The controller group is connected to the remote control signal via a receiver.

[0035] The controller group is connected to a host computer and performs real-time display on a display of the host computer.

[0036] like Figure 2 As shown, a control method of an automatic anchor drilling rig control system includes the following steps:

[0037] S100: The controller reads the data of all sensors, and judges the positions and states of the drill rod clamping cylinder, the drill rod clamping cylinder, the drill anchor box positioning cylinder, the spraying cylinder, the feed cylinder, the drill box cylinder, the anchor box cylinder, the hand opening and closing cylinder, the hand telescopic cylinder, the drill anchor box telescopic cylinder, the bolt bin cylinder, and the drill box switching cylinder through the sensor data; the host computer reads the positions and states of each actuator of the automatic bolt drill controller group, and runs each actuator to the initial position through the remote control, so that the initial state indicator light on the host computer display interface or the remote control panel is lit. The drill box feed height h0 < h1 < h2 < h3, the displacement of the drill frame clamping cylinder x1 < x2 < x3, the displacement of the drill anchor box switching cylinder s1 < s2, the displacement of the manipulator w1 > 0, and the anchor box feed height H0 < H1 < H2 < H3. All these parameters can be set through the host computer display interface for controlling the execution process of the automatic drill frame.

[0038] S200: During automatic drilling, first, the operator starts the automatic anchor protection start command, the drill box rotates in reverse, the water valve opens, and the drill box starts to rise. When the encoder value of the feed cylinder is greater than h1, the drill rod clamping cylinder retracts to x1, and the drill box continues to rise. When the drill box feed height is greater than h2, the clamp opens. When the drill box feed height is greater than h3, the drill box stops rising, and the drilling feed is in place. Then the drill box starts to descend. When the drill box feed height is less than h2, the clamp closes. When the feed height is less than h1, the drill rod clamping cylinder extends to x2. When the drill box feed height is less than h0 and the pressure of the feed cylinder is greater than the feed cylinder bottom reference value, the water valve closes, the drill box stops descending, the drill box stops rotating, the drill rod clamping cylinder extends to x3, and the spraying cylinder extends, waiting for charging.

[0039] S300: Use high-pressure gas to load the anchor drug roll into the drill hole through the spray nozzle. After the loading is completed, the spray cylinder retracts, the drill anchor box positioning retracts, the drill rod clamping retracts to x1, the drill anchor box switching cylinder retracts to s1, the manipulator closes, grabs the anchor rod in the anchor rod bin, the manipulator extends to w1, takes the anchor rod out of the anchor rod bin, and sends it to the feed position, the drill anchor box cylinder retracts, the drill anchor box switching cylinder extends to s2, the drill anchor box retracts, the drill anchor box switch retracts to s1, the anchor box is switched to the working position, the drill anchor box positioning cylinder extends, the anchor box is locked, and it is fixed on the feed cylinder fixing plate, and then the anchor box starts to rise. When the anchor box feed height is greater than H1, the feed cylinder stops, and the manipulator opens and retracts To the initial position, the anchor box continues to rise. When the feed height is greater than H2, the anchor box starts to reverse. When the feed height is greater than H3, the feed cylinder stops, and the anchor box stirs the medicine roll for time t1. When the medicine roll stirring time is up, the anchor box stops rotating and waits for the medicine roll to solidify for time t2. When the time is up, the anchor box starts to rotate and tighten the anchor rod. When the tightening force reaches the set value P1, the anchor box stops tightening, or when the tightening time is greater than t3, the anchor box stops tightening. After the anchoring is completed, the anchor box starts to descend. When the feed height of the anchor box is less than H0 and the feed pressure is greater than the feed cylinder to the bottom reference, the feed stops and the controller group stops outputting.

[0040] S400: During the control operation, the operating status of each actuator and the program operation process are displayed in real time on the display host computer. When an error occurs in the collected data, the control system automatically stops the process and displays it on the host computer. The operator operates and maintains the remote control according to the display on the host computer, and also operates through the remote control.

