Remote control system for anchor rod trolley

Abstract

The utility model discloses an anchor rod trolley remote control system, which comprises an anchor rod trolley, an upper computer, a transmission module, a main control module, a camera module, a display screen, a remote control module and a sensing module, the sensing module and the camera shooting module are both arranged on the anchor rod trolley, the sensing module is in communication connection with the main control module, and the camera shooting module is in communication connection with the transmission module; the main control module comprises a controller, and the controller is in communication connection with the transmission module; the transmission module comprises a first data transmission radio station, a repeater and a second data transmission radio station; the transmission module is in communication connection with the upper computer, the display screen and the remote control module. According to the utility model, the remote control operation of the anchor rod support construction can be realized, the dependence on the on-site manual operation is reduced, the potential safety hazard of the tunnel working condition is eliminated, and the system has important significance for improving the tunnel working environment, improving the working safety and improving the automation level of the anchor rod support.

Description

TECHNICAL FIELD

[0001] The utility model relates to in the tunnel construction technical field especially, relate to a kind of anchor rod trolley remote control system. BACKGROUND

[0002] Anchor rod trolley is the tunnel engineering machinery equipment of set rock drilling, anchor rod making, grouting making etc. Process as an organic whole, in recent years, has been widely applied in tunnel anchor rod support construction.However, the existing anchor rod trolley has low degree of automation, control system is backward, does not have remote control etc. This must rely on the operation hand to carry out field construction operation in tunnel, since tunnel construction environment is generally poor, conditions are hard, and there is the risk of rock collapse at any time, there is great risk hidden danger to the life safety and health of the operation hand. SUMMARY

[0003] In order to at least partially solve the problem of low degree of automation of the existing anchor rod trolley, backward control system and lack of remote control, the utility model provides a kind of anchor rod trolley remote control system, the data of anchor rod trolley work time is collected and uploaded to master control module by setting sensing module, then data is transmitted to host computer and remote control module by using transmission module, data adjustment can be carried out according to host computer, and anchor rod trolley work is remotely controlled according to remote control module, remote control operation of anchor rod support construction can be realized, dependence on field manual operation is reduced, safety hidden trouble of tunnel working condition is eliminated, which has important significance for improving tunnel operation environment, improving operation safety and improving the automation level of anchor rod support.

[0004] In order to achieve the above purpose, the technical scheme of the utility model is as follows:

[0005] A kind of anchor rod trolley remote control system, including anchor rod trolley and host computer, further comprising: transmission module, master control module, camera module, display screen, remote control module and sensing module;

[0006] The sensing module and camera module are both arranged on anchor rod trolley, sensing module and master control module are communicatively connected, camera module and transmission module are communicatively connected, to facilitate the collection of anchor rod trolley data;

[0007] The master control module includes controller, the controller and transmission module are communicatively connected, to facilitate master control module to receive transmission data;

[0008] The transmission module includes a first data transmission radio, a repeater, and a second data transmission radio. Multiple repeaters are spaced apart between the first and second data transmission radios and are communicatively connected to each other. Both the first and second data transmission radios are communicatively connected to the nearest repeater. This facilitates the transmission of data information between the first and second data transmission radios, and the repeaters amplify and filter the signals to ensure signal quality and high-quality long-distance wireless communication.

[0009] The transmission module is communicatively connected to the host computer, the display screen, and the remote control module, respectively, which facilitates the host computer, the display screen, and the remote control module to receive or transmit data.

[0010] Furthermore, the sensing module includes a rock drilling depth sensor, an anchor bolt advance depth sensor, an anchor bolt wrench advance pressure sensor, an anchor bolt pull-out prestress detection sensor, and an anchor bolt nut torque detection sensor. The anchor bolt advance depth sensor, the anchor bolt wrench advance pressure sensor, the anchor bolt pull-out prestress detection sensor, and the anchor bolt nut torque detection sensor are all communicatively connected to the main control module.

[0011] Furthermore, the rock drilling depth sensor includes an ADK-A38L6-MA12 sensor, the anchor bolt advance depth sensor includes an ADK-A38L6-MA12 sensor, the anchor bolt wrench advance pressure sensor includes an SMP4009HK (0~400bar) sensor, the anchor bolt pull-out prestress detection sensor includes an SMP4009HK (0~400bar) sensor, and the anchor bolt nut torque detection sensor includes a 1-KMR / 200KN sensor.

