All-electric jumbolter control system and control method for coal mine

Abstract

The invention belongs to the technical field of anchor rod supporting equipment. In order to solve the problems that equipment parameter measurement and part control are difficult to be accurate, and full-automatic operation cannot be really realized, the invention provides a control system and a control method of a full-electric jumbolter for a coal mine. The control system comprises a rack, a drilling machine lifting device, a drilling box feeding device, a drilling box assembly, a drilling rod clamping device, an anchor rod clamping device and a top plate supporting assembly, and further comprises an upper computer, a lower computer and an executing mechanism, and servo motors are arranged in the drilling machine lifting device, the drilling box feeding device, the drilling rod clamping device and the anchor rod clamping device; a plurality of sensors are arranged in the drilling box assembly and the top plate supporting assembly, the lower computer receives feedback signals of the sensors and operates an automatic control program to control the execution mechanism to act, and the upper computer displays the feedback signals of the lower computer and the operation state of the execution mechanism. And by adopting an electric driving mode, the space is saved, the accuracy of an electric control system is higher, and the automation degree is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of anchor support equipment, and in particular relates to a control system and a control method for a full-electric anchor drill rig for a coal mine. Background Art

[0002] In response to the country's requirements to further accelerate the construction of intelligent coal mines and promote high-quality development of coal, more and more coal mines have begun intelligent transformation and construction, actively developing intelligent equipment that adapts to the current coal mine environment characteristics, reducing the labor intensity of workers, and improving the safety of underground work. With the continuous improvement of the degree of intelligence, coal mines have put forward new requirements for the diversity and applicability of equipment. As a key factor restricting the efficiency of excavation, anchor support requires a large number of anchor drilling rigs, which brings about the contradiction of few operators but many machines to be operated. In the underground, multiple anchor drilling rigs are often required to operate simultaneously to meet the excavation needs, so anchor drilling rigs with automation and intelligence have become a problem that needs to be solved urgently.

[0003] As the most widely used equipment in the rapid excavation equipment set, the anchor drilling rig can have more than 12 units in a complete rapid excavation system. Due to the limitations of anchoring space and operating difficulty, most anchor drilling rigs require one person to operate one, and a few can operate two rigs by one person. This results in low anchoring efficiency, high personnel costs, and safety hazards.

[0004] In addition, the existing anchor drills for coal mines are mainly driven by pneumatic and hydraulic methods. Pneumatic anchor drills are light in weight, small in size and easy to move, but the matching air compressor is noisy, which will damage the hearing of the operator, and the slow anchoring speed affects the anchoring efficiency. They are currently obsolete products. At this stage, hydraulic anchor drills are widely used. Hydraulic anchor drills have the characteristics of large torque, large thrust and low noise, but hydraulic anchor drills are large in size and mass. They are generally installed on complete equipment such as tunneling machines and anchor boring machines. Some models have added electro-hydraulic control functions, which can reduce the labor intensity of workers to a certain extent. However, due to the characteristics of hydraulic equipment, it is difficult to ensure the measurement of equipment parameters and precise control of components, and it is difficult to achieve fully automatic operation in a true sense. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a control system and a control method for a fully electric anchor drill for coal mines, which are capable of collecting equipment parameters and realizing fully automatic operation.

[0006] A first aspect of the present invention provides a control system for a fully electric anchor drill rig for a coal mine, comprising a frame, a drill rig lifting device, a drill box feeding device, a drill box assembly, a drill rod clamping device, an anchor rod clamping device and a roof support assembly, and also comprising an upper computer, a lower computer and an actuator, the actuator comprising a plurality of servo motors arranged in the drill rig lifting device, the drill box feeding device, the drill rod clamping device and the anchor rod clamping device, and an electric motor arranged in the drill box assembly;

[0007] The drilling rig lifting device is provided with a first servo motor, which is used to provide real-time feedback of the rotation position of the first servo motor to calculate the height of the drilling rig lifting;

[0008] A second servo motor is provided in the drill box feeding device for real-time feedback of the feeding height;

[0009] A first pressure sensor and a torque speed sensor are provided inside the drill box assembly. The first pressure sensor is used to feedback the rotation pressure of the drill box, and the torque speed sensor is used to feedback the torque and speed of the motor.

