A mobile control system and method for a coal mine drill

Abstract

The application relates to a movable control system and method for a coal mine drilling machine, wherein a distance measuring sensor, a rotating speed sensor and a power head forward rotation pressure sensor are arranged on the drilling machine, and a pressure sensor, a distribution box, a control box, a display and the like are arranged on the movable control device, the electro-hydraulic control of the hydraulic control drilling machine is realized by program control of switch electromagnetic valves and proportional electromagnetic valves, problems such as great change of the drilling machine body components, difficult sensor installation and much wiring caused by upgrading and integrating the existing hydraulic control drilling machine into the electro-hydraulic control drilling machine are avoided, and the change of the working condition application condition and the change of the operation habit caused by the change of the appearance size and the weight of the drilling machine due to large-area change are avoided.

Description

Technical Field

[0001] This application relates to the field of drilling rig control technology, specifically to a mobile control system and method for coal mine drilling rigs. Background Technology

[0002] The main driving method of coal mine tunnel drilling rigs is that the motor drives the pump set to pressurize the hydraulic oil to drive the drilling rig. Due to the limited space in coal mine tunnels, the drilling rig itself is designed to be compact. The hydraulic oil pipes connecting the drilling rig to complete the operation are connected on the compact body of the drilling rig, making the internal space of the drilling rig even more compact. In order to carry out electro-hydraulic control of hydraulic drilling rigs, the conventional method is to add a control system to the original hydraulic drilling rig. This leads to problems such as large modifications to the drilling rig body components, difficulty in sensor installation, many wirings and lack of portability. At the same time, the large-scale modification of the drilling rig leads to changes in the external size and weight, which in turn leads to changes in the working conditions, operating habits and drilling rig performance. Summary of the Invention

[0003] To overcome at least one deficiency in the prior art, this application provides a mobile control system and method for coal mine drilling rigs.

[0004] Firstly, a mobile control method for a coal mine drilling rig is provided, comprising:

[0005] Step 1: After the mobile control system of the coal mine drilling rig performs a self-test, it determines the currently selected screwing and unscrewing mode. When the screwing mode is determined, proceed to Step 2; when the unscrewing mode is determined, proceed to Step 7.

[0006] Step 2: Control the opening of the gripper solenoid valve, the power head fast rotation solenoid valve, and the power head slow movement solenoid valve through electrical signals, and control the gripper to clamp, the power head fast rotation main valve to open, the power head slow movement main valve to open, and control the power head to quickly rotate forward so that the rotation speed of the power head reaches the first set value, and slow feed so that the movement speed of the power head reaches the second set value.

[0007] Step 3: Obtain the forward rotation pressure of the power head. When the forward rotation pressure of the power head > the third set value, control the solenoid valve of the power head to close quickly and the solenoid valve of the power head to close via an electrical signal. Also control the main valve of the power head to open quickly and the main valve of the power head to close slowly. Control the power head to stop forward rotation and movement, and proceed to step 4. When the forward rotation pressure of the power head ≤ the third set value, return to step 2.

[0008] Step 4: Determine the currently selected directional composite mode. If the selected mode is directional entry mode, proceed to step 5. If the selected mode is composite entry mode, proceed to step 9.

[0009] Step 5: Control the solenoid valve of the power head to close quickly and the solenoid valve of the power head to open slowly via electrical signal, and control the main valve of the power head to close quickly and open slowly via electrical signal, and control the power head to brake so that the rotation speed of the power head reaches the fourth set value and the slow feed so that the movement speed of the power head reaches the fifth set value.

[0010] Step 6: Obtain the status position of the power head. When the status position of the power head reaches the proximity point, control the power head to move slowly via an electrical signal to close the solenoid valve, control the power head to move slowly to close the main valve, and control the power head to stop moving, then proceed to step 11; when the status position of the power head does not reach the proximity point, return to step 5.

[0011] Step 7: Control the opening of the clamp solenoid valve, the power head fast rotation solenoid valve, and the power head slow movement solenoid valve through electrical signals, and control the clamp to clamp, the power head fast rotation main valve to open, the power head slow movement main valve to open, and control the power head to fast rotate so that the rotation speed of the power head reaches the first set value, and slow pull-out so that the movement speed of the power head reaches the second set value.

[0012] Step 8: Obtain the position of the power head. When the position of the power head is greater than the unhooking distance, control the power head slow movement solenoid valve and the power head fast rotation solenoid valve to close via electrical signal. Also control the power head slow movement main valve and the power head fast rotation main valve to close. Control the power head to stop moving and rotating, and proceed to step 11. When the position of the power head does not reach the unhooking distance, return to step 7.

[0013] Step 9: Control the solenoid valves for rapid rotation and slow movement of the power head to open via electrical signals, and control the main valves for rapid rotation and slow movement of the power head to open, and control the power head to rotate forward so that the rotation speed of the power head reaches the first set value, and the power head to move slowly so that the movement speed of the power head reaches the sixth set value.

