Anchor rod trolley and sliding table device control system and control method thereof

Abstract

The invention discloses an anchor rod trolley and a sliding table device control system and method thereof, and belongs to the technical field of engineering machinery. The sliding table device control system comprises an acquisition device used for acquiring movement data of a sliding table on a propelling beam; the proportional electromagnetic valve is used for controlling the rotating speed and the rotating direction of the motor according to the input control signal; the sliding table device control system further comprises a control device which is used for sending a control signal to the proportional electromagnetic valve according to the moving distance data, collected by the collecting device, of the sliding table on the propelling beam so as to control the rotating speed and / or the rotating direction of the motor. The anchor rod trolley and the control system and method for the sliding table device of the anchor rod trolley have the beneficial effects that the sliding table can be controlled to slow down in advance through position sensing and a controller algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and more specifically to an anchor trolley and a sliding platform device control system and a control method thereof. Background Art

[0002] At present, the rock drill slide of the anchor trolley stops at the front and rear ends of the push beam, which is basically controlled by manual control or forced stopping by mechanical limit blocks. The method of relying on the operator to manually stop has high requirements on the operator's operation, and in some working conditions with poor visibility, it is actually difficult for the operator to operate in time, which may cause the slide to collide with the mechanical structure at the front and rear of the push beam; in addition, if the mechanical limit block method is used, since the slide will frequently reciprocate when the anchor trolley is in use, the limit blocks need to be frequently replaced after long-term use, which increases the construction cost and reduces the construction efficiency.

[0003] In the related art, for example, Chinese patent document CN103075152A provides a drilling and assembling machine, including a loading mechanism, a rock drilling mechanism, a main frame and a walking part, wherein the main frame is mounted on the walking part, and further includes a sliding mechanism, which is mounted on the front end of the main frame; the loading mechanism and the rock drilling mechanism are mounted on the sliding mechanism, and the sliding mechanism can drive the loading mechanism and the rock drilling mechanism to move linearly to both sides of the main frame, and the loading mechanism and the rock drilling mechanism can also swing to both sides of the main frame relative to the sliding mechanism. The sliding mechanism of this scheme can drive the rock drill to move horizontally, but no technical inspiration is given on how to accurately control the sliding mechanism. Summary of the invention

[0004] 1. Technical problems to be solved

[0005] In order to solve the technical problem of how to accurately control the sliding mechanism in the prior art, the present invention provides a control system and a control method for an anchor trolley and a slide device thereof, which can realize early deceleration of the slide by controlling the position sensor and the controller algorithm.

[0006] 2. Technical solution

[0007] The content of this application is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this application is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0008] In order to solve the technical problems mentioned in the above background technology part, some embodiments of the present application provide a slide device control system, wherein the slide device includes a slide itself, a motor and a propulsion beam, wherein the slide itself is driven by the motor and moves on the propulsion beam, and the slide device control system includes: a collection device, used to collect the movement data of the slide itself on the propulsion beam; a proportional solenoid valve, used to control the motor speed and the motor rotation direction according to the input control signal; the slide device control system also includes a control device, which is used to send a control signal to the proportional solenoid valve according to the movement distance data of the slide itself on the propulsion beam collected by the collection device to control the motor speed and / or rotation direction.

[0009] Furthermore, the acquisition device includes a rotary encoder, which is used to acquire the rotation angle, rotation direction and speed of the motor. The control device sends a control signal to the proportional solenoid valve based on the motor rotation angle data, motor rotation direction data and motor speed data acquired by the rotary encoder.

[0010] Furthermore, the slide device control system also includes: a control lever for the user to operate to control the moving direction and / or moving speed of the slide itself; wherein the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the control lever.

[0011] Furthermore, the slide device control system also includes: a proximity switch for collecting a position signal of whether the slide itself has reached the first set point; wherein the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the proximity switch.

[0012] Furthermore, the slide device control system also includes: an interactive device for user operation to achieve human-computer interaction; wherein the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the interactive device.

[0013] Furthermore, the control device includes: a main controller, which is electrically connected to the control rod and the interactive device to receive control signals from them.