[0010] A third servo motor is provided in the drill rod clamping device, which is used to locate the rotation position of the drill rod clamping device so that the drill rod can be docked with the drill box;

[0011] A fourth servo motor is provided in the anchor rod clamping device, which is used to locate the rotation position of the anchor rod clamping device so that the anchor rod and the anchor box can be docked;

[0012] A second pressure sensor is provided in the top plate support assembly for feeding back the top contact pressure;

[0013] A water valve and a third pressure sensor are provided inside the drilling rig, and the third pressure sensor is used to feedback the water pressure when the drilling box is drilling;

[0014] The lower computer is used to receive feedback signals from multiple sensors and run the automatic control program to control the action of the actuator. The upper computer is used to display the feedback signals from the lower computer and display the operating status of the actuator in real time.

[0015] Optionally, the lower computer is connected to the remote control signal.

[0016] Optionally, the upper computer adopts an industrial computer and the lower computer adopts a PLC controller.

[0017] A second aspect of the present invention provides a control method for a fully electric anchor drill for a coal mine, which is based on any of the above-mentioned fully electric anchor drill control systems for a coal mine, and comprises the following steps:

[0018] S1, receiving the status of the actuator detected by each sensor, moving the actuator to the initial position according to the received signal, completing the automatic initialization, and remotely sending the automatic drilling command, including adjusting the position of the drill box, the opening and closing of the water valve, and the feed height;

[0019] S2. After the automatic drilling is completed, the anchoring agent is installed and the automatic drug delivery command is sent remotely;

[0020] S3. After the drug delivery is completed, the automatic anchor protection command is sent remotely, including adjusting the drill box position, solidifying the anchor agent and tightening the anchor rod.

[0021] Optionally, the step S1 specifically includes:

[0022] Sending a command to the drilling rig lifting device to lift the drilling rig until the top plate of the drilling rig contacts the rock wall of the tunnel, monitoring the top contact pressure feedback in the second pressure sensor in real time, and adjusting the displacement of the drilling rig lifting device in real time according to whether the top contact pressure is within a preset range;

[0023] The third servo motor is driven, and according to the feedback of the real-time position of the third servo motor, the drill rod clamping device drives the drill rod to rotate to a position coaxial with the center of the drill box, and a command is sent to the motor, the drill box rotates, and the drill box rises under the drive of the drill box feeding device. When the feeding height reaches the preset height, the drill box and the drill rod are docked, and the drill rod clamping device releases the drill rod;

[0024] The drill box feeding device drives the drill box assembly to move upward and keeps the drill rod rotating. The water valve is opened while drilling, and the third servo motor is driven to reverse, so that the drill rod clamping device is separated from the drill rod. The drill rod clamping device rotates to the initial position, and the third servo motor stops supplying power to the inside of the drill rod clamping device. The drill box continues to rise until the feeding height reaches the preset height, and the drill box stops rising.

[0025] The driving motor rotates and sends a descending command to the drill box feeding device. The drill box feeding device drives the drill box to descend. The second servo motor feeds back the descending height in real time. When the descending height reaches the preset height, the descent stops. The drill rod clamping device is driven to retract the contact part with the drill rod. The third servo motor is driven to drive the drill rod clamping device to rotate to the preset position to clamp the drill rod. The drill box feeding device continues to descend, driving the drill rod and the drill box to descend to the initial position. The water valve is closed, and the drill box feeding device continues to descend, so that the drill rod is separated from the drill box. The drill rod clamping device drives the drill rod to rotate to the initial position under the action of the third servo motor, and the drill box returns to the initial position and stops rotating.

