Anchoring control system and method of anchor rod trolley and storage medium

Abstract

The invention relates to the technical field of anchor rod trolleys, in particular to an anchoring control system and method of an anchor rod trolley and a storage medium, and the anchoring control system comprises a control module, and an operation module, a sensor module and an execution module which are electrically connected with the control module; the operation module performs working mode switching and action control; and according to the equipment state information detected by the sensor module, the working mode switching instruction and the action control instruction, the control module judges whether the working mode is switched or not according to the currently stored working mode flag bit, and then controls the execution module to execute the action corresponding to the working mode. According to the invention, the automatic control of the anchor rod mechanism is realized, the operation is simpler and more convenient, the operation efficiency and the construction efficiency are improved, and the problem that a mechanical full-hydraulic direct-control anchor rod trolley has higher requirements on the experience and the operation proficiency of operators can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor trolleys, and in particular to an anchoring control system, method and storage medium of an anchor trolley. Background Art

[0002] The anchor trolley is mainly used in the anchoring projects of tunnels, chambers and underground tunnel roofs or side walls. The rock mass is reinforced by drilling anchor holes and installing anchors.

[0003] The existing anchor support is mainly constructed by two methods: manual pneumatic single anchor machine or pure hydraulic direct-controlled anchor trolley.

[0004] One construction method is to use a pneumatic single anchor bolter. However, when using a pneumatic single anchor bolter, the operator has high labor intensity, poor safety and low construction efficiency.

[0005] Another construction method can be found in the Chinese utility model patent with publication number CN219910821U, entitled A resin anchor automated construction device and an anchor trolley containing the same. In this prior art, an automated resin anchor construction device is disclosed, which includes an anchoring agent delivery device, a propulsion device, a parallel lifting mechanism and a fixed frame. The anchoring agent delivery device includes a feed end, a delivery pipe and a discharge end; the feed end is provided with a filling port for filling the anchoring agent and a first connection port for connecting a high-pressure gas source; the delivery pipe connects the feed end and the discharge end; the propulsion device includes a first driving mechanism for driving the delivery pipe to extend or retract in the direction of drilling; the parallel lifting mechanism is used to support the delivery pipe and the discharge end; the parallel lifting mechanism has a second driving mechanism for driving the delivery pipe to rise and fall to adjust the height; the fixed frame is used to be tightly connected to the anchor trolley.

[0006] In the prior art, the use of a mechanized fully hydraulic direct-controlled anchor trolley requires high experience and proficiency of the operator, and the overall construction efficiency is difficult to improve due to the complexity of the anchoring operation. Summary of the invention

[0007] In order to solve the above problems, an object of the present invention is to provide an anchoring control system, method and storage medium for an anchor trolley.

[0008] The technical solution provided by the present invention is:

[0009] In a first aspect, an anchoring control system of an anchor trolley includes a control module, and a manipulation module, a sensor module, and an execution module electrically connected to the control module;

[0010] Among them, the operating module performs working mode switching and action control; according to the equipment status information detected by the sensor module, as well as the working mode switching instructions and action control instructions, the control module determines whether to switch the working mode according to the currently stored working mode flag, and then controls the execution module to execute the action corresponding to the working mode.

[0011] As an optional technical solution of the first aspect, the control module includes a CAN bus button panel and a handle, wherein the CAN bus button panel is used for working mode switching and manual action control, and the handle is used for action control of the anchoring mechanism in each working mode.

[0012] As an optional technical solution of the first aspect, the sensor module includes:

[0013] A first pressure sensor is installed in the anchor library and is used to detect the rotation pressure of the anchor library;

[0014] A second pressure sensor is installed in the injection gas path and is used to detect the injection pressure;

[0015] A displacement sensor, which is used to detect the displacement of the slide on the propulsion beam;

[0016] The proximity switch is installed at the rear end of the propulsion beam and is used to detect whether the slide has retracted to the rear end of the propulsion beam.

[0017] As an optional technical solution of the first aspect, it also includes a display module, which is electrically connected to the control module, and the display module is used to display the working status and parameters, and set or calibrate the system parameters.

