Anchoring rod drill carriage charging control system with switching function and control method

Abstract

This invention belongs to the field of automatic control technology for underground anchor drilling rigs in coal mines, specifically a control system and method for a charging system of an anchor drilling rig with switching function. It includes a charging solenoid valve group for driving the rotary motor of the charging cartridge, the inlet / outlet air cylinder, the charging cartridge limit cylinder, and the charging cartridge switching cylinder; and an air jet solenoid valve for controlling the on / off state of the system's air valves. The air valves are connected to pressure sensors to read the charging air pressure. Pressure sensors installed on the rotary motor of the charging cartridge, the inlet / outlet air cylinder, the charging cartridge limit cylinder, and the charging cartridge switching cylinder are used to determine the operating status of each cylinder. A displacement sensor installed on the charging cartridge switching cylinder is used to measure the displacement of the charging cartridge switching cylinder. Displacement and pressure sensors are installed on the spraying push cylinder. All pressure and displacement sensors are connected to a data acquisition unit, and the charging solenoid valve group, the air jet solenoid valve, and the data acquisition unit are connected to a controller group.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology for underground anchor drilling rigs in coal mines, specifically a control system and method for loading explosives into an anchor drilling rig with switching function. Background Technology

[0002] In the process of underground roadway excavation in coal mines, rock bolt drilling rigs are mainly used to control the deformation of the surrounding rock. Currently, when performing rock bolt support operations underground, it is necessary to add explosive-loaded anchoring agents into the borehole. This is currently mainly done manually, resulting in low automation, a low safety factor, and increased workload for operators, severely hindering the development of automated anchor support technology at the tunneling face. Rock bolt drilling rigs with automatic loading functions can allow operators to work away from the working face, improving the working environment, ensuring employee health, and enhancing support safety and efficiency. This is of great significance for reducing manpower and increasing efficiency in rock bolt support at the tunneling face. Anchor bolting rigs in tunneling faces typically have two drill arms, both of which need to have automatic loading capabilities. The loading system mainly consists of a cartridge bin, a spray hose, and a nozzle. To allow for alternating operations with other equipment on the tunneling face, the anchor bolting rig must reduce its width, significantly shrinking its internal dimensions. Under these circumstances, the two drill arms must share a single cartridge bin, which can only spray one cartridge at a time. To achieve automatic cartridge spraying between the two drill arms, a cartridge switching mechanism is needed to modify the spraying direction of the cartridges in the cartridge bin. This allows the anchor bolting rig to transport cartridges between the two drill arms within the limited space of an underground coal mine, reducing the operational difficulty for workers and improving the automation level of the anchor bolting rig. Therefore, there is an urgent need for an anchor bolting rig loading control system and method with a switching function. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a control system and method for loading explosives onto a bolt drilling rig with a switching function.

[0004] The present invention adopts the following technical solution: a bolt drilling rig charging control system with switching function, including a charging solenoid valve group for driving the action of the tamper housing rotary motor, the inlet and outlet oil cylinder, the tamper box limit cylinder and the tamper box switching cylinder.

[0005] A jet solenoid valve is used to control the on / off state of system air valves.

[0006] The air valve is connected to a pressure sensor to read the air pressure of the explosive charge.

[0007] Pressure sensors installed on the rotary motor of the medicine roll compartment, the inlet and outlet hydraulic cylinders, the medicine box limit cylinder, and the medicine box switching cylinder are used to determine the operating status of each cylinder.

[0008] A displacement sensor installed on the medicine tank switching cylinder is used to measure the displacement of the medicine tank switching cylinder.

[0009] Displacement and pressure sensors are installed on the spraying cylinder.

[0010] All pressure and displacement sensors are connected to the data acquisition unit. The charging solenoid valve group, the jet solenoid valve, and the data acquisition unit are connected to the controller group. The controller group receives the data collected by these sensors, analyzes the position and status of the relevant actuators of the charging system in real time, and displays the data in real time on the host computer display software. The control system controls the actuators to perform actions.

[0011] The controller group is connected to the remote control via a receiver signal.