[0012] Furthermore, the controller includes an EPEC 5050 controller.

[0013] Furthermore, the camera module includes multiple cameras, all of which are communicatively connected to the transmission module.

[0014] Furthermore, the remote control module includes a console, which is equipped with a display instrument, indicator lights, a control handle, and control buttons for remote control operation.

[0015] Furthermore, the anchor bolt trolley is also equipped with a local operation module, which is communicatively connected to the main control module. The local operation module has the same structure as the remote control module and is used for local operation.

[0016] Furthermore, the main control module is communicatively connected to the water valve, air valve, lubrication oil valve, rock drill forward / backward control solenoid valve, rock drill forward / reverse control solenoid valve, and rock drill impact control solenoid valve on the anchor bolt trolley, facilitating the main control module's control of the anchor bolt trolley during operation.

[0017] The beneficial effects of this utility model are:

[0018] (1) The remote control system for anchor bolt trolley proposed in this utility model can realize remote control operation of anchor bolt support construction, reduce reliance on on-site manual operation, eliminate safety hazards in tunnel working conditions, and is of great significance for improving the tunnel working environment, improving work safety, and enhancing the automation level of anchor bolt support.

[0019] (2) The remote control module of this utility model is equipped with a local operation module and a remote control module. Operators can use the remote control module for remote control or perform on-site operations on the local operation module, realizing the coexistence of two control methods. The control method can be selected according to the actual situation, which is more in line with the actual situation.

[0020] (3) This utility model enhances the signal by setting multiple repeaters between the first data transmission radio station and the second data transmission radio station, which greatly ensures the stability of the signal, enhances the transmission distance, and can adjust the number of repeaters according to actual needs, making it more flexible and versatile with strong scalability. Attached Figure Description

[0021] Figure 1 This is an architectural diagram of a remote control system for an anchor trolley provided for an embodiment of the present utility model.

[0022] Figure 2 This is a schematic diagram of a remote control system for an anchor bolt trolley provided in an embodiment of the present utility model.

[0023] Figure 3 A flowchart of one-click drilling provided for an embodiment of this utility model.

[0024] Figure 4 A flowchart for one-click anchor bolt installation provided in this embodiment of the utility model.

[0025] The numbers in the attached diagram are as follows: 1 is the transmission module, 2 is the main control module, 3 is the camera module, 4 is the display screen, 5 is the remote control module, 6 is the sensor module, 7 is the local operation module, and 8 is the host computer. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] Example 1

[0028] like Figure 1 and Figure 2 As shown, a remote control system for an anchor bolt trolley includes an anchor bolt trolley and a host computer 8, and also includes: a transmission module 1, a main control module 2, a camera module 3, a display screen 4, a remote control module 5, and a sensor module 6.

[0029] The sensing module 6 is mounted on the anchor bolt trolley. The sensing module 6 includes a rock drilling depth sensor, an anchor bolt advance depth sensor, an anchor bolt wrench advance pressure sensor, an anchor bolt pull-out prestress detection sensor, and an anchor bolt nut torque detection sensor. The anchor bolt advance depth sensor, the anchor bolt wrench advance pressure sensor, the anchor bolt pull-out prestress detection sensor, and the anchor bolt nut torque detection sensor are all communicatively connected to the main control module 2 and are used to transmit the collected data to the main control module 2.

[0030] Specifically, the rock drilling depth sensor includes the ADK-A38L6-MA12 sensor, which is an incremental encoder that acquires the forward and backward data of the rock drill through rotation. The anchor bolt advance depth sensor also includes the ADK-A38L6-MA12 sensor, which is an incremental encoder that acquires the forward and backward data of the anchor bolt wrench through rotation. The anchor bolt wrench advance pressure sensor includes the SMP4009HK (0~400bar) sensor, which is used to acquire the hydraulic pressure value of the anchor bolt wrench during advance. The anchor bolt pull-out prestress detection sensor also includes the SMP4009HK (0~400bar) sensor, which is also a pressure sensor. It first detects the hydraulic pressure value of the anchor bolt pull-out cylinder when it extends, and then calculates the pull-out prestress value. The anchor nut torque detection sensor includes a 1-KMR / 200KN sensor. The anchor nut torque detection sensor is also a pressure sensor. It first detects the hydraulic pressure value of the nut sleeve when the nut is rotated, and then calculates the anchor nut torque value.

