CN111396041A - Control system and method for one-key expansion and retraction of driving and anchoring machine - Google Patents
Control system and method for one-key expansion and retraction of driving and anchoring machine Download PDFInfo
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- CN111396041A CN111396041A CN202010429265.9A CN202010429265A CN111396041A CN 111396041 A CN111396041 A CN 111396041A CN 202010429265 A CN202010429265 A CN 202010429265A CN 111396041 A CN111396041 A CN 111396041A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/66—Machines for making slits with additional arrangements for drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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Abstract
The invention discloses a control system and a method for one-key expansion and retraction of a tunneling and anchoring machine. The one-key unfolding action execution sequence of the digging and anchoring machine comprises frame body overturning, support lifting, main arm forward extending, frame body overturning, drill arms at two sides extending, drilling machines at two sides retreating and clamp holders at two sides releasing. The one-key unfolding action execution sequence of the digging and anchoring machine comprises frame body overturning, support lifting, main arm forward extending, frame body overturning, drill arms at two sides extending, drilling machines at two sides retreating and clamp holders at two sides releasing. The one-key withdrawing action execution sequence of the tunneling and anchoring machine comprises clamping of the clampers at two sides, descending of the sliding frames at two sides, advancing of the drilling machine at two sides, backward rotation of the drilling arms at two sides, inward rotation or outward rotation of the drilling arms at two sides, translational withdrawing of the drilling arms at two sides, support withdrawing, support ascending or descending, turning or folding of the support body, withdrawing of the main arm, folding of the support body and descending of the support body. The anchor driving machine of the method and the system of the invention realizes that after the command of expansion or retraction is sent by one key, the anchor driving machine is not influenced by the operation environment, the misoperation probability is reduced, and the working efficiency of the whole anchor driving machine is improved.
Description
Technical Field
The invention relates to a control system and a control method for one-key unfolding and folding of a tunneling and anchoring machine, in particular to the technical field of machinery.
Background
At present, the expansion of the tunneling and anchoring machine before the anchoring and anchoring work and the retraction of the tunneling and anchoring machine after the anchoring and anchoring work are finished are realized by operators through the positions and operation experiences of the anchor rod part recognized by human eyes, but due to the reasons of large dust in the operation environment, poor light, difficult position recognition by human eyes and the like, the expansion and retraction efficiency of the tunneling and anchoring machine is low, the expansion and retraction efficiency of the tunneling and anchoring machine is not in place and the like due to the phenomena of improper operation actions, interference among the actions, misoperation and the like which often occur.
Disclosure of Invention
The invention aims to provide a control system and a control method for one-key unfolding and folding of an excavator, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a control system for unfolding and retracting a key of an anchor driving machine comprises a controller, an anchor driving machine body, a cutting arm, a frame body, a main arm, a left drill boom, a right drill boom, a left sliding frame, a right sliding frame, a left drilling machine, a right drilling machine, a left clamp, a right clamp, a support, a first inclination angle sensor, a second inclination angle sensor, a third inclination angle sensor, a fourth inclination angle sensor, a fifth inclination angle sensor, a first displacement sensor, a second displacement sensor, a third displacement sensor, a first pressure sensor, a second pressure sensor and a third pressure sensor, wherein the cutting arm is arranged at the front end of the anchor driving machine body, the main arm is arranged on the cutting arm, the frame body is arranged at the front end of the main arm, the left drill boom and the right drill boom are arranged at two sides of the frame body, the left sliding frame and the right sliding frame are correspondingly arranged on the left drill boom and the right drill boom, the left drilling machine body and the right sliding frame are correspondingly arranged on the, the top of the left drill boom and the top of the right drill boom are provided with a left clamp holder and a right clamp holder, a support is arranged above the frame body, a first inclination angle sensor is arranged at the machine body, a second inclination angle sensor is arranged at the cutting arm, a third inclination angle sensor is arranged at the left drill boom, a fourth inclination angle sensor is arranged at the right drill boom, a fifth inclination angle sensor is arranged at the frame body, a first displacement sensor is arranged at the supporting oil cylinder, a second displacement sensor is arranged at the left drill boom translation mechanism, a third displacement sensor is arranged at the right drill boom translation mechanism, a first pressure sensor is arranged at the oil pump outlet, a second pressure sensor is arranged at the left anchor rod valve hydraulic oil inlet, and a third pressure sensor is arranged at the right anchor rod valve hydraulic oil inlet.
Preferably, the one-key unfolding action execution sequence of the digging and anchoring machine comprises frame body overturning, support lifting, main arm forward extending, frame body overturning, two-side drill booms extending, two-side drilling machines retreating and two-side clamp holders releasing.
A control method for one-key expansion of a tunneling and anchoring machine comprises the following steps: in the first step, the controller issues a "one-key expand" command.
And secondly, the controller sends a starting instruction to a hydraulic valve for controlling the turning of the frame body, the hydraulic valve drives and controls the action of a turning oil cylinder of the frame body, the frame body starts to turn, meanwhile, the controller collects an included angle formed by the first inclination angle sensor, the second inclination angle sensor and the fifth inclination angle sensor between the frame body and the cutting arm, when the included angle is consistent with an included angle set in the controller and triggering the support to be lifted and started, the controller sends a starting instruction to the hydraulic valve for controlling the support to be lifted, the hydraulic valve drives and controls the support to support the lifted oil cylinder to enable the support to be lifted, at the moment, the frame body is turned and supported to be lifted simultaneously, when the included angle is consistent with a turning-in-place included angle set in the controller, the controller sends a stopping instruction to the hydraulic valve for controlling the turning of the frame body, the hydraulic valve stops. When the controller collects that the displacement of the first displacement sensor is consistent with the displacement of the support in the controller when the support is lifted in place, the controller sends a stop instruction to a hydraulic valve for controlling the support to be lifted, the hydraulic valve stops the support to be lifted, and the second step is finished.
And thirdly, after the previous step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the main arm to extend forwards, the hydraulic valve drives an oil cylinder for controlling the main arm to extend forwards to act, the main arm begins to extend forwards, when the pressure value of the first pressure sensor acquired by the controller is consistent with the pressure value of the main arm in the controller, which is extended forwards to the limit position, the controller sends a stopping instruction to the hydraulic valve for controlling the main arm to extend forwards, the hydraulic valve stops the main arm to extend forwards, and the third step is finished.
