CN113202524A - Walking type anchoring equipment safety interlocking system and control method thereof - Google Patents
Walking type anchoring equipment safety interlocking system and control method thereof Download PDFInfo
- Publication number
- CN113202524A CN113202524A CN202110503638.7A CN202110503638A CN113202524A CN 113202524 A CN113202524 A CN 113202524A CN 202110503638 A CN202110503638 A CN 202110503638A CN 113202524 A CN113202524 A CN 113202524A
- Authority
- CN
- China
- Prior art keywords
- walking
- equipment
- anchoring equipment
- type anchoring
- anchoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004873 anchoring Methods 0.000 title claims abstract description 228
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 47
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 description 3
- 239000003245 coal Substances 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 230000005641 tunneling Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a safety interlocking system of walking type anchoring equipment and a control method thereof, wherein the safety interlocking system comprises a forepoling system, an anchoring system, a walking supporting system of the walking type anchoring equipment, a rotating system of the walking type anchoring equipment and a laser radar monitoring system of the walking type anchoring equipment; the advance support system is arranged on a sliding chute of the main walking support system of the walking type anchoring equipment; the anchoring system is arranged at the front end of the walking supporting system of the walking anchoring equipment through bolts; the walking type anchoring equipment rotating system is arranged between the front supporting leg and the rear supporting leg of the walking type anchoring equipment main walking supporting system through bolts; and the laser radar monitoring systems of the walking type anchoring equipment are distributed and installed on all subsystems of the walking type anchoring equipment. Further, the safety interlocking system can avoid collision between the equipment and other equipment and personnel, misoperation or misoperation of the equipment and the like, so that the stability and the safety of the equipment are improved.
Description
Technical Field
The invention relates to a device and a method for protecting cooperative operation of digging, anchoring and supporting equipment on a fully-mechanized excavation working face, in particular to a walking type anchoring equipment safety interlocking system and a control method thereof.
Background
At present, mining disorder becomes a common problem in the domestic coal mining process, and the coal mining speed and efficiency are severely restricted. Therefore, equipment with multifunctional cooperative operation of digging, anchoring and supporting is researched and developed by a plurality of scientific research institutions and enterprises. However, the tunneling machine is large in size and occupies most of the space on the ground of the tunneling roadway, and the traditional anchor, support and protection equipment is integrated on the top of the tunneling machine. The anchoring operation of the equipment is limited by the development machine, the performance of the equipment in each process is difficult to be fully exerted, and the problems of inconsistent excavation, anchoring and support and the like are not fundamentally solved. For this purpose, many kinds of anchor, support, protection and transportation equipment with door-type structure come into being, and representative patents are "CN202010847475. X", "CN 202010392056.1", "CN 201910275708.0" and "CN 201721580492.1". The development of this subject group, together with the advancing anchor support for the heading machine operation, was equipped with "CN 202010040881.5", "CN 202010491944.9" and "CN 202011087963.1". The anchor, the support and the protection equipment and the heading machine in the patent adopt a door-type separation structure, so that the maximum cooperative operation of the anchor, the support and the protection equipment and the heading machine can be realized. However, as the environment of the excavation working face is complex, dust is large, visibility is poor, and a heading machine passes through the inside of the anchor, support and protection equipment, the equipment is very easy to collide with the heading machine or other external equipment and personnel in the advancing and turning processes. The anchor, the support and the protection equipment in the patent scheme do not have an anti-collision and anti-misoperation safety protection system, so that the risk of damage to other equipment and personnel exists, and great potential safety hazards are brought to the safety production of coal mines.
Disclosure of Invention
The invention aims to provide a safety interlocking system of walking type anchoring equipment and a control method thereof.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a safety interlocking system of walking type anchoring equipment and a control method thereof comprise a forepoling system, an anchoring system, a walking supporting system of walking type anchoring equipment, a rotating system of walking type anchoring equipment and a laser radar monitoring system of walking type anchoring equipment; the advance support system is arranged on a sliding chute of the main walking support system of the walking type anchoring equipment; the anchoring system is arranged at the front end of the walking supporting system of the walking anchoring equipment through bolts; the walking type anchoring equipment rotating system is arranged between the front supporting leg and the rear supporting leg of the walking type anchoring equipment main walking supporting system through bolts, and is characterized in that the walking type anchoring equipment rotating system can slide on the walking type anchoring equipment main walking supporting system and alternately performs walking actions with the walking type anchoring equipment main walking supporting system, so that the front-back movement action of the total equipment is realized, and the direction-adjusting rotation action of the total equipment can be realized; the step-type anchoring equipment laser radar monitoring systems are distributed and installed on the advanced support system, the anchoring system, the step-type anchoring equipment main walking support system and the step-type anchoring equipment rotating system, and are characterized in that the distances between the subsystem and personnel, equipment and obstacles in the motion process are monitored.
