A side support drilling rig lifting mechanism positioning height control method

Abstract

The application provides a side help drill stand lifting mechanism positioning height control method, and belongs to the technical field of coal mine equipment control. The method comprises the following steps: obtaining a target positioning height of a side help drill stand lifting mechanism; obtaining an initial zero position height of the side help drill stand lifting mechanism; obtaining a current lifting height of the side help drill stand lifting mechanism and an initial lifting height of the side help drill stand lifting mechanism; judging the relationship between the initial lifting height of the side help drill stand lifting mechanism and the target positioning height, and controlling the side help drill stand lifting mechanism according to the judgment result. Thus, the application can realize the control of any positioning height of the side help drill stand lifting mechanism, and automatically stops after realizing the target positioning height, so that the automatic positioning of the side help drill stand anchor protection height is realized.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine equipment control, and specifically discloses a method for controlling the positioning height of a side drilling frame lifting mechanism. Background Technology

[0002] With the rapid development of my country's national economy, the demand for energy is increasing daily. Coal, as my country's main energy source, plays a vital role in promoting national economic development. In coal mine roadway excavation, bolt support is a fast, safe, and efficient roadway support method. However, bolt support involves numerous procedures and complex actions, requiring multiple personnel in many stages. Many aspects of bolt support have not yet been mechanized or automated, becoming one of the main factors restricting the automation level of the tunneling face. Furthermore, imbalance between excavation and support is one of the main problems in the tunneling face. Excessive bolt support time and a support speed that lags significantly behind the excavation speed severely affect the tunneling efficiency of coal mine roadways. Breakthroughs in bolt support technology are needed, and improving the automation level of bolt support is key to increasing its efficiency. To address this, this study investigates a sidewall lifting mechanism for bolt drill frames. This mechanism can adjust the height of the sidewall drill frame to achieve bolt support at different heights on the coal mine roadway sidewalls. The accuracy and automatic positioning of the sidewall drill frame by the lifting mechanism are crucial for achieving automation and improving the efficiency of sidewall bolt support.

[0003] Side-mounted drill rig height control is achieved by adjusting the lengths of the negative and positive feed cylinders in the side-mounted lifting mechanism slide. However, determining whether the side-mounted drill rig height has reached the required level requires multiple manual measurements. Based on the measurement results, the lengths of the negative and positive feed cylinders in the side-mounted lifting mechanism slide are continuously adjusted until the required drilling height is achieved. Currently, there is a lack of a simple, efficient, and automated control method for side-mounted drill rig height positioning. Summary of the Invention

[0004] The purpose of this application is to propose a method for controlling the positioning height of the side drilling rig lifting mechanism, which can solve the problem of low positioning efficiency of the side drilling rig, improve the efficiency of side anchor bolt support, and realize the automation level of side anchor bolt support.

[0005] The above-mentioned method for controlling the positioning height of the side drilling rig lifting mechanism includes the following steps:

[0006] S100 - Obtain the target positioning height of the side drilling rig lifting mechanism, denoted as H. S ;

[0007] S200 - Obtain the initial zero-position height of the side drilling rig lifting mechanism, denoted as H. Z ;

[0008] S300 - Obtain the initial lifting height of the side drilling rig lifting mechanism, denoted as H. I Obtain the current lifting height of the side drilling rig lifting mechanism, denoted as H. L ;

[0009] S400 - Determines the relationship between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism, including the following three cases:

[0010] The initial lifting height of the side drilling rig lifting mechanism is less than the target positioning height, i.e., H. I <H S ;

[0011] The initial lifting height of the side drilling rig lifting mechanism is equal to the target positioning height, i.e., H. I =H S ;

[0012] The initial lifting height of the side drilling rig lifting mechanism is greater than the target positioning height, i.e., H. I >H S ;

[0013] S500 controls the sidewall drill frame lifting mechanism by adjusting the lengths of the negative and positive feed cylinders in the slide of the sidewall lifting mechanism, including the following three cases:

[0014] In response to the initial lifting height of the side drilling rig lifting mechanism being less than the target positioning height, the negative feed cylinder is controlled to move upward and the displacement L of the negative feed cylinder is reduced. L Control the forward feed cylinder to move upward and increase the forward feed cylinder displacement L. S Increase the current lift height H L Until H L =H S ;

[0015] In response to the initial lifting height of the side drilling frame lifting mechanism being equal to the target positioning height, the negative feed cylinder and the positive feed cylinder are not operated.

[0016] In response to the initial lifting height of the side drilling rig lifting mechanism being greater than the target positioning height, the negative feed cylinder is controlled to move downward and the displacement L of the negative feed cylinder is increased. L Control the forward feed cylinder to move downward and reduce the forward feed cylinder displacement L. S Reduce the current lift height H L Until H L =H S .