And fourthly, after the last step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the frame body to be turned up, the hydraulic valve drives and controls the oil cylinder for controlling the frame body to be turned up to act, the frame body starts to be turned up, the controller collects the included angle formed between the frame body and the cutting arm by the first inclination angle sensor, the second inclination angle sensor and the fifth inclination angle sensor, when the included angle is consistent with the included angle set in the controller for stopping the secondary turning up of the frame body, the controller sends a stopping instruction to the hydraulic valve for controlling the frame body to be turned up, the hydraulic valve stops driving and controls the oil cylinder for controlling the frame body to be turned up to enable the frame body to be turned up.
And fifthly, after the last step is finished, the controller sends a starting instruction to hydraulic valves for controlling the drill booms on the two sides to stretch out, the hydraulic valves drive and control oil cylinders for controlling the drill booms on the two sides to stretch out, the drill booms on the two sides begin to stretch out, the controller collects horizontal displacement of equipment on the two sides formed by the second displacement sensor and the third displacement sensor, when the displacement is consistent with the displacement for setting the drill booms in the controller to stretch out and stop, the controller sends a stopping instruction to the hydraulic valves for controlling the drill booms on the two sides to stretch out, the hydraulic valves stop driving and control the oil cylinders for controlling the drill booms on the two sides to stretch out.
And sixthly, after the last step is finished, the controller sends a starting instruction to the hydraulic valves for controlling the two side drilling machines to descend, the hydraulic valves drive the oil cylinders for controlling the two side drilling machines to retreat, the two side drilling machines start to retreat, when the controller acquires that the pressure values formed by the second pressure sensor and the third pressure sensor are consistent with the pressure values of the two side drilling machines in the controller when the two side drilling machines retreat to the limit positions, the controller sends a stopping instruction to the hydraulic valves for controlling the two side drilling machines to descend, the hydraulic valves stop the drilling machines to retreat, and the sixth step is finished.
And seventhly, after the previous step is finished, the controller sends a starting instruction to the hydraulic valves for controlling the release of the grippers at the two sides, the hydraulic valves drive and control the oil cylinders for controlling the release of the grippers at the two sides to act, the grippers at the two sides start to release, when the controller acquires that the pressure value formed by the second pressure sensor and the third pressure sensor is consistent with the pressure value released to the limit position by the grippers at the two sides in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the release of the grippers at the two sides, the hydraulic valves stop the release of the grippers, and the seventh step is finished.
And step eight, after the previous step is finished, finishing the one-key expansion.
Preferably, the one-key withdrawing action of the tunneling and anchoring machine is carried out by clamping the clamps at two sides, descending the sliding frames at two sides, advancing the drilling machine at two sides, backspin the drilling arms at two sides, inward rotating or outward rotating the drilling arms at two sides, translational withdrawing the drilling arms at two sides, retracting the supports, ascending or descending the supports, turning up or folding back the supports, withdrawing the main arms, folding back the supports and descending the supports.
A control method for one-key recovery of a tunneling and anchoring machine comprises the following steps:
in the first step, the controller issues a "push retraction" command.
And step two, after the last step is finished, the controller sends a starting instruction to the hydraulic valves for controlling the clamping of the clampers at the two sides, the hydraulic valves drive and control the oil cylinders clamped by the clampers at the two sides to act, the clampers at the two sides start clamping, when the controller acquires that the pressure value formed by the second pressure sensor and the third pressure sensor is consistent with the pressure value of the extreme positions clamped by the clampers at the two sides in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the clamping of the clampers at the two sides, the hydraulic valves stop the clamping of the clampers, and the.
And thirdly, after the last step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the two side sliding frames to descend, the hydraulic valve drives an oil cylinder for controlling the two side sliding frames to descend, the two side sliding frames start to descend, when the controller acquires that the pressure values formed by the second pressure sensor and the third pressure sensor are consistent with the pressure values of the two side sliding frames in the controller when the two side sliding frames descend to the limit positions, the controller sends a stopping instruction to the hydraulic valve for controlling the two side sliding frames to descend, the hydraulic valve stops the sliding frames from descending, and the third step is finished.
And fourthly, after the last step is finished, the controller sends a starting instruction to hydraulic valves for controlling the two side drilling machines to ascend, the hydraulic valves drive oil cylinders for controlling the two side drilling machines to advance, the two side drilling machines start to advance, when the controller acquires that the pressure value formed by the second pressure sensor and the third pressure sensor is consistent with the pressure value of the two side drilling machines in the controller when the two side drilling machines advance to the limit position, the controller sends a stopping instruction to the hydraulic valves for controlling the two side drilling machines to ascend, the hydraulic valves stop the drilling machines to advance, and the fourth step is finished.
And fifthly, after the last step is finished, the controller sends a starting instruction to hydraulic valves for controlling the backward rotation of the drill booms on the two sides, the hydraulic valves drive pitching oil cylinders for controlling the backward rotation of the drill booms on the two sides to act, the drill booms on the two sides start backward rotation, when the controller acquires that the pressure values formed by the second pressure sensor and the third pressure sensor are consistent with the pressure value of the backward rotation of the drill booms on the two sides to the limit position in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the backward rotation of the drill booms on the two sides, the hydraulic valves stop the backward rotation of the drill booms, and the.
Sixthly, after the previous step is finished, the controller sends a drill boom internal rotation starting instruction to a hydraulic valve according to the information of the included angle between the drill booms on two sides and the frame body formed by the third tilt sensor, the fourth tilt sensor and the fifth tilt sensor, and when the included angle is larger than a retraction included angle set in the controller, the hydraulic valve drives the drill booms to rotate inwards; when the included angle is smaller than a retraction included angle set in the controller, the controller sends a drill boom outward rotation starting instruction to the hydraulic valve, and the hydraulic valve drives the drill boom to outward rotate. And when the drill boom makes the included angle between the drill boom and the frame body equal to the retraction included angle set in the controller through internal rotation or external rotation, the controller sends an action stop instruction to hydraulic valves for controlling the internal rotation and the external rotation of the drill booms at two sides, the internal rotation or the external rotation of the drill booms at two sides is stopped, and the sixth step is finished.
And seventhly, after the previous step is finished, the controller sends a starting instruction to hydraulic valves for controlling the drill booms on the two sides to retract, the hydraulic valves drive oil cylinders for controlling the drill booms on the two sides to retract, the drill booms on the two sides to retract start to retract, the controller collects horizontal displacement of the drill booms on the two sides, the horizontal displacement is formed by the second displacement sensor and the third displacement sensor, when the horizontal displacement is consistent with the displacement for stopping the retraction of the drill booms, the controller sends a stopping instruction to the hydraulic valves for controlling the drill booms on the two sides to retract, the hydraulic valves stop driving the oil cylinders for controlling the drill booms on the two sides to retract, and the seventh step.
