An anchor rod drill carriage positioning hole finding method based on a mine high-precision positioning control valve

Abstract

The present application belongs to the field of full-automatic anchor rod drilling rig, and particularly relates to a method for positioning and hole finding of anchor rod drilling rig based on mine high-precision positioning control valve; X(P) is the desired pose of the drilling rig jib movement of the anchor rod drilling rig, the inaccurate drilling rig jib movement leads to the pose offset ΔP of the drilling rig end of the anchor rod drilling rig, therefore, when the movement rotation angle of the drilling rig jib is θ, the drilling rig end pose is X(P+ΔP); therefore, the drilling rig jib performs action and pre-compensates -ΔP; the compensation joint angle Δθ of the drilling rig jib which needs to be compensated is calculated through the Jacobian matrix, the joint rotation angle θ-Δθ is obtained by subtracting the movement rotation angle θ from the compensation joint angle Δθ, when the drilling rig jib moves at the joint rotation angle θ-Δθ, the drilling rig end pose is consistent with the desired pose X(P) of the drilling rig jib movement; that is, the pre-compensation -ΔP offsets the pose offset ΔP generated by the drilling rig jib movement; the movement of the drilling rig jib is controlled by adjusting the flow of the explosion-proof control valve, and the positioning and hole finding accuracy of the drilling rig jib is improved.

Description

Technical Field

[0001] This invention belongs to the field of fully automatic anchor drilling rigs, specifically relating to a method for positioning and finding holes in an anchor drilling rig based on a high-precision positioning control valve for mining. Background Technology

[0002] The intelligent anchor bolt drilling rig is a smart piece of equipment proposed for the construction of intelligent mines. It can automatically determine the step distance, lay the mesh, position the borehole, load explosives, install anchor bolts, tighten anchor bolts, and continuously supply anchor bolts. It also has functions such as anchor bolt parameter setting, automatic reset, on-site / remote operation, and visual monitoring. It is used for anchor bolt support in coal mine roadway excavation. Used at the tunneling face, it can free workers from heavy physical labor, keep personnel away from the working face to ensure safety, improve the working environment, and fully protect the health of employees.

[0003] The high-precision positioning control system of the intelligent anchor bolt drilling rig includes fully automated fixed-step walking function, machine vision-based drilling rig positioning function, automatic mesh laying control function, and automatic leveling function. During the automatic hole finding and automatic row formation process based on machine vision positioning, the drill frame of the anchor bolt drilling rig acts as the actuator. Because the diameter of the mesh or steel strip holes is very small, the drill frame of the anchor bolt drilling rig needs very high positioning accuracy to achieve precise hole finding; currently, the drill frame has a large positioning error during operation. Summary of the Invention

[0004] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0005] This invention provides the following technical solution: a method for locating and finding holes for a mine-use high-precision positioning control valve, which utilizes an error compensation control algorithm to achieve the accuracy requirements for locating and finding holes for the mine-use anchor drilling rig;

[0006] set up The desired pose of the drill rig boom movement is determined by the inaccurate movement of the boom, which results in a pose offset at the end of the drill rig. Therefore, when the rotation angle of the drill frame boom is At that time, the drill string end position was Therefore, pre-compensation is required when the drill rig boom performs its movements. ;

[0007] The compensation joint angle of the drill rig boom that needs compensation is calculated using the Jacobian matrix. The rotation angle θ and the compensating joint angle The joint rotation angle is obtained by subtraction. When the drill frame boom moves with the joint rotation angle During input, the position of the drill rig end cap is compared with the desired position of the drill rig boom movement. Consistency; that is, pre-compensation Positional offset caused by the movement of the drill frame boom cancel each other out;

[0008] The movement of the drill frame boom is controlled by adjusting the flow rate of the explosion-proof control valve.

[0009] Furthermore, the desired pose of the drill frame boom is obtained based on the position of the hole. And the rotation angle of the drill frame boom is ;

[0010] Position offset at the end of the drill rig for:

[0011]

[0012]

[0013] in, These are the position coordinates; The drill frame boom is twisted at an angle; This refers to the length of the drill frame boom; Joint displacement; denoted as θ, where θ is the rotation angle of the drill frame boom around the Y-axis; i is the joint number of the drill frame boom.

[0014] and The following relationships:

[0015] .

[0016] Furthermore, the explosion-proof control valve includes a valve body and a valve core that receives electrical signals to regulate flow.

