CN111997584A - Combined control system for rock drilling jumbo - Google Patents
Combined control system for rock drilling jumbo Download PDFInfo
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- CN111997584A CN111997584A CN202010992955.5A CN202010992955A CN111997584A CN 111997584 A CN111997584 A CN 111997584A CN 202010992955 A CN202010992955 A CN 202010992955A CN 111997584 A CN111997584 A CN 111997584A
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- control
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- drill boom
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- 238000005553 drilling Methods 0.000 title abstract description 33
- 239000011435 rock Substances 0.000 title description 12
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 6
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a combined control system of a drill jumbo, which comprises a control unit and an arithmetic unit, wherein the control unit comprises a car body control unit, an operation unit and at least one drill boom control unit. The arithmetic unit comprises a whole vehicle arithmetic unit and at least one drill boom arithmetic unit. The control unit is connected with the operation unit through a communication bus; the drill boom operation unit and the drill boom control unit jointly control the drill boom. By arranging the plurality of control units and the plurality of operation units and independently controlling the plurality of drilling booms, the control of one drilling boom is failed, the normal work of other drilling booms cannot be influenced, and the influenced drilling booms can adjust the working mode to the manual mode to continue working.
Description
Technical Field
The invention relates to the technical field of drill jumbo, in particular to a combined drill jumbo control system.
Background
The drill jumbo is one of the main devices for drilling and blasting construction, and in recent years, along with the increasing requirements of the country on the drilling and blasting construction safety and the more mature application of intelligent construction technology, automatic control technology and network communication technology of manufacturers at home and abroad, the drill jumbo begins to develop towards the direction of intellectualization and informatization. However, with the continuous upgrade of the functions of the drill jumbo, the control system of the drill jumbo becomes more and more complex, the maintenance difficulty after the fault is increased, and the condition that the operation of the whole control system is influenced by a small fault, so that the whole drill jumbo cannot be normally used and the construction progress is influenced easily occurs. The existing control system of the drill jumbo designs basic control and intelligent operation of the drill jumbo as a whole, the mutual relation between software and hardware is comparatively tight, in order to meet the requirement of the whole car, a high-performance operation host is often selected as the core of the control of the whole car, the performance and the reliability of the host directly determine the performance and the reliability of the whole control system, and the structure can generate the following problems: firstly, the whole control system is a whole with various functions which are mutually associated, the connection relation among all the parts is complex, and a small part is easy to have problems, so that the whole system cannot normally run; secondly, the whole control system is provided with a core control unit for carrying out the operation of the whole vehicle control, the operation load is large, and once the control unit has a problem, the whole vehicle cannot work normally.
Disclosure of Invention
The invention aims to provide a combined control system of a drill jumbo, which aims to solve the problem that the control system is easy to be broken down in the prior art.
In order to achieve the purpose, the combined type drill jumbo control system comprises a control unit and a computing unit, wherein the control unit comprises a vehicle body control unit, an operating unit and at least one drill boom control unit; the arithmetic unit comprises a whole vehicle arithmetic unit and at least one drill boom arithmetic unit; the control unit is connected with the operation unit through a communication bus; the drill boom operation unit and the drill boom control unit jointly control the drill boom; the operation unit is used for providing a drill boom working mode.
Further, the operating modes include manual, semi-automatic, and fully automatic.
Further, the vehicle body control unit comprises a vehicle body controller, an electric control hydraulic pump, an electric control hydraulic valve I and a sensor I, wherein the electric control hydraulic pump and the electric control hydraulic valve are electrically connected with the vehicle body controller.
Furthermore, the drill boom control unit comprises a drill boom controller, an electric control hydraulic valve II and a sensor II, wherein the electric control hydraulic valve and the sensor are electrically connected with the drill boom controller.
Further, the drill boom operation unit comprises an operation host, an angle sensor and a length sensor, wherein the angle sensor and the length sensor are electrically connected with the operation host.
Further, the operation unit comprises an operation controller, a display, an operation handle and a key switch.
