A fully electric anchor rod drilling machine control system and control method for coal mines

Abstract

The application belongs to the technical field of anchor rod supporting equipment. In order to solve the problem that equipment parameter measurement and component control are difficult to be accurate and cannot truly realize full-automatic operation, a fully-electric anchor rod drill control system and control method for coal mine are provided. The control system comprises a rack, 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, further comprises an upper computer, a lower computer and an executing mechanism, servo motors are arranged in the drill rig lifting device, the drill box feeding device, the drill rod clamping device and the anchor rod clamping device, a plurality of sensors are arranged in the drill box assembly and the roof support assembly, the lower computer receives feedback signals of the plurality of sensors and runs an automatic control program to control the executing mechanism to act, and the upper computer displays signals fed back by the lower computer and the operating state of the executing mechanism. By adopting the electric driving mode, space is saved, the electric control system is more accurate, and the automation degree is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of anchor bolt support equipment, and particularly relates to a control system and control method for a fully electric anchor bolt drilling rig used in coal mines. Background Technology

[0002] In response to the national call to further accelerate the intelligent construction of coal mines and promote high-quality coal development, an increasing number of coal mines are undertaking intelligent transformation and construction, actively developing intelligent equipment adapted to the current characteristics of the coal mining environment to reduce the labor intensity of workers and improve underground work safety. With the continuous improvement of intelligence, coal mines are placing new demands on the diversity and applicability of equipment. As a key factor restricting tunneling efficiency, rock bolt support requires the extensive use of rock bolt drilling rigs, leading to a contradiction between a small number of operators and a large number of machines. Underground, multiple rock bolt drilling rigs often need to operate simultaneously to meet tunneling needs. Therefore, automated and intelligent rock bolt drilling rigs have become an urgent problem to be solved.

[0003] As the most frequently used piece of equipment in rapid tunneling systems, anchor drilling rigs can be found in more than 12 units in a complete rapid tunneling system. Due to limitations such as anchoring space and operational difficulty, most anchor drilling rigs require one person to operate one rig, while a few can be operated by one person to operate two rigs. This results in low anchoring efficiency, high personnel costs, and safety hazards.

[0004] Furthermore, existing coal mine anchor drilling rigs mainly employ two drive methods: pneumatic and hydraulic. Pneumatic anchor drilling rigs are lightweight, compact, and easy to move, but their accompanying air compressors are noisy, potentially damaging the operator's hearing. They also have slow anchoring speeds, affecting anchoring efficiency, and are currently considered obsolete. Hydraulic anchor drilling rigs are widely used at present. They feature high torque, high thrust, and low noise, but are larger and heavier, typically used in conjunction with tunneling machines or other integrated equipment. Some models incorporate electro-hydraulic control, which can reduce worker workload to some extent. However, due to the characteristics of hydraulic equipment, it is difficult to guarantee precise measurement of equipment parameters and accurate control of components, making truly fully automated operation challenging. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a control system and control method for a fully electric anchor drilling rig used in coal mines that can collect equipment parameters and achieve fully automatic operation.

[0006] The first aspect of the present invention provides a control system for a fully electric anchor bolt drilling rig for coal mines, including a frame, a drilling rig lifting device, a drill box feeding device, a drill box assembly, a drill rod clamping device, an anchor bolt clamping device, and a roof support assembly. It also includes an upper computer, a lower computer, and an actuator. The actuator includes multiple servo motors disposed in the drilling rig lifting device, the drill box feeding device, the drill rod clamping device, and the anchor bolt clamping device, as well as an electric motor disposed in the drill box assembly.

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

[0008] The drill box feed device is equipped with a second servo motor for real-time feedback of feed height;

[0009] The drill box assembly is equipped with a first pressure sensor and a torque and speed sensor. The first pressure sensor is used to provide feedback on the rotational pressure of the drill box, and the torque and speed sensor is used to provide feedback on the torque and speed of the motor.

