A control system and method for a multi-arm automatic anchor cable drill frame for coal mines

Abstract

The present invention belongs to the technical field of control of underground mining tunnel support equipment in coal mines, and provides a control system and method for a multi-arm automatic anchor cable drill frame for coal mines, which solves the problem that the prior art lacks a control system and method for the operation of an automatic anchor cable drill vehicle. The PLC data transmits the received oil cylinder pressure signal, motor speed signal or position signal of the feed mechanism to the human-machine interaction interface unit, which is used to display the drill frame status information and set corresponding parameters, the remote control transmitter is used to send out the equipment action command signal, the remote control receiver inputs the equipment action command signal to the PLC controller, and the PLC controller transmits the equipment action command signal to the digital output module and the analog output module to realize the action of the actuator; the data storage module is used to collect the operation data of the anchor cable drill frame from the PLC controller.

Description

Technical Field

[0001] The invention belongs to the technical field of control of underground coal mine tunnel support equipment, and in particular relates to a control system and method for a multi-arm automatic anchor cable drill frame for coal mines. Background Art

[0002] In coal mining operations, the support of anchor cables is an important basic guarantee for ensuring the safe working environment of underground coal mines. At present, the support of anchor cables mainly relies on manually operated anchor drills or drilling vehicles to drill holes and then drive in anchor cables, facing the harsh working environment of water permeability and large coal dust, and the work efficiency is low.

[0003] After searching, Chinese patent CN109681117B discloses a hydraulic single-arm automatic anchor cable drilling vehicle for coal mines, which relates to the technical field of underground mining tunnel support in coal mines, including a vehicle body, a lifting mechanism and an automatic anchor cable drilling frame system. The vehicle body includes a body part, a hydraulic system, an electrical control system, an engine device and a wheeled walking mechanism, and the hydraulic system and the wheeled walking mechanism are both connected to the engine device; the lifting mechanism includes a working arm, a lifting assembly that drives the working arm to lift and lower, and a swing assembly that drives the working arm to swing left and right; the automatic anchor cable drilling frame system is lifted and lowered and swung through the lifting mechanism, which is used to install anchor rods or anchor cables; the automatic anchor cable drilling frame system and the lifting mechanism are both controlled by the hydraulic system. A hydraulic single-arm automatic anchor cable drilling vehicle is used, the automatic anchor cable drilling frame system is used as an anchor cable anchoring device, the lifting mechanism is used for automatic anchoring positioning, the engine device is used as power, the wheel-driven vehicle layout mode, the moving speed is fast, and the anchor cable anchoring efficiency is high.

[0004] However, this patent only describes the specific working process and mechanical composition of the automatic anchor drilling vehicle, and involves the specific layout and method flow of the control system. Summary of the invention

[0005] In order to solve the problem that the prior art lacks a control system and method for the operation of an automatic anchor cable drilling vehicle, the present invention provides a control system and method for a multi-arm automatic anchor cable drilling frame for a coal mine.

[0006] The present invention is implemented by the following technical scheme: a control system for a multi-arm automatic anchor cable drill frame for coal mines, comprising a main control unit, a human-machine interaction interface unit, a centralized remote control unit and a sensing unit, wherein the main control unit comprises a PLC controller, a digital output module, an analog output module, a sensor acquisition module and a data storage module; the human-machine interaction interface unit comprises a main interface, a status display interface, a step display interface, a parameter configuration interface and a debugging control interface; the centralized remote control unit comprises a remote control transmitter and a remote control receiver; the sensing unit comprises a pressure sensor, a speed sensor and a multi-turn absolute encoder; wherein the pressure sensor transmits the detected cylinder pressure signal to the PLC controller via the sensor acquisition module, and the speed sensor transmits the detected motor speed to the PLC controller. The speed signal is transmitted to the PLC controller through the sensor acquisition module, and the multi-turn absolute encoder transmits the detected position signal of the feed mechanism to the PLC controller through the sensor acquisition module; the PLC data transmits the received cylinder pressure signal, motor speed signal or feed mechanism position signal to the human-machine interface unit, the human-machine interface unit is used to display the drilling rig status information and set corresponding parameters, the remote control transmitter is used to send equipment action command signals, the remote control receiver inputs the equipment action command signals to the PLC controller, the PLC controller transmits the equipment action command signals to the digital output module and the analog output module to realize the action of the actuator; the data storage module is used to collect the operation data of the anchor drilling rig from the PLC controller.