The advance support system consists of an operation assembly of the advance support system and a propelling hydraulic cylinder group of the advance support system; the chute of the forepoling system operation component is embedded in the chute of the walking support system of the walking anchoring equipment; one end of the advancing hydraulic cylinder group of the advance support system is connected with the operation assembly of the advance support system through a bolt, and the other end of the advancing hydraulic cylinder group of the advance support system is fixed on a sliding chute guide rail of the main walking support system of the walking type anchoring equipment through a bolt.
The anchoring system consists of an anchoring system operation assembly and an anchoring system propelling hydraulic cylinder group; one end of the anchoring system propelling hydraulic cylinder group is connected with the anchoring system operation assembly through a bolt, and the other end of the anchoring system propelling hydraulic cylinder group is fixed on a supporting plate at the front end of the walking supporting system of the walking anchoring equipment through a bolt.
The stepping type anchoring equipment rotating system consists of a stepping type anchoring equipment rotating system pushing hydraulic cylinder group, a stepping type anchoring equipment rotating system component and a stepping type anchoring equipment rotating system rotation driving hydraulic cylinder group; one end of the stepping type anchoring equipment rotating system pushing hydraulic cylinder group is connected with the stepping type anchoring equipment rotating system component through a bolt, the other end of the stepping type anchoring equipment rotating system pushing hydraulic cylinder group is fixed on a supporting plate at the rear end of the stepping type anchoring equipment main walking supporting system through a bolt, and the stepping type anchoring equipment rotating system drives the hydraulic cylinder group to rotate and be installed on a rotary platform in the stepping type anchoring equipment rotating system component through a bolt.
The walking type anchoring equipment laser radar monitoring system comprises a forepoling system and an anchoring system laser monitoring radar, a walking type anchoring equipment main walking support system front side laser monitoring radar, a walking type anchoring equipment rotating system laser monitoring radar and a walking type anchoring equipment main walking support system rear side laser monitoring radar; the advanced support system and the anchoring system are arranged on a floor of a jumbolter platform in the anchoring system through laser monitoring radars, and the laser monitoring radar is characterized in that the distances between the advanced support system and the anchoring system and personnel, equipment and obstacles in the movement process are monitored; the device is characterized in that the distance between the walking type anchoring equipment main walking support system and personnel, equipment and obstacles in the movement process is monitored; the step type anchoring equipment rotating system laser monitoring radar is arranged on two side surfaces of a hydraulic pump station support in the step type anchoring equipment rotating system; the method is characterized in that the distance between the rotating system of the walking type anchoring equipment and personnel, equipment and obstacles in the processes of front-back movement and rotation is monitored.
A safety interlocking system of walking type anchoring equipment and a control method thereof are disclosed, wherein the safety interlocking control process is characterized by comprising the following steps:
s1: initializing a safety interlocking system of the walking type anchoring equipment;
s2: judging the locking of the total safety interlocking system of the walking type anchoring equipment, and stopping the running state if the fault is reported by mistake if the locking is not directly entered;
s3: locking the total safety interlocking system of the walking type anchoring equipment, judging the locking of the advanced support safety interlocking system, and stopping the operation if the failure is not directly reported by the locking;
s4: locking the advance support safety interlocking system, judging the locking of the safety interlocking system of the anchoring equipment, and stopping the operation if the failure is not directly reported by the locking;
s5: locking the safety interlocking system of the anchoring equipment, judging the locking of the main walking support system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked directly;
s6: locking the main walking support system, judging the locking of the rotating system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked;
s7: the rotating system is locked, and the walking type anchoring equipment normally operates.