[0026] Optionally, the step S3 is specifically:

[0027] After installing the anchoring agent, drive the fourth servo motor so that the anchor clamping device drives the anchor to rotate to a position coaxial with the center of the drill box, send a command to the motor, the drill box rotates, and the drill box moves upward driven by the drill box feeding device. When the drill box is fed to the specified position, the drill box docks with the anchor, and the drill box continues to rise. When the drill box is fed to the preset position, the anchor clamping device is separated from the anchor under the reverse rotation of the fourth servo motor, rotates to the initial position, and the drill box continues to rise. When the feed reaches the preset position, the drill box stops feeding and stops rotating, waiting for the anchor to solidify. When the solidification time reaches the preset time, send a command to the drill box assembly, the drill box rotates to tighten the nut of the anchor, and the torque is monitored in real time by the torque speed sensor. After reaching the preset torque, that is, when the tightening pressure reaches the preset value, the tightening is completed, the drill box stops rotating, and the drill box feeding device drives the drill box to descend to the initial position. The drill box reaches the bottom, automatic anchoring is completed, and a new round of automatic anchoring is waited for.

[0028] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0029] The embodiment of the present invention provides a control system and control method for a fully electric anchor drill for coal mines. By adopting an electric drive mode for the entire machine, a large number of pipeline connections are omitted, space is saved, and the electric control system has higher accuracy than the hydraulic control system. Through automatic control, automatic drilling and automatic anchor protection are realized, the degree of automation is improved, the operation time is reduced, and the intensity of anchor protection work is reduced. This control system realizes closed-loop automatic control of the electric drill through the detection feedback of each sensor, and uses the CAN bus communication mode, which greatly reduces the number of communication cables, reduces the difficulty of wiring, and is more conducive to overall control. By integrating a torque speed sensor in the drill box assembly, the torque size during drilling is realized in real time, and the torque output size of the motor can be adjusted according to the actual working conditions, thereby realizing the actions of drilling rods, withdrawing rods and advancing anchor rods, and improving the stability and applicability of the system. By integrating a second pressure sensor in the roof support assembly, the size of the top connection force is detected in real time, and the size of the top connection force is adjusted in real time according to different actual working conditions, thereby enhancing the applicability and stability of the top connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 This is a schematic structural diagram of a fully electric anchor drill for coal mines according to an embodiment of the present invention;

[0033] Figure 2 This is a control system diagram of a fully electric anchor drill for coal mines according to an embodiment of the present invention;

[0034] Figure 3 This is a flowchart of automatic drilling of a fully electric anchor drill for coal mines according to an embodiment of the present invention;

[0035] Figure 4 The present invention is a flowchart of automatic anchoring and protection of a fully electric anchor drill for coal mines according to an embodiment of the present invention.

[0036] Among them, 1. Frame; 2. Drilling rig lifting device; 3. Drill box feeding device; 4. Drill box assembly; 5. Drill rod clamping device; 6. Anchor rod clamping device; 7. Top plate support assembly; 8. Electronic control system box. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0039] Reference Figure 1 and Figure 2 As shown, the first aspect of this embodiment provides a full-electric anchor drilling rig control system for coal mines, including a frame 1, a drilling rig lifting device 2, a drill box feeding device 3, a drill box assembly 4, a drill rod clamping device 5, an anchor rod clamping device 6 and a roof support assembly 7, and also includes an upper computer, a lower computer and an actuator, the actuator including a plurality of servo motors arranged in the drilling rig lifting device 2, the drill box feeding device 3, the drill rod clamping device 5 and the anchor rod clamping device 6, and an electric motor arranged in the drill box assembly 4.

[0040] Among them, the frame 1 is the load-bearing component of the anchor drilling rig, which is composed of a bottom plate, a side plate, a first top plate, etc. Two sets of guide rails are processed and manufactured on the outer walls of the two side plates. The axial directions of the two sets of guide rails are parallel to the feed direction of the drill box. The frame 1 is the backbone of the anchor drilling rig and is also the basic component for carrying other devices.

[0041] The drilling rig lifting device 2 is installed on the outside of the bottom plate of the frame 1. One side of the drilling rig lifting device 2 is connected to the drilling rig, and the other side can be connected to the complete equipment on which the drilling rig is installed, and is used to complete the lifting function of the remaining mechanisms of the drilling rig in the vertical direction. It includes a first electric slide and a mounting seat. The first electric slide is equipped with a first servo motor, which is used to provide real-time feedback on the rotation position of the first servo motor, thereby calculating the height of the drilling rig lifting. At the same time, the first servo motor can cooperate with the second pressure sensor set in the top plate support assembly 7 to adjust the lifting height according to the real-time size of the top force, so that the top force remains within a preset range.