[0017] In step S100, the target positioning height of the side drilling frame lifting mechanism is set to position a in parameter table array D. The controller reads the information at position a in parameter table array D, and it can be seen that the target positioning height of the side drilling frame lifting mechanism is D[a]. The target positioning height of the side drilling frame lifting mechanism is obtained as: H S =D[a].

[0018] In step S200, the initial zero position height of the side drilling frame lifting mechanism is the lifting height of the side drilling frame lifting mechanism when the negative feed cylinder is at zero and the positive feed cylinder is at zero.

[0019] The initial zero height of the side drilling rig lifting mechanism is set to position b in parameter table array D. The controller reads the information at position b in parameter table array D, and it can be known that the initial zero height of the side drilling rig lifting mechanism is D[b]. The initial zero height of the side drilling rig lifting mechanism is obtained as: H Z =D[b].

[0020] The target positioning height and initial zero position height of the side drilling rig lifting mechanism are obtained and stored in the power-off storage area.

[0021] Step S300 includes:

[0022] Obtain the negative feed cylinder displacement L in the slide of the side drilling rig lifting mechanism. L and forward feed cylinder displacement L S ;

[0023] Negative feed cylinder displacement L L The forward feed cylinder displacement L is measured by displacement sensor I. S Measured by displacement sensor II;

[0024] Obtain the negative feed cylinder displacement L L Includes the following steps:

[0025] The controller acquires the digital signal X from displacement sensor I. L The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, are used to derive the negative feed cylinder displacement L. L :

[0026] L L =(S MAX X L -S0D MAX )*LLMAX / (D MAX *(S F -S0))

[0027] Obtain the forward feed cylinder displacement L S Includes the following steps:

[0028] The controller acquires the digital signal X from displacement sensor II. S The range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, are used to derive the forward feed cylinder displacement L. S ;

[0029] L S =(S MAX X S -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))

[0030] According to the negative feed cylinder displacement L L Forward feed cylinder displacement L S And the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism. L The contribution coefficient R of the forward feed cylinder displacement to the stroke of the sidewall lifting mechanism S Obtain the current lifting height H of the side drilling frame lifting mechanism. L :

[0031] H L =H Z -R L *L L+ R S *L S =H Z -R L *(S MAX X L -S0D MAX )*L LMAX / (D MAX *(S F -S0))+RS *(S MAX X S -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))

[0032] Among them, the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism is... L The contribution coefficient R of the forward feed cylinder to the stroke of the side lifting mechanism S It is determined by the structure of the side drilling frame lifting mechanism.

[0033] Similarly, when setting the target positioning height, the controller acquires the digital signal X from displacement sensor I. IL The digital value X of displacement sensor II IS Obtain the initial lifting height H of the side drilling frame lifting mechanism. I :

[0034] H I =H Z -R L *L L+ R S *L S =H Z -R L *(S MAX X IL -S0D MAX )*L LMAX / (D MAX *(S F -S0))+R S *(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))

[0035] In step S500, the negative feed cylinder is driven by solenoid valve I, and the positive feed cylinder is driven by solenoid valve II. The digital values ​​of solenoid valve I and solenoid valve II are given by the controller.

[0036] In step S500, when the initial lifting height of the side drilling frame lifting mechanism is less than the target positioning height, the following steps are included:

[0037] S501 - Calculate the height difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = HS -H I ;

[0038] S502 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and only the positive feed cylinder respectively;

[0039] The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is controlled to retract include:

[0040] The controller acquires the digital value X from displacement sensor I when the target height is set. IL The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the retraction of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0041] ΔH L =R L *(S MAX X IL -S0D MAX )*L LMAX / (D MAX *(S F -S0))

[0042] The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is extended include:

[0043] The controller acquires the digital value X from displacement sensor II when the target height is set. IS The range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the extension of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0044] ΔH S =RS *(L SMAX -(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0)))

[0045] S503 - The control strategy is derived, and the controller provides corresponding control signals to the solenoid valve, including the following steps:

[0046] The height difference ΔH that can be reduced by controlling the negative feed cylinder is compared. L The height difference ΔH;

[0047] When ΔH L When ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve I to open, controls the negative feed cylinder to move upward, and reduces the difference between the current lifting height and the target positioning height of the side drill frame lifting mechanism to 0. That is, when the current lifting height of the side drill frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving.

[0048] When ΔH L When the height difference is less than ΔH, controlling only the retraction of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. This is compared to the height difference ΔH that can be reduced by controlling the positive feed cylinder. S Based on the height difference ΔH and the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived:

[0049] When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move upward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH. L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move upward and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height.

[0050] When ΔH sWhen the value is ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve II to open, controls the forward feed cylinder to move upward, and reduces the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve II closes, and the forward feed cylinder stops moving.