Because the control methods of the safety interlocking systems of the advance support system, the anchoring system, the walking support system of the stepping type anchoring equipment and the rotating system of the stepping type anchoring equipment are similar, the invention is described by using the control method of the safety interlocking system of the rotating system of the stepping type anchoring equipment, and the steps are as follows:
s1: data measured by the laser monitoring radar of the walking type anchoring equipment rotating system is converted into digital signals through an ADC (analog-to-digital converter) module;
s2: the logic control circuit is connected with the ADC conversion module, receives data measured by the laser monitoring radar, and simultaneously performs amplification, filtering and logic judgment processing together with a set allowable safe distance value of equipment;
s3: the security system logic module receives the output in S2;
s4: meanwhile, the rotating system of the walking type anchoring equipment rotates to drive the hydraulic cylinder group to transmit data to a logic control circuit of the pump valve joint control system through a displacement sensor of the hydraulic cylinder group and an ADC (analog to digital converter) conversion module;
s5: the walking type anchoring equipment rotating system rotates and drives the hydraulic cylinder group to simultaneously transmit data to the pump valve joint control unit through the displacement sensor and the ADC conversion module; the pump valve joint control unit transmits control signals to a hydraulic multi-path electromagnetic valve control system and a permanent magnet synchronous motor variable frequency driving system respectively through a self-adaptive control algorithm to carry out real-time dynamic control;
s6: a motion expectation module in the pump valve joint control unit updates a motion expectation value in real time according to the walking type anchoring equipment path planning strategy and transmits data to a logic control circuit of a pump valve joint control system;
s7: the pump valve logic control circuit amplifies, filters and logically judges the received signals in S4 and S6; and transmitting to the security system logic module;
s8: the safety system logic module judges the input information in S3 and S7, if any path of information exceeds a system safety threshold value, the permanent magnet synchronous motor and the control system power supply thereof are immediately disconnected, and a fault alarm mode is started; if the input information in the S3 and the S7 does not exceed the system safety threshold, the anchoring equipment works normally;
s9: the safety interlock system of the step-type anchoring equipment rotating system repeats the operations of steps S1-S8.
The invention has the beneficial effects that:
the safety interlocking system of the stepping type anchoring equipment is established, the laser radar monitoring system of the stepping type anchoring equipment is used for monitoring the distance between each subsystem and personnel, equipment and obstacles in the motion process in real time, data are input into a logic control circuit through an ADC (analog to digital converter) conversion module and are analyzed and compared with a set threshold value, and a safety system logic module determines whether the anchoring equipment normally operates or not according to the input information of the logic control circuit, so that the equipment is prevented from colliding with other equipment and personnel and other accidents are avoided. Meanwhile, the safety interlocking system of the equipment protects the pump valve joint control system in the anchoring equipment, prevents equipment from generating misoperation or misoperation, and accordingly improves the stability and safety of the equipment.
Drawings
FIG. 1 is a schematic view of the cooperative operation of the walking type anchoring equipment and the heading machine;
FIG. 2 is a schematic view of a step-type anchoring device;
FIG. 3 is a partial schematic view of the step-wise anchoring device rotation system;
FIG. 4 is a schematic view of a step-type anchoring equipment safety interlock sensor position arrangement;
FIG. 5 is a flow chart of a safety interlock control method for the walk-behind anchoring arrangement;
FIG. 6 is a schematic diagram of one embodiment of a step-wise anchoring equipment safety interlock.
