Multi-drilling-rig cooperative control network and method for drilling and anchoring equipment

Abstract

The invention discloses a multi-drilling-rig cooperative control network and method for drilling and anchoring equipment, and relates to the field of control systems, and the multi-drilling-rig cooperative control network comprises drilling rigs, electromagnetic valve boxes and a network control box. By simplifying the structure of the electric hydraulic control system of the drilling rig, the reliability of the control system is improved, a cooperative control network is formed by a plurality of drilling rigs, clustering control is carried out, the working intensity of anchor protection operators is relieved, the number of anchor protection workers is reduced, the safety of the workers is improved, and the working efficiency is improved. The automation level of anchor rod supporting operation of underground coal mine drilling and anchoring equipment is improved, technical support is provided for intelligence of anchor rods and anchor cables, the efficiency of anchor rod and anchor cable supporting in the roadway tunneling process is improved, and finally the speed of underground coal mine roadway tunneling is increased.

Description

Technical Field

[0001] This invention relates to the field of control systems, specifically to a collaborative control network and method for multiple drill frames in drilling and anchoring equipment. Background Technology

[0002] Underground roadway excavation and support in coal mines is one of the key technologies in underground mining. With the increasing mechanization of underground roadway excavation equipment, the requirements for automation and safety of underground support equipment are becoming higher and higher. After the drilling and anchoring equipment in underground roadways is cut, anchor drill frames are needed to support the roadways with anchor bolts and cables.

[0003] The existing anchor bolt and cable support technology process mainly includes multiple steps such as laying the network, installing steel strips, positioning, drilling, filling anchoring agent, installing anchor bolts and cables, mixing, and tensioning the anchor cables. Currently, many procedures require manual operation. The time spent on anchor bolt and cable support and the number of operators account for more than 60% of the tunnel excavation. At present, the automation level of anchor bolt and cable support is low, the reliability is poor, the number of personnel is large, and the working environment for personnel is harsh. The current development trend of underground drilling and anchoring equipment in coal mines is to realize the automation and intelligence of anchor bolt construction. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a multi-drill frame collaborative control network and method for drilling and anchoring equipment to solve the technical problem.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-drill frame collaborative control network for drilling and anchoring equipment, comprising a drill frame, a solenoid valve box, and a network control box; Each drill frame includes a CAN bus solenoid valve group, an electro-hydraulic control panel, multiple sensors, and actuators. The actuators include a front-to-back swing cylinder, a left-to-right swing cylinder, a left-to-right lateral movement cylinder, a clamping cylinder, a support column lifting cylinder, a drill box feed cylinder, a drill box, and a water valve. The CAN bus solenoid valve group drives the actuators. The multiple sensors include a pressure sensor, a speed sensor, a feed sensor, a displacement sensor, and a tilt sensor. The feed sensor, a displacement sensor located on the drill box feed cylinder, measures the drilling depth. The pressure sensor on the drill box feed cylinder determines its bottom and top positions. The speed and pressure sensors are located on the drill box and measure its rotational speed and pressure. The pressure sensor on the water valve measures the water valve pressure during drilling. The tilt sensor measures the front-to-back and left-to-right swing posture of the drill frame. The electro-hydraulic control panel has buttons and a human-machine interface for inputting control signals, displaying drill frame status parameters, and setting operating parameters. The solenoid valve box includes a main controller module, a CAN isolation module, a data storage module, a power supply module, and a signal isolation module. The main controller module is connected to the CAN bus solenoid valve group through a CAN bus interface and communicates with the electro-hydraulic control panel and the data storage module through a CAN interface. It is used to collect drill frame data and analyze the position and status parameters of the actuator. The solenoid valve box communicates with at least one CAN bus solenoid valve group of the drill frame. The network control box is used for centralized management of all drill frame control systems, including power supply, communication, data analysis and processing, drill frame data uploading, remote control center management and distribution of drill frame control data, and data communication and signal interlocking between the drill anchor system and the overall electrical control system. The network control box is equipped with a data storage device for storing drill frame anchor system data.

[0006] The status parameters displayed on the electro-hydraulic control panel include communication status, working mode, drilling depth, drill frame operating parameters, cartridge solidification time, anchoring quality monitoring data, fault alarm information, and anchor count. The operating parameters that can be set on the electro-hydraulic control panel include feed displacement initialization value, feed speed, rotation speed, automatic anchoring parameters, and arrival pressure or displacement judgment value of each actuator.