[0051] In step S500, when the initial lifting height of the side drilling frame lifting mechanism is greater than the target positioning height, the following steps are included:

[0052] S511 - Calculate the difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = H L -H S ;

[0053] S512 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and only the positive feed cylinder respectively;

[0054] The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is extended include:

[0055] The controller acquires the digital value X from displacement sensor I when the target height is set. IL The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the extension of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0056] ΔH L =R L *(L LMAX -(S MAX X IL -S0D MAX )*L LMAX / (D MAX *(S F -S0)))

[0057] The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is controlled to retract include:

[0058] The controller acquires the digital value X from displacement sensor II when the target height is set. ISThe range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the retraction of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0059] ΔH S =R S *(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))

[0060] S513 - The control strategy is derived, and the controller provides corresponding control signals to the hydraulic cylinder solenoid valve, including the following steps:

[0061] The difference ΔH that can be reduced by controlling the negative feed cylinder is compared. L The height difference ΔH;

[0062] When ΔH L When ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve I to open, controls the negative feed cylinder to move down, and reduces the difference between the current lifting height and the target positioning height of the side drill frame lifting mechanism to 0. That is, when the current lifting height of the side drill frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving.

[0063] When ΔH L When the height difference is less than ΔH, controlling only the extension of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. This is compared to the height difference ΔH that can be reduced by controlling the positive feed cylinder. S Based on the height difference ΔH and the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived:

[0064] When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move downward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH.L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move down and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height.

[0065] When ΔH s When the value is ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve II to open, controls the forward feed cylinder to move down, and reduces the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve II closes, and the forward feed cylinder stops moving.

[0066] The present invention has the following beneficial effects:

[0067] The side-mounted drill frame lifting mechanism positioning height control method of the present invention acts on the side-mounted lifting mechanism of the anchor bolt drill frame, which can adjust the height of the side-mounted drill frame to achieve automatic positioning of the height of the side-mounted drill frame, realize anchor bolt support at different heights of the side-mounted drill frame in coal mine roadways, and the parameters can be adjusted according to specific working conditions. It has high flexibility and operability, improves the positioning efficiency of the side-mounted drill frame height, the automation level of side-mounted anchor bolt support, and the efficiency of side-mounted anchor bolt support, thereby improving the roadway excavation speed and alleviating the contradiction of excavation and support imbalance to a certain extent. It is an important way to achieve the automation level of side-mounted anchor bolt support. Attached Figure Description

[0068] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0069] Figure 1 A schematic diagram of the control hardware connection for the positioning height control method of the side drilling frame lifting mechanism;

[0070] Figure 2 A flowchart illustrating the method for controlling the positioning height of the side drilling rig lifting mechanism;

[0071] Figure 3 This is a flowchart illustrating step S500 when the initial lifting height of the side drilling frame lifting mechanism is less than the target positioning height.

[0072] Figure 4This is a flowchart illustrating step S500 when the initial lifting height of the side drilling frame lifting mechanism is greater than the target positioning height. Detailed Implementation

[0073] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] Example 1

[0075] like Figure 1 As shown, the side-mounted drill frame lifting mechanism positioning height control method provided in this embodiment is achieved by adjusting the lengths of the negative feed cylinder and the positive feed cylinder; the negative feed cylinder is driven by solenoid valve I, and the positive feed cylinder is driven by solenoid valve II; the digital values ​​of solenoid valve I and solenoid valve II are given by the controller; the displacement of the negative feed cylinder is measured by displacement sensor I, and the displacement of the positive feed cylinder is measured by displacement sensor II; the controller reads the values ​​of displacement sensor I and displacement sensor II; the controller reads the initial zero-position height H of the side-mounted drill frame lifting mechanism from the human-machine interface (HMI). Z Target positioning height H of the side drilling rig lifting mechanism S The contribution coefficient R of the negative feed cylinder to the stroke of the sidewall lifting mechanism L The contribution coefficient R of the forward feed cylinder to the stroke of the side lifting mechanism S The position is determined by the structure of the sidewall drill rig lifting mechanism. Based on the parameters read, the controller can determine the current position of the sidewall drill rig lifting mechanism and accordingly provide a corresponding control strategy to control solenoid valve I and solenoid valve II, thereby controlling the negative feed cylinder and the positive feed cylinder to adjust the positioning height of the sidewall drill rig lifting mechanism to the target positioning height.

[0076] like Figure 2 As shown, the method for controlling the positioning height of the side drilling rig lifting mechanism specifically includes the following steps.

[0077] S100 - Obtain the target positioning height of the side drilling rig lifting mechanism

[0078] Taking into account specific geological conditions and other factors, the target positioning height is set at position 'a' in parameter table array D using a human-computer interaction method. The controller reads the information at position 'a' in parameter table array D, and it can be determined that the target positioning height of the side drilling frame lifting mechanism is D[a]. The target positioning height of the side drilling frame lifting mechanism is then obtained as: H S =D[a], stored in the power-off storage area.

