CN112303067A - Anchor cable drilling machine electro-hydraulic control system - Google Patents
Anchor cable drilling machine electro-hydraulic control system Download PDFInfo
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- CN112303067A CN112303067A CN202011146222.6A CN202011146222A CN112303067A CN 112303067 A CN112303067 A CN 112303067A CN 202011146222 A CN202011146222 A CN 202011146222A CN 112303067 A CN112303067 A CN 112303067A
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- 238000005553 drilling Methods 0.000 title claims abstract description 62
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 91
- 238000001514 detection method Methods 0.000 claims abstract description 79
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
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- 238000010586 diagram Methods 0.000 description 6
- 239000003245 coal Substances 0.000 description 2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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Abstract
The invention provides an anchor cable drilling machine electrohydraulic control system, which comprises: the system comprises a variable pump, a feeding hydraulic oil cylinder, a rotating speed sensor, a controller, an explosion-proof electromagnetic proportional multi-way valve, a plurality of target hydraulic oil cylinders and a plurality of pressure sensors, wherein the variable pump is connected with the explosion-proof electromagnetic proportional multi-way valve through a pipeline; each sheet valve in the explosion-proof electromagnetic proportional multi-way valve is respectively connected with a plurality of target hydraulic oil cylinders through pipelines; detection points are arranged at the limit positions of the piston rods extending to the right positions and the limit positions of the piston rods retracting to the right positions of the target hydraulic oil cylinders; the controller controls the explosion-proof electromagnetic proportional multi-way valve according to a plurality of pressure values obtained by pressure detection of a plurality of pressure sensors on each detection point, the rotating speed acquired by the rotating speed sensors and the feeding speed and the feeding displacement of the drill box detected by the encoder, so that the automatic control of the anchor cable drilling machine is realized, and the problems that the existing control system of the anchor cable drilling machine cannot realize remote operation, the labor intensity of workers is high, the automation level is low and the like are solved.
Description
Technical Field
The invention relates to the technical field of anchor cable drilling machine control, in particular to an anchor cable drilling machine electro-hydraulic control system.
Background
The anchor cable drilling machine is used for drilling holes and resin stirring in the coal mine roadway anchor cable supporting work. The anchor cable drilling machine is key equipment for anchor rod support, has great influence on the quality of anchor cable support, and plays an indispensable role in coal mine safety production.
However, the existing hydraulic control system of the anchor cable drilling machine has the defects of low automation degree, high labor intensity of workers, low supporting efficiency, severe working environment, incapability of remote control, poor safety and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention provides an anchor cable drilling machine electro-hydraulic control system, which aims to solve the problems of low automation degree, high labor intensity of workers, low supporting efficiency, severe working environment, incapability of remote control, poor safety and the like of the conventional anchor cable drilling machine electro-hydraulic control system and realize the automatic control of an anchor cable drilling machine.
An embodiment of the invention provides an anchor cable drilling machine electro-hydraulic control system, which comprises: the system comprises a variable pump, a feeding hydraulic oil cylinder, a rotating speed sensor, a controller, an explosion-proof electromagnetic proportional multi-way valve, a plurality of target hydraulic oil cylinders and a plurality of pressure sensors;
the variable pump is connected with the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
each sheet valve in the explosion-proof electromagnetic proportional multi-way valve is respectively connected with the target hydraulic oil cylinders through pipelines;
the target hydraulic cylinders comprise an anchor rod bin rotating hydraulic cylinder, a manipulator rotating hydraulic cylinder, a lower manipulator hydraulic cylinder and an upper manipulator hydraulic cylinder, and detection points are arranged at the extreme positions of the piston rods extending out of the positions and the extreme positions of the piston rods retracting in the positions;
the pressure sensors are respectively connected with the detection points and used for detecting the pressure of the detection points;
the rotation speed sensor is used for collecting the rotation speed of a drill box motor in a drill box of the anchor cable drilling machine;
the encoder is used for detecting the feeding speed and the feeding displacement of the drilling box by monitoring the number of the chain rotating wheels; the chain is connected with a drilling box of the anchor cable drilling machine and used for driving the drilling box to generate the feeding displacement under the action of a feeding hydraulic oil cylinder;
the controller is connected with the target hydraulic oil cylinders, the pressure sensors, the rotating speed sensor, the encoder and the explosion-proof electromagnetic proportional multi-way valve and is used for controlling the explosion-proof electromagnetic proportional multi-way valve according to a plurality of pressure values obtained by pressure detection of the pressure sensors on the detection points, the rotating speed acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drilling box detected by the encoder.