[0007] The CAN bus solenoid valve group has a bus solenoid valve information management module, which is used to realize one-click positioning, one-click drilling, one-click anchoring and one-click initialization functions.

[0008] A method for coordinated control of multiple drill frames in a drilling and anchoring system includes three interlocked control modes: manual control, automatic control, and remote control. The control steps are as follows: Manual control: Set the drill frame operation mode to "local" mode and control the drill frame through the electro-hydraulic control panel; confirm that each actuator is in its initial position and the indicator lights on the electro-hydraulic control panel are displayed correctly; control the drill arm to move left and right, swing forward and backward, and swing left and right through the electro-hydraulic control panel to complete the drilling positioning; perform anchor bolt support operations manually through the control panel according to the operating procedures, with each panel button corresponding to a solenoid valve. Automatic control: Set the bottom hole depth, rotation speed, feed speed, feed displacement, stirring time, and fastening pressure parameters through the electro-hydraulic control panel; set the drill frame operation mode to "automatic" mode; start the drill frame through the "start" button on the panel, and the drill frame will perform drilling and anchoring work sequentially according to the parameter settings and operating procedures; Remote control: Based on the parameter settings of automatic control, the drilling rig operation mode is set to "remote control" mode; the drilling rig is remotely positioned and oriented via the control panel handle of the remote control center; after the drilling rig is positioned, multiple drilling rigs are remotely started via the "start" button on the control center operation platform, and the drilling rigs perform drilling and anchoring work in sequence according to the parameter settings and operating procedures.

[0009] In the automatic control, a single operator can operate 2-3 drill frames; in the remote control, a single operator can control multiple drill frames.

[0010] The drill frame can adaptively adjust the drilling speed according to the hardness of the coal and rock.

[0011] The remote control center can view the operating data of all drill rigs in the collaborative control network and control the operation of all drill rigs.

[0012] In summary, the present invention has the following main advantages: by simplifying the structure of the drill frame electro-hydraulic control system, the present invention improves the reliability of the control system, forms multiple drill frames into a collaborative control network for clustered control, reduces the workload of anchor support operators, reduces the number of anchor support workers, improves the safety of workers, enhances the automation level of anchor bolt support operations in underground coal mine drilling and anchoring equipment, provides technical support for the intelligentization of anchor bolts and cables, improves the efficiency of anchor bolt and cable support during roadway excavation, and ultimately increases the speed of underground coal mine roadway excavation. Attached Figure Description

[0013] Figure 1 This is a block diagram of the multi-drill frame collaborative control network system for the drilling and anchoring equipment of the present invention; Figure 2 This is a block diagram illustrating the control principle of the drill frame control system of the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0015] The multi-drill frame collaborative control network for drilling and anchoring equipment according to an embodiment of the present invention includes a drill frame CAN bus solenoid valve group, an electro-hydraulic control operation panel, pressure sensors, speed sensors, hydraulic cylinders, feed sensors, displacement sensors, tilt sensors, solenoid valve boxes, network control boxes, water valves, etc. The drill frame solenoid valve group is used to drive the hydraulic cylinder actuators. The main actions of the drill frame actuators include forward and backward swing cylinders, left and right swing cylinders, left and right lateral movement cylinders, clamp opening and closing cylinders, support column lifting cylinders, drill box feed cylinders, drill box, water valves, etc. The electro-hydraulic control operation panel has buttons and a human-machine interface, mainly used for inputting control signals for the drill frame and displaying and setting status parameters of the anchor drill frame. It mainly performs functions such as communication status, working mode, drilling depth, drill frame operating parameters, explosive curing time, anchoring quality monitoring, fault alarm, and anchor bolt measurement. The system displays parameters such as feed displacement initialization, feed speed, rotation speed, automatic anchoring parameters, and the positioning pressure or displacement judgment value of each actuator. The feed cylinder is equipped with a feed sensor, which is a displacement sensor connected to a pressure sensor. The feed displacement sensor measures the drilling depth of the drill frame / drill box, while the pressure sensor determines the bottom and top positions of the feed cylinder. The drill box is equipped with a speed sensor and a pressure sensor to measure the rotation speed and rotation pressure. A pressure sensor is connected to the water valve to measure the water valve pressure during drilling. Multiple drill frame electro-hydraulic control panels interact with the solenoid valve box main controller module via a CAN bus. An inclination sensor is installed on the drill frame to measure its forward / backward and left / right swing posture. These sensors enable rapid positioning of the drill frame on the drilling and anchoring equipment.