[0079] S200 - Obtain the initial zero height of the side drilling rig lifting mechanism

[0080] The anchor bolt support equipment designed in accordance with specific geological conditions has an initial zero position height of the side drilling frame lifting mechanism, which is the lifting height of the side drilling frame lifting mechanism when the negative feed cylinder is at zero and the positive feed cylinder is at zero.

[0081] The initial zero height of the side drilling rig lifting mechanism is set at position b in parameter table array D via human-machine interaction. The controller reads the information at position b in parameter table array D, and it can be determined that the initial zero height of the side drilling rig lifting mechanism is D[b]. The initial zero height of the side drilling rig lifting mechanism is then obtained as: H. Z =D[b], stored in the power-off storage area.

[0082] S300 - Obtain the current lifting height and initial lifting height of the side drilling rig lifting mechanism.

[0083] To obtain the current lifting height of the sidewall drill rig lifting mechanism, the following parameters need to be determined: the negative feed cylinder displacement L in the slide of the sidewall drill rig lifting mechanism. L Forward feed cylinder displacement L S The contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism L The contribution coefficient R of the forward feed cylinder displacement to the stroke of the side lifting mechanism S The initial zero height H of the side drilling rig lifting mechanism Z Negative feed cylinder displacement L L and the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism L Determine the downward height distance of the side drill frame lifting mechanism caused by the negative feed cylinder; determine the displacement L of the positive feed cylinder. S and the contribution coefficient R of the forward feed cylinder to the stroke of the side lifting mechanism S Determine the upward height distance of the side drill frame lifting mechanism caused by the forward feed cylinder; the initial zero position height H of the side drill frame lifting mechanism. Z Subtract the stroke contribution value R of the negative feed cylinder to the side drill frame lifting mechanism. L *L L (i.e., the downward height distance under the action of the negative feed cylinder), plus the upward height distance under the action of the positive feed cylinder (i.e., the stroke contribution value R of the positive feed cylinder to the side drilling rig lifting mechanism). S *L S From this, the current lifting height H of the side drilling frame lifting mechanism can be obtained. L .

[0084] Obtain the negative feed cylinder displacement L L Includes the following steps:

[0085] The controller acquires the digital signal X from displacement sensor I. LBased on the obtained parameter information, and combining the parameter information of displacement sensor I, including the range of the analog signal output by displacement sensor I, S0-S... F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, are used to derive the negative feed cylinder displacement L. L :

[0086] L L =(S MAX X L -S0D MAX )*L LMAX / (D MAX *(S F -S0));

[0087] Similarly, obtain the forward feed cylinder displacement L. S Includes the following steps:

[0088] The controller acquires the digital signal X from displacement sensor II. S Based on the obtained parameter information, and combining the parameter information of displacement sensor II, including the range S of the analog signal output by displacement sensor II. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, are used to derive the forward feed cylinder displacement L. S ;

[0089] L S =(S MAX X S -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0));

[0090] When the negative feed cylinder moves downward, the displacement sensor I increases, causing the current lifting height of the side drill frame lifting mechanism to decrease; conversely, when it moves upward, the current lifting height of the side drill frame lifting mechanism increases; the displacement L of the negative feed cylinder... L The contribution coefficient to the stroke of the sidewall lifting mechanism is R. L ;

[0091] When the forward feed cylinder moves upward, the displacement sensor II's displacement increases, causing the current lifting height of the side drill frame lifting mechanism to increase; conversely, it causes the current lifting height of the side drill frame lifting mechanism to decrease; the forward feed cylinder displacement L... S The contribution coefficient to the stroke of the sidewall lifting mechanism is R. S ;

[0092] Based on the negative feed cylinder displacement L L Forward feed cylinder displacement L S And the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism. L The contribution coefficient R of the forward feed cylinder displacement to the stroke of the sidewall lifting mechanism S Obtain the current lifting height H of the side drilling frame lifting mechanism. L :

[0093] H L =H Z -R L *L L+ R S *L S =H Z -R L *(S MAX X L -S0D MAX )*L LMAX / (D MAX *(S F -S0))+R S *(S MAX X S -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0)).

[0094] Similarly, when setting the target positioning height, the controller acquires the digital signal X from displacement sensor I. IL The digital value X of displacement sensor II IS Obtain the initial lifting height H of the side drilling frame lifting mechanism. I :

[0095] HI =H Z -R L *L L+ R S *L S =H Z -R L *(S MAX X IL -S0D MAX )*L LMAX / (D MAX *(S F -S0))+R S *(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))

[0096] S400 - Determine the relationship between the initial lifting height of the sidewall drill rig lifting mechanism and the target positioning height, including the following three cases: The initial lifting height of the sidewall drill rig lifting mechanism is less than the target positioning height, i.e., H... I <H S The initial lifting height of the side drilling rig lifting mechanism is equal to the target positioning height, i.e., H. I =H S The initial lifting height of the side drilling rig lifting mechanism is greater than the target positioning height, i.e., H I >H S .