[0031] The main control module 2 is mounted on the anchor bolt trolley. The main control module 2 includes a controller, specifically an EPEC 5050 controller, which is communicatively connected to the transmission module 1. Specifically, the sensor module 6 transmits the acquired sensor signals to the main control module 2 mounted on the anchor bolt trolley. The main control module 2 processes the data and then transmits it to the host computer 8 and the remote control module 5 via the transmission module 1.

[0032] Preferably, the main control module 2 is communicatively connected to the water valve, air valve, lubrication oil valve, rock drill forward / reverse control solenoid valve, rock drill forward / reverse control solenoid valve, and rock drill impact control solenoid valve on the anchor bolt trolley. This allows the operator to better control the various valves on the anchor bolt trolley, facilitating its operation. The water valve, air valve, and lubrication oil valve on the anchor bolt trolley are on / off valves, used to control the water and air release and lubrication oil injection of the anchor bolt trolley, respectively. These valves have only two states: open and closed, and their opening or closing depends on the on / off state of the switch output point of the main control module 2. The rock drill forward / reverse control solenoid valve, rock drill forward / reverse control solenoid valve, and rock drill impact control solenoid valve are PWM valves, used to control the rock drill's forward / reverse movement, forward / reverse rotation, and impact process, respectively. The opening degree of these valves is controllable, depending on the current duty cycle of the PWM output point of the main control module, thereby controlling the forward and backward speed of the rock drill, the forward and reverse rotation speed of the rock drill, and the impact pressure of the rock drill.

[0033] Camera module 3 is mounted on the anchor bolt trolley and is communicatively connected to transmission module 1. Specifically, camera module 3 includes multiple cameras, all of which are communicatively connected to transmission module 1, used to capture real-time images of the trolley's construction operations inside the tunnel. The operational data, after modulation, can be wirelessly transmitted to display screen 4 via transmission module 1. After demodulation, it can be displayed on display screen 4, ensuring that remote operators can see high-definition images and operational scenes inside the tunnel in real time on display screen 4.

[0034] The transmission module 1 includes a first data transmission radio, a repeater, and a second data transmission radio. Multiple repeaters are spaced apart between the first and second data transmission radios, and the multiple repeaters are communicatively connected to each other. Both the first and second data transmission radios are communicatively connected to the repeater closest to them.

[0035] Specifically, the first data transmission radio station is configured as a data transmission radio slave station and is installed on the anchor bolt trolley, while the second data transmission radio station is configured as a data transmission radio master station and is installed on the remote control module 5. The master station and the slave station communicate wirelessly via high-power radio frequency and 230MHz industrial control frequency band (e.g., both the first and second data transmission radio stations include GE MDS SD1 radios), which can meet the wireless communication transmission function within a distance of 30km. Due to the stability and anti-interference of the data transmission radio frequency signal itself, it is very suitable for transmission in the tunnel environment, thereby realizing data exchange and remote control between the inside and outside of the tunnel.

[0036] As tunnel construction progresses and the construction distance increases, in order to ensure the quality of wireless communication, a repeater (such as the REP-DP0002 repeater) needs to be installed at intervals between the master and slave stations of the data transmission radio. This repeater is used for signal amplification and filtering to ensure signal quality and guarantee high-quality long-distance wireless communication.

[0037] The transmission module 1 is communicatively connected to the host computer 8, the display screen 4, and the remote control module 5. The host computer 8 is used to update and download the program of the main control module 2 and the parameters of the anchor bolt trolley. The display screen 4 is used to display the images transmitted from the camera module 3. The remote control module 5 includes a control console, which is equipped with display instruments, indicator lights, control handles, and control buttons to facilitate remote control of the anchor bolt trolley by the operator.

[0038] Preferably, the anchor bolt trolley is also equipped with a local operation module 7, which is connected to the main control module 2. The local operation module 7 has the same structure as the remote control module 5, which makes it convenient for operators to control the anchor bolt trolley locally.

