Automatic drilling machine control device

Abstract

The utility model discloses an automatic drilling machine control device. Comprising a ground remote control center, an underground monitor, a remote control terminal and a wireless receiver, the ground remote control center communicates with the underground monitor through the switch; the underground monitor is connected with the wireless receiver through the wireless base station, and the wireless receiver is in wireless communication with the remote control terminal; the wireless receiver is respectively connected with an electric cabinet of the drilling machine, the multi-path electro-hydraulic proportional valve and various sensors; a multi-channel digital input interface and a multi-channel analog input interface of the wireless receiver are respectively connected with a plurality of sensors; the multiple output interfaces are correspondingly connected with the multiple electro-hydraulic proportional valves respectively, and the CAN interface and the RS485 interface communicate with a drilling machine electric control box. Various control modes are integrated, the automation degree of the drilling machine can be efficiently and safely improved, the working state data of the drilling machine can be collected in time, an operator can master the working progress of the drilling machine in time, and therefore the labor intensity of workers is effectively relieved, and the number of underground operators is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of belt monitoring, in particular to an automatic drill control device. Background Art

[0002] At present, there are problems in the drilling construction of the coal mine industry, such as low construction efficiency, high safety risks, and high labor intensity of workers, which always restrict the efficient prevention and control of disasters such as underground gas, water hazards, and rock bursts in coal mines. Among the existing drills, the commonly used ones are driving-type drills, that is, the drill is fixed on a wheeled or tracked vehicle equipped with a cockpit, and the drill is transported to the project site by manual driving. Before reaching the designed hole position, after fixing the drill, drilling operations are carried out; there is also a type of transport drill, which is transported to the project site by truck and then transported to the designed hole position by forklift, forklift truck, crane or manually. After fixing the drill, the drill is controlled by the staff to carry out drilling operations.

[0003] Therefore, no matter which type of drill, in the existing working environment, it is mainly controlled by manpower. For example, in the processes of drilling and unloading the drill, external personnel are required to assist the drill control personnel to gradually carry out according to manual experience. The drilling control personnel cannot clearly master the working state of the drill, and most drills are underground operations. As a result, the ground monitoring is also unclear about the underground operation conditions. In order to reduce labor costs, there are also some studies on the remote control device of the drill, but the existing drill remote control devices only perform single-point control on drilling, so that the ground system cannot timely know the working state of the drill. Therefore, this application proposes an automatic drill control device to enable both the ground and the underground to timely obtain the working state of the drill. Summary of the Utility Model

[0004] Therefore, the purpose of the utility model is to provide an automatic drill control device, which integrates local operation, short-range remote control operation, underground remote operation, and ground remote operation. Multiple control methods can efficiently and safely improve the automation degree of the drill, timely collect the working state data and surrounding environment data of the drill, enable the operator to timely master the working progress of the drill, thereby effectively reducing the labor intensity of workers and reducing the number of underground operators.

[0005] To achieve the above purpose, an automatic drill control device provided by the utility model includes an above-ground remote control center, an underground monitor, a remote control terminal, and a wireless receiver;

[0006] The above-ground remote control center communicates with the underground monitor through a switch; the underground monitor is connected to the wireless receiver through a wireless base station, and the wireless receiver communicates with the remote control terminal wirelessly at 433 MHz;

[0007] The wireless receiver is connected to the electric control box, multi-channel electro-hydraulic proportional valves and various sensors of the drill rig respectively by cables; the wireless receiver includes a main control chip, a communication module, multi-channel digital input interfaces, multi-channel analog input interfaces, multi-channel output interfaces, a CAN interface and an RS485 interface; the multi-channel digital input interfaces and the multi-channel analog input interfaces are respectively connected to various sensors; the multi-channel output interfaces are respectively connected to the multi-channel electro-hydraulic proportional valves correspondingly, and the CAN interface and the RS485 interface communicate with the electric control box of the drill rig.

[0008] Further preferably, the various sensors include an intrusion detection device, a pressure sensor, a temperature sensor, a dust sensor and a displacement sensing device.