And eighthly, after the previous step is finished, the controller sends a starting instruction to a hydraulic valve for controlling support retraction, the hydraulic valve drives an oil cylinder for controlling support retraction to act, the support retraction starts, when the controller acquires that a pressure value formed by the first pressure sensor is consistent with a pressure value of the limit position of the support retraction in the controller, the controller sends a stopping instruction to the hydraulic valve for controlling support retraction, the hydraulic valve stops support retraction, and the eighth step is finished.
Ninth, after the previous step is finished, the controller sends a support descending starting instruction to the hydraulic valve according to the displacement information of the support in the vertical direction formed by the first displacement sensor, and the hydraulic valve drives the support to descend when the displacement is larger than the target displacement set in the controller; when the displacement is smaller than the target displacement set in the controller, the controller sends a support ascending starting instruction to the hydraulic valve, and the hydraulic valve drives the support to ascend; and when the support is lifted or descended to enable the displacement formed by the first displacement sensor to be equal to the target displacement set in the controller, the controller sends an action stop instruction to a hydraulic valve for controlling the support to lift, the support is lifted or descended to stop, and the ninth step is finished.
Tenth step, after the previous step is finished, the controller sends a frame body retracing starting instruction to the hydraulic valve according to the information of included angles between frame bodies of the first tilt angle sensor, the second tilt angle sensor and the fifth tilt angle sensor and the cutting arm, and when the included angles are larger than a target included angle set in the controller, the hydraulic valve drives the frame bodies to retrace; when the included angle is smaller than a target included angle set in the controller, the controller sends a frame body turning starting instruction to the hydraulic valve, and the hydraulic valve drives the frame body to turn up. When the frame body is turned up or folded to enable the included angle between the frame body and the cutting arm to be equal to the target included angle set in the controller, the controller sends an action stop instruction to a hydraulic valve for controlling the turning up and folding back of the frame body, the turning up or folding back of the frame body is stopped, and the tenth step is finished.
And sixthly, after the last step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the main arm to retract, the hydraulic valve drives an oil cylinder for controlling the main arm to retract to move, the main arm starts to retract, when the controller acquires that a pressure value formed by the first pressure sensor is consistent with a pressure value of the main arm in the controller, which is retracted to the limit position, the controller sends a stopping instruction to the hydraulic valve for controlling the main arm to retract, the hydraulic valve stops the main arm to retract, and the eleventh step is finished.
And a twelfth step, after the previous step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the frame body to turn back and simultaneously lower the support, the hydraulic valve drives and controls the frame body turning-back oil cylinder and the support descending oil cylinder to act, the frame body turning-back and the support descending start simultaneously, meanwhile, the controller collects an included angle formed by a first tilt angle sensor, a second tilt angle sensor and a fifth tilt angle sensor between the frame body and the cutting arm, the controller collects the displacement of the support formed by the first displacement sensor in the vertical direction, when the controller collects the included angle formed by the frame body and the cutting arm and the included angle in the controller in place, the controller sends a stopping instruction to the hydraulic valve for controlling the frame body to turn back, the frame body is turned back to stop, when the controller collects the displacement of the support in the vertical direction and the displacement of the support in place when the support descends in the controller, the controller sends a stopping instruction to, and stopping the support descending of the hydraulic valve, stopping the support body from turning back and stopping the support descending, and finishing the twelfth step.
And step thirteen, after the previous step is finished, one-key withdrawing is finished.
Compared with the prior art, the invention has the beneficial effects that: the anchor driving machine applying the method and the system can realize that the anchor driving machine automatically finishes the expansion or the retraction after the one-key sending of the expansion or the retraction command is realized, is not influenced by the operation environment, has no higher technical requirements on operators, has accurate action execution, realizes the in-place expansion or the retraction, greatly improves the efficiency, greatly reduces the misoperation probability and improves the working efficiency of the whole anchor driving machine.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the structure of FIG. 1;
FIG. 3 is a schematic structural view of a driving and anchoring machine in a one-key unfolding state according to the present invention;
FIG. 4 is a schematic structural view of a one-key retraction state of the driving and anchoring machine according to the present invention;
FIG. 5 is a schematic flow chart of a one-key deployment control method of the driving and anchoring machine according to the present invention;
FIG. 6 is a schematic flow chart of a one-key retraction control method of the driving and anchoring machine according to the present invention;
FIG. 7 is a graph of measured angle, pressure position for the present invention;
FIG. 8 is a diagram of the measurement of the angle and displacement positions according to the present invention.
Reference numerals: the device comprises a controller 0, a tunneling and anchoring machine body 1, a cutting arm 2, a frame body 3, a main arm 4, a left drilling arm 5, a right drilling arm 6, a left sliding frame 7, a right sliding frame 8, a left drilling machine 9, a right drilling machine 10, a left clamp 11, a right clamp 12, a support 13, a first inclination angle sensor 14, a second inclination angle sensor 15, a third inclination angle sensor 16, a fourth inclination angle sensor 17, a fifth inclination angle sensor 18, a first displacement sensor 19, a second displacement sensor 20, a third displacement sensor 21, a first pressure sensor 22, a second pressure sensor 23 and a third pressure sensor 24.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a control system for unfolding and retracting a key of an anchor driving machine comprises a controller 0, an anchor driving machine body 1, a cutting arm 2, a frame body 3, a main arm 4, a left drilling arm 5, a right drilling arm 6, a left sliding frame 7, a right sliding frame 8, a left drilling machine 9, a right drilling machine 10, a left clamping device 11, a right clamping device 12, a support 13, a first inclination angle sensor 14, a second inclination angle sensor 15, a third inclination angle sensor 16, a fourth inclination angle sensor 17, a fifth inclination angle sensor 18, a first displacement sensor 19, a second displacement sensor 20, a third displacement sensor 21, a first pressure sensor 22, a second pressure sensor 23 and a third pressure sensor 24, wherein the cutting arm 2 is arranged at the front end of the anchor driving machine body 1, the main arm 4 is arranged on the cutting arm 2, the frame body 3 is arranged at the front end of the main arm 4, the left drilling arm 5 and the right drilling arm 6 are arranged on two sides of the frame body 3, a left side carriage 7 and a right side carriage 8 are correspondingly arranged on the left side drill boom 5 and the right side drill boom 6, a left side drilling machine 9 and a right side drilling machine 10 are correspondingly arranged on the left side carriage 7 and the right side carriage 8, a left side clamper 11 and a right side clamper 12 are arranged on the top of the left side drill boom 5 and the right side drill boom 6, a support 13 is arranged above the frame body 3, a first inclination angle sensor 14 is arranged at the machine body 1, a second inclination angle sensor 15 is arranged at the cutting arm 2, a third inclination angle sensor 16 is arranged at the left side drill boom 5, a fourth inclination angle sensor 17 is arranged at the right side drill boom 6, a fifth inclination angle sensor 18 is arranged at the frame body 3, a first displacement sensor 19 is arranged at the supporting oil cylinder, a second displacement sensor 20 is arranged at the translation mechanism of the left side drill boom 5, a third displacement sensor 21 is arranged at the translation mechanism of the right side drill boom 6, a first pressure sensor 22 is, a second pressure sensor 23 is arranged at the hydraulic oil inlet of the left anchor rod valve, and a third pressure sensor 24 is arranged at the hydraulic oil inlet of the right anchor rod valve.