The reference numerals in the figures denote: 1. a heading machine; 2. a forepoling system; 2-1, operating components of a forepoling system; 2-2, pushing the hydraulic cylinder group by the advance support system; 3. an anchoring system; 3-1, anchoring a system operation component; 3-2, pushing the anchoring system into a hydraulic cylinder group; 4. the walking type anchoring equipment is provided with a main walking support system; 5. a step-wise anchoring equipment rotation system; 5-1, pushing the hydraulic cylinder group by a rotating system of the walking type anchoring equipment; 5-2. rotating system components of the walking type anchoring equipment; 5-3, the step type anchoring equipment rotating system rotates and drives the hydraulic cylinder group; 6. the walking type anchoring equipment is provided with a laser radar monitoring system; 6-1, laser monitoring radars of a forepoling system and an anchoring system; 6-2, the walking type anchoring equipment is provided with a laser monitoring radar on the front side of the main walking supporting system; 6-3, a laser monitoring radar of a walking type anchoring equipment rotating system; and 6-4, the stepping type anchoring equipment is provided with a laser monitoring radar on the rear side of the main walking supporting system.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described in detail with the accompanying drawings and the specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, a step-by-step anchoring equipment safety interlocking system and a control method thereof comprise a forepoling system 2, an anchoring system 3, a step-by-step anchoring equipment main walking supporting system 4, a step-by-step anchoring equipment rotating system 5 and a step-by-step anchoring equipment laser radar monitoring system 6; the advance support system 2 is arranged on a sliding chute of the walking type anchoring equipment main walking support system 4; the anchoring system 3 is arranged at the front end of the walking support system 4 of the walking anchoring equipment through bolts; the walking type anchoring equipment rotating system 5 is arranged between the front supporting leg and the rear supporting leg of the walking type anchoring equipment main walking supporting system 4 through bolts, and is characterized in that the walking type anchoring equipment rotating system can slide on the walking type anchoring equipment main walking supporting system 4 and alternately moves with the walking type anchoring equipment main walking supporting system 4, so that the front-back movement action of the total equipment is realized, and the direction-adjusting rotation action of the total equipment can be realized; the step-type anchoring equipment laser radar monitoring systems 6 are distributed and installed on the advanced support system 2, the anchoring system 3, the step-type anchoring equipment main walking support system 4 and the step-type anchoring equipment rotating system 5, and are characterized in that the distances between the subsystems and personnel, equipment and obstacles in the movement process are monitored.
Referring to fig. 1 and 2, the advance support system 2 is composed of an operation assembly 2-1 of the advance support system and a propelling hydraulic cylinder group 2-2 of the advance support system; the sliding groove of the forepoling system operation component 2-1 is embedded in the sliding groove of the walking support system 4 of the walking anchoring equipment; one end of the advancing hydraulic cylinder group 2-2 of the advance support system is connected with the operation component 2-1 of the advance support system through a bolt, and the other end of the advancing hydraulic cylinder group is fixed on a sliding groove guide rail of the main walking support system 4 of the walking type anchoring equipment through a bolt.
Referring to fig. 1 and 2, the anchoring system 3 is composed of an anchoring system operation assembly 3-1 and an anchoring system propelling hydraulic cylinder group 3-2; one end of the anchoring system propelling hydraulic cylinder group 3-2 is connected with the anchoring system operation assembly 3-1 through a bolt, and the other end of the anchoring system propelling hydraulic cylinder group is fixed on a supporting plate at the front end of the walking supporting system 4 of the walking type anchoring equipment through a bolt.
Referring to fig. 2 and 3, the stepping type anchoring equipment rotating system 5 is composed of a stepping type anchoring equipment rotating system pushing hydraulic cylinder group 5-1, a stepping type anchoring equipment rotating system component 5-2 and a stepping type anchoring equipment rotating system rotation driving hydraulic cylinder group 5-3; one end of the stepping type anchoring equipment rotating system pushing hydraulic cylinder group 5-1 is connected with the stepping type anchoring equipment rotating system component 5-2 through a bolt, the other end of the stepping type anchoring equipment rotating system pushing hydraulic cylinder group is fixed on a supporting plate at the rear end of the stepping type anchoring equipment main walking supporting system 4 through a bolt, and the stepping type anchoring equipment rotating system drives the hydraulic cylinder group 5-3 to rotate and is installed on a rotary platform in the stepping type anchoring equipment rotating system component 5-2 through a bolt.
Referring to fig. 1 and 4, the step-by-step anchoring device laser radar monitoring system 6 comprises a forepoling system and an anchoring system laser monitoring radar 6-1, a step-by-step anchoring device main walking support system front side laser monitoring radar 6-2, a step-by-step anchoring device rotating system laser monitoring radar 6-3 and a step-by-step anchoring device main walking support system rear side laser monitoring radar 6-4; the advanced support system and anchoring system laser monitoring radar 6-1 is arranged on a floor of a jumbolter platform in the anchoring system 3, and is characterized in that the distances between the advanced support system 2 and the anchoring system 3 and personnel, equipment and obstacles in the movement process are monitored; the front laser monitoring radar 6-2 of the walking type anchoring equipment main walking support system and the rear laser monitoring radar 6-4 of the walking type anchoring equipment main walking support system are respectively arranged on the front support plate and the rear support plate of the walking type anchoring equipment main walking support system 4, and the walking type anchoring equipment main walking support system is characterized in that the distance between the walking type anchoring equipment main walking support system 4 and personnel, equipment and obstacles in the movement process is monitored; the step type anchoring equipment rotating system laser monitoring radar 6-3 is arranged on two side surfaces of a hydraulic pump station support in the step type anchoring equipment rotating system 5; the method is characterized in that the distance between the walking type anchoring equipment rotating system 5 and personnel, equipment and obstacles in the processes of moving back and forth and rotating is monitored.