The invention has the technical effects that: by arranging the plurality of control units and the plurality of operation units, the vehicle body control unit and the drill boom control unit work independently, the drill boom control unit and the drill boom operation unit are in charge of action control of the drill boom together, when one drill boom has a problem due to the drill boom control unit or the drill boom operation unit, the work of other drill booms is not influenced, the drill boom with the problem can be switched to a manual mode to work continuously, and the problem that the whole machine cannot work due to one small problem in the prior art is solved due to the distributed design mode. In addition, the plurality of controllers and the plurality of calculators can operate the work of one core controller separately, so that the workload of the core controller can be effectively reduced, and the whole control system of the drill jumbo can operate easily.
Drawings
FIG. 1 is a general block diagram of a control system;
FIG. 2 is an operating unit control block diagram;
fig. 3 is a control block diagram of the vehicle body control unit;
FIG. 4 is a control block diagram of the boom control unit;
FIG. 5 is a control block diagram of the boom calculation unit
FIG. 6 is a control system manual control flow diagram;
FIG. 7 is a flow chart of semi-automatic control of the control system;
FIG. 8 is a flow chart of the fully automatic control of the control system;
in the figure, 1-control unit, 101-operation unit, 101-1-operation controller, 101-2-display, 101-3-operation handle, 101-4-key switch, 102-vehicle body control unit, 102-1-vehicle body controller, 102-2-electric control hydraulic pump, 102-3-electric control hydraulic valve I, 102-4-sensor I, 103-drill arm control unit, 103-1-drill arm controller, 103-2-electric control hydraulic valve II, 103-3-sensor II, 2-operation unit, 201-vehicle operation unit, 202-drill arm operation unit, 202-1-drill arm operation host, 202-2-angle sensor and 202-3-length sensor.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Fig. 1 is an overall view of a control system, from which it can be seen that the control system of the combined rock-drilling rig is divided into two parts, one part being a control unit 1 and the other part being a calculation unit 2, where the control unit 1 comprises three parts, respectively an operation unit 101, a car body control unit 102, and a boom control unit 103. The arithmetic unit 2 comprises two blocks, namely a whole vehicle arithmetic unit 201 and a drill boom arithmetic unit. The surface operation unit 101 is mainly used for selecting a working mode, giving a drill boom movement instruction and a rock drilling instruction, displaying the state information of the whole vehicle and setting system parameters. The boom control unit 103 mainly controls the movements of the boom, and the car body control unit 102 mainly controls the operations of other parts of the drill jumbo other than the boom. The whole vehicle operation unit 201 is a core control unit for performing whole vehicle automatic control, and can automatically allocate drilling tasks to each drill boom according to a drilling target set value, detect actual drilling progress of each drill boom in real time in the drilling construction process, compare the actual drilling progress with each other, adjust task allocation in real time, and achieve optimal control of the whole drilling construction. The boom calculation unit 202 is mainly used in cooperation with the boom control unit 103 to control the movement of the boom. In this embodiment, three drilling booms are provided on the drill jumbo, and therefore each drilling boom is provided with one boom control unit 103 and one boom calculation unit 202. The control unit 1 and the arithmetic unit 2 described above perform command transmission via a communication bus.
Specifically, as shown in fig. 2, which is a control block diagram of the operation unit 101, the operation unit includes an operation controller 101-1, a display 101-2, an operation handle 101-3, and a key switch 101-4. Wherein the display 101-2, the operating handle 101-3 and the key switch 101-4 can be added according to actual needs. The operation controller 101-1 is provided with three modes of operation of the drill jumbo in relation to the movement of the drill boom, manual, semi-automatic and fully automatic, respectively.
Specifically, as shown in fig. 3, which is a control block diagram of the vehicle body control unit 102, the vehicle body controller 102-1 provides different control outputs to the electrically controlled hydraulic pump 102-2 and the electrically controlled hydraulic valve I102-3 according to different received control instructions, and forms a stable closed-loop control loop by using a signal detected by the sensor I102-4, so as to ensure accurate and stable control. The electrically-controlled hydraulic pump 102-2, the electrically-controlled hydraulic valve I102-3 and the sensor I102-4 can be increased or decreased according to the actual configuration of the whole vehicle.