[0042] The drill box feeding device 3 includes a second electric slide and a drill box mounting seat. The second electric slide is installed at the front of the frame 1 and is fixedly connected to the bottom plate of the frame 1. The bottom plate of the drill box mounting seat is connected to the sliding seat of the second electric slide. The sliders on both sides are slidably connected to the slide rails of the frame 1. The main function of the drill box feeding device 3 is to drive the drill box to feed along the drilling direction. A second servo motor is installed in the second electric slide, and the second servo motor can provide real-time feedback on the feeding height.

[0043] The drill box assembly 4 includes a motor, a reducer and a drill sleeve assembly. The motor adopts a high-speed and high-torque motor and is fixedly installed with the reducer. A torque and speed sensor is installed in the drill box, which can measure the torque and speed of the motor in real time. The torque and speed of the motor are adjusted according to the actual working conditions during the anchoring process to complete operations such as drilling, withdrawing holes, and installing anchor rods. A first pressure sensor is also arranged inside the drill box to feedback the rotational pressure of the drill box.

[0044] The drill rod clamping device 5 includes a fixing seat, a motor fixing seat, a clamping arm rotating motor, a clamping arm, a connecting pin and a clamping seat assembly. The clamping arm rotating motor is a third servo motor, which is used to locate the rotation position of the drill rod clamping device 5 so that the drill rod can be accurately docked with the drill box. The clamping seat assembly is installed at the end of the clamping arm to achieve the clamping of the drill rod. The clamping seat assembly includes an electromagnet and a first spring. When the electromagnet is energized, it generates magnetic force, compresses the first spring to retract the clamping head, and after power is off, the clamping head can be reset under the drive of the first spring.

[0045] The anchor rod clamping device 6 has the same structure as the drill rod clamping device 5, and two of them are provided, which are respectively installed on both sides of the frame 1 for clamping the anchor rod. A fourth servo motor is provided in the anchor rod clamping device 6 for positioning the rotation position of the anchor rod clamping device 6 so that the anchor rod can be docked with the anchor box.

[0046] The top plate support assembly 7 includes a second top plate, a second spring, a fixed plate, a guide column and a second pressure sensor, and a top plate is processed on the second top plate for supporting the second top plate to maintain stability. The upper mounting surface of the second pressure sensor is connected to the lower surface of the fixed plate, and its lower mounting surface is connected to the second pressure sensor mounting hole on the first top plate of the frame 1. According to the harsh working conditions underground, a pressure sensor with corrosion resistance, high waterproof grade and high sampling frequency is selected. The drilling rig performs the top connection operation under the drive of the drilling rig lifting device 2. During this process, the second pressure sensor can be used to feedback the size of the top connection force in real time, so that the lower computer controls the lifting height of the drilling rig to adjust the top connection force to within the specified range. When the drilling rig is drilling, it will be subjected to a reaction force that causes the top connection force to decrease. At this time, the height is adjusted by the drilling rig lifting device 2 to keep the top connection force unchanged.

[0047] The servo motors described above are all CAN bus servo motors.

[0048] A water valve and a third pressure sensor are also provided inside the drilling rig, and the third pressure sensor is used to feedback the water pressure when the drill box is drilling.

[0049] The electric control system box 8 includes a host computer and a slave computer. The slave computer adopts a PLC controller and is connected to the remote control signal. The slave computer is used to receive feedback signals from multiple sensors and run an automatic control program to control the action of the actuator. The host computer uses an industrial computer. The host computer is used to display the feedback signal from the slave computer and the operating status of the actuator in real time.