[0097] S500 controls the sidewall drill frame lifting mechanism. If the initial lifting height of the sidewall drill frame lifting mechanism is inconsistent with the target positioning height, the forward feed cylinder displacement and the negative feed cylinder displacement are adjusted to gradually adjust the height of the sidewall drill frame lifting mechanism to be consistent with the set height. This includes the following three situations:

[0098] In response to the initial lifting height of the side drilling rig lifting mechanism being less than the target positioning height, the controller can output a non-zero control signal to drive solenoid valve I to open, thereby controlling the negative feed cylinder to move upward and reducing the negative feed cylinder displacement L. L On the other hand, it can enable the controller to output a non-zero control signal, driving solenoid valve II to open, controlling the forward feed cylinder to move upward, and increasing the forward feed cylinder displacement L. S The displacement of the positive feed cylinder and the displacement of the negative feed cylinder are detected at a frequency of 10ms. The current lifting height of the side drilling rig lifting mechanism is calculated, and the current lifting height H of the side drilling rig lifting mechanism is increased. L Until H L=H S ;

[0099] In response to the initial lifting height of the side drilling frame lifting mechanism being equal to the target positioning height, the controller outputs a zero control signal, solenoid valve I and solenoid valve II remain closed, the negative feed cylinder displacement and the positive feed cylinder displacement remain unchanged, and the current lifting height of the side drilling frame lifting mechanism remains unchanged at the target positioning height.

[0100] In response to the initial lifting height of the side drilling rig lifting mechanism being greater than the target positioning height, the controller can output a non-zero control signal to drive solenoid valve I to open, thereby controlling the negative feed cylinder to move downward and increasing the displacement L of the negative feed cylinder. L On the other hand, it can enable the controller to output a non-zero control signal, driving solenoid valve II to open, controlling the forward feed cylinder to move downward and reducing the forward feed cylinder displacement L. S The displacement of the positive feed cylinder and the displacement of the negative feed cylinder are detected at a frequency of 10ms. The current lifting height of the side drill frame lifting mechanism is calculated, and the current lifting height H of the side drill frame lifting mechanism is reduced. L Until H L =H S .

[0101] The aforementioned sidewall lifting mechanism positioning height control method combines the structure and drive mechanism of the sidewall drill frame lifting mechanism. Through automatic control of the sidewall lifting mechanism, it achieves automatic positioning of the sidewall drill frame height, thereby improving the efficiency of sidewall drill frame height positioning. This control method improves the efficiency of sidewall anchor bolt support and enhances the automation level of sidewall anchor bolt support.

[0102] Example 2

[0103] like Figure 3 As shown, in step S500, when the initial lifting height of the side drilling frame lifting mechanism is less than the target positioning height, the following steps are included.

[0104] S501 - Calculate the height difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = H S -H I .

[0105] S502 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and only the positive feed cylinder, respectively, including: controlling only the negative feed cylinder to retract can reduce the difference between the current lifting height and the target positioning height; controlling only the positive feed cylinder to extend can reduce the difference between the current lifting height and the target positioning height.

[0106] The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is controlled to retract include:

[0107] The controller acquires the digital value X from displacement sensor I when the target height is set. IL Based on the obtained parameter information, and combining the parameter information of displacement sensor I, including the range of the analog signal output by displacement sensor I, S0-S... F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the retraction of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0108] ΔH L =R L *(S MAX X IL -S0D MAX )*L LMAX / (D MAX *(S F -S0));

[0109] The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is extended include:

[0110] The controller acquires the digital value X from displacement sensor II when the target height is set. IS Based on the obtained parameter information, and combining the parameter information of displacement sensor II, including the range S of the analog signal output by displacement sensor II. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the extension of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0111] ΔH S =R S *(L SMAX -(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX *(S / F -S / 0))).

[0112] S503 - The control strategy is derived, and the controller provides corresponding control signals to the hydraulic cylinder solenoid valve, including: controlling the reduction of the difference ΔH that can be achieved by controlling the negative feed hydraulic cylinder. L Compare the difference between the current lifting height and the target positioning height (which can be reduced) and the height difference ΔH (the height by which the initial lifting height is less than the target positioning height), and control the forward feed cylinder to reduce the difference ΔH. S By comparing the height difference ΔH with the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived.

[0113] When ΔH L When the value is ≥ΔH, the current lifting height of the side drilling frame lifting mechanism can be increased by simply controlling the retraction of the negative feed cylinder until it matches the target positioning height of the side drilling frame lifting mechanism. In this case, the controller outputs a non-zero control signal to drive the solenoid valve I to open, control the negative feed cylinder to move upward, and reduce the difference between the current lifting height of the side drilling frame lifting mechanism and the target positioning height to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, the solenoid valve I closes, and the negative feed cylinder stops moving.

[0114] When ΔH L When the height difference is less than ΔH, simply controlling the retraction of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. The height difference ΔH that can be reduced by controlling the positive feed cylinder can be adjusted. S By comparing the height difference ΔH with the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived:

[0115] When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move upward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH. L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move upward and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height.