Optionally, the robot rotation hydraulic cylinder comprises: the first manipulator rotating hydraulic cylinder and the second manipulator rotating hydraulic cylinder are arranged on the same side of the frame;
a first plate valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the anchor rod bin rotary hydraulic oil cylinder through a pipeline; a second sheet valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the first manipulator rotating hydraulic oil cylinder through a pipeline; a third valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the second manipulator rotating hydraulic oil cylinder through a pipeline; a fourth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with a hydraulic oil cylinder of the lower manipulator through a pipeline; a fifth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the upper manipulator hydraulic oil cylinder through a pipeline; and an eighth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the feeding hydraulic oil cylinder through a pipeline.
Optionally, the plurality of pressure sensors comprises:
the anchor rod bin extension pressure sensor is connected with a detection point arranged at the extension in-place limit position of a piston rod of the anchor rod bin rotary hydraulic oil cylinder;
the anchor rod bin retraction pressure sensor is connected with a detection point arranged at the limit position of the anchor rod bin rotary hydraulic oil cylinder in the retraction position;
the first manipulator rotation extension pressure sensor is connected with a detection point arranged at the extension-in-place limit position of a piston rod of the first manipulator rotation hydraulic oil cylinder;
the first manipulator rotation retraction pressure sensor is connected with a detection point arranged at a piston rod retraction in-place limit position of the first manipulator rotation hydraulic oil cylinder.
Optionally, the plurality of pressure sensors further comprises:
the second manipulator rotary extension pressure sensor is connected with a detection point arranged at the position of a piston rod extension in-place limit of the second manipulator rotary hydraulic oil cylinder;
the second manipulator rotation retraction pressure sensor is connected with a detection point arranged at a piston rod retraction in-place limit position of the second manipulator rotation hydraulic oil cylinder;
the lower manipulator extension pressure sensor is connected with a detection point arranged at the limit position of the extension position of a piston rod of the hydraulic oil cylinder of the lower manipulator;
the lower manipulator retraction pressure sensor is connected with a detection point arranged at a retraction in-place limit position of a piston rod of the lower manipulator hydraulic oil cylinder;
the upper manipulator extends out of the pressure sensor, the upper manipulator extends out of the pressure sensor and is connected with a detection point arranged at the position of a piston rod of the upper manipulator hydraulic oil cylinder extending out to the position limit;
and the upper manipulator retraction pressure sensor is connected with a detection point arranged at the limit position of the upper manipulator hydraulic oil cylinder at which the piston rod retracts.
Optionally, the system further comprises:
an electromagnetic water valve;
the sixth sheet valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the unloading rod hydraulic oil cylinder through a pipeline;
the seventh valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the drilling box motor through a pipeline;
and a ninth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the drill clamping hydraulic oil cylinder through a pipeline.
Optionally, the drill clamping hydraulic cylinder comprises a left drill clamping hydraulic cylinder and a right drill clamping hydraulic cylinder; the plurality of pressure sensors further comprising:
the pressure sensor of the hydraulic oil cylinder of the unloading rod is connected with a detection point arranged in the hydraulic oil cylinder of the unloading rod;
the in-place pressure sensor of the left drill clamping hydraulic oil cylinder is connected with a detection point arranged in the left drill clamping hydraulic oil cylinder;
the right drill clamping hydraulic oil cylinder in-place pressure sensor is connected with a detection point arranged in the right drill clamping hydraulic oil cylinder;
and the clamping drill rod pressure sensor is connected with a ninth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline.
Optionally, the plurality of pressure sensors further comprises:
the feeding pressure sensor is connected with an eighth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the rotary pressure sensor is connected with a seventh valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the upper manipulator pressure sensor is connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the lower mechanical hand pressure sensor is connected with a fourth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
and the water system pressure sensor is connected with the electromagnetic water valve through a pipeline.