[0010] The drill pipe clamping device is equipped with a third servo motor, which is used to position the rotation of the drill pipe clamping device so that the drill pipe can be connected with the drill box;

[0011] The anchor bolt clamping device is equipped with a fourth servo motor, which is used to position the rotation of the anchor bolt clamping device so that the anchor bolt can be connected with the anchor box.

[0012] A second pressure sensor is installed in the top plate support assembly to provide feedback on the pressure at the top.

[0013] The drilling rig is equipped with a water valve and a third pressure sensor. The third pressure sensor is used to provide feedback on the water pressure when the drill box is drilling.

[0014] The lower-level computer is used to receive feedback signals from multiple sensors and run automatic control programs to control the actions of the actuators. The upper-level computer is used to display the signals fed back by the lower-level computer and to display the operating status of the actuators in real time.

[0015] Optionally, the lower-level device can be connected to the remote control via signal.

[0016] Optionally, the host computer can be an industrial control computer, and the slave computer can be a PLC controller.

[0017] The second aspect of this invention provides a control method for a fully electric rock bolt drilling rig used in coal mines, based on the control system for a fully electric rock bolt drilling rig used in coal mines described in any of the preceding claims, comprising the following steps:

[0018] S1. Receive the status of the actuator detected by each sensor, move the actuator to the initial position according to the received signal, complete the automatic initialization, and remotely send 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 automatic drilling is completed, install the anchoring agent and remotely send an automatic delivery command.

[0020] S3. Once the delivery of the drug is complete, remotely send automatic anchoring instructions, including adjusting the position of the drill box, solidifying the anchoring agent, and tightening the anchor bolts.

[0021] Optionally, step S1 specifically includes:

[0022] Send a command to the drilling rig lifting device to raise the drilling rig until the top of the drilling rig contacts the roadway rock wall. Monitor the feedback of the top contact pressure in the second pressure sensor in real time, and adjust the displacement of the drilling rig lifting device in real time according to whether the top contact pressure is within the preset range.

[0023] Drive the third servo motor. Based on the real-time position feedback 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. Send a command to the motor, the drill box rotates, and the drill box rises under the drive of the drill box feed device. When the feed height reaches the preset height, the drill box and the drill rod are connected, and the drill rod clamping device releases the drill rod.

[0024] The drill box feed device drives the drill box assembly to move upward and keeps the drill rod rotating. While drilling, the water valve is opened, driving the third servo motor to reverse, causing the drill rod clamping device to separate from the drill rod. The drill rod clamping device rotates to the initial position, and the third servo motor stops supplying power to the drill rod clamping device. The drill box continues to rise until the feed height reaches the preset height, and then the drill box stops rising.

[0025] The drive motor rotates and sends a descent command to the drill box feed device. The drill box feed device drives the drill box to descend. The second servo motor provides real-time feedback on the descent height. When the descent height reaches the preset height, the descent stops, and the drill rod clamping device retracts from the contact portion with the drill rod. The third servo motor drives the drill rod clamping device to rotate to the preset position and clamp the drill rod. The drill box feed device continues to descend, driving the drill rod and drill box to the initial position. The water valve is closed, and the drill box feed device continues to descend, causing the drill rod to disengage from the drill box. Under the action of the third servo motor, the drill rod clamping device drives the drill rod to rotate to the initial position, and the drill box returns to the initial position and stops rotating.

[0026] Optionally, step S3 specifically includes:

[0027] After the anchoring agent is installed, the fourth servo motor is driven, causing the anchor clamping device to rotate the anchor rod to a position coaxial with the center of the drill box. A command is sent to the motor, and the drill box rotates. Driven by the drill box feed device, the drill box moves upward. When the drill box reaches the designated position, it engages with the anchor rod. The drill box continues to rise. When the drill box reaches the preset position, the anchor clamping device separates from the anchor rod under the reverse rotation of the fourth servo motor and rotates back to the initial position. The drill box continues to rise. When the feed reaches the preset position, the drill box stops feeding and rotating, waiting for the anchoring agent to solidify. When the solidification time reaches the preset time, a command is sent to the drill box assembly, and the drill box rotates to tighten the anchor rod nut. The torque is monitored in real time by the torque and speed sensor. When the preset torque is reached, i.e., the tightening pressure reaches the preset value, the tightening is completed, the drill box stops rotating, and the drill box feed device drives the drill box down to the initial position. When the drill box reaches the bottom, the automatic anchoring is completed, and it awaits the next round of automatic anchoring.