[0014] Step 10: Obtain the position of the power head. When the position of the power head reaches the proximity point, control the power head slow movement solenoid valve and the power head fast rotation solenoid valve to close via electrical signals. Also control the power head slow movement main valve and the power head fast rotation main valve to close. Control the power head to stop moving and rotating, and proceed to step 11. When the position of the power head does not reach the proximity point, return to step 9.

[0015] Step 11, End.

[0016] In a second aspect, a mobile control system for a coal mine drilling rig is provided, comprising: a controller and a parameter measurement module, wherein the parameter measurement module includes a distance sensor, a speed sensor and a power head forward rotation pressure sensor;

[0017] The forward rotation pressure sensor of the power head is connected to the forward rotation pressure measuring oil pipe of the power head to detect the forward rotation pressure of the power head.

[0018] The ranging sensor is used to detect the position and speed of the power head;

[0019] The speed sensor is used to detect the rotational speed of the power head;

[0020] The controller is used to implement the aforementioned mobile control method for coal mine drilling rigs.

[0021] In one embodiment, the parameter measurement module further includes a temperature level gauge, a power head feed pressure sensor, a power head pull-out pressure sensor, a power head reversal pressure sensor, a chuck pressure sensor, a clamp clamping pressure sensor, a clamp releasing pressure sensor, a first variable pump pressure sensor, a second variable pump pressure sensor, a fixed displacement pump pressure sensor, a first variable pump return oil pressure sensor, a second variable pump return oil pressure sensor, a fixed displacement pump return oil pressure sensor, a second pilot oil pressure sensor, and a first pilot oil pressure sensor.

[0022] The temperature and level gauge is used to detect the temperature and quantity of the liquid oil in the tank; the power head feed pressure sensor is connected to the power head feed pressure measuring oil pipe to detect the power head feed pressure; the power head pull-out pressure sensor is connected to the power head pull-out pressure measuring oil pipe to detect the power head pull-out pressure; the power head reverse pressure sensor is connected to the power head reverse pressure measuring oil pipe to detect the power head reverse pressure; the chuck pressure sensor is connected to the chuck pressure measuring oil pipe to detect the chuck clamping and releasing pressure; the clamp clamping pressure sensor is connected to the clamp clamping pressure measuring oil pipe to detect the clamp clamping pressure; the clamp releasing pressure sensor is connected to the clamp releasing pressure measuring oil pipe to detect the clamp releasing pressure; and the first variable pump pressure sensor is connected to the first variable pump pressure measuring oil pipe. Oil pipes are used to detect the supply pressure of the first variable pump; a second variable pump pressure sensor connected to the second variable pump pressure measuring oil pipe is used to detect the supply pressure of the second variable pump; a fixed displacement pump pressure sensor connected to the fixed displacement pump pressure measuring oil pipe is used to detect the supply pressure of the fixed displacement pump; a first variable pump return oil pressure sensor is used to detect the return oil pressure of the first variable pump; a second variable pump return oil pressure sensor is used to detect the return oil pressure of the second variable pump; a fixed displacement pump return oil pressure sensor is used to detect the return oil pressure of the fixed displacement pump; a second pilot oil pressure sensor connected to the second pilot oil pressure measuring oil pipe is used to detect the supply pressure of the main valve when the power head moves slowly; a first pilot oil pressure sensor connected to the first pilot oil pressure measuring oil pipe is used to detect the supply pressure of the main valve when the power head moves rapidly.

[0023] In one embodiment, the power head lifting pressure testing oil pipe is located between the power head lifting oil chamber and the balance valve; the power head feed pressure testing oil pipe is located between the balance valve and the power head feed oil chamber; the power head forward rotation pressure testing oil pipe is located between the power head forward rotation oil chamber and the power head rapid rotation main valve; the power head reverse rotation pressure testing oil pipe is located between the power head reverse rotation oil chamber and the power head rapid rotation main valve; the speed sensor is located on the power head; the clamp release pressure testing oil pipe is located between the clamp release oil chamber and the hydraulic lock; the clamp clamping pressure testing oil pipe is located between the clamp clamping oil chamber and the hydraulic lock. The pressure testing pipe for the chuck is located between the chuck and the check valve; the pressure testing pipe for the fixed displacement pump is located between the clamp solenoid valve and the fixed displacement pump; the pressure testing pipe for the second variable displacement pump is located between the second variable displacement pump and the slow-moving main valve of the power head; the pressure testing pipe for the second pilot oil is located between the slow-moving main valve of the power head and the slow-moving solenoid valve of the power head; the pressure testing pipe for the first variable displacement pump is located between the first variable displacement pump and the fast-moving main valve of the power head; the pressure testing pipe for the first pilot oil is located between the fast-moving solenoid valve of the power head and the fast-moving main valve of the power head; and the distance sensor is located on the feed support plate.

[0024] In one embodiment, the system further includes a movable control device for a coal mine drilling rig, which includes a controller, a display, a safety barrier, and a junction box; the input of the safety barrier is connected to the junction box, the output of the safety barrier is connected to the controller, the output of the controller is connected to the junction box, and the controller is connected to the display.

[0025] In one embodiment, the mobile control device for a coal mine drilling rig further includes an intrinsically safe power supply and a non-safe power supply. The output of the intrinsically safe power supply is connected to a junction box, and the output of the non-safe power supply is connected to a safety barrier and a controller.