[0017] The valve housing includes a housing, side plates, a top cover, a sealing electrical connector, a clamping nut mounting base, and a clamping nut;

[0018] The two sides of the housing are connected to the side plates respectively, the top cover is connected to the housing, and the valve core is encapsulated in the sealed space between the top cover and the housing;

[0019] The top cover has a cable interface pre-installed. The cable interface has threads and is connected to a sealed electrical connector. The sealed electrical connector, the clamping nut mounting base, and the clamping nut are connected in series. The conduit connecting to the valve core is sealed by the clamping nut.

[0020] Furthermore, the clamping nut mounting base is provided with a chamber. The bottom of the chamber is connected to the axial through hole in the sealing electrical connector through a small hole. The front end of the chamber is threaded and connected to the clamping nut. The rear end of the chamber is filled with a sealing sleeve. Metal washers are installed at both ends of the sealing sleeve. The inner hole of the sealing sleeve is aligned with the small hole at the bottom of the chamber. The clamping nut is provided with a through hole with a large inlet and an outlet aligned with the inner hole of the sealing sleeve. The conduit connecting the valve core is introduced from the clamping nut, passes through the sealing sleeve, the clamping nut mounting base, and the sealing electrical connector in sequence, and enters the top cover.

[0021] Furthermore, the valve core portion includes a valve sleeve, a valve core, a motor mounting base, a disc, and a motor;

[0022] The valve sleeve and valve core are installed in the valve core hole inside the housing. The motor mounting base is placed in the concave circular hole on the upper surface of the housing. The lower surface of the disc is connected to the upper surface of the motor mounting base. The needle-like structure of the disc passes through the motor mounting base and finally connects to the valve core inside the housing. The motor is placed on the motor mounting base. When the motor rotates, it moves the needle-like structure under the disc, indirectly moving the valve core left and right to adjust the flow rate. The top cover covers the motor and the motor mounting base.

[0023] Furthermore, the through hole in the clamping nut includes a flared inlet section and a straight hole section.

[0024] Furthermore, there is a threaded connection between the clamping nut mounting base and the sealing electrical connector.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] Using explosion-proof control valves as specific control elements in the positioning and hole-finding control system of anchor drilling rigs provides high-precision electro-hydraulic control. The explosion-proof control valves can continuously and proportionally control based on the feedback of input or output signals. By utilizing the error compensation principle, accurate visual positioning is achieved. The high-precision explosion-proof control valves provide precise control, greatly shortening the positioning and hole-finding time and improving work efficiency.

[0027] The explosion-proof control valve is an explosion-proof version of a regular control valve. The valve core is encapsulated within a sealed space between the top cover and the housing, isolating it from the downhole environment and preventing electrical sparks from the motor from igniting the methane gas. A sealed electrical connector is installed between the clamping nut mounting base and the top cover, leaving extra space in the clamping nut mounting base. After the sealing sleeve is filled into the cavity, the clamping nut compresses the sealing sleeve, causing deformation. The inner hole of the sealing sleeve collapses, clamping the conduit, while the outer wall of the sealing sleeve expands, compressing the inner wall of the cavity. The sealing sleeve secures the cable while simultaneously sealing the cavity gap, replacing the traditional potting compound method. Attached Figure Description

[0028] Figure 1 Flowchart of the drilling rig boom positioning control system;

[0029] Figure 2 External view of the explosion-proof control valve;

[0030] Figure 3 This is a cross-sectional view of the valve core portion of an explosion-proof control valve.

[0031] Figure 4 A cross-sectional view of the clamping nut, clamping nut mounting base, and sealing electrical connector.

[0032] In the diagram: 1-Housing; 2-Side plate; 3-Top cover; 4-Sealed electrical connector; 5-Pressure nut mounting base; 6-Pressure nut; 7-Valve sleeve; 8-Valve core; 9-Motor mounting base; 10-Disc; 11-Motor; 12-Metal washer; 13-Sealing sleeve. Detailed Implementation

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] like Figure 1 As shown: A method for locating and finding holes for anchor bolt drilling rigs based on a high-precision positioning control valve for mining uses an error compensation control algorithm to achieve the accuracy requirements for locating and finding holes for anchor bolt drilling rigs.

[0035] set up The desired pose of the drill rig boom movement is determined by the inaccurate movement of the boom, which results in a pose offset at the end of the drill rig. Therefore, when the rotation angle of the drill frame boom is At that time, the drill string end position was Therefore, pre-compensation is required when the drill rig boom performs its movements. ;

[0036] The compensation joint angle of the drill rig boom that needs compensation is calculated using the Jacobian matrix. The rotation angle θ and the compensating joint angle The joint rotation angle is obtained by subtraction. When the drill frame boom moves with the joint rotation angle During input, the position of the drill rig end cap is compared with the desired position of the drill rig boom movement. Consistency; that is, pre-compensation Positional offset caused by the movement of the drill frame boom They cancel each other out.