[0014] As a second aspect of the present application, some embodiments of the present application provide an anchor trolley, comprising the above-mentioned slide device control system.

[0015] As a third aspect of the present application, some embodiments of the present application provide a method for controlling a slide device, which is used for an anchor trolley, wherein the anchor trolley includes a slide itself, a motor and a propulsion beam, wherein the slide itself is driven by the motor to move on the propulsion beam; the anchor trolley also includes: a collection device, which is used to collect movement data of the slide itself on the propulsion beam; a proportional solenoid valve, which is used to control the motor speed and the motor rotation direction according to the input control signal; a control device, which is used to send a control signal to the proportional solenoid valve according to the movement distance data of the slide itself on the propulsion beam collected by the collection device to control the motor speed and / or rotation direction; a control lever, which is used for a user to operate to control the movement direction and / or movement speed of the slide itself; a proximity switch, which is used to collect a position signal indicating whether the slide itself has reached a movement distance of 0; an interactive device, which is used for a user to operate to achieve human-computer interaction;

[0016] The slide device control method includes: in response to the collected movement data of the slide itself on the propulsion beam, obtaining the movement distance, movement speed and movement direction of the slide; judging whether the slide speed is greater than the set safety speed when the slide reaches the second set point; if the slide speed is greater than the set safety speed, reducing the slide speed to the safety speed according to the ramp time.

[0017] Furthermore, the slide device control method also includes: obtaining the movement distance of the slide in response to the collected movement data of the slide itself on the propulsion beam; judging whether the movement distance of the slide is equal to the total length of the slide operation; if the movement distance of the slide is equal to the total length of the slide operation, controlling the slide speed to become 0.

[0018] Furthermore, the slide device control method also includes: in response to the collected movement data of the slide itself on the propulsion beam, obtaining the moving distance, moving speed and moving direction of the slide; judging whether the slide speed is greater than the safety speed when the slide reaches the first set point; if the slide speed is greater than the safety speed, reducing the slide speed to the safety speed according to the ramp time.

[0019] 3. Beneficial effects

[0020] Compared with the prior art, the advantages of the present invention are: the slide is controlled to decelerate in advance through position sensing and controller algorithm, thereby achieving soft stop to avoid hard collision, and also improving the service life of the machine and the convenience of using the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall schematic diagram of a control system of a slide device in one embodiment of the present invention;

[0022] Figure 2 Schematic diagram of the overall structure of a slide device in one embodiment of the present invention;

[0023] Figure 3 Schematic diagram of the steps of a method for controlling a slide device in one embodiment of the present invention.

[0024] Description of the numbers in the figure:

[0025] 1. Acquisition device; 2. Control lever; 3. Proximity switch; 4. Interaction device; 5. Control device; 5-1. Main controller; 6. Proportional solenoid valve; 10. Slide; 20. Propulsion beam; 30. Rotary encoder; 40. Motor; 50. Proximity switch. DETAILED DESCRIPTION

[0026] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0027] It should also be noted that, for ease of description, only the parts related to the present application are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0028] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] like Figure 1 to Figure 2 As shown, the slide 10 device of the present application includes the slide 10 itself, the motor 40 and the propulsion beam 20; wherein the slide 10 itself is driven by the motor 40 and then moves on the propulsion beam 20,

[0030] The control system of the slide 10 device of the present application includes a collection device 1 , a proportional solenoid valve 6 , a control device 5 , a control rod 2 , a proximity switch 503 and an interaction device 4 .

[0031] Among them, the collection device 1 is used to collect the movement data of the slide 10 itself on the propulsion beam 20; the proportional solenoid valve 6 is used to control the speed of the motor 40 and the rotation direction of the motor 40 according to the input control signal; the control device 5 is used to send a control signal to the proportional solenoid valve 6 according to the movement distance data of the slide 10 itself on the propulsion beam 20 collected by the collection device 1 to control the speed and / or rotation direction of the motor 40; the control lever 2 is used for the user to operate to control the movement direction and / or movement speed of the slide 10 itself; the proximity switch 50 is used to collect the position signal of whether the slide 10 itself has reached the first set point; the interactive device 4 is used for the user to operate to realize human-computer interaction.