Referring to fig. 3, 5 and 7, a control method for one-key expansion of the driving and anchoring machine comprises the following steps: firstly, the controller 0 sends a 'one-key expansion' instruction;
secondly, the controller 0 sends a starting instruction to a hydraulic valve for controlling the frame body 3 to be turned up, the hydraulic valve drives and controls an oil cylinder of the frame body 3 to be turned up to be operated, the frame body 3 starts to be turned up, meanwhile, the controller 0 collects an included angle ∠ a1 formed by a first inclination angle sensor 14, a second inclination angle sensor 15 and a fifth inclination angle sensor 16 between the frame body 3 and the cutting arm 2, when the included angle ∠ a1 is consistent with an included angle set in the controller 0 and triggering the support to be lifted and started, the controller 0 sends a starting instruction to the hydraulic valve for controlling the support to be lifted, the hydraulic valve drives the oil cylinder for controlling the support 13 to be lifted to make the support start to be lifted, at the moment, the frame body 3 is turned up and the support 13 is lifted to be operated simultaneously, when the included angle ∠ a1 is consistent with a turned-up included angle set in place set in the controller 0, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the frame body 3 to be turned up, at the moment, the hydraulic valve stops driving the frame body 3 to be turned up, when the support is turned up, the hydraulic valve collects a displacement d1 formed by a first displacement sensor 19 and;
thirdly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the forward extension of the main arm 4, the hydraulic valve drives an oil cylinder for controlling the forward extension of the main arm 4 to act, the main arm 4 starts to extend forwards, when the pressure value P1 acquired by the controller 0 and acquired by the first pressure sensor 22 is consistent with the pressure value of the main arm 4 in the controller 0, which is extended forwards to the limit position, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the forward extension of the main arm 4, the hydraulic valve stops the forward extension of the main arm 4, and the third step is finished;
fourthly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the frame body 3 to be turned up, the hydraulic valve drives and controls the oil cylinders for controlling the frame body 3 to be turned up to be operated, the frame body 3 starts to be turned up, the controller 0 collects an included angle ∠ a1 formed by the first tilt sensor 14, the second tilt sensor 15 and the fifth tilt sensor 16 between the frame body 3 and the cutting arm 2, when the included angle ∠ a1 is consistent with an included angle set in the controller 0 for stopping the frame body 3 from being turned up for the second time, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the frame body 3 to be turned up, the hydraulic valve stops driving the oil cylinders for controlling the frame body 3 to be turned up to finish the turning up of the frame body 3;
fifthly, after the previous step is finished, the controller 0 sends a starting command to a hydraulic valve which controls the two side drill booms, the left side drill boom 5 and the right side drill boom 6 extend out, the hydraulic valve drives and controls the oil cylinders which control the two side drill booms, the left side drill boom 5 and the right side drill boom 6 extend out, the left side drill boom 5 and the right side drill boom 6 of the two side drill booms start to extend out, the controller 0 collects the left side drill boom horizontal displacement d2 formed by the second displacement sensor 20 and the right side drill boom horizontal displacement d3 formed by the third displacement sensor 21, when the displacements d2 and d3 are consistent with the displacement which sets the drill boom extension stop in the controller 0, the controller 0 sends a stop command to a hydraulic valve which controls the two side drill booms, the left side drill boom 5 and the right side drill boom 6 to extend out, the hydraulic valve stops driving and controls the oil cylinders which control the two side drill booms, the left side drill booms 5 and the right side, and finishing the fifth step.
And sixthly, after the last step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the left drilling machine 9 and the right drilling machine 10 of the two drilling machines to descend, the hydraulic valve drives oil cylinders for controlling the left drilling machine 9 and the right drilling machine 10 of the two drilling machines to retreat, the two drilling machines start to retreat, when the controller 0 acquires that the pressure P2 formed by the second pressure sensor 23 and the pressure P3 formed by the third pressure sensor 24 are consistent with the pressure values of the left drilling machine 9 and the right drilling machine 10 of the two drilling machines in the controller 0, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the left drilling machine 9 and the right drilling machine 10 of the two drilling machines to descend, the hydraulic valve stops the left drilling machine 9 and the right drilling machine 10 of the drilling machines to retreat, and the sixth step is.
And a seventh step, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the release of the left side clamp 11 and the right side clamp 12 of the two side clamps, the hydraulic valve drives and controls the oil cylinders for controlling the release of the left side clamp 11 and the right side clamp 12 of the two side clamps, the left side clamp 11 and the right side clamp 12 of the two side clamps start to release, when the controller 0 acquires pressure P2 formed by the second pressure sensor 23 and pressure P3 formed by the third pressure sensor 24 and is consistent with pressure values of the limit positions of the release of the left side clamp 11 and the right side clamp 12 of the two side clamps in the controller 0, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the release of the left side clamp 11 and the right side clamp 12 of the two side clamps, the hydraulic valve stops the release of the left side
And step eight, after the previous step is finished, finishing the one-key expansion.