[0016] The solenoid valve box mainly consists of a main controller module, a CAN isolation module, a data storage module, a power supply module, and a signal isolation module. The main controller module communicates with the drill frame solenoid valve group through the CAN bus interface, and also communicates with the electro-hydraulic control panel and data storage through the CAN interface. The main controller analyzes the position and status parameters of the relevant actuators of the anchor bolt and anchor cable drill frame control system in real time by collecting data from the drill frame, and displays the data on the control panel. The operating parameters of the drill frame can also be set through the control panel. One solenoid valve box can communicate with one or more CAN bus solenoid valve groups of the drill frame.

[0017] The network control box primarily manages all drill frame control systems on the entire drilling and anchoring equipment. This includes power supply, communication, data analysis and processing, drill frame data uploading, remote control data management and distribution of each drill frame by the central control center, and data communication and signal interlocking between the drilling and anchoring system and the overall electrical control system. The network control box also contains a data storage device to store data from the entire drilling frame anchoring system, facilitating data analysis and equipment maintenance, fault diagnosis and analysis, and ultimately resolving potential system problems and improving the reliability of the entire anchoring system.

[0018] A multi-drill rig collaborative control network control method includes the following steps: The manual control method for a multi-drill rig collaborative control network involves first setting the drill rig's operation mode to "local" mode, and then controlling the drill rig via the operation panel. 1. Confirm that each actuator is in its initial position and that the indicator lights on the drill rig's electro-hydraulic operation panel are in the correct positions; 2. The drill arm can be moved left and right, swung forward and backward, and swung left and right on the drill rig's electro-hydraulic control panel for drilling positioning; 3. When manually controlling the operation panel for anchor bolt support operations, the main workflow relies on manual operation, following the drill rig's operating procedures, with all buttons corresponding to solenoid valves.

[0019] The multi-drill-frame collaborative control network automatic control method first involves setting parameters such as bottom hole depth, rotation speed, feed speed, feed displacement, stirring time, and tightening pressure on the operation panel. After setting, the drill frame operation mode is set to "automatic" mode, and the drill frame is started by pressing the "start" button on the panel. The drill frame will then execute the drilling and anchoring work sequentially according to the parameter settings and operating procedures. One person can usually operate 2-3 drill frames, which improves the anchor support efficiency of underground drilling and anchoring equipment in coal mines and reduces the number of personnel required for anchor support.

[0020] The remote control method of a multi-drill rig collaborative control network is based on automatic control. First, parameters such as bottom hole depth, rotational speed, feed rate, feed displacement, stirring time, and tightening pressure are set on the control panel. After setting, the drill rig operation mode is set to "remote control" mode. The drill rigs on the drilling and anchoring equipment can be remotely controlled through the underground control center of the coal mine. The drill rigs on the control center are remotely positioned and oriented using handles on the control panel. Once positioned, multiple drill rigs are remotely started using the "start" button on the control center's operating platform. The drill rigs will then execute the drilling and anchoring work sequentially according to the parameter settings and operating procedures. One person can control multiple drill rigs, improving the efficiency of anchor bolt support. Anchor bolting personnel can remotely control the anchor bolting operation from the control center, improving personnel safety and achieving the goal of reducing manpower and increasing efficiency.