Optionally, the system further comprises:
the explosion-proof electromagnetic proportional overflow valve group is connected with the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the explosion-proof electromagnetic proportional overflow valve group comprises a first overflow valve, a second overflow valve, a third overflow valve and a fourth overflow valve;
the first overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with an eighth valve in the explosion-proof electromagnetic proportional multi-way valve and the feed pressure sensor;
the second overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a seventh valve in the explosion-proof electromagnetic proportional multi-way valve and the rotary pressure sensor;
a third overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve and the upper manipulator pressure sensor;
and a fourth overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a fourth valve in the explosion-proof electromagnetic proportional multi-way valve and the lower manipulator pressure sensor.
Optionally, the system further comprises:
the control unit is provided with an initialization function key, an emergency stop key, a power supply key and a target function key for controlling the anchor cable drilling machine, and responds to key triggering operation and sends a remote control instruction;
the receiving unit is used for receiving the remote control instruction and sending the remote control instruction to the controller;
the controller is configured to generate a corresponding control instruction according to a plurality of pressure values obtained by performing pressure detection on each detection point by the remote control instruction and the plurality of pressure sensors when receiving the remote control instruction sent by the receiving unit, and send the control instruction to the explosion-proof electromagnetic proportional multi-way valve and the explosion-proof electromagnetic proportional overflow valve group; when the control instruction is an initialization instruction, the control instruction is used for controlling the drill box to bottom, clamping and retracting, the upper manipulator to retract, the lower manipulator to retract, the first manipulator rotating hydraulic cylinder to retract, the second manipulator rotating hydraulic cylinder to retract, the anchor rod bin to retract and the rod detaching hydraulic cylinder to extend so as to complete initialization action.
Optionally, the system further comprises:
and the display unit is connected with the controller and is used for displaying a plurality of pressure values obtained by pressure detection of the pressure sensors on the detection points, the rotating speed acquired by the rotating speed sensors and the feeding speed and the feeding displacement of the drilling box detected by the encoder.
According to the anchor cable drilling machine electro-hydraulic control system, the pressure sensors are used for acquiring the pressure values of the detection points, the rotating speed sensor is used for acquiring the rotating speed of a drill box motor in a drill box of the anchor cable drilling machine, the encoder is used for detecting the feeding speed and the feeding displacement of the drill box, and the controller is used for carrying out data analysis on the pressure values of the detection points, the rotating speed acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drill box detected by the encoder so as to control the explosion-proof electromagnetic proportional multi-way valve, so that the anchor cable drilling machine is automatically controlled, and the problems that the existing anchor cable drilling machine control system cannot realize remote operation, is high in labor intensity of workers, low in automation level and the like are effectively solved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram of an anchor line drilling rig electro-hydraulic control system according to an embodiment of the present invention;
fig. 2 is a block diagram of an electrohydraulic control system of an anchor cable drilling machine according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The anchor line drilling rig electro-hydraulic control system of the embodiment of the invention is described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an anchor line drilling rig electro-hydraulic control system according to an embodiment of the present invention.
As shown in fig. 1, the anchor line drilling rig electro-hydraulic control system 10 may include: a variable displacement pump 11, a feed hydraulic ram 12, a rotational speed sensor (not shown in fig. 1), a controller (not shown in fig. 1), an explosion-proof electromagnetic proportional multi-way valve 13, a plurality of target hydraulic rams (not shown in fig. 1), and a plurality of pressure sensors (not shown in fig. 1).
Wherein, the variable pump 11 is connected with the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline; each path of valve in the explosion-proof electromagnetic proportional multi-path valve 14 is respectively connected with a plurality of target hydraulic oil cylinders through pipelines;
optionally, the plurality of target hydraulic rams may comprise: a bolt magazine swivel hydraulic ram 151, a robot swivel hydraulic ram (not shown in fig. 1), a lower robot hydraulic ram 153 and an upper robot hydraulic ram 154.
Detection points are arranged at the limit positions of the piston rods extending to the right position and the limit positions of the piston rods retracting to the right position of each target hydraulic oil cylinder.
And the pressure sensors are respectively connected with detection points arranged at the limit positions of the target hydraulic oil cylinders at which the piston rods extend to the right positions and the limit positions of the target hydraulic oil cylinders at which the piston rods retract to the right positions, and are used for detecting the pressure of the detection points.