[0039] Depending on the control mode selected by the operator (local operation mode or remote operation mode), the operator can either perform local control operations on the anchor bolt trolley using the local operation module 7, or remotely control the anchor bolt trolley using the remote control module 5. To avoid logical confusion in the control system, the local operation module 7 and the remote control module 5 must not be activated simultaneously. Therefore, only one of the local operation module 7 and the remote control module 5 can be activated at any given time. Furthermore, when switching between local and remote control modes, confirmation must be obtained from both the local operation module 7 and the remote control module 5 before the switch can be completed.

[0040] Example 2

[0041] In practical applications, the measurement data collected by sensor module 6 is transmitted to main control module 2. Main control module 2 processes the collected data and then transmits it to the first data transmission radio station of transmission module 1. The first data transmission radio station then transmits the data wirelessly to the second data transmission radio station, with appropriate repeaters configured according to the transmission distance to ensure signal quality. The second data transmission radio station transmits the data to host computer 8 and remote control module 5. Host computer 8 can update the program or modify the anchor bolt trolley parameters, after which control can be achieved using remote control module 5. Furthermore, data collected by camera module 3 can also be transmitted to display screen 4 via transmission module 1, displaying the surrounding environment of the anchor bolt trolley for convenient remote operation by the operator.

[0042] When local control of the anchor bolt trolley is required, it can be operated through the local operation module 7.

[0043] The measurement data collected by sensor module 6 serves as the feedback value of the control system in main control module 2, participating in the control calculation of rock drill propulsion and anchor wrench propulsion. The controller calculates the difference between the setpoint of the control system and the sensor feedback value to obtain the deviation between the two. Based on this deviation, a PID closed-loop feedback adjustment algorithm is introduced to realize the closed-loop feedback adjustment of the anchor trolley in the rock drill propulsion control and anchor wrench propulsion control links. Compared with open-loop control, the closed-loop control system can improve the response speed of the control system and improve the stability and control accuracy of rock drill propulsion control and anchor wrench propulsion control.

[0044] Preferably, the host computer 8 can transmit the pre-set program to the main control module 2, enabling the main control module 2 to operate according to the program and achieve automated functions of "one-click drilling" and "one-click anchor bolt installation". Specifically, for example... Figure 3As shown, the "one-click drilling" and "one-click anchor bolt installation" programs are input into the main control module 2. After swinging the anchor bolt head to the construction area and switching to the drilling position, the drilling depth values ​​h and H are set on the host computer 8, and the set parameters are sent to the main control module 2. At this time, the one-click drilling function can be activated on the remote control module 5. After the one-click drilling function is activated, the water valve and air mist lubrication are automatically activated, the rock drill starts to reverse and starts the low-impact, low-push working mode. The forward and backward advance depth of the rock drill is monitored in real time by the depth sensor. When the advance depth of the rock drill reaches the drilling depth h, the rock drill switches to the high-impact, high-push working mode. When the advance depth of the rock drill reaches the drilling depth H, it indicates that the drilling is completed, and the rock drill stops impacting and advancing. If the hole cleaning mode is activated, the rock drill is controlled to move forward and backward a set number of times. During the forward and backward movement of the rock drill, the water valve is continuously open to repeatedly clean the hole. After hole cleaning is complete, the water valve automatically closes, and the rock drill begins to retract. When the rock drill retracts to the zero position, it automatically stops retracting and reversing, and the air mist lubrication automatically shuts off. The one-button drilling function is then complete. If the hole cleaning mode is not activated, the water valve automatically closes, and the rock drill begins to retract. When the rock drill retracts to the zero position, it automatically stops retracting and reversing, and the air mist lubrication automatically shuts off. The one-button drilling function is then complete.

[0045] To protect the rock drill and extend its service life, an anti-jamming and anti-dry-firing control algorithm is introduced during the one-click drilling process. When the rotation pressure value detected by the rock drill's rotation pressure sensor is greater than the set value or the propulsion pressure value detected by the rock drill's propulsion pressure sensor is less than the set value, the rock drill will activate a low-impact, low-push working mode to achieve the functions of preventing jamming or preventing dry-firing, thus ensuring construction efficiency.