[0018] In a second aspect, an anchoring control method of an anchor trolley, when the anchor is a resin steel bar anchor, the working modes include drilling, spraying, anchoring, netting, and positioning modes; wherein the drilling, spraying, and anchoring modes are cycled in sequence;

[0019] When the anchor is a pipe-seam anchor, the working modes include drilling, anchoring, netting, and positioning; wherein drilling and anchoring are cycled in sequence;

[0020] The control module stores the working mode flags of drilling, jetting and anchoring;

[0021] When the system is in any of the drilling, jetting and anchoring modes, the system can switch to the positioning mode or the net hanging mode at any time without changing the working mode flag stored in the control module;

[0022] When the system is in positioning mode or meshing mode and needs to be switched to other modes, it is necessary to first switch to the previous mode of positioning mode or meshing mode, and then switch to other modes.

[0023] As an optional technical solution of the second aspect, when the drilling button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam, the system enters the drilling mode switching process:

[0024] If the working mode flag bit stored in the control module indicates that the previous working mode of the system was the drilling mode, the system directly enters the drilling mode;

[0025] If the working mode flag stored in the control module indicates that the previous working mode of the system was the anchoring mode, the system switches from the anchoring mode to the drilling mode.

[0026] As an optional technical solution of the second aspect, when the injection button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam and the anchor type is a resin steel bar anchor, the system enters the injection mode switching process:

[0027] If the operating mode flag bit stored in the control module indicates that the previous operating mode of the system was the injection mode, the system directly enters the injection mode;

[0028] If the working mode flag stored in the control module indicates that the previous working mode of the system was the drilling mode, the system switches from the drilling mode to the injection mode.

[0029] As an optional technical solution of the second aspect, when the anchor button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam, the system enters the anchor mode switching process:

[0030] If the working mode flag bit stored in the control module indicates that the previous working mode of the system is already the anchoring mode, the system directly enters the anchoring mode;

[0031] If the working mode flag bit stored in the control module indicates that the previous working mode of the system was the drilling mode, the system switches from the drilling mode to the anchoring mode;

[0032] If the operating mode flag stored in the control module indicates that the previous operating mode of the system was the injection mode, the system switches from the injection mode to the anchoring mode.

[0033] As an optional technical solution of the second aspect, the drilling mode includes:

[0034] When the displacement sensor detects that the slide table is pushed to the drill rod support opening position, the left and right drill rod supports are both opened;

[0035] When the displacement sensor detects that the slide has advanced to the end position of the slide, the slide returns;

[0036] When the displacement sensor detects that the slide table returns to the drill rod supporter closing position, both the left and right drill rod supports are closed;

[0037] When the displacement sensor detects that the slide returns to the slide advancement starting point, the slide stops.

[0038] As an optional technical solution of the second aspect, the injection mode includes:

[0039] After entering the spray mode, the control module controls the water valve and the air valve to open to clean the pipeline;

[0040] The nozzle is controlled by a handle to turn to the center of the drill hole and move into the drill hole;

[0041] When the second sensor detects that the compressed air pressure is greater than the threshold value allowing injection, the injection valve is opened by the handle control to blow the resin into the drill hole;

[0042] Finally, the nozzle is controlled by the handle to move out of the drilling hole and turn to the parking position.

[0043] As an optional technical solution of the second aspect, when the anchor rod is a resin steel bar anchor rod, the anchoring mode includes:

[0044] Control slide propulsion;

[0045] When the displacement sensor detects that the slide has advanced to the avoidance position of the first anchor arm, the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0046] When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0047] When the anchor arm transfer time T1 is reached, the slide is controlled to advance;

[0048] The anchor rod is rotated to one side to stir the resin, and the control module starts the stirring time TC1 timer;

[0049] When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position, the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0050] When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor storage position, and the control module starts the anchor arm transfer time T1 timer;

[0051] When the anchor arm transfer time T1 is reached, the slide is advanced and the anchor is rotated to one side to stir the resin;

[0052] The stirring time TC1 timer is stopped, and the control module starts the solidification time TC2 timer;

[0053] Rotate the anchor rod to the other side to achieve locking;

[0054] Control the slide to retract; when the displacement sensor detects that the slide returns to the slide's starting point, the slide stops.