And the rotating speed sensor is used for acquiring the rotating speed of a drill box motor in the drill box of the anchor cable drilling machine.
The encoder is used for detecting the feeding speed and the feeding displacement of the drill box by monitoring the number of the chain rotating wheels; the chain is connected with a drill box of the anchor cable drilling machine and used for driving the drill box to generate feeding displacement under the action of the feeding hydraulic oil cylinder 12.
And the controller is connected with the target hydraulic oil cylinders, the pressure sensors, the rotating speed sensor, the encoder and the anti-explosion electromagnetic proportional multi-way valve 13 and is used for controlling the anti-explosion electromagnetic proportional multi-way valve according to a plurality of pressure values obtained by pressure detection of the pressure sensors on the detection points, the rotating speed acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drilling box obtained by detection of the encoder.
Optionally, the robot rotation hydraulic cylinder may include: a first robot rotation hydraulic cylinder 1521 and a second robot rotation hydraulic cylinder 1522.
The first plate valve in the explosion-proof electromagnetic proportional multi-way valve 13 can be connected with the anchor rod bin rotary hydraulic oil cylinder 151 through a pipeline; a second sheet valve in the explosion-proof electromagnetic proportional multi-way valve 13 can be connected with a first manipulator rotating hydraulic oil cylinder 1521 through a pipeline; a third valve in the explosion-proof electromagnetic proportional multi-way valve 13 can be connected with a second manipulator rotating hydraulic oil cylinder 1522 through a pipeline; the fourth valve in the explosion-proof electromagnetic proportional multi-way valve 13 can be connected with the hydraulic oil cylinder 153 of the lower manipulator through a pipeline; and a fifth valve in the explosion-proof electromagnetic proportional multi-way valve 13 can be connected with the upper manipulator hydraulic oil cylinder 154 through a pipeline.
Wherein, a plurality of pressure sensor includes: an anchor bin extension pressure sensor 161, an anchor bin retraction pressure sensor 162, a first robot rotation extension pressure sensor 163, a first robot rotation retraction pressure sensor 164, a second robot rotation extension pressure sensor 165, a second robot rotation retraction pressure sensor 166, a lower robot extension pressure sensor 167, a lower robot retraction pressure sensor 168, an upper robot extension pressure sensor 169, and an upper robot retraction pressure sensor 170.
Wherein, the anchor rod cabin extension pressure sensor 161 is connected with a detection point arranged at the limit position of the anchor rod cabin rotation hydraulic oil cylinder 151 where the piston rod extends out; the anchor rod bin retraction pressure sensor 162 is connected with a detection point arranged at the limit position of the anchor rod bin rotary hydraulic oil cylinder 151 at which the piston rod is retracted; the first manipulator rotation extension pressure sensor 163 is connected with a detection point arranged at a piston rod extension position limit position of the first manipulator rotation hydraulic cylinder 1521; the first manipulator rotation retraction pressure sensor 164 is connected to a detection point provided at a piston rod retraction-to-position limit position of the first manipulator rotation hydraulic cylinder 1521; the second manipulator rotary extension pressure sensor 165 is connected with a detection point arranged at the limit position of the piston rod of the second manipulator rotary hydraulic cylinder 1522 extending to the position; the second manipulator rotation retraction pressure sensor 166 is connected to a detection point provided at a piston rod retraction position limit position of the second manipulator rotation hydraulic cylinder 1522; the lower manipulator extension pressure sensor 167 is connected with a detection point arranged at the limit position of the extension position of the piston rod of the lower manipulator hydraulic oil cylinder 153; the lower manipulator retraction pressure sensor 168 is connected with a detection point arranged at the position of the limit position where the piston rod of the lower manipulator hydraulic oil cylinder 153 retracts; the upper manipulator extension pressure sensor 169 is connected with a detection point arranged at the position of a piston rod extension position limit of the upper manipulator hydraulic oil cylinder 154; the upper manipulator retraction pressure sensor 170 is connected to a detection point provided at a piston rod retraction-to-position limit position of the upper manipulator hydraulic cylinder 154.
Optionally, the anchor line drilling rig electro-hydraulic control system 10 may further include: an electromagnetic water valve 20, a rod unloading hydraulic oil cylinder 21, a drill box motor 22 and a drill clamping hydraulic oil cylinder 23.