[0116] When ΔH sWhen the height is ≥ΔH, the current lifting height of the side drilling frame lifting mechanism can be increased by simply controlling the extension of the forward feed cylinder until it matches the target positioning height of the side drilling frame lifting mechanism. In this case, the controller outputs a non-zero control signal to drive the solenoid valve II to open, control the forward feed cylinder to move upward, and reduce the difference between the current lifting height of the side drilling frame lifting mechanism and the target positioning height to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, the solenoid valve II closes, and the forward feed cylinder stops moving.

[0117] Example 3

[0118] like Figure 4 As shown, in step S500, when the initial lifting height of the side drilling frame lifting mechanism is greater than the target positioning height, the following steps are included.

[0119] S511 - Calculate the difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = H I -H S .

[0120] S512 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and controlling only the positive feed cylinder, respectively, including: when only the negative feed cylinder is extended, the difference between the current lifting height and the target positioning height can be reduced; when only the positive feed cylinder is retracted, the difference between the current lifting height and the target positioning height can be reduced.

[0121] The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is extended include:

[0122] The controller acquires the digital value X from displacement sensor I when the target height is set. IL Based on the obtained parameter information, and combining the parameter information of displacement sensor I, including the range of the analog signal output by displacement sensor I, S0-S... F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the extension of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0123] ΔH L =R L *(L LMAX -(S MAX X IL -S0DMAX )*L LMAX / (D MAX *(S F -S0)));

[0124] The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is controlled to retract include:

[0125] The controller acquires the digital value X from displacement sensor II when the target height is set. IS Based on the obtained parameter information, and combining the parameter information of displacement sensor II, including the range S of the analog signal output by displacement sensor II. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the retraction of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height.

[0126] ΔH S =R S *(S MAX X IS -S / 0D MAX )*L SMAX / (D MAX* (S / F -S / 0)).

[0127] S513 - The control strategy is derived, and the controller provides corresponding control signals to the cylinder solenoid valve, including: controlling the reduction of the difference ΔH that can be achieved by controlling the negative feed cylinder. L Compare the difference between the current lifting height and the target positioning height (which can be reduced) and the height difference ΔH (the height by which the initial lifting height is less than the target positioning height), and control the forward feed cylinder to reduce the difference ΔH. S Compare with the height difference ΔH, and derive the control strategy for solenoid valve I and solenoid valve II based on the comparison results;

[0128] When ΔH LWhen the value is ≥ΔH, the current lifting height of the side drilling frame lifting mechanism can be increased by simply controlling the extension of the negative feed cylinder until it matches the target positioning height of the side drilling frame lifting mechanism. In this case, the controller outputs a non-zero control signal to drive the solenoid valve I to open, control the negative feed cylinder to move down, and reduce the difference between the current lifting height of the side drilling frame lifting mechanism and the target positioning height to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, the solenoid valve I closes, and the negative feed cylinder stops moving.

[0129] When ΔH L When the height difference is less than ΔH, simply controlling the retraction of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. The height difference ΔH that can be reduced by controlling the positive feed cylinder can be adjusted. S By comparing the height difference ΔH with the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived:

[0130] When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move downward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH. L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move down and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height.