Specifically, as shown in fig. 4, which is a control block diagram of the drill boom control unit 103, the drill boom control unit 103 includes a drill boom controller 103-1, an electrically controlled hydraulic valve II103-2, and a sensor II103-3, and the electrically controlled hydraulic valve II103-2 and the sensor II103-3 are electrically connected to the drill boom controller 103-1. The drilling arm controller 103-1 gives different control outputs to a part of the electric control hydraulic valves II103-2 according to the received drilling arm movement and drilling control instructions, respectively controls the drilling arm to pitch, swing, stretch, propeller rotation, swing, tilt, compensation and other joint movements, so that the drilling arm moves to a required position quickly, then gives different control outputs to the other part of the electric control hydraulic valves II103-2, controls the impact, rotation and propulsion actions of the rock drilling machine, and performs closed-loop regulation on the impact, rotation and propulsion of the rock drilling machine by using signals detected by the sensor II103-3, thereby achieving the optimal rock drilling effect. Wherein the electrically controlled hydraulic valve II103-2 and the sensor II103-3 can be increased or decreased according to the number of drill boom movement joints and the actual needs of the rock drilling machine.
Specifically, as shown in fig. 5, which is a control block diagram of the boom calculation unit 202, the boom calculation unit 202 includes a calculation host 202-1, an angle sensor 202-2 and a length sensor 202-3, and the angle sensor 202-2 and the length sensor 202-3 are electrically connected to the calculation host 202-1. The drill boom operation host 202-1 performs analysis and calculation according to a rock drilling set value given by the whole vehicle operation unit 201 by combining actual data of each joint of the drill boom detected by the angle sensor 202-2 and the length sensor 202-3, and then sends a control instruction to the drill boom control unit 103 through a communication bus to realize the movement of the drill boom. After the drill boom moves in place, the drill boom control unit 103 controls the rock drilling machine to start rock drilling, so that intelligent control functions such as semi-automatic and full-automatic control are realized, wherein the angle sensor 202-2 and the length sensor 202-3 can be increased or decreased according to the number of the moving joints of the drill boom.
The control system separates control and operation, and the vehicle body control unit 102 and the drill boom control unit 103 are arranged in the control, so that the control of the drill boom is separated from the work of other equipment, the work risk is solved, and the condition that the whole control system cannot work due to a small part of the drill jumbo is prevented. In the operation of the rock drilling rig, drilling with the booms is of the utmost importance, in which section each boom is provided with a boom control unit 103 and a boom calculation unit 202 controlling all movements of the boom. When a problem occurs in the boom control unit 103 or the boom calculation unit 202 of one boom, the operation of other booms, such as the semi-automatic or fully-automatic operation of other booms, is not affected. Furthermore, the affected boom may be set to a manual operation mode by the operator in the operation controller 101-1 in the operation unit 101. In this way the affected boom can continue to work.
As can be seen from fig. 6, 7 and 8, firstly, the operator selects the operation mode according to the field situation.
The control trend of the whole control system is analyzed by taking the manual mode of fig. 6 as a flow chart, when the manual operation is pressed in the operation unit 101, the operation unit 101 sends an instruction to the drill boom control unit 103 and the drill boom operation unit 202, the drill boom control unit 103 performs positioning control and force control on the rock drilling machine, and the drill boom operation host 202-1 of the drill boom operation unit 202 collects data sent by the angle sensor 202-2 and the length sensor 202-3 in real time to calculate the movement track of the drill boom. Then the control information of the boom control unit 103 and the calculation information of the boom calculation unit 202 are simultaneously transmitted back to the display 101-2 of the operation unit for display. In fig. 7 and 8, the boom control unit 103 requires the boom calculation unit 202 to issue instructions.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes which can be made within the knowledge of those skilled in the art without departing from the gist of the present invention are within the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a modular drill jumbo control system which characterized in that: the control unit comprises a vehicle body control unit, an operation unit and at least one drill boom control unit; the arithmetic unit comprises a whole vehicle arithmetic unit and at least one drill boom arithmetic unit; the control unit is connected with the operation unit through a communication bus; the drill boom operation unit and the drill boom control unit jointly control the drill boom; the operation unit is used for providing a drill boom working mode.
2. A combined drill jumbo control system as claimed in claim 1, wherein: the working modes include manual, semi-automatic and fully automatic.