Wherein, the sixth sheet valve in the explosion-proof electromagnetic proportional multi-way valve 13 is connected with the unloading rod hydraulic oil cylinder 21 through a pipeline; the seventh valve in the explosion-proof electromagnetic proportional multi-way valve 13 is connected with the drill box motor 22 through a pipeline; the eighth valve in the explosion-proof electromagnetic proportional multi-way valve 13 is connected with the feeding hydraulic oil cylinder 120 through a pipeline; and a ninth valve in the explosion-proof electromagnetic proportional multi-way valve 13 is connected with the clamping hydraulic oil cylinder 23 through a pipeline.
Optionally, the clamping hydraulic cylinder 23 may further include: a left clamping hydraulic oil cylinder and a right clamping hydraulic oil cylinder. A plurality of pressure sensors, further comprising: a rod unloading hydraulic cylinder pressure sensor 171, a left clamping drill rod hydraulic cylinder in-place pressure sensor 172, a right clamping drill rod hydraulic cylinder in-place pressure sensor 173 and a clamping drill rod pressure sensor 174.
Wherein, the pressure sensor 171 of the hydraulic oil cylinder of the unloading rod is connected with a detection point arranged in the hydraulic oil cylinder 21 of the unloading rod; the left drill clamping hydraulic oil cylinder in-place pressure sensor 172 is connected with a detection point arranged in the left drill clamping hydraulic oil cylinder 231; the right clamping drill rod hydraulic oil cylinder in-place pressure sensor 173 is connected with a detection point arranged in the right clamping drill rod hydraulic oil cylinder 232; and the clamping pressure sensor 174 is connected with the ninth plate valve in the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline.
Optionally, the plurality of pressure sensors may further include: a feed pressure sensor 175, a rotation pressure sensor 176, an upper robot pressure sensor 177, a lower robot pressure sensor 178, and a water system pressure sensor 179.
Wherein, the feed pressure sensor 175 can be connected with the eighth valve of the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline; the rotary pressure sensor 176 can be connected with a seventh valve in the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline; the upper manipulator pressure sensor 177 can be connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline; the lower manipulator pressure sensor 178 can be connected with a fourth sheet valve in the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline; the water system pressure sensor may be connected to the solenoid water valve 20 by a pipe.
Optionally, the anchor line drilling rig electro-hydraulic control system 10 may further include: explosion-proof electromagnetic proportional overflow valve group 30. The explosion-proof electromagnetic proportional overflow valve group 30 can be connected with the explosion-proof electromagnetic proportional multi-way valve 13 through a pipeline.
The explosion-proof electromagnetic proportional overflow valve group 30 can determine a pressure limit value according to the working condition and feed back the pressure limit value to the feedback pressure limiting port.
Alternatively, the explosion-proof electromagnetic proportional relief valve group 30 may include a first relief valve 31, a second relief valve 32, a third relief valve 33, and a fourth relief valve 34.
The first overflow valve 31 of the explosion-proof electromagnetic proportional overflow valve group 30 is connected with the eighth valve of the explosion-proof electromagnetic proportional multi-way valve 13 and the feed pressure sensor 175; the second overflow valve 32 of the explosion-proof electromagnetic proportional overflow valve group 30 is connected with the seventh valve in the explosion-proof electromagnetic proportional multi-way valve 13 and the rotary pressure sensor 176; the third overflow valve 33 of the explosion-proof electromagnetic proportional overflow valve group 30 is connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve 13 and an upper manipulator pressure sensor 177; the fourth overflow valve 34 of the explosion-proof electromagnetic proportional overflow valve group 30 is connected with the fourth valve in the explosion-proof electromagnetic proportional multi-way valve 13 and the lower mechanical hand pressure sensor 178.
On the basis, fig. 2 is a block diagram of an electrohydraulic control system of an anchor cable drilling machine according to an embodiment of the present invention.
As shown in fig. 2, the anchor line drilling rig electro-hydraulic control system 20 may include: control unit 40, receiving unit 50, display unit 60.
The control unit 40 is provided with an initialization function key, an emergency stop key, a power supply key and a target function key for controlling the anchor cable drilling machine, and sends a remote control instruction in response to key triggering operation.