[0055] As an optional technical solution of the second aspect, when the anchor rod is a resin steel bar anchor rod, the anchoring mode includes:

[0056] When the displacement sensor detects that the slide has advanced to the avoidance position of the first anchor arm, the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0057] When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0058] When the anchor arm transfer time T1 is reached, the slide is controlled to advance;

[0059] Control the slide to advance and the bolt drill to start impact;

[0060] When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position, the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0061] When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0062] When the anchor arm transfer time T1 is reached, the slide advances and the anchor impacts at the same time;

[0063] When the displacement sensor detects that the slide has advanced to the end position of the slide, the slide stops;

[0064] Control the slide to retract; when the displacement sensor detects that the slide returns to the slide's starting point, the slide stops.

[0065] In a third aspect, a storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned anchoring control method of the anchor trolley is implemented.

[0066] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0067] The control system provided by the present invention can be used for different types of anchor rods, such as resin steel bar anchor rods including drilling, spraying, anchoring, netting, and positioning modes, while pipe seam anchor rods do not have a spraying mode. According to the equipment status information detected by the sensor module, and according to the working mode switching instructions and action control instructions, the control module determines whether to switch the working mode according to the currently stored working mode flag, and then controls the execution module to execute the action corresponding to the working mode, that is, the system is carried out in drilling, spraying, and anchoring in sequence, and can be switched to the positioning mode or netting mode at any time in any of the modes; and when the system is in the positioning mode or netting mode, and needs to be switched to other modes, it is necessary to first switch to the previous mode of the positioning mode or netting mode, and then switch to other modes. The control method provided by the present invention can rely on the electronic control system to realize the automatic control of the anchor rod mechanism, which has the advantages of simpler operation, improved operation efficiency and construction efficiency, and can solve the problem that the mechanized fully hydraulic direct-controlled anchor rod trolley has high requirements for the operator's experience and operating proficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 This is a schematic diagram of switching among drilling, jetting and anchoring modes in one embodiment of the present application;

[0069] Figure 2 This is a schematic diagram of the handle operation area in one embodiment of the present application;

[0070] Figure 3 This is a schematic diagram of the operating area of ​​the handle in the net hanging mode in one embodiment of the present application;

[0071] Figure 4 This is a mode switching flow chart in one embodiment of the present application;

[0072] Figure 5 This is a schematic diagram of entering a drilling mode in an embodiment of the present application;

[0073] Figure 6 This is a schematic diagram of entering the spray mode in one embodiment of the present application;

[0074] Figure 7 This is a schematic diagram of entering the anchoring mode from the drilling mode in an embodiment of the present application;

[0075] Figure 8 This is a schematic diagram of entering the anchoring mode from the spraying mode in one embodiment of the present application;

[0076] Fig. 9 This is a schematic diagram of a control system in one embodiment of the present application. DETAILED DESCRIPTION

[0077] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

[0078] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of implementation. The change or adjustment of their relative relationship should also be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0079] In one embodiment, if Fig. 9 As shown, the present invention proposes an anchoring control system for an anchor trolley, comprising a control module, and an operating module, a sensor module, and an execution module electrically connected to the control module. The operating module performs working mode switching and action control, and the sensor module is used to detect the status information of the equipment.

[0080] In this technical solution, according to the equipment status information detected by the sensor module, as well as the working mode switching instruction and the action control instruction, the control module determines whether to switch the working mode according to the currently stored working mode flag, and then controls the execution module to execute the action. The control module can have two controllers, where controller #1 is used to control the main pump and controller #2 is used to control all actions of the anchoring mechanism. The execution module includes various hydraulic pumps, solenoid valves, hydraulic motors, hydraulic cylinders, etc. After the control module sends a control instruction, the execution module controls each corresponding actuator to execute the corresponding instruction.

[0081] For the operation module, in one technical solution, the operation module includes a CAN bus key panel and a handle, wherein the CAN bus key panel is used for working mode switching and manual action control, and the handle is used for the action control of the anchoring mechanism in each working mode. The handle is set with various operation areas. For specific operation areas, please refer to Figure 2-3 When the handle is moved to each area, the corresponding action is performed. When the button on the key panel is pressed, the mode is switched.