[0131] When ΔH s When the height is ≥ΔH, the current lifting height of the side drilling frame lifting mechanism can be reduced by simply controlling the retraction of the forward feed cylinder until it matches the target positioning height of the side drilling frame lifting mechanism. In this case, the controller outputs a non-zero control signal to drive the solenoid valve II to open, control the forward feed cylinder to move down, and reduce the difference between the current lifting height of the side drilling frame lifting mechanism and the target positioning height to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, the solenoid valve II closes, and the forward feed cylinder stops moving.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the positioning height of a side-mounted drill frame lifting mechanism, characterized in that, Includes the following steps: S100 - Obtain the target positioning height of the side drilling rig lifting mechanism, denoted as H. S ; S200 - Obtain the initial zero-position height of the side drilling rig lifting mechanism, denoted as H. Z ; S300 - Obtain the current lifting height of the side drilling rig lifting mechanism, denoted as H. L Obtain the initial lifting height of the side drilling rig lifting mechanism, denoted as H. I ; Step S300 includes: Obtain the negative feed cylinder displacement L in the slide of the side drilling rig lifting mechanism. L and forward feed cylinder displacement L S ; Negative feed cylinder displacement L L The forward feed cylinder displacement L is measured by displacement sensor I. S Measured by displacement sensor II; Obtain the negative feed cylinder displacement L L Includes the following steps: The controller acquires the digital signal X from displacement sensor I. L The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, are used to derive the negative feed cylinder displacement L. L : L L =(S MAX X L -S0D MAX ) L LMAX / (D MAX (S F -S0)) Obtain the forward feed cylinder displacement L S Includes the following steps: The controller acquires the digital signal X from displacement sensor II. S The range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, are used to derive the forward feed cylinder displacement L. S ; L S = (S MAX X S -S / 0D MAX ) L SMAX / (D MAX (S / F -S / 0)) According to the negative feed cylinder displacement L L Forward feed cylinder displacement L S And the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism. L The contribution coefficient R of the forward feed cylinder displacement to the stroke of the sidewall lifting mechanism S Obtain the current lifting height H of the side drilling frame lifting mechanism. L : H L =H Z -R L L L+ R S L S =H Z -R L (S MAX X L -S0D MAX ) L LMAX / (D MAX (S F -S0)) +R S (S MAX X S -S / 0D MAX ) L SMAX / (D MAX (S / F -S / 0)) Among them, the contribution coefficient R of the negative feed cylinder to the stroke of the side lifting mechanism is... L The contribution coefficient R of the forward feed cylinder to the stroke of the side lifting mechanism S Determined by the structure of the side drilling rig lifting mechanism; When setting the target positioning height, the controller acquires the digital signal X from displacement sensor I. IL The digital value X of displacement sensor II IS Obtain the initial lifting height H of the side drilling frame lifting mechanism. I : H I =H Z -R L L L+ R S L S =H Z -R L (S MAX X IL -S0D MAX ) L LMAX / (D MAX (S F -S0)) +R S (S MAX X IS -S / 0D MAX ) L SMAX / (D MAX (S / F -S / 0)); S400 - Determines the relationship between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism, including the following three cases: The initial lifting height of the side drilling rig lifting mechanism is less than the target positioning height, i.e., H. I <H S ; The initial lifting height of the side drilling rig lifting mechanism is equal to the target positioning height, i.e., H. I =H S ; The initial lifting height of the side drilling rig lifting mechanism is greater than the target positioning height, i.e., H. I >H S ; S500 controls the sidewall drill frame lifting mechanism by adjusting the lengths of the negative and positive feed cylinders in the slide of the sidewall lifting mechanism, including the following three cases: In response to the initial lifting height of the side drilling rig lifting mechanism being less than the target positioning height, the negative feed cylinder is controlled to move upward and the displacement L of the negative feed cylinder is reduced. L Control the forward feed cylinder to move upward and increase the forward feed cylinder displacement L. S Increase the current lift height H L Until H L =H S ; In response to the initial lifting height of the side drilling frame lifting mechanism being equal to the target positioning height, the negative feed cylinder and the positive feed cylinder are not operated. In response to the initial lifting height of the side drilling rig lifting mechanism being greater than the target positioning height, the negative feed cylinder is controlled to move downward and the displacement L of the negative feed cylinder is increased. L Control the forward feed cylinder to move downward and reduce the forward feed cylinder displacement L. S Reduce the current lift height H L Until H L =H S .

2. The method for controlling the positioning height of the side drilling frame lifting mechanism according to claim 1, characterized in that, In step S100, the target positioning height of the side drilling frame lifting mechanism is set to position a in parameter table array D. The controller reads the information at position a in parameter table array D, and it can be seen that the target positioning height of the side drilling frame lifting mechanism is D[a]. The target positioning height of the side drilling frame lifting mechanism is obtained as: H S =D[a].

3. The method for controlling the positioning height of the side drilling frame lifting mechanism according to claim 1, characterized in that, In step S200, the initial zero position height of the side drilling frame lifting mechanism is the lifting height of the side drilling frame lifting mechanism when the negative feed cylinder is at zero and the positive feed cylinder is at zero. The initial zero height of the side drilling rig lifting mechanism is set to position b in parameter table array D. The controller reads the information at position b in parameter table array D, and it can be known that the initial zero height of the side drilling rig lifting mechanism is D[b]. The initial zero height of the side drilling rig lifting mechanism is obtained as: H Z =D[b].

4. The method for controlling the positioning height of the side drilling frame lifting mechanism according to any one of claims 1-3, characterized in that, The target positioning height and initial zero position height of the side drilling rig lifting mechanism are obtained and stored in the power-off storage area.

5. The method for controlling the positioning height of the side drilling frame lifting mechanism according to claim 1, characterized in that, In step S500, the negative feed cylinder is driven by solenoid valve I, and the positive feed cylinder is driven by solenoid valve II. The digital values ​​of solenoid valve I and solenoid valve II are given by the controller.