Referring to fig. 4, 6 and 8, a control method for one-key recovery of an excavator comprises the following steps:
firstly, the controller 0 sends a 'one-key retraction' instruction;
after the second step and the previous step are finished, the controller 0 sends a starting command to a hydraulic valve for controlling clamping of the clamps at two sides (the left clamp 11 and the right clamp 12), the hydraulic valve drives and controls oil cylinders for clamping of the clamps at two sides (the left clamp 11 and the right clamp 12), the clamps at two sides (the left clamp 11 and the right clamp 12) start clamping, when the controller 0 acquires pressure P2 formed by the second pressure sensor 23 and pressure P3 formed by the third pressure sensor 24, and the pressure values are consistent with the pressure values of the clamps at two sides (the left clamp 11 and the right clamp 12) clamped to the limit positions in the controller 0, the controller 0 sends a stopping command to the hydraulic valve for controlling clamping of the clamps at two sides (the left clamp 11 and the right clamp 12), and the hydraulic valve stops clamping of the clamps (the left clamp 11 and the right clamp 12), the second step is finished;
third, after the previous step is finished, the controller 0 sends a start instruction to a hydraulic valve for controlling the two side carriages (the left side carriage 7 and the right side carriage 8) to descend, the hydraulic valve drives oil cylinders for controlling the two side carriages (the left side carriage 7 and the right side carriage 8) to descend, the two side carriages (the left side carriage 7 and the right side carriage 8) start to descend, when the controller 0 acquires pressure P2 formed by the second pressure sensor 23 and pressure P3 formed by the third pressure sensor 24, and the pressure values are consistent with the pressure values of the two side carriages (the left side carriage 7 and the right side carriage 8) in the controller 0, the controller 0 sends a stop instruction to the hydraulic valve for controlling the two side carriages (the left side carriage 7 and the right side carriage 8) to descend, and the hydraulic valve stops the carriages (the left side carriage 7 and the right side carriage 8) from descending, and;
fourthly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the two-side drilling machines (the left drilling machine 9 and the right drilling machine 10) to ascend, the hydraulic valve drives oil cylinders for controlling the two-side drilling machines (the left drilling machine 9 and the right drilling machine 10) to advance, the two-side drilling machines (the left drilling machine 9 and the right drilling machine 10) start advancing, when the controller 0 acquires pressure P2 formed by the second pressure sensor 23 and pressure P3 formed by the third pressure sensor 24, and the pressure values are consistent with the pressure values of the two-side drilling machines (the left drilling machine 9 and the right drilling machine 10) in the controller 0 when the two-side drilling machines (the left drilling machine 9 and the right drilling machine 10) advance to the limit positions, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the two-side drilling machines (the left drilling machine 9 and the;
fifthly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling backward rotation of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6), the hydraulic valve drives and controls pitching oil cylinders for controlling backward rotation of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6) to start backward rotation, the drill booms on the two sides (the left drill boom 5 and the right drill boom 6) start backward rotation, when the controller 0 acquires pressure P2 formed by the second pressure sensor 23 and pressure P3 formed by the third pressure sensor 24, the pressure values are consistent with pressure values of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6) in the controller 0 after backward rotation to the limit positions, the controller 0 sends a stopping instruction to the hydraulic valve for controlling backward rotation of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6), and the fifth step is finished;
and sixthly, after the last step is finished, the controller 0 acquires information of included angles ∠ a 4 and ∠ a3 between drill arms on two sides (a left drill arm 5 and a right drill arm 6) and the frame body 3 formed by the third inclination sensor 16, the fourth inclination sensor 17 and the fifth inclination sensor 18, when the ∠ a2 is larger than a retraction included angle set in the controller 0, the controller 0 sends an inward rotation starting instruction to the hydraulic valve for the left drill arm 5, the hydraulic valve drives the left drill arm 5 to rotate inward, when an included angle ∠ a2 is smaller than a retraction included angle set in the controller 0, the controller 0 sends an outward rotation starting instruction to the left drill arm 5, the hydraulic valve drives the left drill arm 5 to rotate outward, when the left drill arm 5 makes the included angle ∠ a2 equal to the retraction included angle set in the controller 0 through inward rotation or outward rotation, the controller 0 sends an action stopping instruction to the hydraulic valve controlling the left drill arm 5 to rotate outward, when the left drill arm 5 makes the left drill arm 5 stop inward rotation or outward rotation, when the left drill arm 42 a3 is larger than the retraction included angle set in the controller 0, the right drill arm is smaller than the retraction included angle set in the controller 0, the hydraulic valve controls the hydraulic valve to control the hydraulic valve to stop the inward rotation of the right drill arm, when the right drill arm 6 when the right drill arm, the right drill arm 896 when the right drill arm 6 stops the right drill arm, the hydraulic valve controls the inner rotation stopping instruction to stop the inner rotation stopping instruction, and the right drill arm 6 when the right drill arm 6 control the right drill arm stops when the right.
And seventhly, after the previous step is finished, the controller 0 sends a starting command to hydraulic valves for controlling the retraction of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6), the hydraulic valves drive and control the oil cylinders for controlling the retraction of the drill booms on the two sides (the left drill boom 5 and the right drill boom 6) to move, the drill booms on the two sides (the left drill boom 5 and the right drill boom 6) start to retract, the controller 0 acquires the displacement d2 formed by the second displacement sensor 20 and the displacement d3 formed by the third displacement sensor 21, when the displacement d2 is consistent with the displacement for setting the retraction stop of the left drill boom 5 in the controller 0, the controller 0 sends a stop command to the hydraulic valves for controlling the retraction of the left drill boom 5, and the hydraulic valves stop driving and control the oil cylinder for controlling the retraction of the left drill boom 5. When the displacement d3 coincides with the displacement in the controller 0 setting the retraction stop of the right drill boom 6, the controller 0 issues a stop command to the hydraulic valve controlling the retraction of the right drill boom 6, which stops driving the cylinder controlling the retraction of the right drill boom 6 to end the retraction of the right drill boom 6. Both arms stop retracting (left arm 5 and right arm 6) and the seventh step ends.
And eighthly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the support 13 to retract, the hydraulic valve drives the oil cylinder for controlling the support 13 to retract to move, the support 13 starts to retract, when the pressure P1 formed by the first pressure sensor 22 and acquired by the controller 0 is consistent with the pressure value of the support 13 in the controller 0 when retracting to the limit position, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the support 13 to retract, the hydraulic valve stops retracting the support 13, and the eighthly is finished.