[0012] Remote and manual control include the following steps:

[0013] S100: The controller group reads data from various displacement and pressure sensors. It uses this data to determine the position and status of each actuator in the drug loading control system. Displacement sensors display the cylinder stroke in real time. The set values ​​for the displacement sensors are determined by the actual movement of the cylinders in the system. Pressure sensors measure the hydraulic pressure during cylinder operation. When the cylinder reaches its position, the hydraulic system pressure increases due to mechanical limiting. Therefore, the cylinder's position can be determined by the pressure sensor value. This information is displayed on the host computer interface. The host computer sets the action settings for each actuator. The system's actuators include a drug cartridge rotary motor, inlet / outlet cylinders, drug cartridge limit cylinders, drug cartridge switching cylinders, air jet solenoid valves, spray pushing cylinders, and spray telescopic cylinders.

[0014] S200: When the loading system is controlled by a remote control for spraying, the medicine roll is first loaded into the medicine roll chamber. Then, the loading switching cylinder is controlled by the remote control to select the air outlet pipe of the drill arm to be loaded. After the medicine roll switching cylinder is in position according to the data of the displacement sensor and pressure sensor, the spraying push cylinder is controlled to move the spray nozzle directly below the borehole. The displacement sensor in the spraying push cylinder guides the displacement of the spray nozzle. When the controller group determines that the spray nozzle is in position according to the displacement sensor in the spraying push cylinder, it stops outputting. The spray nozzle extension cylinder is controlled by the remote control to extend the spray nozzle into the borehole. When the pressure sensor reads that the pressure value of the spray nozzle extension cylinder reaches the set value, the output stops, and the host computer displays that the spray nozzle has extended to the position.

[0015] S300: The medicine box limit cylinder is extended by remote control. After the pressure is judged and the medicine box limit cylinder is in place, the medicine roll chamber rotation motor is rotated by remote control. When the rotation is in place, the inlet and outlet cylinders are closed to lock the medicine roll chamber. The position is judged by the value of the pressure sensor. At the same time, the control system reads whether the air pressure in the air inlet pipe meets the loading pressure through the pressure sensor. When the air pressure meets the requirements, the corresponding indicator light on the display will light up.

[0016] S400: The jet solenoid valve is opened by remote control, and high-pressure gas delivers the cartridges in the cartridge chamber to the borehole through the spray hose and nozzle.

[0017] It also includes automatic control, which includes the following steps:

[0018] S100: The controller group reads data from each displacement sensor and pressure sensor, determines the position and status of each actuator in the charge control system based on the data, displays the data on the host computer display interface, and sets the action reference value of each actuator through the host computer.

[0019] S200: When the automatic spraying mode is started, the spraying system controller receives the spraying start command from the drill frame control system via the fieldbus. After the controller receives the start command from a drill frame on a certain boom at a certain moment, the spraying system controller starts to execute the automatic spraying process. When the controller group receives the automatic spraying execution command from two drill frames on the boom at the same time, the control system will select the automatic spraying start priority of the left and right booms according to the program. When the controller group determines that a certain boom needs to be loaded with chemicals, the chemical tank switching cylinder will automatically switch to the air outlet pipe of that boom.

[0020] S300: After the controller group determines that the switching cylinder is in position through sensor data, the controller group controls the nozzle pushing cylinder to move to the set displacement. After the displacement sensor detects that the nozzle pushing cylinder is in position, it starts to control the nozzle extension cylinder to extend. When the extension is in position, the controller stops outputting and at the same time uses the position command to drive the medicine box limit cylinder to extend to position. After the limit cylinder extends to position, the medicine box rotary motor starts to rotate.

[0021] S400: After the rotary motor reaches its position, the inlet and outlet cylinders of the medicine cartridge chamber close, sealing the medicine cartridge chamber. After the system judges the sealing of the medicine cartridge chamber by pressure, it checks whether the air pressure value collected by the inlet air pressure sensor meets the set value. When the above conditions are met, the air valve will automatically open, sending high-pressure gas into the medicine cartridge chamber, and sending the medicine cartridge in the medicine cartridge chamber into the borehole through the spray nozzle.

[0022] S500: After the system loads the pesticide cartridge, the nozzle extension cylinder retracts. Once the nozzle cylinder is fully retracted, the nozzle push cylinder moves it to its initial position. Simultaneously, the cartridge limit cylinder retracts, returning to its initial position, ready for the next automatic spraying command.