[0009] Further preferably, it further includes a camera and a loudspeaker, and the camera and the loudspeaker are respectively connected to the downhole monitor.

[0010] Further preferably, the pressure sensor is installed in the solenoid valve oil circuit and / or water circuit of the drill rig; the pressure sensor, the temperature sensor and the dust sensor are respectively connected to the wireless receiver through the analog input interface.

[0011] Further preferably, the displacement sensing device includes a proximity switch and a displacement sensor; the proximity switch is installed outside the drill pipe box, and the displacement sensor is installed in the propulsion cylinder of the drill bit, and the proximity switch and the displacement sensor are respectively connected to the wireless receiver through the digital input interface.

[0012] Further preferably, the displacement sensor adopts a magnetostrictive displacement sensor for mines.

[0013] Further preferably, the intrusion detection device adopts an infrared sensor, and the infrared sensor is installed behind or on both sides of the drill rig.

[0014] Further preferably, the intrusion detection device adopts a positioning identification card and a UWB card reader base station, and the UWB card reader base station is installed on the drill rig.

[0015] The automatic drill rig control device disclosed in this application integrates local operation, short-distance remote control operation, downhole remote operation and ground remote operation. Multiple control methods can efficiently and safely improve the automation level of the drill rig, timely collect the working state data of the drill rig and the surrounding environment data, enable the operator to timely master the working progress of the drill rig, thereby effectively reducing the labor intensity of workers and reducing the number of downhole operators. Description of the Drawings

[0016] Figure 1 It is a structural schematic diagram of the automatic drill rig control device provided by the present utility model.

[0017] Figure 2Schematic diagram of the control panel of the remote control terminal provided by the present utility model.

[0018] Figure 3 Schematic diagram of the main control chip of the wireless receiver of the automatic drilling rig control device provided by the present utility model.

[0019] Figure 4 Schematic diagram of the automatic drill loading and unloading of the automatic drilling rig control device provided by the present utility model. Detailed implementation manners

[0020] The present utility model will be further described in detail below with reference to the drawings and specific implementation manners.

[0021] As Figure 1 shown, an automatic drilling rig control device provided by an embodiment of the present utility model on the one hand includes an on - well remote control center 1, an underground monitor 2, a remote control terminal 4, and a wireless receiver 3;

[0022] The on - well remote control center communicates with the underground monitor through a switch; the underground monitor is connected to the wireless receiver through a wireless base station, and the wireless receiver communicates with the remote control terminal wirelessly at 433 MHz;

[0023] The wireless receiver is connected to the electric control box of the drilling rig, a multi - way electro - hydraulic proportional valve, and a variety of sensors through cables; the variety of sensors include an intrusion detection device, a pressure sensor, a temperature sensor, a dust sensor, and a displacement sensing device;

[0024] As Figure 3 shown, the wireless receiver includes a main control chip, a communication module, a multi - way digital input interface, a multi - way analog input interface, a multi - way output interface, a CAN interface, and an RS485 interface; the multi - way digital input interface and the multi - way analog input interface are respectively connected to a variety of sensors; the multi - way output interfaces are respectively connected to the multi - way electro - hydraulic proportional valves, and each output interface corresponds to one electro - hydraulic proportional valve. Specifically, there are 16 analog input interfaces (GPIO1 - 16), 16 digital input interfaces (Ctrlout1 - 16), and the multi - way output interfaces can be 64 - way PWM / digital outputs (PWM1 - 64), which can directly drive the solenoid valve to work, with low delay and strong signal; the CAN interface and the RS485 interface communicate with the electric control box of the drilling rig. The main control chip uses a chip of the STM32F103ZET6 type, and the communication module is a 433 MHz communication module for wireless communication with the remote control terminal.

[0025] It should be noted that in this application, the wireless receiver is connected to the electric control box of the drilling rig. When the staff remotely controls the drilling rig using the remote control terminal, by toggling the DIP switch on the remote control terminal and using wireless communication at 433 MHz, the remote control of the drilling rig can be achieved.