[0028] The technical solution provided by the embodiments of the present invention has the following beneficial effects compared with the prior art:

[0029] This invention provides a control system and method for a fully electric anchor bolt drilling rig used in coal mines. By adopting an all-electric drive system, it eliminates a large number of pipeline connections, saves space, and offers higher accuracy compared to hydraulic control systems. Automated control enables automatic drilling and anchoring, improving automation levels, reducing operation time, and alleviating the workload of anchoring. This control system achieves closed-loop automatic control of the electric drilling rig through sensor feedback and utilizes CAN bus communication, significantly reducing the number of communication cables, simplifying wiring, and facilitating overall control. By integrating a torque and speed sensor into the drill box assembly, it provides real-time feedback on the drilling torque, allowing adjustment of the motor's torque output based on actual working conditions. This enables the drilling rod, retraction, and anchor bolt advance actions, improving system stability and applicability. Integrating a second pressure sensor into the roof support assembly detects the roof contact force in real-time and adjusts it according to different working conditions, enhancing system applicability and roof contact stability. Attached Figure Description

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

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of a fully electric anchor drilling rig 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 bolt drilling rig for coal mines, as described in an embodiment of the present invention.

[0034] Figure 3 This is a flowchart illustrating the automatic drilling process of a fully electric anchor bolt drilling rig for coal mines, as described in an embodiment of the present invention.

[0035] Figure 4 This is a flowchart illustrating the automatic anchoring process of a fully electric anchor drilling rig for coal mines, as described in an embodiment of the present invention.

[0036] The components include: 1. Frame; 2. Drilling rig lifting device; 3. Drill box feed device; 4. Drill box assembly; 5. Drill rod clamping device; 6. Anchor bolt clamping device; 7. Top plate support assembly; and 8. Electrical control system box. Detailed Implementation

[0037] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0039] Reference Figure 1 and Figure 2 As shown, the first aspect of this embodiment provides a control system for a fully electric anchor bolt drilling rig 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 bolt clamping device 6, and a roof support assembly 7. It also includes an upper computer, a lower computer, and an actuator. The actuator includes multiple servo motors disposed in the drilling rig lifting device 2, the drill box feeding device 3, the drill rod clamping device 5, and the anchor bolt clamping device 6, as well as an electric motor disposed in the drill box assembly 4.

[0040] Among them, the frame 1 is the load-bearing component of the anchor drilling rig, which consists of a bottom plate, side plates, and a first top plate. Two sets of guide rails are respectively processed on the outer walls of the two side plates. The axial direction of the two sets of guide rails is parallel to the feed direction of the drill box. The frame 1 is the main part of the anchor drilling rig and also the basic component that supports other devices.

[0041] The drilling rig lifting device 2 is installed on the outside of the base 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 machine equipment on which the drilling rig is installed. It is used to complete the vertical lifting function of the other mechanisms of the drilling rig. It includes a first electric slide and a mounting base. 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 lifting height of the drilling rig. At the same time, the first servo motor can work with the second pressure sensor set in the top plate support assembly 7 to adjust the lifting height according to the real-time magnitude of the jacking force, so that the jacking force is kept within a preset range.

[0042] The drill box feed device 3 includes a second electric slide and a drill box mounting base. The second electric slide is installed at the front of the frame 1 and is fixedly connected to the base plate of the frame 1. The base plate of the drill box mounting base 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 feed device 3 is to drive the drill box to feed along the drilling direction. A second servo motor is installed inside the second electric slide. The second servo motor can provide real-time feedback on the feed height.

[0043] The drill box assembly 4 includes a motor, a reducer, and a drill bushing assembly. The motor is a high-speed, high-torque motor, which is fixedly installed with the reducer. A torque and speed sensor is installed inside 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, thereby completing operations such as drilling, hole retraction, and anchor bolt installation. A first pressure sensor is also installed inside the drill box to provide feedback on the rotational pressure of the drill box.