[0082] It should be noted that the present invention provides a mode judgment and switching method according to different working conditions of the anchoring mechanism. The implementation methods of sensor judgment, signal transmission, signal reception, command sending, and command reception and execution are relatively mature in the prior art and will not be repeated here.

[0083] As for the sensor module, in one embodiment, the sensor module includes a first pressure sensor, a second pressure sensor, a displacement sensor, and a proximity switch. The first pressure sensor is installed in the anchor rod warehouse to detect the rotation pressure of the anchor rod warehouse; the second pressure sensor is installed in the injection gas path to detect the injection pressure; the displacement sensor is used to detect the displacement of the slide on the propulsion beam; the proximity switch is installed at the rear end of the propulsion beam to detect whether the slide has retreated to the rear end of the propulsion beam.

[0084] In one embodiment, a display module is also included which is electrically connected to the control module, and the display module is used to display the working status and parameters, and to set or calibrate the system parameters.

[0085] In one embodiment, the present invention provides an anchoring control method for an anchor trolley, such as Figure 1 , 4 As shown:

[0086] When the anchor rod is a resin steel bar anchor rod, the working modes include drilling, spraying, anchoring, meshing, and positioning modes; wherein the drilling, spraying, and anchoring modes are cycled in sequence;

[0087] When the anchor is a pipe-seam anchor, the working modes include drilling, anchoring, netting, and positioning; wherein drilling and anchoring are cycled in sequence;

[0088] The control module stores the working mode flags of drilling, jetting and anchoring;

[0089] When the system is in any of the drilling, jetting and anchoring modes, the system can switch to the positioning mode or the net hanging mode at any time without changing the working mode flag stored in the control module;

[0090] When the system is in positioning mode or meshing mode and needs to be switched to other modes, it is necessary to first switch to the previous mode of positioning mode or meshing mode, and then switch to other modes.

[0091] When the drilling button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam, the system enters the drilling mode switching process:

[0092] If the working mode flag bit stored in the control module indicates that the previous working mode of the system is the drilling mode, and the working mode flag bit in the drilling mode is 1, the system directly enters the drilling mode and changes the drilling ready flag bit (drilling_ready) to 1;

[0093] If the working mode flag stored in the control module indicates that the previous working mode of the system was the anchoring mode, and the working mode flag in the anchoring mode is 2, the system switches from the anchoring mode to the drilling mode.

[0094] like Figure 5 As shown, the method for the system to switch from anchoring mode to drilling mode is:

[0095] The control module controls the first anchor arm and the second anchor arm to transfer to the anchor storage position, the first anchor arm clamp and the second anchor arm clamp are opened, and the control module starts the anchor arm transfer time T1 timer;

[0096] When the anchor arm transfer time T1 is reached, the slide locking cylinder retracts, and the control module starts the slide locking cylinder retraction timer T2;

[0097] When the slide locking cylinder retraction time T2 is reached, the slide transfer cylinder extends, and the drilling rig transfers to the drilling center, and the drill arm transfers to the drilling center. At the same time, the control module starts the slide transfer time T3 timer and the drill arm transfer time T4 timer;

[0098] When the slide table transfer time T3 and the drill rod arm transfer time T4 are both reached, the left and right drill rod supports are closed, and the drill rod support closing time T5 timer is started at the same time;

[0099] When the closing time T5 of the drill rod supporter is reached, the anchor rod library rotates, and the anchor rod is automatically installed at this time. The anchor rod library rotates to transfer the anchor rod to the anchor rod arm clamp, the drill rod arm is transferred to the outward position, the slide locking cylinder extends, and the anchor rod library rotation time T6 timer is started at the same time;

[0100] When the anchor magazine rotation time T6 is reached and the anchor magazine rotation pressure Pr detected by the first pressure sensor reaches the preset threshold value Pr_min, the anchor magazine stops rotating, the clamps of the first anchor arm and the second anchor arm are closed, and the system enters the drilling mode (denoted as M_d). The control module changes the drilling ready flag (drilling_ready) to 1, and the working mode flag stored in the control module is changed to the drilling mode flag. At this time, the working mode flag in the drilling mode is 1.