[0023] Compared with existing technologies, this invention can effectively reduce the alternating working space of the bolt drilling rig, reduce the width of the machine body, improve the flexibility of the equipment, and meet the charging function of two drill arms. Through relevant control algorithms, it can improve the efficiency and success rate of charging of the bolt drilling rig, meet the needs of full-section bolt support in the tunneling face, provide technical support for the automation technology of bolt drilling rigs, and improve the efficiency of roadway bolt support. Attached Figure Description

[0024] Figure 1 This is a block diagram of the charge control system.

[0025] Figure 2 This is a flowchart of the remote control and manual control method of the present invention;

[0026] Figure 3 This is a flowchart of the automatic control steps of the present invention. Detailed Implementation

[0027] The explosive loading control system for the anchor drilling rig of this invention includes: a hydraulic solenoid valve assembly, a pneumatic solenoid valve, an explosive tank assembly, a displacement sensor, an explosive nozzle assembly, a pressure sensor, a controller assembly, a remote control system, and a display. The hydraulic solenoid valve assembly drives the explosive cartridge rotating motor, the inlet / outlet air cylinder, the explosive tank limit cylinder, and the explosive tank switching cylinder. The air solenoid valve controls the on / off state of the system's air valves, which are connected to pressure sensors to read the explosive loading air pressure. The explosive tank assembly includes: a explosive cartridge rotating motor, an inlet / outlet air cylinder, an explosive tank limit cylinder, and an explosive tank switching cylinder. All of these cylinders are connected to pressure sensors to determine their operating status. The explosive tank switching cylinder is equipped with a displacement sensor to measure its displacement. The system uses displacement and pressure sensors to determine the positioning of the switching cylinder, which switches the loading status of the left and right drill arms. Each drill arm is equipped with a nozzle assembly, which includes a nozzle extension cylinder and a nozzle push cylinder. The push cylinder aligns the nozzle with the borehole and contains a displacement sensor for lateral adjustment. The extension cylinder extends the nozzle into the borehole to deliver the explosive charge; it is connected to a pressure sensor to determine the extension / retraction status of the nozzle. The controller receives data from these sensors and analyzes the position and status of the relevant actuators in the loading system in real time. When the control system receives an operation command from the remote control, it first determines the position and status of the relevant actuators and displays this information in real time on the host computer software. Based on this accurate assessment of the actuators' position and status, the control system then controls the actuators to perform their actions.

[0028] A control method for a bolt drilling rig charging control system with switching function.

[0029] Remote and manual control include the following steps:

[0030] S100: The controller group reads data from various displacement and pressure sensors to determine the position and status of each actuator in the drug loading control system. Displacement sensors display the cylinder stroke in real time; the set values ​​for these sensors are determined by the actual movement of the cylinders on-site. Pressure sensors measure the hydraulic pressure during cylinder operation. When the cylinder reaches its designated position, mechanical limits cause the hydraulic system pressure to rise. The cylinder's position can be determined by the pressure sensor readings, which are then displayed on the host computer interface. The host computer sets the action settings for each actuator. The system's actuators include a drug cartridge rotary motor, inlet / outlet cylinders, a drug cartridge limit cylinder, a drug cartridge switching cylinder, an air jet solenoid valve, a spray pushing cylinder, and a spray telescopic cylinder.

[0031] S200: When the loading system is controlled by a remote control for spraying, the medicine roll is first loaded into the medicine roll chamber. Then, the loading switching cylinder is controlled by the remote control to select the air outlet pipe of the drill arm to be loaded. After the loading switching cylinder is in position according to the data of the displacement sensor and pressure sensor, the spraying push cylinder is controlled to move the spray nozzle directly below the borehole. The displacement sensor in the spraying push cylinder guides the displacement of the spray nozzle. When the controller group determines that the spray nozzle is in position according to the displacement sensor in the spraying push cylinder, it stops outputting. The spray nozzle extension cylinder is controlled by the remote control to extend the spray nozzle into the borehole. When the pressure sensor reads that the pressure value of the spray nozzle extension cylinder reaches the set value, the output stops, and the host computer displays that the spray nozzle has extended to the position.