[0026] In one embodiment, the movable control device for a coal mine drilling rig further includes a sensor central mounting plate, on which are mounted a power head feed pressure sensor, a power head pull-out pressure sensor, a power head reverse pressure sensor, a chuck pressure sensor, a clamp clamping pressure sensor, a clamp releasing pressure sensor, a first variable pump pressure sensor, a second variable pump pressure sensor, a fixed displacement pump pressure sensor, a first variable pump return oil pressure sensor, a second variable pump return oil pressure sensor, a fixed displacement pump return oil pressure sensor, a second pilot oil pressure sensor, and a first pilot oil pressure sensor.

[0027] The sensor mounting plate is equipped with cable holes for ranging sensors, temperature and level gauges, and speed sensors.

[0028] Compared with the prior art, this application has the following beneficial effects: The mobile control system and method for coal mine drilling rigs of this application, by arranging distance sensors, speed sensors and power head forward rotation pressure sensors on the drilling rig, and centrally arranging pressure sensors, junction boxes, control boxes, displays, etc. on the mobile control device, realizes electro-hydraulic control of the hydraulic drilling rig by controlling the operation of the solenoid valves and proportional solenoid valves through program control. This avoids the problems of large-scale modification of the drilling rig body components, difficult sensor installation, and numerous wiring caused by upgrading existing hydraulic drilling rigs to integrated electro-hydraulic drilling rigs. It also avoids changes in working conditions and operating habits caused by changes in the external dimensions and weight of the drilling rig due to large-scale modifications. Attached Figure Description

[0029] This application can be better understood by referring to the description given below in conjunction with the accompanying drawings, which, together with the detailed description below, are incorporated in and form part of this specification. In the drawings:

[0030] Figure 1 A schematic diagram of the structure of a mobile control system for a coal mine drilling rig according to an embodiment of this application is shown;

[0031] Figure 2 A schematic diagram of the structure of a movable control device for coal mine drilling rigs is shown.

[0032] Figure 3 A flowchart of a movable control method for a coal mine drilling rig according to an embodiment of this application is shown.

[0033] Figure label:

[0034] 1-Power head lifting oil chamber; 2-Balance valve; 3-Power head lifting pressure testing oil pipe; 4-Power head feed pressure testing oil pipe; 5-Power head feed oil chamber; 6-Power head forward rotation pressure testing oil pipe; 7-Power head reverse rotation pressure testing oil pipe; 8-Speed ​​sensor; 9-Power head; 10-Clamp release oil chamber; 11-Clamp release pressure testing oil pipe; 12-Clamp clamping pressure testing oil pipe; 13-Chuck pressure testing oil pipe; 14-Clamp clamping oil chamber; 15-Check valve; 16-Hydraulic lock; 17-Power head slow rotation main valve; 18-Power head slow movement main valve; 19-Chuck solenoid valve; 20-Clamp solenoid valve; 21- - Fixed displacement pump pressure test pipe, 22- Fixed displacement pump, 23- Power head slow rotation solenoid valve, 24- Power head slow movement solenoid valve, 25- Distance sensor cable hole, 26- Temperature and level gauge cable hole, 27- Speed ​​sensor cable hole, 28- Power head feed pressure sensor, 29- Power head pull-out pressure sensor, 30- Power head forward rotation pressure sensor, 31- Temperature and level gauge, 32- Power head reverse rotation pressure sensor, 33- Chuck pressure sensor, 34- Clamping device clamping pressure sensor, 35- Clamping device releasing pressure sensor, 36- First variable pump pressure sensor, 37- Second variable pump pressure sensor Sensors: 38-Fixed displacement pump pressure sensor; 39-First variable displacement pump return oil pressure sensor; 40-Second variable displacement pump return oil pressure sensor; 41-Fixed displacement pump return oil pressure sensor; 42-Second pilot oil pressure sensor; 43-First pilot oil pressure sensor; 44-Sensor central mounting plate; 45-Oil tank; 46-Second variable displacement pump pressure measuring oil pipe; 47-Second variable displacement pump; 48-Second pilot oil pressure measuring oil pipe; 49-Power head rapid rotation solenoid valve; 50-Brake switching valve; 51-Power head rapid movement solenoid valve; 52-First variable displacement pump; 53-First variable displacement pump pressure measuring oil pipe; 54-First pilot oil pressure sensor. 55-Power head rapid traverse main valve, 56-Power head rapid rotation main valve, 57-Distance sensor, 58-Chuck, 59-Display, 60-Control-display communication line, 61-Column, 62-Control box, 63-Control box partition, 64-Distribution-control communication line, 65-Distribution box, 66-Distribution box partition, 68-Base plate, 69-Roller, 70-Power head forward rotation oil chamber, 71-Power head reverse rotation oil chamber, 72-Feed support plate, 73-Holder, 74-Safety barrier, 75-Controller, 76-Intrinsically safe power supply, 77-Non-safe power supply, 78-Mobile control device for coal mine drilling rigs. Detailed Implementation

[0035] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the actual embodiments are described in the specification. However, it should be understood that many embodiment-specific decisions can be made in the development of any such actual embodiment to achieve the developer’s specific objectives, and these decisions may vary as the embodiments differ.