Claims

1. An automatic anchor drilling rig control system, characterized by: It includes a hydraulic solenoid valve group for a drilling rig to drive the actions of each actuator. The actuators include a drill rod clamping and opening cylinder, a drill pipe clamping cylinder, a drill and anchor box positioning cylinder, a spraying cylinder, a feeding cylinder, a drill box cylinder, an anchor box cylinder, a hand opening and closing cylinder, a hand telescopic cylinder, a drill and anchor box telescopic cylinder, a bolt bin cylinder, and a drill box switching cylinder. An encoder and a pressure sensor are installed on the feeding cylinder. The encoder is used to measure the feeding stroke of the drill box and the anchor box, and the pressure sensor is used to measure the top contact pressure and the bottom pressure of the feeding cylinder. A rotational speed sensor and a pressure sensor are installed on the drill box cylinder to measure the rotational speed and the rotational pressure of the drill box. A pressure sensor is installed on the anchor box cylinder to measure the fastening force of the anchor box. A pressure sensor and a displacement sensor are installed on the hand telescopic cylinder to measure the displacement and the motion state of the manipulator. Displacement sensors are installed on the drill and anchor box telescopic cylinder and the drill pipe clamping cylinder to measure the displacement of the drill and anchor box telescoping and the displacement of the drill pipe clamping. Pressure sensors are installed on the bolt bin cylinder, the drill and anchor box switching cylinder, the hand opening and closing cylinder, the spraying cylinder, the drill and anchor box positioning cylinder, and the drill rod clamping and opening cylinder to judge the action states of each cylinder. A pressure sensor is connected to the water circuit to measure the water pressure during drilling of the drill box. The above-mentioned actuators are connected to the controller group. The control method includes the following steps. S100: The controller reads the data of all sensors and judges the positions and states of the drill rod clamping and opening cylinder, the drill pipe clamping cylinder, the drill and anchor box positioning cylinder, the spraying cylinder, the feeding cylinder, the drill box cylinder, the anchor box cylinder, the hand opening and closing cylinder, the hand telescopic cylinder, the drill and anchor box telescopic cylinder, the bolt bin cylinder, and the drill box switching cylinder through the sensor data. The upper computer reads the positions and states of each actuator of the automatic bolt drill rig controller group, and runs each actuator to the initial position through the remote controller, so that the initial state indicator light on the upper computer display interface or the remote controller panel is lit. The feeding height of the drill box is h0 < h1 < h2 < h3, the displacement of the drill frame clamping cylinder is x1 < x2 < x3, the displacement of the drill and anchor box switching cylinder is s1 < s2, the displacement of the manipulator is w1 > 0, and the feeding height of the anchor box is H0 < H1 < H2 < H3. All these parameters can be set through the upper computer display interface to control the execution process of the automatic drill frame. S200: During automatic drilling, first, an operator starts the automatic anchor protection start command. The drill box rotates in reverse, the water valve opens, and the drill box starts to rise. When the value of the encoder of the feeding cylinder is greater than h1, the drill pipe clamping cylinder retracts to x1, and the drill box continues to rise. When the feeding height of the drill box is greater than h2, the clamp opens. When the feeding height of the drill box is greater than h3, the drill box stops rising, and the drilling feed is in place. Then the drill box starts to descend. When the feeding height of the drill box is less than h2, the clamp closes. When the feeding height is less than h1, the drill pipe clamping cylinder extends to x2. When the feeding height of the drill box is less than h0 and the pressure of the feeding cylinder is greater than the bottom reference value of the feeding cylinder, the water valve closes, the drill box stops descending, the drill box stops rotating, the drill pipe clamping cylinder extends to x3, and the spraying cylinder extends to wait for charging. S300: Use high-pressure gas to load the anchor drug roll into the drill hole through the spray nozzle. After the loading is completed, the spray cylinder retracts, the drill anchor box positioning retracts, the drill rod clamping retracts to x1, the drill anchor box switching cylinder retracts to s1, the manipulator closes, grabs the anchor rod in the anchor rod bin, the manipulator extends to w1, takes the anchor rod out of the anchor rod bin, and sends it to the feed position, the drill anchor box cylinder retracts, the drill anchor box switching cylinder extends to s2, the drill anchor box retracts, the drill anchor box switch retracts to s1, the anchor box is switched to the working position, the drill anchor box positioning cylinder extends, the anchor box is locked, and it is fixed on the feed cylinder fixing plate, and then the anchor box starts to rise. When the anchor box feed height is greater than H1, the feed cylinder stops, and the manipulator opens and retracts To the initial position, the anchor box continues to rise. When the feed height is greater than H2, the anchor box starts to reverse. When the feed height is greater than H3, the feed cylinder stops, and the anchor box stirs the medicine roll for time t1. When the medicine roll stirring time is up, the anchor box stops rotating and waits for the medicine roll to solidify for time t2. When the time is up, the anchor box starts to rotate and tighten the anchor rod. When the tightening force reaches the set value P1, the anchor box stops tightening, or when the tightening time is greater than t3, the anchor box stops tightening. After the anchoring is completed, the anchor box starts to descend. When the feed height of the anchor box is less than H0 and the feed pressure is greater than the bottom reference of the feed cylinder, the feed stops and the controller group stops outputting. S400: During the control operation, the operating status of each actuator and the program operation process are displayed in real time on the display host computer. When an error occurs in the collected data, the control system automatically stops the process and displays it on the host computer. The operator performs operations and maintenance according to the display on the host computer and operates through the remote control.

2. The automatic anchor drilling rig control system according to claim 1, characterized in that: The controller group is connected to the remote control signal via a receiver.

3. The automatic anchor drilling rig control system according to claim 1, characterized in that: The controller group is connected to the host computer and performs real-time display on the display of the host computer.

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