CN114320290B - Full-hydraulic control system and control method for automatic rod-adding drilling machine for coal mine - Google Patents
Full-hydraulic control system and control method for automatic rod-adding drilling machine for coal mine Download PDFInfo
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- CN114320290B CN114320290B CN202111426003.8A CN202111426003A CN114320290B CN 114320290 B CN114320290 B CN 114320290B CN 202111426003 A CN202111426003 A CN 202111426003A CN 114320290 B CN114320290 B CN 114320290B
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Abstract
The application discloses a full-hydraulic control system and a control method of an automatic rod-adding drilling machine for a coal mine, wherein the full-hydraulic control system comprises a hydraulic pump set, a drilling control module, a rod-adding control module, an anti-collision protection module and an auxiliary control module; the drilling control module can control the main execution mechanism, the rod adding control module can control the sequential automatic actions of the execution mechanisms such as the mechanical arm, the drill rod bin and the like, and the anti-collision protection module can monitor the positions of the related execution mechanisms so as to prevent the occurrence of movement collision damage. The hydraulic control system is used as a pure hydraulic control system, realizes high-efficiency, safe and reliable operation which can be realized by electrohydraulic control in the past, further improves the operation safety of a drilling machine under the background of strict underground explosion-proof requirements of a coal mine, and simultaneously provides reliable technical support for automatic transformation and upgrading of a huge amount of all-hydraulic drilling machines.
Description
Technical Field
The application belongs to the technical field of underground coal mine drilling equipment, and relates to a full-hydraulic control system and a full-hydraulic control method of an automatic rod adding drilling machine for a coal mine.
Background
The underground coal mine tunnel drilling machine is widely applied to underground water exploration, gas extraction, top-bottom plate grouting, geological structure exploration, large-diameter pressure relief and other drilling constructions. At present, almost all underground tunnel drilling rigs of coal mines are all full-hydraulic control drilling rigs, a manual mode is adopted for rod adding, labor intensity is high, more importantly, potential safety hazards exist, and the proportion of underground drilling construction accidents of the coal mines is high. In recent years, along with continuous progress of the coal mine industry towards automation and intellectualization, an automatic drilling machine with an automatic rod adding function becomes a direction of transformation and development of a coal mine tunnel drilling machine, at present, a plurality of electric control automatic drilling machines with a drill rod automatic rod adding function start to be popularized in the market, all the types of drilling machines adopt an electrohydraulic control technology, are matched with related sensors, electromagnetic valves and the like, are relatively complex in system, are expensive in equipment, have high requirements on maintenance teams, and are difficult to realize batch and large-scale popularization at present. Therefore, the development of the full-hydraulic automatic rod adding device is successful to a certain extent, the full-hydraulic control mode is adopted, the automatic rod adding function of the existing drilling machine is updated by adding parts, and the automatic rod adding replaces manpower. The method has the advantages of low overall transformation cost and simple use and maintenance, provides a solution for the automatic upgrading of a large number of in-use drilling rigs in the industry, and has great significance for accelerating the automatic transformation of the coal mine tunnel drilling rigs. However, in the application process, although the principle of the device is clear, the operation steps are relatively complicated, and the positions of each action and each actuating mechanism still need to be manually judged, so that misoperation and damage are easy to occur, and the reliable operation of the device is greatly influenced. Therefore, development of a full hydraulic control system matched with the full hydraulic control system is needed to further realize the functions of simple operation, automatic position judgment, anti-collision protection among components and the like.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the application provides a full-hydraulic control system and a full-hydraulic control method for an automatic rod feeding drilling machine for a coal mine, which are used for solving the problems that the operation steps of the existing automatic rod feeding device are relatively complicated, the positions of each action and executing mechanism need to be judged manually, misoperation and damage are easy to occur, and the like.
In order to achieve the above purpose, the application adopts the following technical scheme:
the full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine comprises a feeding machine body, power heads and clamping devices which are arranged at the front end and the rear end of the feeding machine body, and drill rod bins and mechanical arms which are arranged at the left side and the right side of the feeding machine body; the full hydraulic control system comprises a hydraulic pump set, a drilling control module, a rod adding control module, an anti-collision protection module and an auxiliary control module;
the hydraulic pump set is connected with an asynchronous motor, and the asynchronous motor can drive the hydraulic pump set to output high-pressure oil to the drilling control module, the rod adding control module, the anti-collision protection module and the auxiliary control module;
the drilling control module is respectively connected with a rotary motor of the power head, a feeding oil cylinder of the feeding machine body and the clamping device so as to respectively control the rotation of the power head, the feeding action of the feeding machine body and the clamping device to clamp a drill rod;
the rod adding control module is respectively connected with the mechanical arm oil cylinder group and the drill rod bin oil cylinder group to respectively control the translation and the grabbing of the mechanical arm, the opening and closing of the drill rod bin and the lifting of the drill rod;
the anti-collision protection module comprises a power head position monitoring valve, a mechanical arm position monitoring valve, a feeding switching hydraulic control reversing valve and a shuttle valve so as to monitor the positions of the mechanical arm and the power head and prevent the power head from collision with the mechanical arm;
the auxiliary control module is connected with and controls the auxiliary executing mechanism.