[0007] Preferably, each output port of the digital output module is respectively connected to the solenoid valves of the drill arm, swing arm, manipulator, drill clamp, drill rod magazine and rod removal mechanism of the anchor drill rig, and the action of the corresponding mechanism is realized by the conduction of the solenoid valve; each output port of the analog output module is respectively connected to the solenoid valves of the feed cylinder and the drill box motor in the feed mechanism, and the rising and falling of the feed cylinder and the forward and reverse rotation of the drill box motor are realized by controlling the opening amount of the solenoid valve.

[0008] Preferably, the pressure sensor is installed on the oil pipe pressure taking hole of each feed cylinder, the speed sensor is installed at the bottom of the drill box motor, and the multi-turn absolute encoder is installed on the side of the feed mechanism and connected by a connecting rod mechanism; the sensor acquisition module includes an analog input terminal module, a differential signal module and a communication module, the pressure sensor is connected to the analog input terminal module, the speed sensor is connected to the differential signal module, and the multi-turn absolute encoder is connected to the communication module.

[0009] Preferably, the model of the PLC control module is CX8050, the model of the digital output module is EL2809, the model of the analog output module is EL2535, the model of the analog input terminal module is EL3048, the model of the differential signal module is EL1512, the model of the communication module is EL6751, and the model of the data storage module is CANDTU-200UR.

[0010] Preferably, the main interface is used to display the drill rig number, current feed height, current total feed depth, automatic operation status, initial position status, number of rod connection, number of rod removal and fault information alarm; the status display interface is used to display the action and position status of each actuator of the drill rig; the step display interface is used to display the automatic operation step flow and the current step; the parameter configuration interface is used to display and set the basic parameters and necessary parameters of the drill rig operation; the debugging control interface is used to display and set the parameters and program operation parameters; the PLC controller and the human-computer interaction interface unit adopt ModbusTCP communication method, the PLC controller and the digital output module, analog output module, and sensor acquisition module adopt EtherCAT communication method, the PLC controller and the data storage module, the PLC controller and the remote control receiver and the multi-turn absolute encoder adopt CAN bus communication method, and the remote control transmitter and the remote control receiver adopt wireless communication method.

[0011] Preferably, the 13 button switches on the remote control transmitter control the movements of the swing arm extension and retraction, drill rod magazine extension and retraction, rod removal extension and retraction, drill clamp opening and closing, manipulator opening and closing, drill arm lifting and lowering, drill arm forward and backward swinging, and drill arm left and right swinging. The two analog joysticks on the remote control transmitter are used to realize the lifting and lowering of the feed cylinder and the forward and reverse rotation of the drill box motor. The 6 flat buttons on the remote control transmitter are used to realize automatic process start, stop, fault reset, encoder zeroing, parameter configuration and water valve control. The emergency stop switch on the remote control transmitter is used to realize the emergency stop function. The display screen of the remote control transmitter displays the equipment station number, emergency stop status, current step, feed height, and feed depth.

[0012] Preferably, the remote control transmitter is provided with a mode selection knob switch for realizing synchronous or asynchronous control of multiple drilling rigs, and each drilling rig is correspondingly provided with a remote control receiver.

[0013] The present invention also provides a control method for a multi-arm automatic anchor cable drill frame for a coal mine, comprising the following steps:

[0014] S1: Operation parameter setting: set the length of the drill rod and the depth of the drilling hole in the parameter configuration interface;

[0015] S2: Zeroing of multi-turn absolute encoder: Use the remote control transmitter to control the drill box to the bottom, and observe whether the feed height on the main interface is zero. The error value can be ±4cm; if not, use the encoder zeroing button on the remote control transmitter to perform zeroing;

[0016] S3: Initialization setting: Observe whether the initial position state of the main interface meets the equipment requirements. If so, no initialization is required. If not, switch to the status display interface and use the initialization button on the remote control transmitter to make each actuator reach the initial position state; the initial position state includes manipulator open, drill clamp open, swing arm retracted, drill rod magazine extended, rod removal mechanism extended, feed down to the bottom, drill box overflow open, and feed overflow open.