Alternatively, the control unit 40 may be a remote controller with a band selection function, and different bands may be preset to correspond to different anchor cable frames, so as to control the corresponding anchor cable frames by switching the bands. In addition, one remote controller can control a plurality of anchor cable drill rigs simultaneously.
The receiving unit 50 is configured to receive the remote control instruction sent by the control unit 40, and send the remote control instruction to the controller.
And the controller is configured to generate a corresponding control instruction according to a plurality of pressure values obtained by performing pressure detection on each detection point according to the remote control instruction and the plurality of pressure sensors after receiving the remote control instruction sent by the receiving unit 50, so as to send the control instruction to the explosion-proof electromagnetic proportional multi-way valve 13 and the explosion-proof electromagnetic proportional overflow valve group 30.
When the control instruction is an initialization instruction, the control instruction is used for controlling the drill box to bottom, clamping and retracting, the upper manipulator to retract, the lower manipulator to retract, the first manipulator rotating hydraulic cylinder to retract, the second manipulator rotating hydraulic cylinder to retract, the anchor rod bin to retract and the rod disassembling hydraulic cylinder to extend so as to complete initialization action.
And when the control instruction is an emergency stop instruction, the control instruction is used for controlling the drill box, the clamping drill rod, the upper manipulator, the lower manipulator, the first manipulator rotating hydraulic cylinder, the second manipulator rotating hydraulic cylinder, the anchor rod bin and the rod disassembling hydraulic cylinder to stop working.
The display unit 60 is connected to the controller, and is configured to display a plurality of pressure values obtained by pressure detection of the plurality of pressure sensors on each detection point, a rotation speed acquired by the rotation speed sensor, and a feeding speed and a feeding displacement of the drill box detected by the encoder. The display unit may be a display screen.
The invention combines the display unit and the control unit for the automatic operation of the anchor cable drilling machine, integrates the functions of one-key automatic control and one-key initialization, and adopts the display unit to display the action state data and the parameter condition of the anchor cable drilling machine.
As shown in fig. 2, the anchor line drilling rig electrohydraulic control system 20 may further include: the device comprises a power supply 1, an encoder 2, a pressure sensor 3, a rotating speed sensor 4, a control box 70, an explosion-proof electromagnetic proportional multi-way valve 13 and an explosion-proof electromagnetic proportional overflow valve 30.
The encoder 2 is used for detecting the feeding speed and the feeding displacement of the drill box by monitoring the number of the chain rotating wheels.
And the rotating speed sensor 4 is used for acquiring the rotating speed of a drilling box motor in the drilling box for the drilling box of the anchor cable drilling machine.
The control box 70 includes input terminals, a controller, output terminals, and an amplifier. The input terminal is electrically connected with the receiving unit 50, the power supply 1, the encoder 2, the pressure sensor 3, the rotation speed sensor 4 and the display unit 60.
The number of the pressure sensors 3 may be multiple, and the multiple pressure sensors are respectively connected to the detection points and used for performing pressure detection on the detection points.
In the invention, after the controller receives a plurality of pressure values obtained by pressure detection of the pressure sensor on a detection point, the rotating speed of the drill box motor acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drill box detected by the encoder through the input terminal, the explosion-proof electromagnetic proportional multi-way valve 13 is controlled according to the plurality of pressure values, the rotating speed, the feeding speed and the feeding displacement of the drill box, so that the rotating speed of the drill box motor, the feeding speed and the feeding displacement of the drill box, the output force of the upper manipulator, the output force of the lower manipulator and the like are controlled, and the anchor cable drilling machine is automatically controlled.