Referring to fig. 5, a safety interlock system of walking type anchoring equipment and a control method thereof, the safety interlock control process is characterized by comprising the following steps:
s1: initializing a safety interlocking system of the walking type anchoring equipment;
s2: judging the locking of the total safety interlocking system of the walking type anchoring equipment, and stopping the running state if the fault is reported by mistake if the locking is not directly entered;
s3: locking the total safety interlocking system of the walking type anchoring equipment, judging the locking of the advanced support safety interlocking system, and stopping the operation if the failure is not directly reported by the locking;
s4: locking the advance support safety interlocking system, judging the locking of the safety interlocking system of the anchoring equipment, and stopping the operation if the failure is not directly reported by the locking;
s5: locking the safety interlocking system of the anchoring equipment, judging the locking of the main walking support system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked directly;
s6: locking the main walking support system, judging the locking of the rotating system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked;
s7: the rotating system is locked, and the walking type anchoring equipment normally operates.
Referring to fig. 6, since the control methods of the safety interlock system of the advance support system 2, the anchoring system 3, the walking support system of the stepping type anchoring equipment and the rotation system 5 of the stepping type anchoring equipment are similar, the present invention is described by the control method of the safety interlock system of the rotation system 5 of the stepping type anchoring equipment, and the steps are as follows:
s1: data measured by the laser monitoring radar 6-3 of the walking type anchoring equipment rotating system is converted into digital signals through an ADC (analog to digital converter) module;
s2: the logic control circuit is connected with the ADC conversion module, receives data measured by the laser monitoring radar, and simultaneously performs amplification, filtering and logic judgment processing together with a set allowable safe distance value of equipment;
s3: the security system logic module receives the output in S2;
s4: meanwhile, the rotating system of the walking type anchoring equipment rotates to drive the hydraulic cylinder group 5-3 to transmit data to a logic control circuit of a pump valve joint control system through a displacement sensor of the hydraulic cylinder group through an ADC (analog to digital converter) conversion module;
s5: the walking type anchoring equipment rotating system rotates to drive the hydraulic cylinder group 5-3 to transmit data to the pump valve joint control unit through the displacement sensor and the ADC conversion module; the pump valve joint control unit transmits control signals to a hydraulic multi-path electromagnetic valve control system and a permanent magnet synchronous motor variable frequency driving system respectively through a self-adaptive control algorithm to carry out real-time dynamic control;
s6: a motion expectation module in the pump valve joint control unit updates a motion expectation value in real time according to the walking type anchoring equipment path planning strategy and transmits data to a logic control circuit of a pump valve joint control system;
s7: the pump valve logic control circuit amplifies, filters and logically judges the received signals in S4 and S6; and transmitting to the security system logic module;
s8: the safety system logic module judges the input information in S3 and S7, if any path of information exceeds a system safety threshold value, the permanent magnet synchronous motor and the control system power supply thereof are immediately disconnected, and a fault alarm mode is started; if the input information of S3 and S7 does not exceed the system safety threshold, the anchoring equipment works normally;
s9: the safety interlock system of the step-wise anchoring equipment rotating system 5 repeats the operations of steps S1-S8.