[0021] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A multi-drill frame collaborative control network for drilling and anchoring equipment, characterized in that, The drilling rig, the electromagnetic valve box and the network control box are included. Each of the drilling rigs comprises a CAN bus electromagnetic valve group, an electro-hydraulic control operation panel, a plurality of sensors and an actuator, the actuator comprising front and rear swing oil cylinders, left and right swing oil cylinders, left and right side shift oil cylinders, a drill rod clamping and opening and closing oil cylinder, a support column lifting oil cylinder, a drill box feeding oil cylinder, a drill box and a water valve, the CAN bus electromagnetic valve group being used to drive the actuator to act; the plurality of sensors comprising pressure sensors, rotation speed sensors, feeding sensors, displacement sensors and inclination angle sensors, the feeding sensors being displacement sensors and arranged on the drill box feeding oil cylinder to measure the drilling depth of the drill box, the pressure sensors on the drill box feeding oil cylinder being used to judge the bottom and top states of the drill box feeding oil cylinder; the rotation speed sensors and the pressure sensors being arranged on the drill box to measure the rotation speed and rotation pressure of the drill box; the pressure sensors on the water valve being used to measure the water valve pressure during drilling; the inclination angle sensors being used to measure the front and rear swing and left and right swing postures of the drilling rig; the electro-hydraulic control operation panel having buttons and a man-machine display interface, being used to input control signals, display the drilling rig state parameters and set operation parameters; The electromagnetic valve box comprises a main controller module, a CAN isolation module, a data storage module, a power module and a signal isolation module, the main controller module being connected with the CAN bus electromagnetic valve group through a CAN bus interface and being in communication with the electro-hydraulic control operation panel and the data storage module through a CAN interface, being used to collect drilling rig data and analyze the position and state parameters of the actuator, the electromagnetic valve box being in communication with the CAN bus electromagnetic valve group of at least one drilling rig; The network control box is used to centrally manage all drilling rig control systems, including power supply, communication, data analysis and processing, drilling rig data uploading, control data management and distribution of the drilling rig by a remote centralized control center, and data communication and signal locking of the drilling anchor system and the whole machine electrical control system, the network control box being provided with a data storage device, being used to store the drilling anchor system data.

2. The multi-drill stand cooperative control network of a drilling and anchoring apparatus according to claim 1, wherein: The state parameters displayed by the electro-hydraulic control operation panel include communication state, working mode, drilling depth, drilling rig operation parameters, cartridge solidification time, anchoring quality monitoring data, fault alarm information and anchor rod count; the operation parameters settable by the electro-hydraulic control operation panel include feeding displacement initialization value, feeding speed, rotation speed, automatic anchoring parameters and in-place pressure or displacement judgment value of each actuator.

3. The multi-drill stand cooperative control network of a drilling and anchoring apparatus according to claim 1, wherein: The CAN bus electromagnetic valve group has a bus electromagnetic valve information management module, being used to realize one-key positioning, one-key drilling, one-key anchoring and one-key initialization functions.

4. A method for multi-drill stand cooperative control of a drilling and anchoring apparatus, characterized by, The drilling anchor equipment multi-drilling rig collaborative control network adopts any one of the drilling anchor equipment multi-drilling rig collaborative control networks in claims 1-3, comprising three mutually locked control modes of manual control, automatic control and remote control, and the control steps are as follows: Manual control: set the drilling rig operation mode to "local" mode, control the drilling rig through the electro-hydraulic control panel; confirm that each actuator is in the initial position and the electro-hydraulic control panel indicator light is correct; control the left and right movement, forward and backward swing, and left and right swing of the drilling arm through the electro-hydraulic control panel to complete the drilling positioning; manually operate the anchor support work according to the operation procedure, and the panel buttons correspond to the solenoid valves one by one; Automatic control: set the bottom hole depth, rotation speed, feed speed, feed displacement, stirring time and fastening pressure parameters through the electro-hydraulic control panel; set the drilling rig operation mode to "automatic" mode; start the drilling rig through the "start" button on the panel, and the drilling rig performs the drilling and anchoring work according to the operation procedure according to the parameter setting; Remote control: on the basis of the parameter setting of the automatic control, set the drilling rig operation mode to "remote control" mode; remotely position and pose the drilling rig through the operation panel handle of the remote control center; after the drilling rig is positioned, remotely start multiple drilling rigs through the "start" button on the operation platform of the control center, and the drilling rigs perform the drilling and anchoring work according to the operation procedure according to the parameter setting.

5. The method of claim 4, wherein: In the automatic control, a single operator can operate 2-3 drilling rigs; in the remote control, a single operator can control multiple drilling rigs.

6. The method of claim 4, wherein: The drilling rig can adaptively adjust the drilling speed according to the hardness of coal and rock.

7. The method of claim 4, wherein: The remote control center can view the running data of all drilling rigs in the cooperative control network and control the running of all drilling rigs.

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