[0050] In this embodiment, the drilling rig is different from the hydraulically driven drilling rigs currently in mainstream use. The entire machine is electrically driven, eliminating a large number of pipeline connections, saving space, and the electronic control system is more accurate than the hydraulic control system. This control system realizes closed-loop automatic control of the electric drilling rig through the detection feedback of each sensor, and uses the CAN bus communication method, which greatly reduces the number of communication cables, reduces the difficulty of wiring, and is more conducive to overall control. By integrating a torque speed sensor in the drill box assembly 4, real-time feedback of the torque size during drilling is achieved, and the torque output size of the motor can be adjusted according to the actual working conditions, thereby improving the stability and applicability of the system. By integrating a second pressure sensor in the top plate support assembly 7, the size of the top connection force is detected in real time, and the size of the top connection force is adjusted in real time according to different actual working conditions, thereby enhancing the applicability and stability of the top connection.

[0051] A second aspect of the present embodiment provides a control method for a fully electric anchor drill for a coal mine, which is based on the above-mentioned fully electric anchor drill control system for a coal mine and includes the following steps:

[0052] S1, receiving the status of the actuator detected by each sensor, moving the actuator to the initial position according to the received signal, completing the automatic initialization, and remotely sending the automatic drilling command, including adjusting the position of the drill box, the opening and closing of the water valve, and the feed height;

[0053] S2. After the automatic drilling is completed, the anchoring agent is installed and the automatic drug delivery command is sent remotely;

[0054] S3. After the drug delivery is completed, the automatic anchor protection command is sent remotely, including adjusting the drill box position, solidifying the anchor agent and tightening the anchor rod.

[0055] Specifically, refer to Figure 3 As shown, step S1 is specifically as follows:

[0056] When driving the top anchor, the drilling rig is placed at a position perpendicular to the tunnel roof; when driving the side anchor, the drilling rig is placed at a position perpendicular to the side wall. At this time, a command is sent to the drilling rig lifting device 2, and the first electric slide steadily lifts the drilling rig at a certain speed until the drilling rig top plate contacts the tunnel rock wall. The top contact pressure feedback in the second pressure sensor is monitored in real time, and the displacement of the drilling rig lifting device 2 is adjusted in real time according to the top contact pressure, so that the contact force is kept within a preset range;

[0057] The third servo motor is driven, and according to the real-time position feedback of the third servo motor, the drill rod clamping device 5 drives the drill rod to rotate to a position coaxial with the center of the drill sleeve;

[0058] Send a command to the motor, and the drill box and drill sleeve rotate slowly;

[0059] The drill box is driven by the drill box feeding device 3 and moves upward slowly. When the feeding height reaches the preset height, the drill box drill sleeve and the drill rod are docked, power is supplied to the clamping seat assembly in the drill rod clamping device 5, and the clamping head is retracted.

[0060] The drill box feeding device 3 drives the drill box assembly 4 to move upward and keeps the drill rod rotating. The water valve is opened while drilling, and the drill box continues to rise. The torque and speed sensor monitors the torque and speed of the drill box in real time, automatically adjusts the motor parameters, so that the drill box motor can run at full power, and measures the pressure and feed height during drilling in real time;

[0061] The third servo motor is driven to rotate in reverse, so that the drill rod clamping device 5 is separated from the drill rod, the drill rod clamping device 5 rotates to the initial waiting position, and the power supply to the electromagnet is stopped;

[0062] The drill box continues to rise until the feed height reaches the preset height, at which time the drill box stops rising and the drilling is completed;

[0063] Continue to drive the drill box motor to rotate, send instructions to the drill box feeding device 3, so that the drill box feeding device 3 drives the drill box assembly 4 to slowly descend, and the second servo motor feeds back the descending height in real time. When the descending height reaches the preset height, it stops descending. At this time, a part of the drill rod has not been withdrawn from the borehole;

[0064] Drive the electromagnet in the clamping seat assembly to retract the clamping head, drive the third servo motor to drive the drill rod clamping device 5 to rotate to the preset position to clamp the drill rod, and the drill box feeding device 3 continues to descend, driving the drill rod and the drill box to descend to the initial position, close the water valve, the drill box stops rotating, and stops powering the clamping assembly. The clamping head pops out under the action of the first spring to clamp the drill rod, and the drill box feeding device 3 continues to descend, driving the drill rod and the drill box to descend to the initial position, close the water valve, and the drill rod is disengaged from the drill box drill sleeve. At the same time, the drill rod clamping device 5 drives the drill rod to rotate to the initial position under the action of the third servo motor, and the drill box returns to the initial position and stops rotating.