Ninth, after the previous step is finished, the controller acquires the displacement d1 of the support 13 in the vertical direction formed by the first displacement sensor 19, and when the displacement d1 is larger than the target displacement set in the controller 0, the controller 0 sends a descending starting instruction of the support 13 to the hydraulic valve, and the hydraulic valve drives the support 13 to descend; when the displacement d1 is smaller than the target displacement set in the controller 0, the controller 0 sends a lifting starting instruction to the hydraulic valve, and the hydraulic valve drives the support 13 to lift; when the support 13 is raised or lowered to make the displacement d1 equal to the target displacement set in the controller 0, the controller 0 gives an operation stop command to a hydraulic valve that controls the raising or lowering of the support 13, the raising or lowering of the support 13 is stopped, and the ninth step is finished.
Tenth step, after the previous step is finished, the controller 0 sends a turning-back starting instruction to the hydraulic valve for the frame body 3 according to the included angle ∠ a1 between the frame body 3 and the cutting arm 2, wherein the included angle is obtained by the first tilt angle sensor 14, the second tilt angle sensor 15 and the fifth tilt angle sensor 18, the included angle ∠ a1 is larger than a target included angle set in the controller 0, the hydraulic valve drives the frame body 3 to turn back, when the included angle ∠ a1 is smaller than the target included angle set in the controller 0, the controller 0 sends a turning-up starting instruction to the hydraulic valve for the frame body 3, the hydraulic valve drives the frame body 3 to turn up, when the included angle ∠ a1 is equal to the target included angle set in the controller 0 through turning-up or turning-back, the controller 0 sends an action stopping instruction to the hydraulic valve for controlling the frame body 3 to turn up or turn back, the frame body 3 is turned up or turned back to.
And sixthly, after the previous step is finished, the controller 0 sends a starting instruction to a hydraulic valve for controlling the retraction of the main arm 4, the hydraulic valve drives an oil cylinder for controlling the retraction of the main arm 4 to act, the main arm 4 starts to retract, when the pressure P1 formed by the first pressure sensor 22 and acquired by the controller 0 is consistent with the pressure value of the main arm 4 in the controller 0 when the main arm 4 retracts to the limit position, the controller 0 sends a stopping instruction to the hydraulic valve for controlling the retraction of the main arm 4, the hydraulic valve stops the retraction of the main arm 4, and the eleventh step is finished.
And a twelfth step, after the previous step is finished, the controller 0 simultaneously sends a starting instruction to a hydraulic valve and a support 13 which control the folding of the frame body 3 to descend, the hydraulic valve drives and controls the folding oil cylinder and the support 13 of the frame body 3 to descend, the folding of the frame body 3 and the descending of the support 13 simultaneously start, meanwhile, the controller 0 collects an included angle ∠ a1 formed between the frame body 3 and the cutting arm by a first tilt sensor 14, a second tilt sensor 15 and a fifth tilt sensor 18, the controller 0 collects a displacement d1 of the support 13 formed by a first displacement sensor 19 in the vertical direction, when the included angle ∠ a1 is consistent with the set and recovered included angle in the controller 0, the controller 0 sends a stopping instruction to the hydraulic valve which controls the descending of the support 13, the hydraulic valve which controls the folding of the support 3 to descend, the folding of the support 3 to stop, when the displacement d1 is consistent with the displacement of the support 13 in the controller 0 when the support 13 descends, the controller 0 stops, and the folding of the support 13 and the twelfth step is finished.
And step thirteen, after the previous step is finished, one-key withdrawing is finished.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A control system for one-key unfolding and folding of an excavator and anchor driving machine is characterized in that: the excavator comprises a controller, an excavator body, a cutting arm, a frame body, a main arm, a left drill boom, a right drill boom, a left sliding frame, a right sliding frame, a left drilling machine, a right drilling machine, a left clamp, a right clamp, a support, a first inclination angle sensor, a second inclination angle sensor, a third inclination angle sensor, a fourth inclination angle sensor, a fifth inclination angle sensor, a first displacement sensor, a second displacement sensor, a third displacement sensor, a first pressure sensor, a second pressure sensor and a third pressure sensor, wherein the front end of the excavator body is provided with the cutting arm, the main arm is arranged above the cutting arm, the frame body is arranged at the front end of the main arm, the left drill boom and the right drill boom are arranged on two sides of the frame body, the left sliding frame and the right sliding frame are correspondingly arranged on the left drill boom and the right drill boom, the left clamp and the right clamp are arranged at the tops of the left drill boom, and a support is arranged above the frame body, a first inclination angle sensor is arranged at the machine body, a second inclination angle sensor is arranged at the cutting arm, a third inclination angle sensor is arranged at the left drilling arm, a fourth inclination angle sensor is arranged at the right drilling arm, a fifth inclination angle sensor is arranged at the frame body, a first displacement sensor is arranged at the supporting oil cylinder, a second displacement sensor is arranged at the left drilling arm translation mechanism, a third displacement sensor is arranged at the right drilling arm translation mechanism, a first pressure sensor is arranged at the oil pump outlet, a second pressure sensor is arranged at the left anchor rod valve hydraulic oil inlet, and a third pressure sensor is arranged at the right anchor rod valve hydraulic oil inlet.
2. A control system for one-touch deployment and retraction of a mining and anchoring machine as defined in claim 1, wherein: the one-key unfolding action execution sequence of the digging and anchoring machine comprises frame body overturning, support lifting, main arm forward extending, frame body overturning, drill arms at two sides extending, drilling machines at two sides retreating and clamp holders at two sides releasing.
3. A control system for one-touch deployment and retraction of a mining and anchoring machine as defined in claim 1, wherein: the one-key withdrawing action execution sequence of the tunneling and anchoring machine comprises clamping of the clampers at two sides, descending of the sliding frames at two sides, advancing of the drilling machine at two sides, backward rotation of the drilling arms at two sides, inward rotation or outward rotation of the drilling arms at two sides, translational withdrawing of the drilling arms at two sides, support withdrawing, support ascending or descending, turning or folding of the support body, withdrawing of the main arm, folding of the support body and descending of the support body.