[0044] The drill pipe clamping device 5 includes a fixed base, a motor fixed base, a clamping arm rotary motor, a clamping arm, a connecting pin, and a clamping seat assembly. The clamping arm rotary motor is a third servo motor used to position the rotation of the drill pipe clamping device 5, enabling the drill pipe to accurately align with the drill box. The clamping seat assembly is installed at the end of the clamping arm and is used to clamp the drill pipe. The clamping seat assembly includes an electromagnet and a first spring. When the electromagnet is energized, it generates magnetic force, compressing the first spring to retract the clamping head. When the power is off, the clamping head can be reset under the action of the first spring.

[0045] The anchor bolt clamping device 6 has the same structure as the drill rod clamping device 5, and there are two of them, which are installed on both sides of the frame 1 respectively, for clamping the anchor bolt. The anchor bolt clamping device 6 is equipped with a fourth servo motor, which is used to position the rotation position of the anchor bolt clamping device 6 so that the anchor bolt is connected to 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. A center point is machined on the second top plate to maintain stability when supporting it. 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. Based on the harsh working conditions downhole, a pressure sensor with high corrosion resistance, waterproof rating, and high sampling frequency is selected. The drilling rig performs the top-joining operation under the drive of the drilling rig lifting device 2. During this process, the second pressure sensor can provide real-time feedback on the top-joining force, allowing the lower control unit to adjust the drilling rig's lifting height to maintain the top-joining force within a specified range. When the drilling rig drills, it experiences a reaction force that reduces the top-joining force. At this time, the height is adjusted by the drilling rig lifting device 2 to keep the top-joining force constant.

[0047] All the servo motors mentioned above are CAN bus servo motors.

[0048] The drilling rig is also equipped with a water valve and a third pressure sensor, which is used to provide feedback on the water pressure during drilling.

[0049] The electrical control system box 8 includes a host computer and a slave computer. The slave computer uses 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 and is used to display the signals fed back by the slave computer and to display the real-time operating status of the actuator.

[0050] In this embodiment, the drilling rig differs from the currently mainstream hydraulically driven rigs. The entire machine is electrically driven, eliminating numerous pipeline connections, saving space, and offering higher accuracy compared to hydraulic control systems. This control system achieves closed-loop automatic control of the electric drilling rig through sensor feedback and utilizes CAN bus communication, significantly reducing the number of communication cables, simplifying wiring, and facilitating overall control. By integrating a torque and speed sensor into the drill box assembly 4, real-time feedback of drilling torque is achieved, allowing adjustment of the motor's torque output based on actual working conditions, improving system stability and applicability. Furthermore, by integrating a second pressure sensor into the top plate support assembly 7, the magnitude of the jacking force is detected in real-time and adjusted according to different working conditions, enhancing system applicability and jacking stability.

[0051] The second aspect of this embodiment provides a control method for a fully electric rock bolt drilling rig used in coal mines, based on the aforementioned control system for a fully electric rock bolt drilling rig used in coal mines, and includes the following steps:

[0052] S1. Receive the status of the actuator detected by each sensor, move the actuator to the initial position according to the received signal, complete the automatic initialization, and remotely send 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 automatic drilling is completed, install the anchoring agent and remotely send an automatic delivery command.

[0054] S3. Once the delivery of the drug is complete, remotely send automatic anchoring instructions, including adjusting the position of the drill box, solidifying the anchoring agent, and tightening the anchor bolts.

[0055] Specifically, refer to Figure 3 As shown, step S1 specifically involves:

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

[0057] Drive the third servo motor, and based on the real-time position feedback of the third servo motor, cause the drill pipe clamping device 5 to rotate the drill pipe to a position coaxial with the center of the drill sleeve.

[0058] A command is sent to the motor, and the drill box and drill sleeve rotate slowly;

[0059] Driven by the drill box feed device 3, the drill box moves slowly upward. When the feed height reaches the preset height, the drill box drill sleeve docks with the drill rod, and power is supplied to the clamping seat assembly in the drill rod clamping device 5, and the clamping head retracts.