6. The method for controlling the positioning height of the side drilling frame lifting mechanism according to claim 5, characterized in that, In step S500, when the initial lifting height of the side drilling frame lifting mechanism is less than the target positioning height, the following steps are included: S501 - Calculate the height difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = H S -H I ; S502 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and only the positive feed cylinder respectively; The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is controlled to retract include: The controller acquires the digital value X from displacement sensor I when the target height is set. IL The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the retraction of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height. ΔH L =R L (S MAX X IL -S0D MAX ) L LMAX / (D MAX (S F -S0)) The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is extended include: The controller acquires the digital value X from displacement sensor II when the target height is set. IS The range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the extension of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height. ΔH S =R S (L SMAX -(S MAX X IS -S / 0D MAX ) L SMAX / (D MAX (S / F -S / 0))) S503 - The control strategy is derived, and the controller provides corresponding control signals to the solenoid valve, including the following steps: The height difference ΔH that can be reduced by controlling the negative feed cylinder is compared. L The height difference ΔH; When ΔH L When ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve I to open, controls the negative feed cylinder to move upward, and reduces the difference between the current lifting height and the target positioning height of the side drill frame lifting mechanism to 0. That is, when the current lifting height of the side drill frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. When ΔH L When the height difference is less than ΔH, controlling only the retraction of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. This is compared to the height difference ΔH that can be reduced by controlling the positive feed cylinder. S Based on the height difference ΔH and the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived: When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move upward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH. L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move upward and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height. When ΔH s When the value is ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve II to open, controls the forward feed cylinder to move upward, and reduces the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve II closes, and the forward feed cylinder stops moving.

7. The method for controlling the positioning height of the side drilling frame lifting mechanism according to claim 5, characterized in that, In step S500, when the initial lifting height of the side drilling frame lifting mechanism is greater than the target positioning height, the following steps are included: S511 - Calculate the difference between the initial lifting height and the target positioning height of the side drilling rig lifting mechanism: ΔH = H I -H S ; S512 - Calculate the difference between the current lifting height and the target positioning height that can be reduced by controlling only the negative feed cylinder and only the positive feed cylinder respectively; The steps to reduce the difference between the current lifting height and the target positioning height when only the negative feed cylinder is extended include: The controller acquires the digital value X from displacement sensor I when the target height is set. IL The output analog signal range of the integrated displacement sensor I is S0-S F and maximum measurable displacement L LMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor I and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor I, show that controlling only the extension of the negative feed cylinder can reduce the difference between the current lifting height and the target positioning height. ΔH L =R L (L LMAX -(S MAX X IL -S0D MAX ) L LMAX / (D MAX (S F -S0))) The steps to reduce the difference between the current lifting height and the target positioning height when only the forward feed cylinder is controlled to retract include: The controller acquires the digital value X from displacement sensor II when the target height is set. IS The range of the analog signal output by the integrated displacement sensor II is S. / 0-S / F and maximum measurable displacement L SMAX The controller can acquire a maximum signal S. MAX and the maximum acquireable signal S MAX The corresponding digital quantity D MAX The linear relationship between the analog signal output by displacement sensor II and the maximum measurable displacement, and the linear relationship between the digital signal acquired by the controller and the analog signal output by displacement sensor II, show that controlling only the retraction of the forward feed cylinder can reduce the difference between the current lifting height and the target positioning height. ΔH S =R S (S MAX X IS -S / 0D MAX ) L SMAX / (D MAX (S / F -S / 0)) S513 - The control strategy is derived, and the controller provides corresponding control signals to the hydraulic cylinder solenoid valve, including the following steps: The difference ΔH that can be reduced by controlling the negative feed cylinder is compared. L The height difference ΔH; When ΔH L When ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve I to open, controls the negative feed cylinder to move down, and reduces the difference between the current lifting height and the target positioning height of the side drill frame lifting mechanism to 0. That is, when the current lifting height of the side drill frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. When ΔH L When the height difference is less than ΔH, controlling only the extension of the negative feed cylinder cannot ultimately achieve the desired alignment between the current lifting height and the target positioning height of the side drilling rig lifting mechanism. This is compared to the height difference ΔH that can be reduced by controlling the positive feed cylinder. S Based on the height difference ΔH and the comparison results, the control strategies for solenoid valve I and solenoid valve II are derived: When ΔH s When the value is less than ΔH, the controller outputs a non-zero control signal, driving solenoid valve I to open and controlling the negative feed cylinder to move downward by ΔH. L Reduce the difference between the current lifting height and the target positioning height of the side drilling rig lifting mechanism to ΔH-ΔH. L When the controller outputs a zero control signal, solenoid valve I closes, and the negative feed cylinder stops moving. After the negative feed cylinder stops moving, the controller outputs a non-zero control signal, which drives solenoid valve II to open, controlling the positive feed cylinder to move down and reducing the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. When the controller outputs a zero control signal, solenoid valve II closes, the positive feed cylinder stops moving, and the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height. When ΔH s When the value is ≥ΔH, the controller outputs a non-zero control signal, drives solenoid valve II to open, controls the forward feed cylinder to move down, and reduces the difference between the current lifting height and the target positioning height of the side drilling frame lifting mechanism to 0. That is, when the current lifting height of the side drilling frame lifting mechanism is equal to the target positioning height, the controller outputs a zero control signal, solenoid valve II closes, and the forward feed cylinder stops moving.

Images