[0046] like Figure 4As shown, after the rock drill completes the drilling process and returns to the zero position, the anchor bolt head is switched to the anchor bolt operation position. The anchor bolt described in this invention is an internally embedded prestressed resin anchor bolt. The anchor bolt depth value H is preset on the host computer 8, and the preset parameter value H is transmitted to the main control module 2 through the transmission module 1. At this time, the one-button anchor bolt operation function can be activated on the remote control module 5 or the local operation module 7. At this time, the anchor bolt wrench automatically advances forward. The forward and backward advance depth of the anchor bolt wrench is monitored in real time by the depth sensor. When the advance depth of the anchor bolt wrench reaches the preset anchor bolt depth value H, the anchor bolt wrench starts the mandrel rotation and the sleeve jogging rotation, and the anchor bolt wrench continues to advance. This process is to crush, stir, and squeeze the internal resin outward. When the advance pressure of the anchor bolt wrench reaches the set value, it means that the anchor bolt wrench has pressed against the pad and contacted the rock wall. The anchor bolt wrench stops advancing, and the mandrel and sleeve jogging... After rotating for a few seconds, the anchor bolt stops and waits for a set time to allow the resin anchoring agent to strengthen. After the waiting time ends, the anchor bolt core is pulled outward to apply pull-out prestress to the anchor bolt. Once the pull-out prestress reaches the set value, the anchor bolt wrench nut sleeve is automatically rotated to lock the nut at the tail of the anchor bolt. When the nut is locked to the set torque value, the anchor bolt wrench sleeve is released to separate it from the nut, and the anchor bolt wrench begins to automatically retract. When the anchor bolt wrench retracts to the zero position, the one-button anchor bolt application function is completed.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A remote control system for an anchor bolt trolley, comprising an anchor bolt trolley and a host computer (8), characterized in that, Also includes: Transmission module (1), main control module (2), camera module (3), display screen (4), remote control module (5) and sensing module (6); The sensing module (6) and the camera module (3) are both mounted on the anchor bolt trolley. The sensing module (6) is connected to the main control module (2) and the camera module (3) is connected to the transmission module (1). The main control module (2) includes a controller, which is communicatively connected to the transmission module (1); The transmission module (1) includes a first data transmission radio, a repeater and a second data transmission radio. Multiple repeaters are spaced apart between the first data transmission radio and the second data transmission radio. The multiple repeaters are connected in communication with each other. The first data transmission radio and the second data transmission radio are both connected in communication with the repeater closest to them. The transmission module (1) is connected to the host computer (8), the display screen (4) and the remote control module (5) respectively.

2. The remote control system for an anchor bolt trolley according to claim 1, characterized in that, The sensing module (6) includes a rock drilling depth sensor, an anchor bolt advance depth sensor, an anchor bolt wrench advance pressure sensor, an anchor bolt pull-out prestress detection sensor, and an anchor bolt nut torque detection sensor. The anchor bolt advance depth sensor, the anchor bolt wrench advance pressure sensor, the anchor bolt pull-out prestress detection sensor, and the anchor bolt nut torque detection sensor are all connected to the main control module (2) for communication.

3. The remote control system for an anchor bolt trolley according to claim 2, characterized in that, The rock drilling depth sensor includes an ADK-A38L6-MA12 sensor, the anchor bolt advance depth sensor includes an ADK-A38L6-MA12 sensor, the anchor bolt wrench advance pressure sensor includes an SMP4009HK (0~400bar) sensor, the anchor bolt pull-out prestress detection sensor includes an SMP4009HK (0~400bar) sensor, and the anchor bolt nut torque detection sensor includes a 1-KMR / 200KN sensor.

4. The remote control system for an anchor bolt trolley according to claim 1, characterized in that, The controller includes the EPEC 5050 controller.

5. The remote control system for an anchor bolt trolley according to claim 1, characterized in that, The camera module (3) includes multiple cameras, all of which are communicatively connected to the transmission module (1).

6. The remote control system for an anchor bolt trolley according to claim 1, characterized in that, The remote control module (5) includes a control console, which is equipped with a display instrument, indicator lights, control handle and control buttons.

7. The remote control system for an anchor bolt trolley according to claim 6, characterized in that, The anchor bolt trolley is also equipped with a local operation module (7), which is connected to the main control module (2) for communication. The local operation module (7) and the remote control module (5) have the same structure.

8. The remote control system for an anchor bolt trolley according to claim 1, characterized in that, The main control module (2) is connected in communication with the water valve, air valve, lubricating oil circuit valve, rock drill forward and backward control solenoid valve, rock drill forward and reverse control solenoid valve and rock drill impact control solenoid valve on the anchor trolley.

Images