[0017] S4: Enter the automatic operation mode of the drilling rig: Start the automatic operation mode through the automatic process start flat button on the remote control transmitter. The automatic operation mode includes four small cycles, namely, grabbing the rod, connecting the rod, removing the rod, and releasing the rod. When the specified drilling depth is reached, the automatic operation mode stops and resets to the initial state;

[0018] S5: Enter the large cycle of automatic operation mode: After one automatic operation mode is completed, observe the main interface. If there is no fault and the initial position state is met, repeat step S4.

[0019] Preferably, in step S4, the rod grabbing action refers to the manipulator grabbing the drill rod from the drill rod magazine, swinging the arm to push the drill rod to the specified position, and the drill rod magazine rotates to the next rod grabbing position; the rod connection includes two cycles, namely, connecting the lower thread and connecting the upper thread. When connecting the rod, the lower thread is connected first. When connecting the thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator closes. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 200mm, the thread connection is completed. When connecting the thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator is loosened. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 1200 mm; rod removal includes 2 cycles, namely, removing the upper thread and removing the lower thread. When removing the rod, remove the upper thread first, the drill box motor reverses, the feed cylinder descends, and the manipulator is loosened. When the drill box pressure is less than 9Mpa and the feed distance value is less than 850mm, the upper thread is removed. When removing the lower thread, the drill box motor reverses, the feed cylinder descends, and the manipulator closes. When the drill box pressure is less than 9Mpa and the feed distance value is less than 10mm, the thread is removed. The rod release action refers to the swing arm action to pull the drill rod back to the specified position, the manipulator puts the drill rod back to the empty space in the drill rod bin, and the drill rod bin rotates to the next empty space;

[0020] The number of cycles N is calculated by the PLC controller according to the set parameters. The specific calculation formula is:

[0021]

[0022] Where H s is the set drilling depth, L is the set drill rod length, L0 is the head rod length, and ΔL is the original error.

[0023] Preferably, in step S1, if multiple drilling rigs are involved, the synchronous or asynchronous control mode is selected in advance through the mode selection knob switch on the remote control transmitter.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The control system and method of the multi-arm automatic anchor cable drill frame for coal mines provided by the present invention fills the gap in the control system of the multi-arm automatic anchor cable drill frame for coal mines, and provides a specific and feasible control method process. It is the main technical basis for the smooth operation of the multi-arm automatic anchor cable drill frame used for the first time in China. The control system combines the component units and process flow of the automatic anchor cable drill frame equipment, adopts the designed specific control system, and realizes the automatic control of the multi-arm automatic anchor cable drill frame. After the multi-arm automatic anchor cable drill frame is controlled by the system and method, the number of operators for anchor protection of the coal mine excavation working face can be effectively reduced, the anchor protection work efficiency of the coal mine multi-arm automatic drill frame is guaranteed, the efficiency and quality of coal mine excavation are improved, and huge social and economic benefits are brought to coal mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram of the control system of the present invention;

[0028] Figure 2 It is a flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0029] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, so they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0031] The present invention provides an embodiment:

[0032] like Figure 1 and Figure 2 As shown, a control system for a multi-arm automatic anchor cable drill frame for coal mines includes a main control unit, a human-machine interaction interface unit, a centralized remote control unit and a sensing unit. The main control unit includes a PLC controller, a digital output module, an analog output module, a sensor acquisition module and a data storage module; the human-machine interaction interface unit includes a main interface, a status display interface, a step display interface, a parameter configuration interface and a debugging control interface; the centralized remote control unit includes a remote control transmitter and a remote control receiver; the sensing unit includes a pressure sensor, a speed sensor and a multi-turn absolute encoder;

[0033] The pressure sensor transmits the detected cylinder pressure signal to the PLC controller through the sensor acquisition module, the speed sensor transmits the detected motor speed signal to the PLC controller through the sensor acquisition module, and the multi-turn absolute encoder transmits the detected position signal of the feed mechanism to the PLC controller through the sensor acquisition module;

[0034] The PLC data transmits the received cylinder pressure signal, motor speed signal or feed mechanism position signal to the human-machine interface unit. The human-machine interface unit is used to display the drilling rig status information and set corresponding parameters. The remote control transmitter is used to send equipment action command signals. The remote control receiver inputs the equipment action command signals to the PLC controller. The PLC controller transmits the equipment action command signals to the digital output module and the analog output module to realize the action of the actuator. The data storage module is used to collect the operation data of the anchor drilling rig from the PLC controller.