[0032] S300: The medicine box limit cylinder is extended by remote control. After the pressure is judged to be in the extended position, the medicine roll chamber rotation motor is rotated by remote control. When the rotation is in the right position, the inlet and outlet cylinders are closed to lock the medicine roll chamber. The position is judged by the value of the pressure sensor. At the same time, the control system reads whether the air pressure in the air inlet pipe meets the loading pressure through the pressure sensor. When the air pressure meets the requirements, the corresponding indicator light on the display will light up.

[0033] S400: The jet solenoid valve is opened by remote control, and high-pressure gas delivers the cartridges in the cartridge chamber to the borehole through the spray hose and nozzle.

[0034] Automatic control includes the following steps:

[0035] S100: The controller group reads data from each displacement sensor and pressure sensor, determines the position and status of each actuator in the charge control system based on the data, displays the data on the host computer display interface, and sets the action reference value of each actuator through the host computer.

[0036] S200: Before the automatic spraying mode is started, the spraying system controller receives the spraying start command from the drill frame control system via the fieldbus. After the controller receives the start command from a drill frame on a certain boom at a certain moment, the spraying system controller starts to execute the automatic spraying process. When the controller group receives the automatic spraying execution command from two drill frames on the boom at the same time, the control system will select the automatic spraying start priority of the left and right booms according to the program. When the controller group determines that a certain boom needs to be loaded with chemicals, the chemical tank switching cylinder will automatically switch to the air outlet pipe of that boom.

[0037] S300: After the controller group determines that the switching cylinder is in position through sensor data, the controller group controls the nozzle pushing cylinder to move to the set displacement. After the displacement sensor detects that the nozzle pushing cylinder is in position, it starts to control the nozzle extension cylinder to extend. When the extension is in position, the controller stops outputting and at the same time uses the position command to drive the medicine box limit cylinder to extend to position. After the limit cylinder extends to position, the medicine box rotary motor starts to rotate.

[0038] S400: After the rotary motor reaches its position, the inlet and outlet cylinders of the medicine cartridge chamber close, sealing the medicine cartridge chamber. After the system judges the sealing of the medicine cartridge chamber by pressure, it checks whether the air pressure value collected by the inlet air pressure sensor meets the set value. When the above conditions are met, the air valve will automatically open, sending high-pressure gas into the medicine cartridge chamber, and sending the medicine cartridge in the medicine cartridge chamber into the borehole through the spray nozzle.

[0039] S500: After the system loads the pesticide cartridge, the nozzle extension cylinder retracts. Once the nozzle cylinder is fully retracted, the nozzle push cylinder moves it to its initial position. Simultaneously, the cartridge limit cylinder retracts, returning to its initial position, ready for the next automatic spraying command.