[0065] Reference Figure 4 As shown, step S3 is specifically as follows:

[0066] After the anchoring agent is installed, the fourth servo motor is driven to make the anchor rod clamping device 6 drive the anchor rod to rotate to a position coaxial with the center of the drill box;

[0067] Send instructions to the drill box motor, and the drill box and drill sleeve rotate slowly;

[0068] The drill box is driven by the drill box feeding device 3 and moves upward slowly. When the drill box is fed to the specified position, the drill sleeve of the drill box docks with the anchor rod, power is supplied to the clamping seat assembly, and the clamping head retracts.

[0069] The drill box feeding device 3 drives the drill box assembly 4 to move upward, keeps the anchor rod rotating, and measures the feeding height in real time;

[0070] The drill box continues to rise, and when the drill box is fed to the preset position, the anchor clamping device 6 is separated from the anchor under the reverse rotation of the fourth servo motor, rotates to the initial waiting position, and stops supplying power to the electromagnet;

[0071] After pushing the anchor rod to the specified depth, stop the rotation and feeding of the anchor rod;

[0072] Wait for the anchoring agent to solidify;

[0073] When the solidification time reaches the preset time, a command is sent to the drill box assembly 4, and the anchor nut is tightened by rotating the drill sleeve. The torque force is measured in real time by the torque speed sensor. When the preset torque is reached, that is, when the tightening pressure reaches the preset value, the rotation is stopped to complete the anchor tightening;

[0074] The drill box feeding device 3 drives the drill box to descend to the initial position, the drill box reaches the bottom, the automatic anchoring is completed, and a new round of automatic anchoring is waited for.

[0075] This control method realizes automatic drilling and automatic anchoring through automatic control, improves the degree of automation, reduces operation time, and reduces the intensity of anchoring work.

[0076] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0077] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be 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 present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A full-electric anchor drilling rig control system for coal mines, comprising a frame (1), a drilling rig lifting device (2), a drill box feeding device (3), a drill box assembly (4), a drill rod clamping device (5), an anchor rod clamping device (6) and a roof support assembly (7), characterized in that: It also includes an upper computer, a lower computer and an actuator, wherein the actuator includes a plurality of servo motors arranged in a drilling rig lifting device (2), a drilling box feeding device (3), a drill rod clamping device (5) and an anchor rod clamping device (6), and an electric motor arranged in a drilling box assembly (4); The drilling rig lifting device (2) is provided with a first servo motor, which is used to provide real-time feedback of the rotation position of the first servo motor so as to calculate the height of the drilling rig lifting; A second servo motor is provided in the drill box feeding device (3) for real-time feedback of the feeding height; A first pressure sensor and a torque speed sensor are arranged inside the drill box assembly (4), wherein the first pressure sensor is used to feedback the rotation pressure of the drill box, and the torque speed sensor is used to feedback the torque and speed of the motor; A third servo motor is provided in the drill rod clamping device (5) for positioning the rotation position of the drill rod clamping device (5) so as to dock the drill rod with the drill box; The anchor rod clamping device (6) is provided with a fourth servo motor for positioning the rotation position of the anchor rod clamping device (6) so as to dock the anchor rod with the anchor box; A second pressure sensor is provided in the top plate support assembly (7) for feeding back the top contact pressure; A water valve and a third pressure sensor are provided inside the drilling rig, and the third pressure sensor is used to feedback the water pressure when the drilling box is drilling; The lower computer is used to receive feedback signals from multiple sensors and run the automatic control program to control the action of the actuator. The upper computer is used to display the feedback signals from the lower computer and display the operating status of the actuator in real time.

2. A coal mine all-electric anchor drill control system according to claim 1, characterized in that: The lower computer is connected to the remote control signal.