[0035] In this embodiment, the model of the PLC control module is CX8050. The PLC controller integrates the actuator action program, the sensor information collection program, the full-automatic program and the communication program. The power supply and control signal of the PLC controller are DC24V. Its function is to realize the information collection and command issuance of the various mechanisms of the multi-arm automatic anchor cable drill rack. Specifically, if the state of the feed cylinder in the automatic drill rack actuator is to be lowered to the bottom, it is first necessary to collect the encoder value collected by the sensor collection module through the communication program, calculate the current height, determine the action direction of the feed cylinder, and then pass the action direction to the analog output module, control the feed cylinder action at a certain speed, and stop when the feed height is 0. At the same time, it is determined whether the pressure value of the feed cylinder reaches the specified value to jointly determine whether it is in place. The single actuator in the multi-arm automatic anchor cable drill rack, the single drill rack automatic process and the multi-drill rack automatic process all realize information collection and command issuance through the main controller according to this method.

[0036] The model of the digital output module is EL2809. Its function is to realize the solenoid valve action control of the drill arm, swing arm, manipulator, drill clamp, drill rod magazine, and rod removal mechanism of the anchor drill rack. The specific implementation is that when the controller receives a certain mechanism action command or issues a certain mechanism action command itself, the corresponding output port of the digital output module EL2809 is set to a high level, so that the solenoid valve of the corresponding mechanism is turned on, driving the relevant mechanism to act.

[0037] The model of the analog output module is EL2535, and its function is to realize the motion control of the feed cylinder and the drill box motor in the feed mechanism. Specifically, when the PLC controller receives the action command of the feed cylinder and the drill box motor or issues an action command itself, it judges the speed of the action or the given speed, so that the analog output module EL2535 outputs a 4-20mA current signal to control the opening amount of the solenoid valve, thereby realizing the rise and fall of the feed cylinder and the forward and reverse rotation of the drill box motor at a certain speed.

[0038] The sensor acquisition module includes an analog input terminal module model EL3048, a differential signal module model EL1512, and a communication module model EL6751. Its function is to realize the acquisition of measurement data from pressure sensors, encoders, and speed sensors. Specifically, the pressure sensor outputs a 4-20mA current signal, and the analog input terminal module EL3048 transmits the collected information to the controller to convert the pressure value; the encoder transmits its own output digital quantity to the controller through the communication module EL6751 in CAN communication mode; the speed sensor outputs a differential signal, and the differential signal module EL1512 transmits the differential signal to the controller to convert the speed value.

[0039] The data storage module realizes the collection of automatic operation data of the anchor drill rig. Its model is CANDTU-200UR. It is specifically implemented by collecting the action information, in-place status and value of each sensor of each actuator from the main controller through CAN communication, with a cycle of 100 times per second.

[0040] The output ports of the digital output module are respectively connected to the solenoid valves of the drill arm, swing arm, manipulator, drill clamp, drill rod magazine and rod removal mechanism of the anchor drill rig, and the action of the corresponding mechanism is realized by the conduction of the solenoid valve; the output ports of the analog output module are respectively connected to the solenoid valves of the feed cylinder and the drill box motor in the feed mechanism, and the rise and fall of the feed cylinder and the forward and reverse rotation of the drill box motor are realized by controlling the opening amount of the solenoid valve.

[0041] The pressure sensor is installed on the oil pipe pressure hole of each feed cylinder, the speed sensor is installed at the bottom of the drill box motor, and the multi-turn absolute encoder is installed on the side of the feed mechanism and connected by a connecting rod mechanism; the sensor acquisition module includes an analog input terminal module, a differential signal module and a communication module. The pressure sensor is connected to the analog input terminal module, the speed sensor is connected to the differential signal module, and the multi-turn absolute encoder is connected to the communication module. There are 15 pressure sensors, which are used to measure the pressure value of each cylinder and output 4-20mA signals. The analog input terminal module model EL3048 connected to the sensor acquisition module is read and processed by the PLC main controller; there is 1 speed sensor, which outputs differential frequency signals. After being connected to the differential signal module EL1512 in the sensor acquisition module, the PLC main controller reads and processes the signals; there is 1 multi-turn absolute encoder, which outputs analog signals and is connected to the communication module EL6751 in the sensor acquisition module, and the PLC main controller reads and converts the signals.