Claims (7)
1. A safety interlocking system of walking type anchoring equipment and a control method thereof are characterized in that: the device comprises a forepoling system, an anchoring system, a walking type anchoring equipment main walking supporting system, a walking type anchoring equipment rotating system and a walking type anchoring equipment laser radar monitoring system; the advance support system is arranged on a sliding chute of the main walking support system of the walking type anchoring equipment; the anchoring system is arranged at the front end of the walking supporting system of the walking anchoring equipment through bolts; the walking type anchoring equipment rotating system is arranged between the front supporting leg and the rear supporting leg of the walking type anchoring equipment main walking supporting system through bolts, and is characterized in that the walking type anchoring equipment rotating system can slide on the walking type anchoring equipment main walking supporting system and alternately performs walking actions with the walking type anchoring equipment main walking supporting system, so that the front-back movement action of the total equipment is realized, and the direction-adjusting rotation action of the total equipment can be realized; the step-type anchoring equipment laser radar monitoring systems are distributed and installed on the advanced support system, the anchoring system, the step-type anchoring equipment main walking support system and the step-type anchoring equipment rotating system, and are characterized in that the distances between the subsystem and personnel, equipment and obstacles in the motion process are monitored.
2. The safety interlocking system for step-type anchoring equipment and the control method thereof as claimed in claim 1, wherein: the step-type anchoring equipment laser radar monitoring system comprises a forepoling system and an anchoring system laser monitoring radar, a step-type anchoring equipment main walking support system front side laser monitoring radar, a step-type anchoring equipment rotating system laser monitoring radar and a step-type anchoring equipment main walking support system rear side laser monitoring radar.
3. The safety interlocking system for step-by-step anchoring equipment and the control method thereof as claimed in claim 2, wherein: the advanced support system and the anchoring system are arranged on a floor of a jumbolter platform in the anchoring system through laser monitoring radars, and the distances between the advanced support system and the anchoring system and personnel, equipment and obstacles in the movement process can be monitored.
4. The safety interlocking system for step-by-step anchoring equipment and the control method thereof as claimed in claim 2, wherein: the front laser monitoring radar of the walking support system of the walking anchoring equipment and the rear laser monitoring radar of the walking support system of the walking anchoring equipment are respectively arranged on the front supporting plate and the rear supporting plate of the walking support system of the walking anchoring equipment, and the distance between the walking support system of the walking anchoring equipment and personnel, equipment and obstacles in the movement process can be monitored.
5. The safety interlocking system for step-by-step anchoring equipment and the control method thereof as claimed in claim 2, wherein: the step type anchoring equipment rotating system laser monitoring radar is arranged on two side surfaces of a hydraulic pump station support in the step type anchoring equipment rotating system; the distance between the walking type anchoring equipment rotating system and personnel, equipment and obstacles in the processes of moving back and forth and rotating can be monitored.
6. A safety interlocking system of walking type anchoring equipment and a control method thereof are disclosed, wherein the safety interlocking control process is characterized by comprising the following steps:
s1: initializing a safety interlocking system of the walking type anchoring equipment;
s2: judging the locking of the total safety interlocking system of the walking type anchoring equipment, and stopping the running state if the fault is reported by mistake if the locking is not directly entered;
s3: locking the total safety interlocking system of the walking type anchoring equipment, judging the locking of the advanced support safety interlocking system, and stopping the operation if the failure is not directly reported by the locking;
s4: locking the advance support safety interlocking system, judging the locking of the safety interlocking system of the anchoring equipment, and stopping the operation if the failure is not directly reported by the locking;
s5: locking the safety interlocking system of the anchoring equipment, judging the locking of the main walking support system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked directly;
s6: locking the main walking support system, judging the locking of the rotating system, and stopping the running state if the fault is reported by mistake if the main walking support system is not locked;
s7: the rotating system is locked, and the walking type anchoring equipment normally operates.