[0101] When the injection button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam and the anchor type is a resin steel anchor, the system enters the injection mode switching process:

[0102] If the working mode flag bit stored in the control module indicates that the previous working mode of the system is the injection mode, and the working mode flag bit in the injection mode is 3, the system directly enters the injection mode and changes the injection ready flag bit (Injection_ready) to 1;

[0103] If the working mode flag stored in the control module indicates that the previous working mode of the system was the drilling mode, and the working mode flag in the drilling mode is 1, the system switches from the drilling mode to the injection mode.

[0104] like Figure 6 As shown, the method for the system to switch from drilling mode to injection mode is:

[0105] The drill arm is transferred to the center of the borehole, and the control module starts the drill arm transfer timer T4 at the same time;

[0106] When the drill rod arm transfer time T4 is reached, the right drill rod support is opened, and the control module starts the drill rod support opening time T7 timer;

[0107] When the drill rod support opening time T7 is reached, the slide locking cylinder retracts, and the control module starts the slide locking cylinder retraction timer T2;

[0108] When the slide locking cylinder retraction time T2 is reached, the slide transfer cylinder retracts, the bolt rock drill is transferred to the center of the drill hole, the drill arm is transferred to the outward position, and the control module starts the slide transfer time T3 timer and the drill arm transfer time T4 timer at the same time;

[0109] When the slide transfer time T3 and the drill arm transfer time T4 are reached, the slide locking cylinder extends and the system enters the injection mode (denoted as Mi_i). The control module changes the injection ready flag (Injection_ready) to 1, and the working mode flag stored in the control module is changed to the injection mode flag. At this time, the working mode flag in the injection mode is 3.

[0110] When the anchor button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the end of the propulsion beam, the system enters the anchor mode switching process:

[0111] If the working mode flag bit stored in the control module indicates that the previous working mode of the system is the anchoring mode, and the working mode flag bit in the anchoring mode is 2, the system directly enters the anchoring mode and changes the anchoring ready flag bit to 1;

[0112] If the working mode flag bit stored in the control module indicates that the previous working mode of the system was the drilling mode, and the working mode flag bit in the drilling mode is 1, the system switches from the drilling mode to the anchoring mode;

[0113] If the working mode flag stored in the control module indicates that the previous working mode of the system was the injection mode, and the working mode flag in the injection mode is 3, the system switches from the injection mode to the anchoring mode.

[0114] like Figure 7As shown, the method for the system to switch from drilling mode to anchoring mode is:

[0115] The drill arm is transferred to the center of the borehole, and the control module starts the drill arm transfer timer T4 at the same time;

[0116] When the drill rod arm transfer time T4 is reached, the right drill rod support is opened, and the control module starts the drill rod support opening time T7 timer;

[0117] When the drill rod support opening time T7 is reached, the slide locking cylinder retracts, and the control module starts the slide locking cylinder retraction timer T2;

[0118] When the slide locking cylinder retraction time T2 is reached, the drill arm is rotated to the outward position, and the slide rotation cylinder is retracted. At this time, the anchor rock drill is rotated to the center of the borehole, and the left drill rod supporter is opened. At the same time, the control module starts the drill arm rotation time T4 timer, the slide rotation time T3 timer, and the drill rod supporter opening time T7 timer;

[0119] When the drill arm transfer time T4 is reached, the first anchor arm and the second anchor arm are transferred to the center of the borehole, and the control module starts the anchor arm transfer time T1 timer at the same time;

[0120] When the slide transfer time T3, the drill rod support opening time T7, and the anchor arm transfer time T1 are reached, the slide locking cylinder extends, the first anchor arm and the second anchor arm clamps become floating, and the system enters the anchoring mode (denoted as M_b). The control module changes the anchoring ready flag (Bolting_ready) to 1, and the working mode flag stored in the control module becomes the anchoring mode flag. At this time, the working mode flag in the anchoring mode is 2.