[0042] The main interface is used to display the basic information of each drilling rig. It is the main screen when the equipment is running. Its basic information includes the drilling rig number, current feed height, current total feed depth, automatic operation status, initial position status, number of rod connection times, number of rod removal times and fault information alarm. The status display interface is used to display the action and in-position status of each actuator of the drilling rig, including the action and in-position status of the manipulator opening, closing and loosening, the pressure value of the upper manipulator and the pressure value of the lower manipulator; the action, in-position status and pressure value of the drill clamp opening and closing; the action, in-position status and pressure value of the swing arm extension and retraction; the action, in-position status and pressure value of the drill rod magazine extension and retraction; the action, in-position status and pressure value of the rod removal mechanism extension and retraction; the action, in-position status and pressure value of the feed raising and lowering, the top and bottom status and pressure value; the forward and reverse rotation action and pressure value of the drill box. The step display interface is used to display the automatic operation step process and the current step, which specifically includes two major steps and 24 minor steps of connecting the rod and removing the rod. Connecting the rod includes the first 14 steps, and removing the rod includes the last 10 steps. The step display interface can prompt the current step. If the automatic process is interrupted or manual intervention is required, you can refer to this interface to modify the step.

[0043] The parameter configuration interface is used to display and set the basic and necessary parameters of the drilling rig, including drilling depth, drill rod length, encoder zeroing status, current step number, current number of connecting rods, and current number of rod removal. The debugging control interface is used to display and set parameters and program operation parameters. This interface is used by debugging personnel and is generally not used by operators. It includes the tightening thread pressure and speed, loosening thread pressure and speed, thread removal distance value, drill rod bin, manipulator, two swing arms, rod removal, and in-place pressure value of the feed cylinder.

[0044] The PLC controller and the human-machine interface unit use ModbusTCP communication mode, the PLC controller and the digital output module, analog output module, and sensor acquisition module use EtherCAT communication mode, the PLC controller and the data storage module, the PLC controller and the remote control receiver and the multi-turn absolute encoder use CAN bus communication mode, and the remote control transmitter and the remote control receiver use wireless communication mode.

[0045] The 13 button switches on the remote control transmitter control the movement of the swing arm extension and retraction, drill rod magazine extension and retraction, rod removal extension and retraction, drill clamp opening and closing, manipulator opening and closing, drill arm lifting and lowering, drill arm forward and backward swinging, and drill arm left and right swinging. The two analog joysticks on the remote control transmitter are used to realize the lifting and lowering of the feed cylinder and the forward and reverse rotation of the drill box motor. The 6 flat buttons on the remote control transmitter are used to realize the automatic process start, stop, fault reset, encoder zeroing, parameter configuration and water valve control. The emergency stop switch on the remote control transmitter is used to realize the emergency stop function. The display screen of the remote control transmitter displays the equipment station number, emergency stop status, current step, feed height, and feed depth. The remote control transmitter is equipped with a mode selection knob switch for realizing synchronous or asynchronous control of multiple drilling rigs. Each drilling rig is correspondingly equipped with a remote control receiver, and each remote control receiver has a unique station number; the remote control transmitter can realize synchronous and asynchronous control of up to 4 drilling rigs.

[0046] The main control unit, human-machine interface unit, centralized remote control unit and perception unit form a communication link in different communication modes. Based on the specific operation process of the equipment, the communication link functions as follows: in the perception unit, the data of the multi-turn absolute encoder is transmitted to the sensor acquisition module in the main control unit through the CAN communication mode; the sensor acquisition module transmits the control command to the PLC controller through the EtherCAT communication mode, and the PLC controller transmits the received information to the human-machine interface unit through the ModbusTCP communication mode; the operator sets the corresponding parameters according to the interface prompt information, and operates the remote control transmitter in the centralized remote control unit to realize the equipment action control, and the remote control transmitter information is transmitted to the remote control receiver through the wireless communication mode, and the remote control receiver uses the CAN communication mode to transmit the operation command to the PLC controller; the PLC controller transmits the control command to the digital output module and the analog output module through the EtherCAT communication mode to realize the corresponding action and function.