[0032] The acquisition device 1 includes a rotary encoder 30 , and the rotary encoder 30 is used to acquire the rotation angle and rotation direction of the motor 40 and the rotation speed of the motor 40 .

[0033] like Figure 2 As shown, the rotary encoding sensor is installed at the shaft end of the motor 40, and the control device 5 sends a control signal to the proportional solenoid valve 6 according to the rotation angle data of the motor 40, the rotation direction data of the motor 40 and the speed data of the motor 40 collected by the rotary encoder 30, thereby realizing the control of the proportional solenoid valve 6.

[0034] Specifically, the user controls the moving direction and moving speed of the slide 10 itself by operating the control lever 2, so that the control device 5 sends a control signal to the proportional solenoid valve 6 according to the control signal sent by the control lever 2, thereby controlling the proportional solenoid valve 6.

[0035] like Figure 2 As shown, the proximity switch 50 is located at the starting position when the slide 10 moves forward and backward on the propulsion beam 20, and can collect the position signal of whether the slide 10 itself has reached the first set point, so that the control device 5 sends a control signal to the proportional solenoid valve 6 according to the control signal sent by the proximity switch 503, so as to realize the judgment of the position signal of whether the slide 10 itself has reached the first set point.

[0036] Specifically, the user operates the interactive device 4 to implement human-computer interaction, so that the control device 5 can send a control signal to the proportional solenoid valve 6 according to the control signal sent by the interactive device 4, thereby realizing control of the proportional solenoid valve 6.

[0037] Specifically, the control device 5 includes a main controller 5-1, which is electrically connected to the control rod 2 and the interactive device 4 to receive their control signals, so as to send a control signal to the proportional solenoid valve 6 according to the collected moving distance data of the slide 10 itself on the propulsion beam 20 to control the rotation speed of the motor 40, and send a control signal to the proportional solenoid valve 6 according to the collected moving distance data of the slide 10 itself on the propulsion beam 20 to control the rotation direction of the motor 40.

[0038] In a specific embodiment, the anchor trolley of the present application includes: a slide 10 itself, a motor 40 and a propulsion beam 20; wherein the slide 10 itself is driven by the motor 40 and moves on the propulsion beam 20; the anchor trolley also includes: a collection device 1, used to collect the movement data of the slide 10 itself on the propulsion beam 20; a proportional solenoid valve 6, used to control the speed of the motor 40 and the rotation direction of the motor 40 according to the input control signal; a control device 5, used to send a control signal to the proportional solenoid valve 6 according to the movement distance data of the slide 10 itself on the propulsion beam 20 collected by the collection device 1 to control the speed and / or rotation direction of the motor 40; a control lever 2, used for the user to operate to control the movement direction and / or movement speed of the slide 10 itself; a proximity switch 503, used to collect a position signal of whether the slide 10 itself has reached a movement distance of 0; an interactive device 4, used for the user to operate to realize human-computer interaction.

[0039] like Figure 3 As shown, based on the slide device control system introduced above, the slide device control method of the present application is used for the anchor trolley, and the slide device control method mainly includes the following steps:

[0040] S100, in response to the collected movement data of the slide itself on the propulsion beam, obtaining the movement distance, movement speed and movement direction of the slide;

[0041] S200, determining whether the speed of the slide is greater than a set safety speed when the slide reaches a second set point;

[0042] S300, if the slide speed is greater than the set safety speed, the slide speed is reduced to the safety speed according to the ramp time;

[0043] S400, determining whether the moving distance of the slide is equal to the total running length of the slide;

[0044] S500, if the moving distance of the slide is equal to the total length of the slide operation, the slide speed is controlled to become 0;

[0045] S600, determining whether the speed of the slide is greater than the safety speed when the slide reaches the first set point;

[0046] S700: If the slide speed is greater than the safety speed, the slide speed is reduced to the safety speed according to the ramp time.