[0060] The drill box feed device 3 drives the drill box assembly 4 to move upward and keeps the drill rod rotating. While drilling, the water valve is opened and the drill box continues to rise. The torque and speed sensor monitors the torque and speed of the drill box in real time and 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 reverse, causing the drill pipe clamping device 5 to separate from the drill pipe. The drill pipe clamping device 5 rotates to the initial waiting position and stops supplying power to the electromagnet.

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

[0063] Continue to drive the drill box motor to rotate and send a command to the drill box feed device 3, so that the drill box feed device 3 drives the drill box assembly 4 to descend slowly. The second servo motor provides real-time feedback on the descent height. When the descent height reaches the preset height, the descent stops. At this time, part of the drill rod is still inside the borehole and has not been withdrawn.

[0064] The electromagnet in the drive clamping assembly retracts the clamping head, driving the third servo motor to rotate the drill rod clamping device 5 to a preset position, clamping the drill rod. The drill box feed device 3 continues to descend, driving the drill rod and drill box down to the initial position. The water valve is closed, the drill box stops rotating, and the power supply to the clamping assembly is stopped. The clamping head pops out under the action of the first spring, achieving clamping of the drill rod. The drill box feed device 3 continues to descend, driving the drill rod and drill box down to the initial position. The water valve is closed, and the drill rod disengages from the drill box drill sleeve. At the same time, the drill rod clamping device 5, under the action of the third servo motor, drives the drill rod to rotate to the initial position, and the drill box returns to the initial position and stops rotating.

[0065] Reference Figure 4 As shown, step S3 specifically involves:

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

[0067] A command is sent to the drill box motor, and the drill box and drill sleeve rotate slowly;

[0068] Driven by the drill box feed device 3, the drill box moves slowly upward. When the drill box is fed to the designated position, the drill box drill sleeve connects with the anchor rod, supplies power to the clamping seat assembly, and the clamping head retracts.

[0069] The drill box feed device 3 drives the drill box assembly 4 to move upward while maintaining the rotation of the anchor rod, and measures the feed height in real time;

[0070] The drill box continues to rise. When the drill box is fed to the preset position, the anchor clamping device 6 separates from the anchor rod 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 bolt to the specified depth, stop the anchor bolt rotation and feed;

[0072] Wait for the anchoring agent to harden;

[0073] When the solidification time reaches the preset time, a command is sent to the drill box assembly 4 to tighten the anchor nut by rotating the drill bushing. 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 stops and the anchor fastening is completed.

[0074] The drill box feed device 3 drives the drill box to descend to the initial position. Once the drill box reaches the bottom, the automatic anchoring is completed, and the machine awaits the next round of automatic anchoring.

[0075] This control method achieves automatic drilling and automatic anchoring through automated control, which improves the degree of automation, reduces operation time, and alleviates the workload of anchoring.