3. A coal mine all-electric anchor drill control system according to claim 1, characterized in that: The upper computer adopts an industrial computer and the lower computer adopts a PLC controller.

4. A control method for a fully electric anchor drill for coal mines, based on a control system for a fully electric anchor drill for coal mines as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: S1, receiving the status of the actuator detected by each sensor, moving the actuator to the initial position according to the received signal, completing the automatic initialization, and remotely sending the automatic drilling command, including adjusting the position of the drill box, the opening and closing of the water valve, and the feed height; S2. After the automatic drilling is completed, the anchoring agent is installed and the automatic drug delivery command is sent remotely; S3. After the drug delivery is completed, the automatic anchor protection command is sent remotely, including adjusting the drill box position, solidifying the anchor agent and tightening the anchor rod.

5. A method for controlling a fully electric anchor drill for coal mines according to claim 4, characterized in that: The step S1 is specifically as follows: Sending a command to the drilling rig lifting device (2) to lift the drilling rig until the top plate of the drilling rig contacts the rock wall of the tunnel, monitoring the top contact pressure feedback in the second pressure sensor in real time, and adjusting the displacement of the drilling rig lifting device (2) in real time according to whether the top contact pressure is within a preset range; The third servo motor is driven, and according to the feedback of the real-time position of the third servo motor, the drill rod clamping device (5) drives the drill rod to rotate to a position coaxial with the center of the drill box, and a command is sent to the motor, the drill box rotates, and the drill box rises under the drive of the drill box feeding device (3). When the feeding height reaches a preset height, the drill box and the drill rod are docked, and the drill rod clamping device (5) releases the drill rod; The drill box feeding device (3) drives the drill box assembly (4) to move upward and keeps the drill rod rotating. While drilling, the water valve is opened to drive the third servo motor to reverse, so that the drill rod clamping device (5) is separated from the drill rod. The drill rod clamping device (5) rotates to the initial position, and the third servo motor stops supplying power to the inside of the drill rod clamping device (5). The drill box continues to rise until the feeding height reaches a preset height, and then the drill box stops rising. The driving motor rotates and sends a descending instruction to the drill box feeding device (3). The drill box feeding device (3) drives the drill box to descend. The second servo motor feeds back the descending height in real time. When the descending height reaches a preset height, the descent stops. The drill rod clamping device (5) is driven to retract the contact part with the drill rod. The third servo motor is driven to drive the drill rod clamping device (5) to rotate to a preset position to clamp the drill rod. The drill box feeding device (3) continues to descend, driving the drill rod and the drill box to descend to the initial position. The water valve is closed, and the drill box feeding device (3) continues to descend, so that the drill rod is separated from the drill box. The drill rod clamping device (5) drives the drill rod to rotate to the initial position under the action of the third servo motor. The drill box returns to the initial position and stops rotating.

6. A method for controlling a fully electric anchor drill for coal mines according to claim 4, characterized in that: The step S3 is specifically as follows: After the anchoring agent is installed, the fourth servo motor is driven to make the anchor rod clamping device (6) drive the anchor rod to rotate to a position coaxial with the center of the drill box, and a command is sent to the motor to rotate the drill box. The drill box moves upward under the drive of the drill box feeding device (3). When the drill box is fed to the specified position, the drill box docks with the anchor rod and the drill box continues to rise. When the drill box is fed to the preset position, the anchor rod clamping device (6) is separated from the anchor rod under the reverse rotation of the fourth servo motor and rotates to the initial position. The drill box continues to rise. When the feed reaches the preset position, the drill box stops feeding and stops rotating to wait for the anchoring agent to solidify. When the solidification time reaches the preset time, a command is sent to the drill box assembly (4), and the drill box rotates to tighten the nut of the anchor rod. The torque is monitored in real time by the torque speed sensor. When the preset torque is reached, that is, when the tightening pressure reaches the preset value, the tightening is completed, the drill box stops rotating, and the drill box feeding device (3) drives the drill box to descend to the initial position. The drill box reaches the bottom, and the automatic anchoring is completed, waiting for a new round of automatic anchoring.

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