[0036] It should also be noted that, in order to avoid obscuring this application with unnecessary details, only the device structure closely related to the solution according to this application is shown in the accompanying drawings, while other details that are not closely related to this application are omitted.

[0037] It should be understood that this application is not limited to the described embodiments by virtue of the following description with reference to the accompanying drawings. In this document, embodiments may be combined with each other, features may be substituted or borrowed between different embodiments, and one or more features may be omitted in one embodiment, where feasible.

[0038] This application provides a mobile control system for a coal mine drilling rig. The system operates on the drilling rig and acquires pressure, speed, and position data at key locations of the drilling rig. It then controls the operation of solenoid valves and proportional solenoid valves via a program to achieve electro-hydraulic control of the hydraulic drilling rig. Figure 1 A schematic diagram of the structure of a mobile control system for a coal mine drilling rig according to an embodiment of this application is shown. See also: Figure 1 The system includes a controller 75 and a parameter measurement module. The parameter measurement module includes a distance sensor 57, a speed sensor 8, and a power head forward rotation pressure sensor 30. The power head forward rotation pressure sensor 30 is connected to the power head forward rotation pressure measuring oil pipe 66 to detect the forward rotation pressure of the power head 9. The distance sensor 57 is used to detect the state position and moving speed of the power head 9. The speed sensor 8 is used to detect the rotation speed of the power head 9. The controller 57 is used to control the operation of the coal mine drilling rig according to the acquired parameters.

[0039] Here, the system operates on the drilling rig, which includes the drilling rig power head lifting oil chamber 1, balance valve 2, power head feed oil chamber 5, power head 9, power head forward rotation oil chamber 70, power head reverse rotation oil chamber 71, feed support plate 72, clamp release oil chamber 10, chuck 58, clamp 73, clamp clamping oil chamber 14, check valve 15, hydraulic lock 16, power head slow rotation main valve 17, power head slow movement main valve 18, chuck solenoid valve 19, clamp solenoid valve 20, metering pump 22, power head slow rotation solenoid valve 23, power head slow movement solenoid valve 24, oil tank 45, second variable pump 47, power head fast rotation solenoid valve 49, brake switching valve 50, power head fast movement solenoid valve 51, first variable pump 52, power head fast movement main valve 55, and power head fast rotation main valve 56.

[0040] In one embodiment, the parameter measurement module further includes a temperature level gauge 31, a power head feed pressure sensor 28, a power head pull-out pressure sensor 29, a power head reversal pressure sensor 32, a chuck pressure sensor 33, a clamp clamping pressure sensor 34, a clamp releasing pressure sensor 35, a first variable pump pressure sensor 36, a second variable pump pressure sensor 37, a fixed displacement pump pressure sensor 38, a first variable pump return oil pressure sensor 39, a second variable pump return oil pressure sensor 40, a fixed displacement pump return oil pressure sensor 41, a second pilot oil pressure sensor 42, and a first pilot oil pressure sensor 43.

[0041] Temperature and level gauge 31 is used to detect the temperature and quantity of liquid oil in oil tank 45; power head feed pressure sensor 28 is connected to power head feed pressure measuring oil pipe 4 to detect the feed pressure of power head 9; power head pull-out pressure sensor 29 is connected to power head pull-out pressure measuring oil pipe 3 to detect the pull-out pressure of power head 9; power head reverse pressure sensor 32 is connected to power head reverse pressure measuring oil pipe 7 to detect the reverse pressure of power head 9; chuck pressure sensor 33 is connected to chuck pressure measuring oil pipe 13 to detect the clamping and releasing pressure of chuck 58; clamp clamping pressure sensor 34 is connected to clamp clamping pressure measuring oil pipe 12 to detect the clamping pressure of clamp 73; clamp releasing pressure sensor 35 is connected to clamp releasing pressure measuring oil pipe 11 to detect the releasing pressure of clamp 73; first variable pump pressure sensor 36 is connected to the first variable pump pressure sensor... Oil pressure pipe 53 is used to detect the supply pressure of the first variable pump 52; second variable pump pressure sensor 37 is connected to second variable pump pressure measuring pipe 46 and is used to detect the supply pressure of the second variable pump 47; fixed displacement pump pressure sensor 38 is connected to fixed displacement pump pressure measuring pipe 21 and is used to detect the supply pressure of fixed displacement pump 22; first variable pump return oil pressure sensor 39 is used to detect the return oil pressure of the first variable pump; second variable pump return oil pressure sensor 40 is used to detect the return oil pressure of the second variable pump; fixed displacement pump return oil pressure sensor 41 is used to detect the return oil pressure of the fixed displacement pump; second pilot oil pressure sensor 42 is connected to second pilot oil pressure measuring pipe 48 and is used to detect the supply pressure of the power head slow-moving main valve 18; first pilot oil pressure sensor 43 is connected to first pilot oil pressure measuring pipe 54 and is used to detect the supply pressure of the power head fast-moving main valve 55.