The application also comprises the following technical characteristics:
optionally, the hydraulic pump set comprises an I pump and a II pump, and high-pressure filters are arranged on output pipelines of the I pump and the II pump; the output pipeline of the II pump is also provided with a function switching valve of the II pump;
high-pressure oil output by the I pump enters the drilling control module through a high-pressure filter to respectively control a rotary motor of the power head and an feeding cylinder of the feeding machine body;
the high-pressure oil output by the II pump enters the II pump function switching valve through the high-pressure filter, and when the II pump function switching valve is in a drilling position, the high-pressure oil output by the II pump enters the drilling control module to control the clamp holder and the chuck on the clamp holder to act; when the II pump function switching valve is in an auxiliary position, high-pressure oil output by the II pump enters the auxiliary control module to control an auxiliary executing mechanism, and the auxiliary executing mechanism comprises a stable oil cylinder, an angle adjusting oil cylinder and a turntable motor.
Optionally, when the function switching valve of the II pump is in the drilling position, high-pressure oil output by the II pump can also enter the rod adding control module; the mechanical arm oil cylinder group connected with the rod adding control module comprises a translation oil cylinder I, a translation oil cylinder II and a gripper oil cylinder, and the drill rod bin oil cylinder group comprises a lifting oil cylinder and a pushing oil cylinder;
the rod adding control module comprises a reversing valve I, a reversing valve II and a reversing valve III which are arranged on a high-pressure oil pipeline output by the pump II and are connected in parallel;
the reversing valve I is positioned in the linkage sequential action of the cross reversing potential energy control translation oil cylinder I, the translation oil cylinder II, the gripper oil cylinder and the lifting oil cylinder so as to realize the rod taking of the mechanical arm from the drill rod bin; the reversing valve I is positioned in parallel reversing potential energy to control the translation oil cylinder I and the lifting oil cylinder to act simultaneously so as to realize the central rod feeding;
the reversing valve II is positioned at the cross reversing potential to control the linkage sequential action of the gripper cylinder and the translation cylinder II so as to enable the mechanical arm to withdraw from the feeding machine body;
the reversing valve III is in parallel reversing potential energy to control linkage sequential actions of the pushing-out oil cylinder and the lifting oil cylinder so as to open the drill rod bin, and the reversing valve III is in cross reversing potential energy to control the pushing-out oil cylinder so as to close the drill rod bin.
Optionally, a sequence valve I is arranged on an oil inlet pipeline of the rodless cavity of the gripper oil cylinder to ensure that the translation oil cylinder I, the translation oil cylinder II and the lifting oil cylinder perform drill rod grabbing after running; a sequence valve II is arranged on an oil inlet pipeline of a rodless cavity of the translation oil cylinder II so as to ensure that the translation operation is performed after the operation of the gripper oil cylinder is finished; a sequence valve III is arranged on an oil inlet pipeline of a rodless cavity of the pushing-out oil cylinder to ensure that pushing-out action is performed after the lifting oil cylinder runs; and a pressure reducing valve is arranged on the oil inlet pipeline of the rodless cavity of the lifting oil cylinder.
Optionally, a hydraulic pipeline from the reversing valve I to the lifting oil cylinder B is sequentially provided with a one-way throttle valve and a hydraulic control one-way valve;
and a hydraulic pipeline from the reversing valve III to the port B of the lifting oil cylinder is sequentially provided with a one-way valve II and a one-way valve I.
Optionally, the high-pressure oil output by the pump I can be respectively connected to a power head position monitoring valve and a mechanical arm position monitoring valve of the anti-collision protection module through a high-pressure filter, the power head position monitoring valve and the mechanical arm position monitoring valve are both communicated with the shuttle valve, the shuttle valve is communicated with the feeding switching hydraulic control reversing valve, and the feeding switching hydraulic control reversing valve can be communicated with an oil inlet and an oil outlet of a feeding oil cylinder;
when the power head position monitoring valve or the mechanical arm position monitoring valve is conducted, high-pressure oil can be input into the feeding switching hydraulic control reversing valve through the shuttle valve so as to drive the feeding oil cylinder.