[0047] Specifically, the slide device control method includes the following steps:

[0048] First, default values ​​are set through the interactive device, including the default value of the safety speed Vs for the slide to move forward and backward to the ends of the front and rear ends of the propulsion beam, the default value of the deceleration ramp time Tr, the total length L of the slide operation, the distance value Pb from the slide return deceleration point (i.e., the first set point) to the starting position is less than the product of the safety speed Vs and the deceleration ramp time Tr, and the distance value Pf from the slide forward deceleration point (i.e., the second set point) to the starting position is less than the total length L minus the product of the safety speed Vs and the deceleration ramp time Tr.

[0049] Specifically, after the user inputs the default value of the setting through the interactive device, the control device marks the default value.

[0050] Considering that if the deceleration ramp time is too long, it will lead to unsafe conditions, and if the deceleration ramp time is too short, it will affect the life of the hydraulic system. Therefore, the hydraulic system is protected by setting the default value.

[0051] The rotary encoder collects the rotation angle, rotation direction and speed of the motor in real time, and converts them into pulse signals and phase signals to send to the control device;

[0052] The control device collects the rotation angle, rotation direction and speed of the motor in response to the rotary encoder and converts the pulse signal and phase signal, calculates the movement data S of the slide, and determines the movement direction and running speed V of the slide.

[0053] The control device sends a control signal to the proportional solenoid valve according to the control signal Y sent by the control lever. When the control lever is pushed forward, the forward push control signal Yp increases from Yp_min to Yp_max, and the corresponding forward push speed Vp of the slide controlled by the control device increases from Vp_min to Vp_max; when the control lever is pushed backward, the backward push control signal Yn increases from Yn_min to Yn_max, and the corresponding backward push speed Vn of the slide controlled by the control device increases from Vnmin to Vnmax.

[0054] When the control lever is pushed forward, the value of the control signal Y is within the range of Yp_min-Yp_max. Before the advancement distance reaches Pf, the advancement speed of the slide changes according to the change of the control signal of the control lever, that is, the larger the value of the control signal Y is, the faster the advancement speed of the slide is.

[0055] When the slide reaches the second set point, if the slide speed V at this time is greater than the safety speed Vs, the control device reduces the slide speed to the safety speed Vs according to the deceleration ramp time Tr;

[0056] When the movement data S of the slide is equal to the total length L of the slide operation and reaches the delay value Td, the control device sends a control signal to the proportional solenoid valve to make the slide speed become 0;

[0057] Specifically, the delay Td value defaults to 500ms.

[0058] When the control rod is pushed back, the value of the control signal Y is within the range of Yn_min-Yn_max. Before the return distance reaches Pb, the slide advancement speed changes according to the change of the control signal of the control rod, that is, the smaller the value of the control signal Y, the faster the slide advancement speed;

[0059] When the slide reaches the first set point, if the slide speed V at this time is greater than the safety speed Vs, the control device reduces the slide speed to the safety speed Vs according to the deceleration ramp time Tr;

[0060] When the movement data S of the slide is equal to 0 and the proximity switch is activated, the control device sends a control signal to the proportional solenoid valve to make the slide speed become 0.

[0061] Specifically, the proximity switch is a position sensor. By setting the proximity switch, it is ensured that when the movement data S of the slide is 0, the proximity switch is activated at the same time to ensure that the slider is in a stopped state at this time, so as to achieve sufficient protection for the thrust beam and the limit block. The slide is controlled to decelerate in advance through position sensing and controller algorithms, thereby achieving soft stop to avoid hard collisions, and also improving the service life of the machine and the convenience of using the machine.

[0062] The anchor trolley and its slide device control system and control method of the present application can effectively avoid the accelerated aging of the mechanical structure caused by the high-speed impact of the slide, thereby reducing the machine downtime to improve construction efficiency.