The electro-hydraulic control system of the anchor cable drilling machine comprises a plurality of pressure sensors, a rotating speed sensor, an encoder, a controller and an explosion-proof electromagnetic proportional multi-way valve, wherein the pressure sensors are used for acquiring a plurality of pressure values of each detection point, the rotating speed sensor is used for acquiring the rotating speed of a drill box motor in a drill box of the anchor cable drilling machine, the encoder is used for detecting the feeding speed and the feeding displacement of the drill box, the controller is used for carrying out data analysis on the pressure values of the detection points, the rotating speed acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drill box detected by the encoder, and determining the corresponding position and working condition of the anchor cable drilling machine during working, so that the rotating speed, the rotating pressure, the feeding lifting speed and pressure, the output force of an upper manipulator and the output force of a lower manipulator are controlled by controlling the explosion-proof electromagnetic proportional multi-way, The labor intensity of workers is high, the automation level is low, and the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in schematic diagrams or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the schematic diagrams or otherwise described herein, such as a sequential list of executable instructions that may be thought of as being useful to implement logical functions, may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An anchor line drilling machine electro-hydraulic control system, comprising: the system comprises a variable pump, a feeding hydraulic oil cylinder, a rotating speed sensor, a controller, an explosion-proof electromagnetic proportional multi-way valve, a plurality of target hydraulic oil cylinders and a plurality of pressure sensors;
the variable pump is connected with the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
each sheet valve in the explosion-proof electromagnetic proportional multi-way valve is respectively connected with the target hydraulic oil cylinders through pipelines;
the target hydraulic cylinders comprise an anchor rod bin rotating hydraulic cylinder, a manipulator rotating hydraulic cylinder, a lower manipulator hydraulic cylinder and an upper manipulator hydraulic cylinder, and detection points are arranged at the extreme positions of the piston rods extending out of the positions and the extreme positions of the piston rods retracting in the positions;
the pressure sensors are respectively connected with the detection points and used for detecting the pressure of the detection points;
the rotation speed sensor is used for collecting the rotation speed of a drill box motor in a drill box of the anchor cable drilling machine;
the encoder is used for detecting the feeding speed and the feeding displacement of the drilling box by monitoring the number of the chain rotating wheels; the chain is connected with a drilling box of the anchor cable drilling machine and used for driving the drilling box to generate the feeding displacement under the action of a feeding hydraulic oil cylinder;
the controller is connected with the target hydraulic oil cylinders, the pressure sensors, the rotating speed sensor, the encoder and the explosion-proof electromagnetic proportional multi-way valve and is used for controlling the explosion-proof electromagnetic proportional multi-way valve according to a plurality of pressure values obtained by pressure detection of the pressure sensors on the detection points, the rotating speed acquired by the rotating speed sensor and the feeding speed and the feeding displacement of the drilling box detected by the encoder.
2. The system of claim 1,
the rotatory hydraulic cylinder of manipulator includes: the first manipulator rotating hydraulic cylinder and the second manipulator rotating hydraulic cylinder are arranged on the same side of the frame;
a first plate valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the anchor rod bin rotary hydraulic oil cylinder through a pipeline; a second sheet valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the first manipulator rotating hydraulic oil cylinder through a pipeline; a third valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the second manipulator rotating hydraulic oil cylinder through a pipeline; a fourth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with a hydraulic oil cylinder of the lower manipulator through a pipeline; a fifth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the upper manipulator hydraulic oil cylinder through a pipeline; and an eighth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the feeding hydraulic oil cylinder through a pipeline.
3. The system of claim 2, wherein the plurality of pressure sensors comprises:
the anchor rod bin extension pressure sensor is connected with a detection point arranged at the extension in-place limit position of a piston rod of the anchor rod bin rotary hydraulic oil cylinder;
the anchor rod bin retraction pressure sensor is connected with a detection point arranged at the limit position of the anchor rod bin rotary hydraulic oil cylinder in the retraction position;
the first manipulator rotation extension pressure sensor is connected with a detection point arranged at the extension-in-place limit position of a piston rod of the first manipulator rotation hydraulic oil cylinder;
the first manipulator rotation retraction pressure sensor is connected with a detection point arranged at a piston rod retraction in-place limit position of the first manipulator rotation hydraulic oil cylinder.
4. The system of claim 2, wherein the plurality of pressure sensors further comprises:
the second manipulator rotary extension pressure sensor is connected with a detection point arranged at the position of a piston rod extension in-place limit of the second manipulator rotary hydraulic oil cylinder;
the second manipulator rotation retraction pressure sensor is connected with a detection point arranged at a piston rod retraction in-place limit position of the second manipulator rotation hydraulic oil cylinder;
the lower manipulator extension pressure sensor is connected with a detection point arranged at the limit position of the extension position of a piston rod of the hydraulic oil cylinder of the lower manipulator;
the lower manipulator retraction pressure sensor is connected with a detection point arranged at a retraction in-place limit position of a piston rod of the lower manipulator hydraulic oil cylinder;
the upper manipulator extends out of the pressure sensor, the upper manipulator extends out of the pressure sensor and is connected with a detection point arranged at the position of a piston rod of the upper manipulator hydraulic oil cylinder extending out to the position limit;
and the upper manipulator retraction pressure sensor is connected with a detection point arranged at the limit position of the upper manipulator hydraulic oil cylinder at which the piston rod retracts.