[0047] A control method for a multi-arm automatic anchor cable drill frame for a coal mine comprises the following steps:

[0048] S1: Operation parameter setting: Use the remote control transmitter or external mouse and keyboard to switch the interface to the parameter configuration interface, and set the length of the drill rod and the depth of the drilling hole in the parameter configuration interface;

[0049] S2: Zeroing of multi-turn absolute encoder: Use the remote control transmitter to control the drill box to the bottom, and observe whether the feed height on the main interface is zero. The error value can be ±4cm; if not, use the encoder zeroing button on the remote control transmitter to perform zeroing;

[0050] S3: Initialization setting: Observe whether the initial position state of the main interface meets the equipment requirements. If so, no initialization is required. If not, switch to the status display interface and use the initialization button on the remote control transmitter to make each actuator reach the initial position state; the initial position state includes manipulator open, drill clamp open, swing arm retracted, drill rod magazine extended, rod removal mechanism extended, feed down to the bottom, drill box overflow open, and feed overflow open.

[0051] S4: Enter the automatic operation mode of the drilling rig: Start the automatic operation mode through the automatic process start flat button on the remote control transmitter. The automatic operation mode includes four small cycles, namely, grabbing the rod, connecting the rod, removing the rod, and releasing the rod. When the specified drilling depth is reached, the automatic operation mode stops and resets to the initial state;

[0052] S5: Enter the large cycle of automatic operation mode: After one automatic operation mode is completed, observe the main interface. If there is no fault and the initial position state is met, repeat step S4.

[0053] In step S4, the rod grabbing action refers to the manipulator grabbing the drill rod from the drill rod bin, swinging the arm to push the drill rod to the specified position, and the drill rod bin rotates to the next rod grabbing position; the rod connection includes 2 cycles, namely connecting the lower thread and connecting the upper thread. When connecting the rod, the lower thread is connected first. When connecting the thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator closes. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 200mm, the lower thread is connected. When connecting the thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator is loosened. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 1200mm, the upper thread is connected. The rod removal includes 2 The cycle includes removing the upper thread and removing the lower thread. When removing the rod, remove the upper thread first, the drill box motor reverses, the feed cylinder descends, and the manipulator is loosened. When the drill box pressure is less than 9Mpa and the feed distance value is less than 850mm, the upper thread is removed. When removing the lower thread, the drill box motor reverses, the feed cylinder descends, and the manipulator is closed. When the drill box pressure is less than 9Mpa and the feed distance value is less than 10mm, the lower thread is removed. The rod releasing action refers to the swing arm action to pull the drill rod back to the specified position, and the manipulator puts the drill rod back to the empty space in the drill rod bin, and the drill rod bin rotates to the next empty space. The drill rod bin can hold a total of 9 drill rods and has a memory function. Each drill rod is stored in a fixed position.

[0054] The number of cycles N is calculated by the PLC controller according to the set parameters. The specific calculation formula is:

[0055]

[0056] Where H s is the set drilling depth, L is the set drill rod length, L0 is the head rod length, and ΔL is the original error.

[0057] In step S1, if multiple drilling rigs are involved, the synchronous or asynchronous control mode is selected in advance through the mode selection knob switch on the remote control transmitter. If it is synchronous, one remote control transmitter can control up to four drilling rigs to move simultaneously, and steps S2 to S5 are performed simultaneously; if it is asynchronous, the remote control transmitter needs to select the drilling rig number, and steps S2 to S5 are performed separately for each drilling rig, and the steps are the same.

[0058] The new automatic anchor cable drill rig equipment mainly includes the actuators of the feed mechanism, drill arm, swing arm, manipulator, clamp, drill rod bin, and rod removal mechanism. The anchor cable drill rig needs to control multiple actuators in formation to realize the automation of the rod installation, drilling and rod removal process of anchor cable support. The specific structure is mentioned in the Chinese invention patent with application number 201811478727.5, which will not be described here; the control system and method of the multi-arm automatic anchor cable drill rig for coal mines include remote control and local mode. In the remote control mode, basic operations such as automatic start and stop can be realized through the ModubusTCP communication protocol, and the operation is completed through a third-party remote control panel or operation interface. The control system and method of the multi-arm automatic anchor cable drill rig for coal mines include step-by-step automated one-button operation, that is, if the full-automatic process is interrupted, a one-button operation can be used to return to the full-automatic state before the fault, thereby ensuring the uninterrupted operation of the automatic process. One-key operation includes 7 sub-processes: one-key rod protection, one-key rod grabbing, one-key rod release, one-key thread connection, one-key thread connection, one-key thread removal, and one-key thread removal. One-key rod protection is a separate operation, and its action process is that the upper manipulator opens and the lower manipulator closes, and finally achieves the effect that the rod does not fall off and does not affect the thread connection, that is, the manipulator is in a loose state.