[0121] like Figure 8 As shown, the method for the system to switch from the spray mode to the anchoring mode is:

[0122] The left drill rod support is opened, and the control module starts the drill rod support opening time T7 timer;

[0123] When the drill rod support opening time T7 is reached, the first anchor arm and the second anchor arm are transferred to the center of the borehole, and the control module starts the anchor arm transfer time T1;

[0124] When the anchor arm transfer time T1 is reached, the first anchor arm and the second anchor arm clamps become floating state, and the system enters the anchoring mode (denoted as M_b). The controller changes the anchoring ready flag (Bolting_ready) to 1, and the working mode flag stored in the control module becomes the anchoring mode flag. At this time, the working mode flag in the anchoring mode is 2.

[0125] When the displacement sensor detects that the slide table is pushed to the drill rod support opening position (recorded as position M5b), both the left and right drill rod supports are opened;

[0126] When the displacement sensor detects that the slide has advanced to the end position of the slide (recorded as position M0), the slide returns;

[0127] When the displacement sensor detects that the slide returns to the drill rod support closing position (recorded as position M5a), both the left and right drill rod supports are closed;

[0128] When the displacement sensor detects that the slide returns to the slide advancement starting point, the slide stops.

[0129] Spray modes include:

[0130] After entering the spray mode, the control module controls the water valve and the air valve to open and clean the pipeline. The pipeline cleaning time can be three seconds, and the time and the switch of this function can be set on the display.

[0131] The nozzle is controlled by the handle to turn to the center of the drill hole and move into the drill hole; specifically, when the handle is in the S7 area, the nozzle is turned to the center of the drill hole; when the handle is in the S5 and S2 areas, the nozzle moves forward into the drill hole;

[0132] When the second sensor detects that the compressed air pressure is greater than the threshold value allowing injection, this threshold value can be set in the display, and the thumb wheel on the handle is pushed to control the handle to open the injection valve to blow the resin into the drill hole;

[0133] Finally, the nozzle is controlled by the handle to move out of the drilling hole and turn to the parking position. Specifically, when the handle is in the S11 and S14 areas, the nozzle moves backward out of the drilling hole; when the handle is in the S9 area, the nozzle turns to the parking position.

[0134] When the anchor rod is a resin reinforced anchor rod, the anchoring modes include:

[0135] Control the slide to move forward; specifically, when the handle is in the S5 and S2 areas, the slide moves forward;

[0136] When the displacement sensor detects that the slide has advanced to the first anchor arm avoidance position (recorded as position M2b), the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0137] When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0138] When the anchor arm transfer time T1 is reached, the slide is controlled to advance; specifically, when the handle is in the S5 and S2 areas, the slide advances forward;

[0139] The anchor rod is rotated to one side to stir the resin, for example, to the right side, and the control module starts the stirring time TC1 timer;

[0140] When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position (recorded as position M2a), the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0141] When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor storage position, and the control module starts the anchor arm transfer time T1 timer;

[0142] When the anchor arm transfer time T1 is reached, the slide is advanced and the anchor is rotated to one side to stir the resin; specifically, when the handle is in the S4 and S1 areas, the slide is advanced and the anchor is rotated to one side;

[0143] The stirring time TC1 timer is stopped, and the control module starts the solidification time TC2 timer; specifically, when the handle is not in the S7, S4 or S1 area, the stirring time TC1 timer stops timing;

[0144] The anchor rod is rotated to the other side to achieve locking; specifically, when the handle is in the S9 area, the anchor rod is rotated to the left side to achieve locking;

[0145] Control the slide to retract; when the displacement sensor detects that the slide returns to the starting position of the slide, the slide stops. Specifically, when the handle is in the S11 and S14 areas, the slide retracts; when the handle is maintained in the S10 and S13 areas for a certain period of time, the slide will automatically retract even if the handle is released. The automatic retraction function can also be canceled.