[0042] In one embodiment, the power head lifting pressure testing oil pipe 3 is located between the power head lifting oil chamber 1 and the balance valve 2; the power head feed pressure testing oil pipe 4 is located between the balance valve 2 and the power head feed oil chamber 5; the power head forward rotation pressure testing oil pipe 6 is located between the power head forward rotation oil chamber 70 and the power head rapid rotation main valve 56; the power head reverse rotation pressure testing oil pipe 7 is located between the power head reverse rotation oil chamber 71 and the power head rapid rotation main valve 56; the speed sensor 8 is located on the power head 9; the clamp release pressure testing oil pipe 11 is located between the clamp release oil chamber 10 and the hydraulic lock 16; the clamp clamping pressure testing oil pipe 12 is located between the clamp clamping oil chamber 14 and the hydraulic lock 16; the chuck measures... The pressure oil pipe 13 is located between the chuck 58 and the check valve 15; the metering pump pressure measuring oil pipe 21 is located between the clamp solenoid valve 20 and the metering pump 22; the second variable pump pressure measuring oil pipe 46 is located between the second variable pump 47 and the power head slow-moving main valve 18; the second pilot oil pressure measuring oil pipe 48 is located between the power head slow-moving main valve 18 and the power head slow-moving solenoid valve 24; the first variable pump pressure measuring oil pipe 53 is located between the first variable pump 52 and the power head fast-moving main valve 55; the first pilot oil pressure measuring oil pipe 54 is located between the power head fast-moving solenoid valve 51 and the power head fast-moving main valve 55; and the distance sensor 57 is located on the feed support plate 72.

[0043] In one embodiment, the system further includes a movable control device 78 for a coal mine drilling rig. Figure 2 A schematic diagram of the structure of a movable control device for coal mine drilling rigs is shown. (See attached diagram) Figure 2 The movable control device 78 for coal mine drilling rigs includes a controller 75, a display 59, a safety barrier 74, and a junction box 65. The input of the safety barrier 74 is connected to the junction box 65, the output of the safety barrier 74 is connected to the controller 75, the output of the controller 75 is connected to the junction box 65, the controller 75 is connected to the display 59, and the display 59 can display various detection data acquired by the parameter measurement module.

[0044] Furthermore, the movable control device 78 for coal mine drilling rigs also includes an intrinsically safe power supply 76 and a non-safe power supply 77. The output of the intrinsically safe power supply 76 is connected to the junction box 65, and the output of the non-safe power supply 77 is connected to the safety barrier 74 and the controller 75. Here, the power supply voltage for both the intrinsically safe power supply 76 and the non-safe power supply 77 is AC100~250V; the output voltage of the intrinsically safe power supply 76 is DC12V, and the output voltage of the non-safe power supply 77 is DC24V.

[0045] Furthermore, the movable control device 78 for coal mine drilling rigs also includes a sensor centralized mounting plate 44, on which are mounted a power head forward rotation pressure sensor, a power head feed pressure sensor 28, a power head pull-out pressure sensor 29, a power head reverse rotation pressure sensor 32, a chuck pressure sensor 33, a clamp clamping pressure sensor 34, a clamp releasing pressure sensor 35, a first variable pump pressure sensor 36, a second variable pump pressure sensor 37, a fixed displacement pump pressure sensor 38, a first variable pump return oil pressure sensor 39, a second variable pump return oil pressure sensor 40, a fixed displacement pump return oil pressure sensor 41, a second pilot oil pressure sensor 42, and a first pilot oil pressure sensor 43. The sensor centralized mounting plate 44 is also provided with a distance sensor cable hole 25, a temperature and level gauge cable hole 26, and a speed sensor cable hole 27.

[0046] Furthermore, the movable control device for coal mine drilling rigs also includes a control box 62, with intrinsically safe power supply 76, non-safe power supply 76, safety barrier 74, and controller 75 all mounted on the control box 62. The movable control device for coal mine drilling rigs also includes a control-display communication line 60, a column 61, a control box partition 63, a distribution-control communication line 64, a distribution box partition 66, a base plate 68, and rollers 69. The base plate 68, control box partition 63, and distribution box partition 66 are mounted on the column 61; the rollers 69 are mounted on the base plate 68; the sensor centralized mounting plate 44 is mounted on the base plate 68; the distribution box 65 is mounted on the distribution box partition 66; the control box 62 is mounted on the control box partition 63; the distribution-control communication line 64 is located between the control box 62 and the distribution box 65; the display 59 is mounted on the column 61; and the control-display communication line 60 is located between the control box 62 and the display 59.

[0047] The power supply signal lines for the following sensors are connected to junction box 65: ranging sensor 57, temperature and level gauge 31, speed sensor 8, power head feed pressure sensor 28, power head pull-out pressure sensor 29, power head forward rotation pressure sensor 30, power head reverse rotation pressure sensor 32, chuck pressure sensor 33, clamp clamping pressure sensor 34, clamp releasing pressure sensor 35, first variable pump pressure sensor 36, second variable pump pressure sensor 37, fixed displacement pump pressure sensor 38, first variable pump return oil pressure sensor 39, second variable pump return oil pressure sensor 40, fixed displacement pump return oil pressure sensor 41, second pilot oil pressure sensor 42, and first pilot oil pressure sensor 43.