[0076] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0077] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A control method for a fully electric anchor bolt drilling rig used in coal mines, based on a control system for a fully electric anchor bolt drilling rig used in coal mines, the control system 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 bolt clamping device (6), and a roof support assembly (7), characterized in that, The control system also includes a host computer, a slave computer, and an actuator. The actuator includes multiple servo motors installed in the drilling rig lifting device (2), the drill box feeding device (3), the drill rod clamping device (5), and the anchor bolt clamping device (6), as well as an electric motor installed in the drill box assembly (4). The drilling rig lifting device (2) is equipped with a first servo motor, which is used to provide real-time feedback on the rotation position of the first servo motor in order to calculate the lifting height of the drilling rig. The drill box feeding device (3) is equipped with a second servo motor, which is used to provide real-time feedback on the feed height. The drill box assembly (4) is equipped with a first pressure sensor and a torque-speed sensor. The first pressure sensor is used to provide feedback on the rotational pressure of the drill box, and the torque-speed sensor is used to provide feedback on the torque and speed of the electric motor. The drill rod clamping device is equipped with a first pressure sensor and a torque-speed sensor. A third servo motor is provided in the device (5) to position the rotation of the drill rod clamping device (5) so that the drill rod is connected to the drill box; a fourth servo motor is provided in the anchor clamping device (6) to position the rotation of the anchor clamping device (6) so that the anchor rod is connected to the anchor box; a second pressure sensor is provided in the top plate support assembly (7) to provide feedback on the top contact pressure; a water valve and a third pressure sensor are provided inside the drilling rig, the third pressure sensor being used to provide feedback on the water pressure during drilling in the drill box; the lower-level machine is used to receive feedback signals from multiple sensors and run an automatic control program to control the action of the actuator; the upper-level machine is used to display the signals fed back by the lower-level machine and to display the real-time operating status of the actuator. The control method based on the control system includes the following steps: S1. Receive the status of the actuator detected by each sensor, move the actuator to the initial position according to the received signal, complete automatic initialization, remotely send automatic drilling command, including adjusting the position of the drill box, the opening and closing of the water valve and the feed height, send the command to the drilling rig lifting device (2) to lift the drilling rig until the top plate of the drilling rig contacts the roadway rock wall, monitor the top pressure feedback in the second pressure sensor in real time, and adjust the displacement of the drilling rig lifting device (2) in real time according to whether the top pressure is within the preset range; drive the third servo motor, and according to the real-time position feedback of the third servo motor, make the drill rod clamping device (5) drive the drill rod to rotate to the position coaxial with the center of the drill box, send the command to the motor, the drill box rotates, and the drill box rises under the drive of the drill box feed device (3). When the feed height reaches the preset height, the drill box and the drill rod are connected, and the drill rod clamping device (5) releases the drill rod; the drill box feed device (3) drives the drill box assembly (4) to move upward and keeps the drill rod rotating, while drilling. Open the water valve, drive the third servo motor to reverse, so that the drill rod clamping device (5) separates from the drill rod, the drill rod clamping device (5) rotates to the initial position, the third servo motor stops supplying power to the drill rod clamping device (5), the drill box continues to rise until the feed height reaches the preset height, the drill box stops rising; drive the motor to rotate, send a descent command to the drill box feed device (3), the drill box feed device (3) drives the drill box to descend, the second servo motor provides real-time feedback on the descent height, when the descent height reaches the preset height, the descent stops, drive the drill rod clamping device (5) to retract the contact part with the drill rod, drive the third servo motor to drive the drill rod clamping device (5) to rotate to the preset position, clamp the drill rod, the drill box feed device (3) continues to descend, drive the drill rod and drill box to descend to the initial position, close the water valve, the drill box feed device (3) continues to descend, so that the drill rod separates 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; S2. After automatic drilling is completed, install the anchoring agent and remotely send an automatic delivery command. S3. Once the delivery of the drug is complete, remotely send automatic anchoring instructions, including adjusting the position of the drill box, solidifying the anchoring agent, and tightening the anchor bolts.

2. The control method for a fully electric anchor bolt drilling rig in a coal mine according to claim 1, characterized in that, The lower-level machine is connected to the remote control via signal.

3. The control method for a fully electric anchor bolt drilling rig in a coal mine according to claim 1, characterized in that, The host computer uses an industrial control computer, and the slave computer uses a PLC controller.

4. The control method for a fully electric anchor bolt drilling rig in a coal mine according to claim 1, characterized in that, Step S3 specifically involves: After the anchoring agent is installed, the fourth servo motor is driven to make the anchor clamping device (6) rotate the anchor rod to a position coaxial with the center of the drill box. The motor is sent with a command and the drill box rotates. The drill box moves upward under the drive of the drill box feed device (3). When the drill box feeds to the designated position, the drill box docks with the anchor rod. The drill box continues to rise. When the drill box feeds to the preset position, the anchor clamping device (6) separates 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, waiting for the anchoring agent to solidify. When the solidification time reaches the preset time, the drill box assembly (4) is sent with a command and the drill box rotates to tighten the anchor rod nut. 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. The drill box feed 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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