[0059] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control system for a multi-arm automatic anchor cable drill frame for coal mines, characterized in that: It includes a main control unit, a human-machine interface unit, a centralized remote control unit and a sensing unit. The main control unit includes a PLC controller, a digital output module, an analog output module, a sensor acquisition module and a data storage module; the human-machine interface unit includes a main interface, a status display interface, a step display interface, a parameter configuration interface and a debugging control interface; the centralized remote control unit includes a remote control transmitter and a remote control receiver; the sensing unit includes a pressure sensor, a speed sensor and a multi-turn absolute encoder; The pressure sensor transmits the detected cylinder pressure signal to the PLC controller through the sensor acquisition module, the speed sensor transmits the detected motor speed signal to the PLC controller through the sensor acquisition module, and the multi-turn absolute encoder transmits the detected position signal of the feed mechanism to the PLC controller through the sensor acquisition module; The main interface is used to display the drill rack number, current feed height, current total feed depth, automatic operation status, initial position status, number of rod connection, number of rod removal and fault information alarm; the status display interface is used to display the action and position status of each actuator of the drill rack; the step display interface is used to display the automatic operation step flow and the current step; the parameter configuration interface is used to display and set the basic parameters and necessary parameters of the drill rack operation; the debugging control interface is used to display and set the parameters and program operation parameters; The PLC controller and the human-machine interface unit use ModbusTCP communication mode, the PLC controller and the digital output module, analog output module, and sensor acquisition module use EtherCAT communication mode, the PLC controller and the data storage module, the PLC controller and the remote control receiver and the multi-turn absolute encoder use CAN bus communication mode, and the remote control transmitter and the remote control receiver use wireless communication mode; The PLC data transmits the received cylinder pressure signal, motor speed signal or feed mechanism position signal to the human-machine interface unit. The human-machine interface unit is used to display the drilling rig status information and set corresponding parameters. The remote control transmitter is used to send equipment action command signals. The remote control receiver inputs the equipment action command signals to the PLC controller. The PLC controller transmits the equipment action command signals to the digital output module and the analog output module to realize the action of the actuator. The data storage module is used to collect the operation data of the anchor drilling rig from the PLC controller.

2. The control system of a multi-arm automatic anchor cable drill frame for coal mines according to claim 1, characterized in that: The output ports of the digital output module are respectively connected to the solenoid valves of the drill arm, swing arm, manipulator, drill clamp, drill rod magazine and rod removal mechanism of the anchor drill rack, and the action of the corresponding mechanism is realized by the conduction of the solenoid valve; the output ports of the analog output module are respectively connected to the solenoid valves of the feed cylinder and the drill box motor in the feed mechanism, and the rising and falling of the feed cylinder and the forward and reverse rotation of the drill box motor are realized by controlling the opening amount of the solenoid valve.

3. The control system of a multi-arm automatic anchor cable drill frame for coal mines according to claim 1, characterized in that: The pressure sensor is installed on the oil pipe pressure taking hole of each feed cylinder, the speed sensor is installed at the bottom of the drill box motor, and the multi-turn absolute encoder is installed on the side of the feed mechanism and connected by a connecting rod mechanism; the sensor acquisition module includes an analog input terminal module, a differential signal module and a communication module, the pressure sensor is connected to the analog input terminal module, the speed sensor is connected to the differential signal module, and the multi-turn absolute encoder is connected to the communication module.

4. The control system of a multi-arm automatic anchor cable drill frame for coal mines according to claim 3, characterized in that: The model of the PLC control module is CX8050, the model of the digital output module is EL2809, the model of the analog output module is EL2535, the model of the analog input terminal module is EL3048, the model of the differential signal module is EL1512, the model of the communication module is EL6751, and the model of the data storage module is CANDTU-200UR.