[0048] This application also provides a mobile control method for coal mine drilling rigs. Figure 3A flowchart of a movable control method for coal mine drilling rigs according to an embodiment of this application is shown. See also: Figure 3 The methods include:

[0049] Step 1: After the mobile control system of the coal mine drilling rig performs a self-test, it determines the currently selected screwing and unscrewing mode. When the screwing mode is determined, proceed to Step 2; when the unscrewing mode is determined, proceed to Step 7.

[0050] Step 2: The clamp solenoid valve 20, the power head fast rotation solenoid valve 49, and the power head slow movement solenoid valve 24 are opened by electrical signal control. The clamp 73 is clamped, the power head fast rotation main valve 56 is opened, and the power head slow movement main valve 18 is opened. The power head 9 is controlled to rotate rapidly forward so that the rotation speed of the power head 9 reaches the first set value (110~120r / m), and to feed slowly so that the movement speed of the power head 9 reaches the second set value (8~10mm / s).

[0051] Step 3: Obtain the forward rotation pressure of the power head. When the forward rotation pressure of the power head > the third set value (8MPa), control the power head fast rotation solenoid valve 49 to close and the power head slow movement solenoid valve 24 to close via an electrical signal. Also control the power head fast rotation main valve 56 to open and the power head slow movement main valve 18 to close. Control the power head 9 to stop forward rotation and movement, and execute Step 4. When the forward rotation pressure of the power head ≤ the third set value (8MPa), return to Step 2.

[0052] Step 4: Determine the currently selected directional composite mode. If the selected mode is directional entry mode, proceed to step 5. If the selected mode is composite entry mode, proceed to step 9.

[0053] Step 5: Control the solenoid valve 49 of the power head to close and the solenoid valve 24 of the power head to open via electrical signal, and control the main valve 56 of the power head to close and the main valve 18 of the power head to open, and control the rotation braking of the power head 9 to make the rotation speed of the power head 9 reach the fourth set value (0r / m), and the slow feed to make the movement speed of the power head 9 reach the fifth set value (<5mm / s);

[0054] Step 6: Obtain the position of the power head. When the position of the power head reaches the proximity point (which is the closest point between the power head and the orifice, which can be 1500mm), the solenoid valve 24 is closed by controlling the power head to move slowly via an electrical signal. The main valve 18 is also closed, and the power head 9 stops moving. Proceed to step 11. If the position of the power head does not reach the proximity point, return to step 5.

[0055] Step 7: The clamp solenoid valve 20, the power head fast rotation solenoid valve 49, and the power head slow movement solenoid valve 24 are opened by electrical signal control. The clamp 73 is also controlled to clamp, the power head fast rotation main valve 56 is opened, and the power head slow movement main valve 18 is opened. The power head 9 is controlled to rotate quickly so that the rotation speed of the power head 9 reaches the first set value (110~120r / m), and to slowly pull up so that the movement speed of the power head 9 reaches the second set value (8~10mm / s).

[0056] Step 8: Obtain the position of the power head. When the position of the power head is greater than the unhooking distance, control the power head slow movement solenoid valve 24 and the power head fast rotation solenoid valve 49 to close via electrical signal. Also control the power head slow movement main valve 18 and the power head fast rotation main valve 56 to close, and control the power head 9 to stop moving and rotating, then proceed to step 11. When the position of the power head does not reach the unhooking distance, return to step 7. Here, the unhooking distance can be 60mm.

[0057] Step 9: Control the solenoid valve 49 for rapid rotation of the power head and the solenoid valve 24 for slow movement of the power head to open via electrical signals. Also control the main valve 56 for rapid rotation of the power head and the main valve 18 for slow movement of the power head to open. Control the power head 9 to rotate forward so that the rotation speed of the power head 9 reaches the first set value (110~120r / m) and to feed slowly so that the movement speed of the power head 9 reaches the sixth set value (10~15mm / s).

[0058] Step 10: Obtain the position of the power head. When the position of the power head reaches the proximity point, control the power head slow movement solenoid valve 24 and the power head fast rotation solenoid valve 49 to close via electrical signal. Also control the power head slow movement main valve 18 and the power head fast rotation main valve 56 to close, and control the power head 9 to stop moving and rotating, then proceed to step 11. When the position of the power head does not reach the proximity point, return to step 9.

[0059] Step 11, End.

[0060] In summary, the mobile control system and method for coal mine drilling rigs of this application achieve electro-hydraulic control of the hydraulic drilling rig by installing distance sensors, speed sensors, and forward rotation pressure sensors on the drilling rig, and by centrally installing pressure sensors, junction boxes, control boxes, displays, etc. on the mobile control device, and by controlling the operation of solenoid valves and proportional solenoid valves through program control. This avoids the problems of large modifications to the drilling rig body components, difficult sensor installation, and numerous wiring required when upgrading existing hydraulic drilling rigs to integrate electro-hydraulic control rigs. It also avoids changes in working conditions and operating habits caused by changes in the external dimensions and weight of the drilling rig due to large-scale modifications.