3. A combined drill jumbo control system as claimed in claim 2, wherein: the vehicle body control unit comprises a vehicle body controller, an electric control hydraulic pump, an electric control hydraulic valve I and a sensor I, wherein the electric control hydraulic pump and the electric control hydraulic valve are electrically connected with the vehicle body controller.
4. A combined drill jumbo control system as claimed in claim 2, wherein: the drill boom control unit comprises a drill boom controller, an electric control hydraulic valve II and a sensor II, wherein the electric control hydraulic valve II and the sensor II are electrically connected with the drill boom controller.
5. A combined drill jumbo control system as claimed in claim 2, wherein: the drill boom operation unit comprises a drill boom operation host, an angle sensor and a length sensor, and the angle sensor and the length sensor are electrically connected with the drill boom operation host.
6. A combined drill jumbo control system as claimed in claim 2, wherein: the operation unit comprises an operation controller, a display, an operation handle and a key switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992955.5A CN111997584A (en) | 2020-09-21 | 2020-09-21 | Combined control system for rock drilling jumbo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992955.5A CN111997584A (en) | 2020-09-21 | 2020-09-21 | Combined control system for rock drilling jumbo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111997584A true CN111997584A (en) | 2020-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010992955.5A Pending CN111997584A (en) | 2020-09-21 | 2020-09-21 | Combined control system for rock drilling jumbo |
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| Country | Link |
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| CN (1) | CN111997584A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112698586A (en) * | 2021-03-24 | 2021-04-23 | 广东慧山智能机械有限公司 | Drilling mode switching method, drilling equipment and readable storage medium |
| CN112878981A (en) * | 2021-01-28 | 2021-06-01 | 中国矿业大学 | Control system and control method of drill jumbo |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102782241A (en) * | 2010-02-25 | 2012-11-14 | 山特维克矿山工程机械有限公司 | Rock drilling rig, method for rock drilling, and control system of rock drilling rig |
| CN104265274A (en) * | 2014-09-05 | 2015-01-07 | 燕山大学 | Method for achieving automatic positioning of cross section parallel hole for rock drilling machine rapidly and accurately |
| US20170114594A1 (en) * | 2015-10-22 | 2017-04-27 | Sandvik Mining And Construction Oy | Rock drilling rig |
| CN212296336U (en) * | 2020-09-21 | 2021-01-05 | 徐州徐工铁路装备有限公司 | Combined control system for rock drilling jumbo |
-
2020
- 2020-09-21 CN CN202010992955.5A patent/CN111997584A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| CN102782241A (en) * | 2010-02-25 | 2012-11-14 | 山特维克矿山工程机械有限公司 | Rock drilling rig, method for rock drilling, and control system of rock drilling rig |
| CN104265274A (en) * | 2014-09-05 | 2015-01-07 | 燕山大学 | Method for achieving automatic positioning of cross section parallel hole for rock drilling machine rapidly and accurately |
| US20170114594A1 (en) * | 2015-10-22 | 2017-04-27 | Sandvik Mining And Construction Oy | Rock drilling rig |
| CN212296336U (en) * | 2020-09-21 | 2021-01-05 | 徐州徐工铁路装备有限公司 | Combined control system for rock drilling jumbo |
Non-Patent Citations (1)
| Title |
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| 王恒升;何清华;薛云;: "基于CAN总线的凿岩机器人分布式控制系统设计", 传感技术学报, no. 03, 30 March 2007 (2007-03-30), pages 711 - 714 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112878981A (en) * | 2021-01-28 | 2021-06-01 | 中国矿业大学 | Control system and control method of drill jumbo |
| CN112878981B (en) * | 2021-01-28 | 2023-02-17 | 中国矿业大学 | Control system and control method of drill jumbo |
| CN112698586A (en) * | 2021-03-24 | 2021-04-23 | 广东慧山智能机械有限公司 | Drilling mode switching method, drilling equipment and readable storage medium |
| CN112698586B (en) * | 2021-03-24 | 2021-07-02 | 广东慧山智能机械有限公司 | Drilling mode switching method, drilling equipment and readable storage medium |
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