Claims

1. A control method for a bolt drilling rig charging control system with switching function, characterized in that: The bolt drilling rig's charge control system with switching function includes a charge solenoid valve group, which is used to drive the rotary motor of the charge cartridge, the inlet and outlet oil cylinders, the charge cartridge limit cylinders, and the charge cartridge switching cylinders. A jet solenoid valve is used to control the on / off state of the system's air valves; The air valve is connected to a pressure sensor to read the air pressure of the explosive charge. Pressure sensors installed on the rotary motor of the medicine roll compartment, the inlet and outlet oil cylinder, the medicine box limit oil cylinder, and the medicine box switching oil cylinder are used to determine the operating status of each oil cylinder. Displacement and pressure sensors installed on the medicine tank switching cylinder are used to measure the displacement of the medicine tank switching cylinder. A displacement sensor is installed on the spraying push cylinder; a pressure sensor is installed on the spray nozzle telescopic cylinder. All pressure and displacement sensors are connected to the data acquisition unit. The charging solenoid valve group, the jet solenoid valve, and the data acquisition unit are connected to the controller group. The controller group receives the data collected by these sensors, analyzes the position and status of the relevant actuators of the charging system in real time, and displays it in real time on the host computer display software. The control system controls the actuators to perform actions. The controller group is connected to the remote controller via a receiver signal; Control methods, including both remote and manual control, include the following steps: S100: The controller group reads data from various displacement and pressure sensors to determine the position and status of each actuator in the drug loading control system. The displacement sensors can display the stroke of the hydraulic cylinder in real time. The set value of the displacement sensor data is determined by the actual movement state of the hydraulic cylinder in the system. The pressure sensor is used to measure the hydraulic pressure of the hydraulic cylinder during operation. When the cylinder is in position, the hydraulic system pressure of the cylinder increases due to mechanical limit. Therefore, the position status of the cylinder can be determined by the pressure value of the pressure sensor and displayed on the upper computer display interface. The upper computer sets the action set value of each actuator. The actuators of the system include the drug cartridge rotary motor, the inlet and outlet cylinder, the drug box limit cylinder, the drug box switching cylinder, the air jet solenoid valve, the spraying push cylinder, and the spraying telescopic cylinder. S200: When the loading system is controlled by remote control for spraying, the medicine roll is first loaded into the medicine roll chamber. Then, the loading switching cylinder is controlled by remote control to select the air outlet pipe of the drill arm to be loaded. After the loading switching cylinder is in position according to the data of the displacement sensor and pressure sensor, the spraying push cylinder is controlled to move the spray nozzle directly below the borehole. The displacement sensor in the spraying push cylinder guides the displacement of the spray nozzle. When the controller group determines that the spray nozzle is in position according to the displacement sensor in the spraying push cylinder, it stops outputting. The spray nozzle extension cylinder is controlled by remote control to extend the spray nozzle into the borehole. When the pressure sensor reads that the pressure value of the spray nozzle extension cylinder reaches the set value, the output stops and the host computer displays that the spray nozzle has extended to the position. S300: The medicine box limit cylinder is extended by remote control. After the medicine box limit cylinder is fully extended by pressure judgment, the medicine roll chamber rotation motor is rotated by remote control. When the rotation is fully extended, the inlet and outlet cylinders are closed to lock the medicine roll chamber. The position is judged by the value of the pressure sensor. At the same time, the control system reads whether the air pressure in the air inlet pipe meets the loading pressure through the pressure sensor. When the air pressure meets the requirements, the corresponding indicator light on the display will light up. S400: The jet solenoid valve is opened by remote control, and high-pressure gas delivers the cartridge in the cartridge chamber to the borehole through the spray hose and nozzle; It also includes automatic control, which includes the following steps: S100: The controller group reads data from each displacement sensor and pressure sensor, determines the position and status of each actuator in the loading control system based on the data, displays it on the host computer display interface, and sets the action reference value of each actuator through the host computer. S200: When the automatic spraying mode is started, the spraying system controller receives the spraying start command from the drill frame control system via the fieldbus. After the controller receives the start command from a drill frame on a certain boom at a certain moment, the spraying system controller starts to execute the automatic spraying process. When the controller group receives the automatic spraying execution command from two drill frames on the boom at the same time, the control system will select the automatic spraying start priority of the left and right booms according to the program. When the controller group determines that a certain boom needs to be loaded with chemicals, the chemical tank switching cylinder will automatically switch to the air outlet pipe of that boom. S300: When the controller group determines that the switching cylinder is in position through sensor data, the controller group controls the spray nozzle pushing cylinder to move to the set displacement. After the displacement sensor detects that the spray nozzle pushing cylinder is in position, it starts to control the spray nozzle extension cylinder to extend. When the extension is in position, the controller stops outputting and at the same time uses the position command to drive the medicine box limit cylinder to extend to position. After the limit cylinder extends to position, the medicine box rotary motor starts to rotate. S400: When the rotary motor is in position, the inlet and outlet cylinders of the medicine roll chamber close to seal the medicine roll chamber. After the system judges the sealing of the medicine roll chamber by pressure, it checks whether the air pressure value collected by the inlet air pressure sensor meets the set value. When the above conditions are met, the air valve will automatically open to send high-pressure gas into the medicine roll chamber and send the medicine roll in the medicine roll chamber into the borehole through the spray nozzle. S500: After the system loads the pesticide cartridge, the nozzle extension cylinder retracts. Once the nozzle cylinder is fully retracted, the nozzle push cylinder moves it to its initial position. Simultaneously, the cartridge limit cylinder retracts, returning to its initial position, ready for the next automatic spraying command.

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