[0146] When the anchor rod is a resin reinforced anchor rod, the anchoring modes include:

[0147] When the displacement sensor detects that the slide has advanced to the first anchor arm avoidance position (recorded as position M2b), the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0148] When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0149] When the anchor arm transfer time T1 is reached, the slide is controlled to advance; specifically, when the handle is in the S5 and S2 areas, the slide advances forward;

[0150] Control the slide to advance, and the bolter rock drill starts impacting; specifically, when the handle is in the S1 area, the slide moves forward, and the bolter rock drill starts impacting;

[0151] When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position (recorded as position M2a), the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8;

[0152] When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer;

[0153] When the anchor arm transfer time T1 is reached, the slide is advanced and the anchor impacts at the same time; specifically, when the anchor arm transfer time T1 is reached and the handle is in the S1 area, the slide is advanced and the anchor impacts at the same time;

[0154] When the displacement sensor detects that the slide has advanced to the end position of the slide (recorded as the M0 position), the slide stops;

[0155] Control the slide to retract; when the displacement sensor detects that the slide returns to the starting position of the slide, the slide stops. Specifically, when the handle is in the S11 and S14 areas, the slide retracts; when the handle is maintained in the S10 and S13 areas for a certain period of time, the slide will automatically retract even if the handle is released. The automatic retraction function can also be canceled.

[0156] In the netting mode, when the handle is in Figure 3 When the corresponding button on the handle is pressed, the net hanging arm extends. Figure 3 When the same button is pressed in the middle C area, the screen arm is retracted; when the handle is in Figure 3 In the middle D area, the screen hanging device clamp rotates clockwise; when the handle is in Figure 3 When in the middle B area, the net hanging device clamping claw rotates counterclockwise; when the handle pushes the thumb wheel upward, the net hanging device tilts upward; when the handle pushes the thumb wheel downward, the net hanging device tilts downward; press the corresponding button on the handle to retract the net hanging device clamping cylinder, and press it again to extend the cylinder.

[0157] The present invention further proposes a storage medium storing a computer program, wherein the computer program implements the above-mentioned anchoring control method of the anchor trolley when executed by a processor.

[0158] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. An anchoring control system for an anchor trolley, characterized in that: It includes a control module, and a manipulation module, a sensor module, and an execution module electrically connected to the control module; in, The control module performs working mode switching and motion control; According to the device status information detected by the sensor module, as well as the working mode switching instructions and action control instructions, the control module determines whether to switch the working mode according to the currently stored working mode flag, and then controls the execution module to execute the action corresponding to the working mode.

2. The anchoring control system of the anchor trolley according to claim 1, characterized in that: The control module includes a CAN bus button panel and a handle, wherein the CAN bus button panel is used for operating mode switching and manual action control, and the handle is used for action control of the anchoring mechanism in each operating mode.

3. The anchoring control system of the anchor trolley according to claim 1, characterized in that: The sensor module comprises: A first pressure sensor is installed in the anchor library and is used to detect the rotation pressure of the anchor library; A second pressure sensor is installed in the injection gas path and is used to detect the injection pressure; A displacement sensor, which is used to detect the displacement of the slide on the propulsion beam; The proximity switch is installed at the rear end of the propulsion beam and is used to detect whether the slide has retracted to the rear end of the propulsion beam.

4. The anchoring control system of the anchor trolley according to any one of claims 1 to 3, characterized in that: It also includes a display module, which is electrically connected to the control module. The display module is used to display the working status and parameters, and to set or calibrate the system parameters.

5. An anchoring control method of an anchor trolley as claimed in claim 4, characterized in that: When the anchor rod is a resin steel bar anchor rod, the working modes include drilling, spraying, anchoring, meshing, and positioning modes; wherein the drilling, spraying, and anchoring modes are cycled in sequence; When the anchor is a pipe-seam anchor, the working modes include drilling, anchoring, netting, and positioning; wherein drilling and anchoring are cycled in sequence; The control module stores the working mode flags of drilling, jetting and anchoring; When the system is in any of the drilling, jetting and anchoring modes, the system can switch to the positioning mode or the net hanging mode at any time without changing the working mode flag stored in the control module; When the system is in positioning mode or meshing mode and needs to be switched to other modes, it is necessary to first switch to the previous mode of positioning mode or meshing mode, and then switch to other modes.

6. The anchoring control method of the anchor trolley according to claim 5, characterized in that: When the drilling button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam, the system enters the drilling mode switching process: If the working mode flag bit stored in the control module indicates that the previous working mode of the system was the drilling mode, the system directly enters the drilling mode; If the working mode flag stored in the control module indicates that the previous working mode of the system was the anchoring mode, the system switches from the anchoring mode to the drilling mode.