5. The system of claim 2, further comprising:
an electromagnetic water valve;
the sixth sheet valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the unloading rod hydraulic oil cylinder through a pipeline;
the seventh valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the drilling box motor through a pipeline;
and a ninth valve in the explosion-proof electromagnetic proportional multi-way valve is connected with the drill clamping hydraulic oil cylinder through a pipeline.
6. The system of claim 5, wherein the clamping pin hydraulic cylinder comprises a left clamping pin hydraulic cylinder and a right clamping pin hydraulic cylinder; the plurality of pressure sensors further comprising:
the pressure sensor of the hydraulic oil cylinder of the unloading rod is connected with a detection point arranged in the hydraulic oil cylinder of the unloading rod;
the in-place pressure sensor of the left drill clamping hydraulic oil cylinder is connected with a detection point arranged in the left drill clamping hydraulic oil cylinder;
the right drill clamping hydraulic oil cylinder in-place pressure sensor is connected with a detection point arranged in the right drill clamping hydraulic oil cylinder;
and the clamping drill rod pressure sensor is connected with a ninth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline.
7. The system of claim 5, wherein the plurality of pressure sensors further comprises:
the feeding pressure sensor is connected with an eighth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the rotary pressure sensor is connected with a seventh valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the upper manipulator pressure sensor is connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the lower mechanical hand pressure sensor is connected with a fourth valve in the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
and the water system pressure sensor is connected with the electromagnetic water valve through a pipeline.
8. The system of claim 7, further comprising:
the explosion-proof electromagnetic proportional overflow valve group is connected with the explosion-proof electromagnetic proportional multi-way valve through a pipeline;
the explosion-proof electromagnetic proportional overflow valve group comprises a first overflow valve, a second overflow valve, a third overflow valve and a fourth overflow valve;
the first overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with an eighth valve in the explosion-proof electromagnetic proportional multi-way valve and the feed pressure sensor;
the second overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a seventh valve in the explosion-proof electromagnetic proportional multi-way valve and the rotary pressure sensor;
a third overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a fifth valve in the explosion-proof electromagnetic proportional multi-way valve and the upper manipulator pressure sensor;
and a fourth overflow valve of the explosion-proof electromagnetic proportional overflow valve group is connected with a fourth valve in the explosion-proof electromagnetic proportional multi-way valve and the lower manipulator pressure sensor.
9. The system of claim 8, further comprising:
the control unit is provided with an initialization function key, an emergency stop key, a power supply key and a target function key for controlling the anchor cable drilling machine, and responds to key triggering operation and sends a remote control instruction;
the receiving unit is used for receiving the remote control instruction and sending the remote control instruction to the controller;
the controller is configured to generate a corresponding control instruction according to a plurality of pressure values obtained by performing pressure detection on each detection point by the remote control instruction and the plurality of pressure sensors when receiving the remote control instruction forwarded by the receiving unit, so as to send the control instruction to the explosion-proof electromagnetic proportional multi-way valve and the explosion-proof electromagnetic proportional overflow valve group; when the control instruction is an initialization instruction, the control instruction is used for controlling the drill box to bottom, clamping and retracting, the upper manipulator to retract, the lower manipulator to retract, the first manipulator rotating hydraulic cylinder to retract, the second manipulator rotating hydraulic cylinder to retract, the anchor rod bin to retract and the rod detaching hydraulic cylinder to extend so as to complete initialization action.
10. The system of claim 8, further comprising:
and the display unit is connected with the controller and is used for displaying a plurality of pressure values obtained by pressure detection of the pressure sensors on the detection points, the rotating speed acquired by the rotating speed sensors and the feeding speed and the feeding displacement of the drilling box detected by the encoder.
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| CN202011146222.6A CN112303067A (en) | 2020-10-23 | 2020-10-23 | Anchor cable drilling machine electro-hydraulic control system |
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