[0037] The explosion-proof control valve can be continuously and proportionally controlled according to the input signal. Therefore, the movement of the drill frame boom can be controlled by adjusting the flow rate of the explosion-proof control valve.

[0038] Specifically, the desired pose of the drill frame boom is obtained based on the location of the hole. And the rotation angle of the drill frame boom is ;

[0039] Position offset at the end of the drill rig for:

[0040]

[0041]

[0042] in, These are the position coordinates; The drill frame boom is twisted at an angle; This refers to the length of the drill frame boom; Joint displacement; denoted as θ, where θ is the rotation angle of the drill frame boom around the Y-axis; i is the joint number of the drill frame boom.

[0043] and The following relationships:

[0044] .

[0045] like Figure 2 As shown: The explosion-proof control valve includes a valve body and a valve core that receives electrical signals to regulate flow. The valve body includes a housing 1, side plates 2, a top cover 3, a sealing electrical connector 4, a clamping nut mounting seat 5, and a clamping nut 6. The two sides of the housing 1 are connected to the side plates 2 respectively, and the top cover 3 is connected to the housing 1. The valve core is encapsulated in the sealed space between the top cover 3 and the housing 1. A cable interface is reserved on the top cover 3. The cable interface has threads and is connected to the sealing electrical connector 4. The sealing electrical connector 4, the clamping nut mounting seat 5, and the clamping nut 6 are connected in series. The conduit connecting the valve core is sealed by the clamping nut 6.

[0046] like Figure 4As shown: The clamping nut mounting base 5 has a chamber. The bottom of the chamber is connected to the axial through hole in the sealing electrical connector 4 through a small hole. The front end of the chamber is threaded and connected to the clamping nut 6. The rear end of the chamber is filled with a sealing sleeve 13. Metal washers 12 are installed at both ends of the sealing sleeve 13. The inner hole of the sealing sleeve 13 is aligned with the small hole at the bottom of the chamber. The clamping nut 6 has a through hole with a large inlet and an outlet aligned with the inner hole of the sealing sleeve 13. The conduit connecting the valve core is introduced from the clamping nut 6, passes through the sealing sleeve 13, the clamping nut mounting base 5, and the sealing electrical connector 4 in sequence, and enters the top cover 3. When the clamping nut 6 is tightened, the metal washers 12 at both ends compress the sealing sleeve 13. The sealing sleeve 13 is deformed under pressure, compressing the conduit and the clamping nut mounting base 5 to form a sealing structure.

[0047] like Figure 3 As shown: The valve core part includes a valve sleeve 7, a valve core 8, a motor mounting base 9, a disc 10, and a motor 11; the valve sleeve 7 and the valve core 8 are installed in the valve core hole inside the housing 1, the motor mounting base 9 is placed in the concave circular hole on the upper surface of the housing 1, the lower surface of the disc 10 is connected to the upper surface of the motor mounting base 9, the needle-like structure of the disc 10 passes through the motor mounting base 9 and finally connects to the valve core 8 inside the housing 1, the motor 11 is placed on the motor mounting base 9, the rotation of the motor 11 actuates the needle-like structure under the disc 10, indirectly actuating the valve core 8 to move left and right to adjust the flow rate; the top cover 3 covers the motor 11 and the motor mounting base 9.

[0048] Joint rotation angle of the drill frame boom The signal is converted into a voltage signal. After receiving the voltage signal, the explosion-proof control valve causes the motor 11 to rotate within a limited angle. The needle-like structure at the bottom of the disc 10 passes through the motor mounting base 9 and inserts into the valve core 8. The rotation of the motor 11 drives the disc 10 to perform an eccentric motion. The eccentric motion of the disc 10 converts the rotation of the motor 11 into the reciprocating linear motion of the slide valve in the valve core 8, thereby controlling the direction and flow rate of the fluid and precisely controlling the movement of the drill frame boom.

[0049] The through hole in the clamping nut 6 includes a flared inlet section and a straight hole section. The flared inlet section facilitates the insertion of the conduit in environments with insufficient lighting downhole, and the contact area between the conduit and the clamping nut 6 is smooth to prevent the conduit from being damaged. The straight hole section supports the conduit.

[0050] The clamping nut mounting base 5 is threadedly connected to the sealing electrical connector 4.