[0061] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mobile control method for a coal mine drilling rig, characterized in that, include: Step 1: After the mobile control system of the coal mine drilling rig performs a self-test, it determines the currently selected screwing and unscrewing mode. When the screwing mode is determined, proceed to Step 2; when the unscrewing mode is determined, proceed to Step 7. Step 2: Control the opening of the clamp solenoid valve (20), the power head fast rotation solenoid valve (49), and the power head slow movement solenoid valve (24) by electrical signal, and control the clamp (73) to clamp, the power head fast rotation main valve (56) to open, the power head slow movement main valve (18) to open, and control the power head (9) to rotate fast forward so that the rotation speed of the power head (9) reaches the first set value, and the power head (9) to move slowly so that the movement speed of the power head (9) reaches the second set value; Step 3: Obtain the forward rotation pressure of the power head. When the forward rotation pressure of the power head > the third set value, control the power head fast rotation solenoid valve (49) to close and the power head slow movement solenoid valve (24) to close via electrical signal. Also control the power head fast rotation main valve (56) to open and the power head slow movement main valve (18) to close. Control the power head (9) to stop forward rotation and movement, and execute step 4. When the forward rotation pressure of the power head ≤ the third set value, return to step 2. Step 4: Determine the currently selected directional composite mode. If the selected mode is directional entry mode, proceed to step 5. If the selected mode is composite entry mode, proceed to step 9. Step 5: Control the solenoid valve (49) of the power head to close and the solenoid valve (24) of the power head to open via electrical signal, and control the main valve (56) of the power head to close and the main valve (18) of the power head to open, and control the power head (9) to rotate and brake so that the rotation speed of the power head (9) reaches the fourth set value and the slow feed so that the movement speed of the power head (9) reaches the fifth set value; Step 6: Obtain the position of the power head. When the position of the power head reaches the proximity point, control the power head slow movement solenoid valve (24) to close via an electrical signal, control the power head slow movement main valve (18) to close, and control the power head (9) to stop moving, and proceed to step 11; when the position of the power head does not reach the proximity point, return to step 5. Step 7: Control the opening of the clamp solenoid valve (20), the power head fast rotation solenoid valve (49), and the power head slow movement solenoid valve (24) through electrical signals, and control the clamp (73) to clamp, the power head fast rotation main valve (56) to open, the power head slow movement main valve (18) to open, and control the power head (9) to rotate quickly so that the rotation speed of the power head (9) reaches the first set value, and to slowly pull out so that the movement speed of the power head (9) reaches the second set value; Step 8: Obtain the position of the power head. When the position of the power head is greater than the unhooking distance, control the power head slow movement solenoid valve (24) to close and the power head fast rotation solenoid valve (49) to close via electrical signal. Also control the power head slow movement main valve (18) to close and the power head fast rotation main valve (56) to close. Control the power head (9) to stop moving and rotating, and proceed to step 11. When the position of the power head does not reach the unhooking distance, return to step 7. Step 9: Control the solenoid valve (49) for rapid rotation of the power head and the solenoid valve (24) for slow movement of the power head to open via electrical signals, and control the main valve (56) for rapid rotation of the power head and the main valve (18) for slow movement of the power head to open, and control the power head (9) to rotate forward so that the rotation speed of the power head (9) reaches the first set value, and the slow feed so that the movement speed of the power head (9) reaches the sixth set value; Step 10: Obtain the position of the power head. When the position of the power head reaches the proximity point, control the power head slow movement solenoid valve (24) to close and the power head fast rotation solenoid valve (49) to close via electrical signal. Also control the power head slow movement main valve (18) to close and the power head fast rotation main valve (56) to close. Control the power head (9) to stop moving and rotating, and proceed to step 11. When the position of the power head does not reach the proximity point, return to step 9. Step 11, End.

2. A mobile control system for a coal mine drilling rig, characterized in that, include: The controller (75) and parameter measurement module include a distance sensor (57), a speed sensor (8) and a power head forward rotation pressure sensor (30). The forward rotation pressure sensor (30) of the power head is connected to the forward rotation pressure measuring oil pipe (6) of the power head to detect the forward rotation pressure of the power head (9); The ranging sensor (57) is used to detect the position and speed of the power head (9); The speed sensor (8) is used to detect the rotational speed of the power head (9); The controller (75) is used to implement the mobile control method for coal mine drilling rigs as described in claim 1.