7. The safety interlocking system for step-by-step anchoring equipment and the control method thereof as claimed in claim 6, wherein: the safety interlocking system control method of the walking type anchoring equipment rotating system comprises the following steps:
s1: data measured by the laser monitoring radar of the walking type anchoring equipment rotating system is converted into digital signals through an ADC (analog-to-digital converter) module;
s2: the logic control circuit is connected with the ADC conversion module, receives data measured by the laser monitoring radar, and simultaneously performs amplification, filtering and logic judgment processing together with a set allowable safe distance value of equipment;
s3: the security system logic module receives the output in S2;
s4: meanwhile, the rotating system of the walking type anchoring equipment rotates to drive the hydraulic cylinder group to transmit data to a logic control circuit of the pump valve joint control system through a displacement sensor of the hydraulic cylinder group and an ADC (analog to digital converter) conversion module;
s5: the walking type anchoring equipment rotating system rotates and drives the hydraulic cylinder group to simultaneously transmit data to the pump valve joint control unit through the displacement sensor and the ADC conversion module; the pump valve joint control unit transmits control signals to a hydraulic multi-path electromagnetic valve control system and a permanent magnet synchronous motor variable frequency driving system respectively through a self-adaptive control algorithm to carry out real-time dynamic control;
s6: a motion expectation module in the pump valve joint control unit updates a motion expectation value in real time according to the walking type anchoring equipment path planning strategy and transmits data to a logic control circuit of a pump valve joint control system;
s7: the pump valve logic control circuit amplifies, filters and logically judges the received signals in S4 and S6; and transmitting to the security system logic module;
s8: the safety system logic module judges the input information in S3 and S7, if any path of information exceeds a system safety threshold value, the permanent magnet synchronous motor and the control system power supply thereof are immediately disconnected, and a fault alarm mode is started; if the input information in the S3 and the S7 does not exceed the system safety threshold, the anchoring equipment works normally;
s9: the safety interlock system of the step-type anchoring equipment rotating system repeats the operations of steps S1-S8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110503638.7A CN113202524A (en) | 2021-05-10 | 2021-05-10 | Walking type anchoring equipment safety interlocking system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110503638.7A CN113202524A (en) | 2021-05-10 | 2021-05-10 | Walking type anchoring equipment safety interlocking system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113202524A true CN113202524A (en) | 2021-08-03 |
Family
ID=77030721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110503638.7A Withdrawn CN113202524A (en) | 2021-05-10 | 2021-05-10 | Walking type anchoring equipment safety interlocking system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113202524A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114000863A (en) * | 2022-01-05 | 2022-02-01 | 山西天地煤机装备有限公司 | Anti-misoperation method and device for electro-hydraulic control jumbolter |
-
2021
- 2021-05-10 CN CN202110503638.7A patent/CN113202524A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114000863A (en) * | 2022-01-05 | 2022-02-01 | 山西天地煤机装备有限公司 | Anti-misoperation method and device for electro-hydraulic control jumbolter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112253160B (en) | Complete equipment for quick tunneling, drilling and anchoring without repeated support under coal mine | |
| CN201714390U (en) | Hard rock hydraulic crushing type boring machine | |
| CN102261250A (en) | Hydraulic crushing-type excavator for hard rock | |
| CN113202524A (en) | Walking type anchoring equipment safety interlocking system and control method thereof | |
| CN101169036B (en) | Pedrail type lifting top slope anchor shaft anchor cable construction drilling machine and single-alley fast tunneling technique | |
| CN107035381B (en) | A kind of underground mine TBM dismantles construction method | |
| CN102117066A (en) | Remote control system for excavator | |
| CN101403302A (en) | Pedrail type liftable anchor bar anchor cable construction drill rig and double-lane fast digging technique | |
| CN110219661A (en) | Applied to minimum starting well separate launching corollary apparatus and originate construction method | |
| CN101781972B (en) | Crawler-type lifting top and slope bolt and anchor construction drill | |
| CN215486031U (en) | Air-ground integrated roadway rapid tunneling system | |
| CN103778844A (en) | Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof | |
| CN109372526B (en) | Novel earth pressure balance shield machine capable of crossing foreign matter obstacle | |
| CN113417654A (en) | Air-ground integrated roadway rapid tunneling system and using method thereof | |
| CN101845952B (en) | Movable three-arm top-assisting anchor rod and anchor cable construction drill carriage | |
| CN111362198B (en) | Fork control method | |
| CN110194232B (en) | Intelligent early warning roadway protection machine vehicle | |
| CN217107006U (en) | Air pushing device of subway single-crossover shield machine | |
| CN214202566U (en) | Combine and dig quick-witted audible-visual annunciation infrared ray collision device | |
| CN217681846U (en) | Cooperative control device for coal mine tunneling equipment and crawler-type self-moving tail | |
| CN114895608A (en) | Intelligent brain centralized control strategy and method for tunneling and intelligent control system | |
| CN211543734U (en) | Intelligent early warning roadway protection machine vehicle | |
| CN103046928A (en) | Heading machine | |
| CN114320325A (en) | Crawler walking open type TBM applied to coal mine rock roadway construction | |
| CN107882503B (en) | A kind of successive coal-mining face bolting and rope support technique |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210803 |