[0026] Figure 2 It is a schematic diagram of the panel of the remote control terminal. The remote control terminal selects a chip of the STM32F103ZET6 type as the main controller. By connecting each DIP switch to the corresponding pin of the STM32F103ZET6, and after writing the existing control program into the STM32F103ZET6 (the control program can adopt the existing control program. The problem to be solved in this application does not depend on the program implementation and does not belong to the innovative design of this application, so it will not be elaborated here), the signal output end of the STM32F103ZET6 is connected to the 433MHz communication chip. By using 433MHz communication, the control command can be sent by using the DIP switch. In the figure, the control panel is divided into an upper panel and a lower panel. The upper panel can use a knob to select the working mode. When the drilling mode is selected, when the P1 - P3 DIP switches are toggled, the forward and backward displacement, left and right displacement, and lifting of the drill rod frame of the drill rod can be adjusted to realize automatic drilling or unloading of the drill; the lower panel is mainly the control buttons for the drilling rig attitude. For example, P4 is the walking button, LA is the left forward, LB is the left backward, RA is the right forward, and RB is the right backward.

[0027] The wireless receiver receives the control instructions of the remote controller in real time, acts according to the control instructions, and collects the working state signals of the drilling rig in real time, including obtaining the working voltage and working current of the drilling rig by using the electric control box connected to the drilling rig, obtaining the working environment signals of the drilling rig through various sensors set on the drilling rig and its working environment, using the intrusion detection device to collect whether there are people near the drilling rig, monitoring the oil pressure and water pressure of the drill bit of the drilling rig by using the pressure sensor, and monitoring the dust concentration and working temperature near the drilling rig through the temperature sensor, dust sensor, etc.; realizing the collection of the working state parameters of the drilling rig; the wireless receiver sends the collected working parameters and environment parameters of the drilling rig to the downhole monitor by using the wireless base station; the downhole monitor uploads the obtained monitoring data to the on - well remote control center by using the switch. It should be noted that the pressure sensor, temperature sensor, and dust sensor in this application can all adopt existing components, and the specific models can be selected as KJT - Z16, PT100, GP2Y10, etc.

[0028] Since there is a display screen on the remote control terminal, the working state data and surrounding environment data of the drilling rig collected by the wireless receiver can be obtained by using 433MHz. The downhole monitor communicates with the wireless receiver by using the wireless base station; the downhole monitor and the on - well remote control center conduct data communication by using the switch. Thus, the working state data and surrounding environment parameters of the drilling rig can be obtained in the on - well area, down - hole area, remote control terminal, and the working area of the drilling rig.

[0029] Further, it also includes a camera and a microphone, which are respectively connected to the downhole monitor. When performing remote control operations, the staff can use the downhole monitor to view the working scene within the field of view of the camera. When discovering potential dangers, they can promptly warn the remote control terminal operator through the microphone.

[0030] The pressure sensor is installed in the solenoid valve oil circuit and / or water circuit of the drill rig; the infrared sensor, pressure sensor, temperature sensor, and dust sensor are respectively connected to the wireless receiver through analog input interfaces.

[0031] In another embodiment of the present application, the displacement sensing device includes a proximity switch and a displacement sensor; the proximity switch is installed outside the drill pipe box, and the displacement sensor is installed in the propulsion cylinder of the drill bit. The displacement sensor uses a magnetostrictive mine displacement sensor. The proximity switch and the displacement sensor are respectively connected to the wireless receiver through digital input interfaces. Specifically, as Figure 4 shown, the proximity switch is arranged at the rear side of the rear gripper. When it is necessary to load and unload the drill pipe, according to the received drill pipe loading instruction or drill pipe unloading instruction, the wireless receiver controls the electro-hydraulic proportional valve to open. For example, when it is necessary to load the drill pipe, the electro-hydraulic proportional valve opens, and the propulsion cylinder performs pressure propulsion. At this time, the displacement sensor located in the cylinder continuously monitors the displacement distance. When the preset first distance is reached, it indicates that the power head reaches the drill pipe box. At this time, the drill pipe loading manipulator grabs the drill pipe to a predetermined position, the rear gripper clamps the drill pipe, the drill pipe loading manipulator moves out, the power head screws in 5 threads, the drill pipe is loaded, the rear gripper loosens, the propulsion cylinder drives the power head to carry the drill pipe to continue advancing, the drill pipe contacts the drill bit, the front gripper clamps, the power head screws in 5 threads, and the front gripper loosens; the automatic drill pipe loading is completed. The drill pipe unloading process is carried out in reverse according to this process, which will not be elaborated here again. It should be noted that the proximity switch is arranged at the rear side of the cylinder support. When the propulsion cylinder unloads the drill pipe, the propulsion cylinder moves to the proximity switch and stops, completing the drill pipe unloading.