5. The control system of a multi-arm automatic anchor cable drill frame for coal mines according to claim 1, characterized in that: The 13 button switches on the remote control transmitter control the movements of the swing arm extension and retraction, drill rod magazine extension and retraction, rod removal extension and retraction, drill clamp opening and closing, manipulator opening and closing, drill arm lifting and lowering, drill arm forward and backward swinging, and drill arm left and right swinging. The two analog joysticks on the remote control transmitter are used to realize the lifting and lowering of the feed cylinder and the forward and reverse rotation of the drill box motor. The 6 flat buttons on the remote control transmitter are used to realize automatic process start, stop, fault reset, encoder zeroing, parameter configuration, initialization and water valve control. The emergency stop switch on the remote control transmitter is used to realize the emergency stop function. The display screen of the remote control transmitter displays the equipment station number, emergency stop status, current step, feed height and feed depth.

6. The control system of a multi-arm automatic anchor cable drill frame for coal mines according to claim 5, characterized in that: The remote control transmitter is provided with a mode selection knob switch for realizing synchronous or asynchronous control of multiple drilling rigs, and each drilling rig is correspondingly provided with a remote control receiver.

7. A control method for a multi-arm automatic cable anchor drill stand for coal mines, based on the control system of the multi-arm automatic cable anchor drill stand for coal mines as claimed in claims 1 to 6, characterized in that: The following steps are included: S1: Operation parameter setting: set the length of the drill rod and the depth of the drilling hole in the parameter configuration interface; S2: Zero mark of multi-turn absolute encoder: The remote control transmitter controls the drill box to drop to the bottom, and observes whether the feed height on the main interface is zero. The error value can be ±4cm; If it is not satisfied, use the encoder zeroing button on the remote control transmitter to perform zeroing; S3: Initialization setting: Observe whether the initial position state of the main interface meets the equipment requirements. If it does, no initialization is required. If not, switch to the status display interface and use the flat buttons of the remote control transmitter to make each actuator reach the initial position state; the initial position state includes manipulator open, drill clamp open, swing arm retracted, drill rod magazine extended, rod removal mechanism extended, feed down to the bottom, drill box overflow open, and feed overflow open; S4: Enter the automatic operation mode of the drilling rig: Start the automatic operation mode through the automatic process start flat button on the remote control transmitter. The automatic operation mode includes four small cycles, namely, grabbing the rod, connecting the rod, removing the rod, and releasing the rod. When the specified drilling depth is reached, the automatic operation mode stops and resets to the initial state; S5: Enter the large cycle of automatic operation mode: After one automatic operation mode is completed, observe the main interface. If there is no fault and the initial position state is met, repeat step S4.

8. The control method of the multi-arm automatic anchor cable drill frame for coal mines according to claim 7, characterized in that: In the step S4, the rod grabbing action refers to the swing arm action after the manipulator grabs the drill rod from the drill rod magazine, pushes the drill rod to the specified position, and the drill rod magazine rotates to the next rod grabbing position; the rod connection includes two cycles, namely, connecting the lower thread and connecting the upper thread. When connecting the rod, the lower thread is connected first. When connecting the thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator closes. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 200mm, the lower thread is connected. When connecting the upper thread, the drill box motor rotates forward, the feed cylinder rises, and the manipulator is loosened. When the drill box pressure reaches 15Mpa and the feed distance value is greater than 1200m m, the thread is connected and completed; rod removal includes 2 cycles, namely, removing the upper thread and removing the lower thread. When removing the rod, the upper thread is removed first, the drill box motor reverses, the feed cylinder descends, and the manipulator is loosened. When the drill box pressure is less than 9Mpa and the feed distance value is less than 850mm, the upper thread is removed and the lower thread is removed. When removing the lower thread, the drill box motor reverses, the feed cylinder descends, and the manipulator closes. When the drill box pressure is less than 9Mpa and the feed distance value is less than 10mm, the thread is removed and completed; the rod release action refers to the swing arm action to pull the drill rod back to the specified position, the manipulator puts the drill rod back to the empty space in the drill rod bin, and the drill rod bin rotates to the next empty space; The number of cycles of the four small cycles is N. The number of cycles N is calculated by the PLC controller according to the set parameters. The specific calculation formula is: Where H s is the set drilling depth, L is the set drill rod length, L0 is the head rod length, and ΔL is the original error.

9. The control method of a multi-arm automatic anchor cable drill frame for coal mines according to claim 7, characterized in that: In step S1, if multiple drilling rigs are involved, the synchronous or asynchronous control mode is selected in advance through the mode selection knob switch on the remote control transmitter.

Images