4. A control method of a one-key unfolding control system of an anchor driving machine is characterized by comprising the following steps: firstly, the controller sends a 'one-key expansion' instruction;
secondly, the controller sends a starting instruction to a hydraulic valve for controlling the turning up of the frame body, the hydraulic valve drives and controls the action of a frame body turning-up oil cylinder, the frame body starts turning up, meanwhile, the controller collects an included angle formed by the first inclination angle sensor, the second inclination angle sensor and the fifth inclination angle sensor between the frame body and the cutting arm, when the included angle is consistent with an included angle set in the controller and triggering the starting of the lifting up of the support, the controller sends a starting instruction to the hydraulic valve for controlling the lifting up of the support, the hydraulic valve drives and controls the oil cylinder for supporting up to enable the support to start lifting up, at the moment, the frame body turning up and the lifting up of the support are simultaneously acted, when the included angle is consistent with a turning-up in-place included angle set in the controller, the controller sends a stopping instruction to the hydraulic valve for controlling the turning up of the frame body, the hydraulic valve stops driving the turning up of the frame body, at the moment, when the, the controller sends a stop instruction to a hydraulic valve for controlling the support to rise, the hydraulic valve stops the support to rise, and the second step is finished;
thirdly, after the previous step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the main arm to extend forwards, the hydraulic valve drives an oil cylinder for controlling the main arm to extend forwards to act, the main arm begins to extend forwards, when the pressure value of the first pressure sensor acquired by the controller is consistent with the pressure value of the main arm in the controller, which is extended forwards to the limit position, the controller sends a stopping instruction to the hydraulic valve for controlling the main arm to extend forwards, the hydraulic valve stops the main arm to extend forwards, and the third step is finished;
after the fourth step and the previous step are finished, the controller sends a starting instruction to a hydraulic valve for controlling the frame body to be turned up, the hydraulic valve drives and controls the oil cylinder for controlling the frame body to be turned up to act, the frame body starts to be turned up, the controller collects an included angle formed by a first tilt angle sensor, a second tilt angle sensor and a fifth tilt angle sensor between the frame body and the cutting arm, when the included angle is consistent with an included angle set in the controller for stopping the secondary turning up of the frame body, the controller sends a stopping instruction to the hydraulic valve for controlling the frame body to be turned up, the hydraulic valve stops driving and controls the oil cylinder for controlling the frame body to be turned up to finish the turning up of the frame;
after the fifth step and the previous step are finished, the controller sends a starting instruction to hydraulic valves for controlling the drill booms on the two sides to stretch out, the hydraulic valves drive and control oil cylinders for controlling the drill booms on the two sides to stretch out, the drill booms on the two sides begin to stretch out, the controller collects horizontal displacement of the drill booms on the two sides formed by the second displacement sensor and the third displacement sensor, when the displacement is consistent with the displacement for setting the drill boom to stretch out and stop in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the drill booms on the two sides to stretch out, the hydraulic valves stop driving and control the oil cylinders for controlling the drill booms on the two sides to stretch out;
after the sixth step and the previous step are finished, the controller sends a starting instruction to the hydraulic valves for controlling the two side drilling machines to descend, the hydraulic valves drive the oil cylinders for controlling the two side drilling machines to retreat, the two side drilling machines start to retreat, when the controller acquires that the pressure values formed by the second pressure sensor and the third pressure sensor are consistent with the pressure values of the two side drilling machines in the controller retreating to the limit positions, the controller sends a stopping instruction to the hydraulic valves for controlling the two side drilling machines to descend, the hydraulic valves stop the drilling machines to retreat, and the sixth step is finished;
after the seventh step and the previous step are finished, the controller sends a starting instruction to the hydraulic valves for controlling the release of the grippers at the two sides, the hydraulic valves drive and control the oil cylinders for controlling the release of the grippers at the two sides to act, the grippers at the two sides start to release, when the controller acquires that the pressure value formed by the second pressure sensor and the third pressure sensor is consistent with the pressure value released to the limit position by the grippers at the two sides in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the release of the grippers at the two sides, the hydraulic valves stop the release of the grippers, and the seventh step is finished;
and eighth step, after the previous step is finished, finishing the one-key expansion.
5. A control method of a one-key recovery control system of an excavator is characterized by comprising the following steps: firstly, the controller sends a 'one-key retraction' instruction;
after the second step and the previous step are finished, the controller sends a starting instruction to the hydraulic valves for controlling the clamping of the clampers at the two sides, the hydraulic valves drive and control the oil cylinders clamped by the clampers at the two sides to move, the clampers at the two sides start clamping, when the controller acquires that the pressure value formed by the second pressure sensor and the third pressure sensor is consistent with the pressure value of the extreme positions clamped by the clampers at the two sides in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the clamping of the clampers at the two sides, the hydraulic valves stop the clamping of the clampers, and the;
step three, after the last step is finished, the controller sends a starting instruction to a hydraulic valve for controlling the two side sliding frames to descend, the hydraulic valve drives an oil cylinder for controlling the two side sliding frames to descend, the two side sliding frames start to descend, when the controller acquires that the pressure value formed by a second pressure sensor and a third pressure sensor is consistent with the pressure value of the two side sliding frames in the controller when the two side sliding frames descend to the limit position, the controller sends a stopping instruction to the hydraulic valve for controlling the two side sliding frames to descend, the hydraulic valve stops the sliding frames to descend, and the third step is finished;
after the fourth step and the previous step are finished, the controller sends a starting instruction to hydraulic valves for controlling the two side drilling machines to ascend, the hydraulic valves drive oil cylinders for controlling the two side drilling machines to advance, the two side drilling machines start advancing, when the controller acquires that pressure values formed by the second pressure sensor and the third pressure sensor are consistent with pressure values of the two side drilling machines in the controller when advancing to the limit positions, the controller sends a stopping instruction to the hydraulic valves for controlling the two side drilling machines to ascend, the hydraulic valves stop the drilling machines to advance, and the fourth step is finished;
after the fifth step and the previous step are finished, the controller sends a starting instruction to hydraulic valves for controlling the backward rotation of the drill booms on the two sides, the hydraulic valves drive pitching oil cylinders for controlling the backward rotation of the drill booms on the two sides to act, the drill booms on the two sides start backward rotation, when the controller acquires that pressure values formed by the second pressure sensor and the third pressure sensor are consistent with pressure values of the backward rotation of the drill booms on the two sides to the limit position in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the backward rotation of the drill booms on the two sides, the hydraulic valves stop the backward rotation of the drill booms, and the fifth step is;