[0032] Further preferably, the intrusion detection device uses an infrared sensor, and the infrared sensor is installed behind or on both sides of the drill rig. When detecting that there are people entering the surrounding area, it sends the detection signal to the remote control terminal or the downhole detector, and the downhole monitor issues an alarm to prompt the drill rig to stop working.

[0033] In another embodiment, the intrusion detection device uses a positioning identification card and a UWB card reader base station, and the UWB card reader base station is installed on the drill rig. The UWB card reader base station is connected to the wireless receiver. By installing a UWB base station on the drill rig and the operator being equipped with a UWB positioning card, the safe range of the drill rig can be set. When a person approaches within the range of the drill rig, a voice alarm signal can be used for prompting or the machine can be stopped. Different levels can also be set. When the drill rig operator enters the area, the machine will not stop, and when an ordinary operator enters the area, the machine will stop.

[0034] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of this utility model.

Claims

1. An automatic drill control device, characterized in that, It includes a remote control center above the well, a downhole monitor, a remote control terminal, and a wireless receiver; The remote control center above the well communicates with the downhole monitor through a switch; the downhole monitor is connected to the wireless receiver through a wireless base station, and the wireless receiver communicates with the remote control terminal wirelessly at 433 MHz; The wireless receiver is connected to the electric control box, multi-way electro-hydraulic proportional valves, and various sensors of the drill rig through cables respectively; the wireless receiver includes a main control chip, a communication module, multi-way digital input interfaces, multi-way analog input interfaces, multi-way output interfaces, a CAN interface, and an RS485 interface; The multi-way digital input interfaces and the multi-way analog input interfaces are respectively connected to various sensors; The multi-way output interfaces are respectively connected to the multi-way electro-hydraulic proportional valves correspondingly, and the CAN interface and the RS485 interface communicate with the electric control box of the drill rig.

2. The automatic drill control device according to claim 1, characterized in that, The various sensors include an intrusion detection device, a pressure sensor, a temperature sensor, a dust sensor, and a displacement sensing device.

3. The automatic drill control device according to claim 1, characterized in that, It also includes a camera and a loudspeaker, and the camera and the loudspeaker are respectively connected to the downhole monitor.

4. The automatic drill control device according to claim 2, characterized in that, The pressure sensor is installed in the solenoid valve oil circuit and / or water circuit of the drill rig; the pressure sensor, the temperature sensor, and the dust sensor are respectively connected to the wireless receiver through the analog input interfaces.

5. The automatic drill control device according to claim 2, characterized in that, The displacement sensing device includes a proximity switch and a displacement sensor; the proximity switch is installed outside the drill pipe box, and the displacement sensor is installed in the propulsion cylinder of the drill bit. The proximity switch and the displacement sensor are respectively connected to the wireless receiver through the digital input interfaces.

6. The automatic drill control device according to claim 5, characterized in that, The displacement sensor uses a magnetostrictive displacement sensor for mining.

7. The automatic drill control device according to claim 2, characterized in that, The intrusion detection device uses an infrared sensor, and the infrared sensor is installed behind or on both sides of the drill rig.

8. The automatic drill control device according to claim 2, characterized in that, The intrusion detection device uses a positioning identification card and a UWB card reading base station, and the UWB card reading base station is installed on the drill rig.

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