[0051] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for positioning and locating boreholes using an anchor drilling rig based on a high-precision positioning control valve for mining, characterized in that: The accuracy requirements for positioning and hole finding of the anchor drilling rig are achieved by using an error compensation control algorithm. set up The desired pose of the drill rig boom movement is determined by the inaccurate movement of the boom, which results in a pose offset at the end of the drill rig. Therefore, when the rotation angle of the drill frame boom is At that time, the drill string end position was Therefore, pre-compensation is required when the drill rig boom performs its movements. ; The compensation joint angle of the drill rig boom that needs compensation is calculated using the Jacobian matrix. The rotation angle θ and the compensating joint angle The joint rotation angle is obtained by subtraction. When the drill frame boom moves with the joint rotation angle During input, the position of the drill rig end cap is compared with the desired position of the drill rig boom movement. Consistency; that is, pre-compensation Positional offset caused by the movement of the drill frame boom cancel each other out; The movement of the drill frame boom is controlled by adjusting the flow rate of the explosion-proof control valve; The desired pose of the drill frame boom is obtained based on the position of the hole. And the rotation angle of the drill frame boom is ; Position offset at the end of the drill rig for: in, These are the position coordinates; The drill frame boom is twisted at an angle; This refers to the length of the drill frame boom; Joint displacement; denoted as θ, where θ is the rotation angle of the drill frame boom around the Y-axis; i is the joint number of the drill frame boom. and The following relationships: 。 2. The anchor drilling rig positioning and hole finding method based on a high-precision positioning control valve for mining, as described in claim 1, is characterized in that: Explosion-proof control valves include a valve body and a valve core that receives electrical signals to regulate flow. The valve housing includes a housing (1), a side plate (2), a top cover (3), a sealing electrical connector (4), a clamping nut mounting base (5), and a clamping nut (6); The two sides of the housing (1) are connected to the side plate (2) respectively, the top cover (3) is connected to the housing (1), and the valve core is encapsulated in the sealed space between the top cover (3) and the housing (1); A cable interface is reserved on the top cover (3). The cable interface has a thread and is connected to a sealed electrical connector (4). The sealed electrical connector (4), the clamping nut mounting seat (5), and the clamping nut (6) are connected in series. The conduit connecting the valve core is sealed by the clamping nut (6).

3. The anchor drilling rig positioning and hole finding method based on a high-precision positioning control valve for mining, as described in claim 2, is characterized in that: The clamping nut mounting base (5) is provided with a chamber. The bottom of the chamber is connected to the axial through hole in the sealing electrical connector (4) through a small hole. The front end of the chamber is threaded and connected to the clamping nut (6). The rear end of the chamber is filled with a sealing sleeve (13). The two ends of the sealing sleeve (13) are equipped with metal washers (12). The inner hole of the sealing sleeve (13) is aligned with the small hole at the bottom of the chamber. The clamping nut (6) is provided with a through hole with a large inlet and an outlet aligned with the inner hole of the sealing sleeve (13). The conduit connecting the valve core is introduced from the clamping nut (6) and passes through the sealing sleeve (13), the clamping nut mounting base (5), and the sealing electrical connector (4) in sequence into the top cover (3).

4. A method for positioning and finding holes in an anchor drilling rig based on a high-precision positioning control valve for mining, as described in claim 2 or 3, characterized in that: The valve core assembly includes a valve sleeve (7), a valve core (8), a motor mounting base (9), a disc (10), and a motor (11). The valve sleeve (7) and valve core (8) are installed in the valve core hole inside the housing (1). The motor mounting base (9) is placed in the concave circular hole on the upper surface of the housing (1). The lower surface of the disc (10) is connected to the upper surface of the motor mounting base (9). The needle-like structure of the disc (10) passes through the motor mounting base (9) and finally connects to the valve core (8) inside the housing (1). The motor (11) is placed on the motor mounting base (9). The motor (11) rotates and moves the needle-like structure under the disc (10), indirectly moving the valve core (8) left and right to adjust the flow rate. The top cover (3) covers the motor (11) and the motor mounting base (9).

5. The anchor drilling rig positioning and hole finding method based on a high-precision positioning control valve for mining, as described in claim 3, is characterized in that: The through hole in the clamping nut (6) includes a flared inlet section and a straight hole section.

6. The anchor drilling rig positioning and hole finding method based on a high-precision positioning control valve for mining, as described in claim 3, is characterized in that: The clamping nut mounting base (5) is threadedly connected to the sealing electrical connector (4).

Images