7. The anchoring control method of the anchor trolley according to claim 5, characterized in that: When the injection button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the tail end of the propulsion beam and the anchor type is a resin steel anchor, the system enters the injection mode switching process: If the operating mode flag bit stored in the control module indicates that the previous operating mode of the system was the injection mode, the system directly enters the injection mode; If the working mode flag stored in the control module indicates that the previous working mode of the system was the drilling mode, the system switches from the drilling mode to the injection mode.

8. The anchoring control method of the anchor trolley according to claim 5, characterized in that: When the anchor button is pressed on the CAN bus key panel and the proximity switch detects that the slide is at the end of the propulsion beam, the system enters the anchor mode switching process: If the working mode flag bit stored in the control module indicates that the previous working mode of the system is already the anchoring mode, the system directly enters the anchoring mode; If the working mode flag bit stored in the control module indicates that the previous working mode of the system was the drilling mode, the system switches from the drilling mode to the anchoring mode; If the operating mode flag stored in the control module indicates that the previous operating mode of the system was the injection mode, the system switches from the injection mode to the anchoring mode.

9. The anchoring control method of the anchor trolley according to claim 5, characterized in that: Drilling modes include: When the displacement sensor detects that the slide table is pushed to the drill rod support opening position, the left and right drill rod supports are both opened; When the displacement sensor detects that the slide has advanced to the end position of the slide, the slide returns; When the displacement sensor detects that the slide table returns to the drill rod supporter closing position, both the left and right drill rod supports are closed; When the displacement sensor detects that the slide returns to the slide advancement starting point, the slide stops.

10. The anchoring control method of the anchor trolley according to claim 5, characterized in that: Spray modes include: After entering the spray mode, the control module controls the water valve and the air valve to open to clean the pipeline; The nozzle is controlled by a handle to turn to the center of the drill hole and move into the drill hole; When the second sensor detects that the compressed air pressure is greater than the threshold value allowing injection, the injection valve is opened by the handle control to blow the resin into the drill hole; Finally, the nozzle is controlled by the handle to move out of the drilling hole and turn to the parking position.

11. The anchoring control method of the anchor trolley according to claim 5, characterized in that: When the anchor rod is a resin reinforced anchor rod, the anchoring modes include: Control slide propulsion; When the displacement sensor detects that the slide has advanced to the avoidance position of the first anchor arm, the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8; When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer; When the anchor arm transfer time T1 is reached, the slide is controlled to advance; The anchor rod is rotated to one side to stir the resin, and the control module starts the stirring time TC1 timer; When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position, the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8; When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor storage position, and the control module starts the anchor arm transfer time T1 timer; When the anchor arm transfer time T1 is reached, the slide is advanced and the anchor is rotated to one side to stir the resin; The stirring time TC1 timer is stopped, and the control module starts the solidification time TC2 timer; Rotate the anchor rod to the other side to achieve locking; Control the slide to retract; when the displacement sensor detects that the slide returns to the slide's starting point, the slide stops.

12. The anchoring control method of the anchor trolley according to claim 5, characterized in that: When the anchor rod is a resin reinforced anchor rod, the anchoring modes include: When the displacement sensor detects that the slide has advanced to the avoidance position of the first anchor arm, the slide stops advancing, the first anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8; When the anchor arm clamp action time T8 is reached, the first anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer; When the anchor arm transfer time T1 is reached, the slide is controlled to advance; Control the slide to advance and the bolt drill to start impact; When the displacement sensor detects that the slide has advanced to the second anchor arm avoidance position, the slide stops advancing, the second anchor arm clamp opens, and the control module starts the anchor arm clamp action timer T8; When the anchor arm clamp action time T8 is reached, the second anchor arm is transferred to the anchor library, and the control module starts the anchor arm transfer time T1 timer; When the anchor arm transfer time T1 is reached, the slide advances and the anchor impacts at the same time; When the displacement sensor detects that the slide has advanced to the end position of the slide, the slide stops; Control the slide to retract; when the displacement sensor detects that the slide returns to the slide's starting point, the slide stops.

13. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the anchoring control method of the anchor trolley as described in any one of claims 5 to 12 is implemented.

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