3. The system as described in claim 2, characterized in that, The parameter measurement module also includes a temperature level gauge (31), a power head feed pressure sensor (28), a power head pull-out pressure sensor (29), a power head reverse pressure sensor (32), a chuck pressure sensor (33), a clamp clamping pressure sensor (34), a clamp releasing pressure sensor (35), a first variable pump pressure sensor (36), a second variable pump pressure sensor (37), a fixed displacement pump pressure sensor (38), a first variable pump return oil pressure sensor (39), a second variable pump return oil pressure sensor (40), a fixed displacement pump return oil pressure sensor (41), a second pilot oil pressure sensor (42), and a first pilot oil pressure sensor (43). The temperature and level gauge (31) is used to detect the temperature and quantity of the liquid oil in the oil tank (45); the power head feed pressure sensor (28) is connected to the power head feed pressure measuring oil pipe (4) and is used to detect the feed pressure of the power head (9); the power head pull-out pressure sensor (29) is connected to the power head pull-out pressure measuring oil pipe (3) and is used to detect the pull-out pressure of the power head (9); the power head reversal pressure sensor (32) is connected to the power head reversal pressure measuring oil pipe (7) and is used to detect the reversal of the power head (9). Pressure; the chuck pressure sensor (33) is connected to the chuck pressure measuring oil pipe (13) to detect the clamping and releasing pressure of the chuck (58); the clamping pressure sensor (34) is connected to the clamping pressure measuring oil pipe (12) to detect the clamping pressure of the clamp (73); the releasing pressure sensor (35) is connected to the releasing pressure measuring oil pipe (11) to detect the releasing pressure of the clamp (73); the first variable pump pressure sensor (36) is connected to the first variable pump pressure measuring oil pipe (13). The pressure oil pipe (53) is used to detect the supply pressure of the first variable pump (52); the second variable pump pressure sensor (37) is connected to the second variable pump pressure measuring oil pipe (46) and is used to detect the supply pressure of the second variable pump (47); the fixed displacement pump pressure sensor (38) is connected to the fixed displacement pump pressure measuring oil pipe (21) and is used to detect the supply pressure of the fixed displacement pump (22); the first variable pump return oil pressure sensor (39) is used to detect the return oil pressure of the first variable pump (52); the second variable pump return oil pressure sensor (40) is used to detect the return oil pressure of the second variable pump (47); the fixed displacement pump return oil pressure sensor (41) is used to detect the return oil pressure of the fixed displacement pump (22); the second pilot oil pressure sensor (42) is connected to the second pilot oil pressure measuring oil pipe (48) and is used to detect the supply pressure of the power head slow-moving main valve (18); the first pilot oil pressure sensor (43) is connected to the first pilot oil pressure measuring oil pipe (54) and is used to detect the supply pressure of the power head fast-moving main valve (55).

4. The system as described in claim 3, characterized in that, The power head lifting pressure testing oil pipe (3) is located between the power head lifting oil chamber (1) and the balance valve (2); the power head feed pressure testing oil pipe (4) is located between the balance valve (2) and the power head feed oil chamber (5); the power head forward rotation pressure testing oil pipe (6) is located between the power head forward rotation oil chamber (70) and the power head rapid rotation main valve (56); the power head reverse rotation pressure testing oil pipe (7) is located between the power head reverse rotation oil chamber (71) and the power head rapid rotation main valve (56); the speed sensor (8) is located on the power head (9); the clamp release pressure testing oil pipe (11) is located between the clamp release oil chamber (10) and the hydraulic lock (16); the clamp clamping pressure testing oil pipe (12) is located between the clamp clamping oil chamber (14) and the hydraulic lock (16); the chuck pressure testing oil... Pipe (13) is located between chuck (58) and check valve (15); the metering pump pressure measuring pipe (21) is located between clamp solenoid valve (20) and metering pump (22); the second variable pump pressure measuring pipe (46) is located between the second variable pump (47) and power head slow movement main valve (18); the second pilot oil pressure measuring pipe (48) is located between power head slow movement main valve (18) and power head slow movement solenoid valve (24); the first variable pump pressure measuring pipe (53) is located between the first variable pump (52) and power head fast movement main valve (55); the first pilot oil pressure measuring pipe (54) is located between power head fast movement solenoid valve (51) and power head fast movement main valve (55); the distance sensor (57) is located on feed tray (72).

5. The system as described in claim 2, characterized in that, The system also includes a mobile control device (78) for a coal mine drilling rig, which includes the controller (75), a display (59), a safety barrier (74), and a junction box (65). The input of the safety barrier (74) is connected to the junction box (65), the output of the safety barrier (74) is connected to the controller (75), the output of the controller (75) is connected to the junction box (65), and the controller (75) is connected to the display (59).

6. The system as described in claim 5, characterized in that, The movable control device (78) for the coal mine drilling rig also includes an intrinsically safe power supply (76) and a non-safe power supply (77). The output of the intrinsically safe power supply (76) is connected to the junction box (65), and the output of the non-safe power supply (77) is connected to the safety barrier (74) and the controller (75).

7. The system as described in claim 5, characterized in that, The movable control device (78) for the coal mine drilling rig also includes a sensor central mounting plate (44), on which are mounted a power head feed pressure sensor (28), a power head pull-out pressure sensor (29), a power head reverse pressure sensor (32), a chuck pressure sensor (33), a clamp clamping pressure sensor (34), a clamp releasing pressure sensor (35), a first variable pump pressure sensor (36), a second variable pump pressure sensor (37), a fixed displacement pump pressure sensor (38), a first variable pump return oil pressure sensor (39), a second variable pump return oil pressure sensor (40), a fixed displacement pump return oil pressure sensor (41), a second pilot oil pressure sensor (42), and a first pilot oil pressure sensor (43). The sensor central mounting plate (44) is provided with a distance sensor cable hole (25), a temperature level gauge cable hole (26), and a speed sensor cable hole (27).

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