after the sixth step and the previous step are finished, the controller sends a drill boom internal rotation starting instruction to the hydraulic valve according to the information of the included angle between the drill booms on two sides and the frame body formed by the third tilt sensor, the fourth tilt sensor and the fifth tilt sensor, and the hydraulic valve drives the drill booms to rotate inwards; when the included angle is smaller than a retraction included angle set in the controller, the controller sends a drill boom outward rotation starting instruction to the hydraulic valve, the hydraulic valve drives the drill boom to outward rotate, when the drill boom enables the included angle between the drill boom and the frame body to be equal to the retraction included angle set in the controller through inward rotation or outward rotation, the controller sends an action stopping instruction to the hydraulic valves controlling inward and outward rotation of the drill booms on two sides, the inward rotation or outward rotation of the drill booms on two sides is stopped, and the sixth step is finished;
after the seventh step and the previous step are finished, the controller sends a starting instruction to hydraulic valves for controlling the drill booms on the two sides to retract, the hydraulic valves drive oil cylinders for controlling the drill booms on the two sides to retract, the drill booms on the two sides to retract start to retract, the controller collects horizontal displacement of the drill booms on the two sides, the horizontal displacement is formed by the second displacement sensor and the third displacement sensor, when the displacement is consistent with the displacement for setting the drill boom to retract and stop in the controller, the controller sends a stopping instruction to the hydraulic valves for controlling the drill booms on the two sides to retract, the hydraulic valves stop driving the oil cylinders for controlling the drill booms on the two sides to retract so as to finish;
eighthly, after the previous step is finished, the controller sends a starting instruction to a hydraulic valve for controlling support retraction, the hydraulic valve drives an oil cylinder for controlling support retraction to act, the support retraction starts, when the controller acquires that a pressure value formed by the first pressure sensor is consistent with a pressure value of the limit position of the support retraction in the controller, the controller sends a stopping instruction to the hydraulic valve for controlling support retraction, the hydraulic valve stops support retraction, and the eighth step is finished;
after the ninth step and the previous step are finished, the controller sends a support descending starting instruction to the hydraulic valve according to the displacement information of the support in the vertical direction formed by the first displacement sensor, and the hydraulic valve drives the support to descend when the displacement is larger than the target displacement set in the controller; when the displacement is smaller than the target displacement set in the controller, the controller sends a support ascending starting instruction to the hydraulic valve, and the hydraulic valve drives the support to ascend; when the support is lifted or descended to enable the displacement formed by the first displacement sensor to be equal to the target displacement set in the controller, the controller sends an action stop instruction to a hydraulic valve for controlling the support to lift, the support is lifted or descended to stop, and the ninth step is finished;
after the tenth step and the previous step are finished, the controller sends a frame body retracing starting instruction to the hydraulic valve according to the information of included angles between frame bodies of the first inclination angle sensor, the second inclination angle sensor and the fifth inclination angle sensor and the cutting arm, and when the included angles are larger than a target included angle set in the controller, the hydraulic valve drives the frame bodies to retrace; when the included angle is smaller than a target included angle set in the controller, the controller sends a frame body turning starting instruction to the hydraulic valve, the hydraulic valve drives the frame body to turn, when the frame body enables the included angle between the frame body and the cutting arm to be equal to the target included angle set in the controller through turning or turning, the controller sends an action stopping instruction to the hydraulic valve for controlling the turning of the frame body, the frame body is turned or turned to stop, and the tenth step is finished;
after the eleventh step and the previous step are finished, the controller sends a starting instruction to a hydraulic valve for controlling the main arm to retract, the hydraulic valve drives an oil cylinder for controlling the main arm to retract to move, the main arm starts to retract, when the controller acquires that a pressure value formed by a first pressure sensor is consistent with a pressure value of the main arm in the controller, which is retracted to an extreme position, the controller sends a stopping instruction to the hydraulic valve for controlling the main arm to retract, the hydraulic valve stops the main arm to retract, and the eleventh step is finished;
the twelfth step, after the previous step, the controller sends a starting instruction to a hydraulic valve controlling the frame body to turn back and simultaneously to support and descend, the hydraulic valve drives and controls the frame body to turn back an oil cylinder and the support and descend the oil cylinder, the frame body turns back and starts to support and descend simultaneously, meanwhile, the controller collects an included angle formed by a first tilt angle sensor, a second tilt angle sensor and a fifth tilt angle sensor between the frame body and a cutting arm, the controller collects the displacement of the support formed by the first displacement sensor in the vertical direction, when the controller collects the included angle formed by the frame body and the cutting arm and the included angle in the controller in place, the controller sends a stopping instruction to the hydraulic valve controlling the frame body to turn back, the frame body turns back to stop, when the controller collects the displacement of the support in the vertical direction and the displacement of the support in place when the support descends in the controller in place, the controller sends a stopping instruction to the hydraulic, the hydraulic valve stops supporting and descending, the frame body is folded back and the supporting and descending are stopped, and the twelfth step is finished;
and step thirteen, after the previous step is finished, one-key withdrawing is finished.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010429265.9A CN111396041A (en) | 2020-05-20 | 2020-05-20 | Control system and method for one-key expansion and retraction of driving and anchoring machine |
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| CN202010429265.9A CN111396041A (en) | 2020-05-20 | 2020-05-20 | Control system and method for one-key expansion and retraction of driving and anchoring machine |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923575A (en) * | 2012-10-18 | 2013-02-13 | 中国人民解放军总后勤部建筑工程研究所 | Device and method for unfolding and withdrawing folding-arm crane by one-key operation |
| CN205259939U (en) * | 2015-12-24 | 2016-05-25 | 蒲长晏 | Six arms top anchor rod drilling carriage |
| CN108343436A (en) * | 2018-04-13 | 2018-07-31 | 无锡华瀚能源装备科技有限公司 | A kind of digging and anchoring integrated machine of remote control |
| CN110056380A (en) * | 2019-05-27 | 2019-07-26 | 无锡华瀚能源装备科技有限公司 | A kind of control method and system one key of anchor driving machine expansion and withdrawn |
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2020
- 2020-05-20 CN CN202010429265.9A patent/CN111396041A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923575A (en) * | 2012-10-18 | 2013-02-13 | 中国人民解放军总后勤部建筑工程研究所 | Device and method for unfolding and withdrawing folding-arm crane by one-key operation |
| CN205259939U (en) * | 2015-12-24 | 2016-05-25 | 蒲长晏 | Six arms top anchor rod drilling carriage |
| CN108343436A (en) * | 2018-04-13 | 2018-07-31 | 无锡华瀚能源装备科技有限公司 | A kind of digging and anchoring integrated machine of remote control |
| CN110056380A (en) * | 2019-05-27 | 2019-07-26 | 无锡华瀚能源装备科技有限公司 | A kind of control method and system one key of anchor driving machine expansion and withdrawn |
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Application publication date: 20200710 |