[0063] The above schematically describes the invention and its implementation methods, which is not restrictive. Without departing from the spirit or basic features of the invention, the invention can be implemented in other specific forms. What is shown in the accompanying drawings is only one of the implementation methods of the invention. The actual structure is not limited to this, and any figure mark in the claims should not limit the claims involved. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the purpose of the invention, a structural method and an embodiment similar to the technical solution are designed without creativity, which should all fall within the scope of protection of this patent. In addition, the word "including" does not exclude other elements or steps, and the word "one" before the element does not exclude the inclusion of "multiple" elements. The multiple elements stated in the product claim can also be implemented by one element through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A control system for a slide device, the slide device comprising a slide itself, a motor and a propulsion beam, wherein the slide itself is driven by the motor and then moves on the propulsion beam, the control system for the slide device comprising: A collection device, used for collecting movement data of the slide itself on the propulsion beam; Proportional solenoid valve, used to control the motor speed and direction of rotation according to the input control signal; Features: The slide device control system also includes a control device for sending a control signal to the proportional solenoid valve according to the movement distance data of the slide itself on the propulsion beam collected by the collection device to control the speed and / or rotation direction of the motor.

2. The slide device control system according to claim 1, characterized in that: The acquisition device includes a rotary encoder, which is used to acquire the rotation angle, rotation direction and speed of the motor. The control device sends a control signal to the proportional solenoid valve according to the motor rotation angle data, motor rotation direction data and motor speed data acquired by the rotary encoder.

3. The slide device control system according to claim 1, characterized in that: The slide device control system further comprises: A joystick, used for the user to operate to control the moving direction and / or moving speed of the slide itself; Wherein, the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the control rod.

4. The slide control system according to claim 1, characterized in that: The slide device control system further comprises: A proximity switch, used to collect a position signal of whether the slide itself reaches a first set point; Wherein, the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the proximity switch.

5. The slide device control system according to claim 1, characterized in that: The slide device control system further comprises: An interactive device, used for users to operate to achieve human-computer interactive operation; Wherein, the control device sends a control signal to the proportional solenoid valve according to the control signal sent by the interaction device.

6. The slide device control system according to claim 1, characterized in that: The control device comprises: The main controller is electrically connected to the control rod and the interaction device to receive control signals from them.

7. An anchor trolley, characterized in that: It comprises a slide device control system as described in any one of claims 1 to 6.

8. A method for controlling a slide device, for use in an anchor trolley, wherein the anchor trolley comprises a slide itself, a motor and a propulsion beam, wherein the slide itself is driven by the motor and then moves on the propulsion beam; The anchor trolley also includes: A collection device, used for collecting movement data of the slide itself on the propulsion beam; Proportional solenoid valve, used to control the motor speed and direction of rotation according to the input control signal; A control device, used for sending a control signal to the proportional solenoid valve to control the speed and / or rotation direction of the motor according to the moving distance data of the slide itself on the propulsion beam collected by the collection device; A joystick, used for the user to operate to control the moving direction and / or moving speed of the slide itself; A proximity switch is used to collect a position signal of whether the slide itself has reached a moving distance of 0; An interactive device, used for users to operate to achieve human-computer interactive operation; The slide device control method comprises: In response to the collected movement data of the slide itself on the propulsion beam, obtaining the movement distance, movement speed and movement direction of the slide; Determining whether the slide speed is greater than a set safety speed when the slide reaches a second set point; If the slide speed is greater than the set safety speed, the slide speed will be reduced to the safety speed according to the ramp time.

9. The method for controlling a slide device according to claim 8, characterized in that: The slide device control method further comprises: In response to the collected movement data of the slide itself on the propulsion beam, acquiring the movement distance of the slide; Determine whether the moving distance of the slide is equal to the total length of the slide operation; If the sliding distance is equal to the total length of the sliding operation, the sliding speed is controlled to become 0.

10. The method for controlling a slide device according to claim 8, characterized in that: The slide device control method further comprises: In response to the collected movement data of the slide itself on the propulsion beam, obtaining the movement distance, movement speed and movement direction of the slide; Determine whether the slide speed is greater than the safety speed when the slide reaches the first set point; If the slide speed is greater than the safety speed, the slide speed is reduced to the safety speed according to the ramp time.

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