Optionally, the mechanical arm position monitoring valve is installed on the side wall of a rail seat below the mechanical arm, when the mechanical arm inner sleeve stretches out, the mechanical arm position monitoring valve is not contacted with the inner sleeve end plate, when the mechanical arm inner sleeve is retracted to completely withdraw from the feeding machine body, the inner sleeve end plate can contact and press the mechanical arm position monitoring valve, and when a spring of the mechanical arm position monitoring valve is extruded and contracted, hydraulic oil circuit conduction can be realized.
Optionally, a guide rail parallel to the feeding machine body is arranged at the lower end of the supporting plate below the power head, and a convex strip parallel to the guide rail is arranged at the lower end of the guide rail; the power head position monitoring valve is arranged on the side part of the feeding machine body, when the guide rail moves to the position above the power head position monitoring valve along with the power head, the convex strips can contact and squeeze the power head position monitoring valve, and when the spring of the power head position monitoring valve is squeezed and contracted, the hydraulic oil way can be conducted.
The full-hydraulic control method of the automatic rod adding drilling machine for the coal mine is realized through the control system and comprises the following steps of mechanical arm rod adding and rod supplementing control of a drill rod bin:
the mechanical arm takes the pole action: the reversing valve I is in a cross direction change direction, high-pressure oil enters the translation oil cylinder I, the translation oil cylinder II and the lifting oil cylinder to drive the mechanical arm to translate towards the drill rod bin, and the lifter in the drill rod bin pushes the drill rod upwards, and the pressure entering the lifting oil cylinder can be limited by the pressure reducing valve so as to send the drill rod to a position to be grabbed; when the system pressure reaches the set value of the sequence valve I, high-pressure oil enters the gripper cylinder again to grasp the drill rod to be grasped;
center rod feeding action of mechanical arm: the reversing valve I is in parallel reversing direction, and high-pressure oil enters the translation oil cylinder I to drive the mechanical arm to move to the position of the central axis of the drilling hole with the drill rod;
the mechanical arm withdraws from the feeding machine body to act: the reversing valve II is in a cross reversing direction, high-pressure oil enters the gripper cylinder, and when the gripper cylinder is completely retracted until the pressure rises to a set value of the sequence valve II, the high-pressure oil enters the translation cylinder II again to drive the mechanical arm to withdraw from the feeding machine body;
opening the drill rod bin: the reversing valve III is in parallel reversing direction, high-pressure oil enters the lifting oil cylinder through the one-way valve II and the one-way valve I to drive the lifting machine to fall to the lowest point, and when the pressure rises to the set value of the sequence valve III, the high-pressure oil enters the pushing oil cylinder again to drive the drill rod bin to be opened;
closing the drill rod bin: the reversing valve III is controlled to be in a cross reversing direction, and high-pressure oil enters the pushing-out oil cylinder to drive the drill rod bin to be closed.
The full-hydraulic control method of the automatic rod-adding drilling machine for the coal mine is realized by the control system and comprises the following steps of:
when the mechanical arm completely exits the feeding machine body, the mechanical arm position monitoring valve is extruded and conducted by the end plate of the inner sleeve of the mechanical arm, high-pressure oil enters the control cavity of the feeding switching hydraulic control reversing valve through the shuttle valve so that the control cavity is not communicated with the oil inlet and the oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the mechanical arm translates to the feeding machine body to carry out a rod adding action, the mechanical arm position monitoring valve is not pressed, and the internal spring of the mechanical arm position monitoring valve is reset to cause the mechanical arm position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move;
when the power head moves in the contact range of the guide rail convex strips and the power head position monitoring valve, the power head position monitoring valve is always extruded by the convex strips to enable the power head position monitoring valve to be conducted, high-pressure oil enters the feeding switching hydraulic control reversing valve through the shuttle valve to enable the high-pressure oil not to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the power head moves to the position where the guide rail convex strips are separated from the power head position monitoring valve, the power head position monitoring valve is not pressed, the internal spring is reset to cause the power head position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with the oil inlet and the oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move.
Compared with the prior art, the application has the beneficial technical effects that:
the system of the application has the advantages compared with the electrohydraulic control mode in the field of coal mine drilling rigs: 1. the control system components all adopt conventional mechanical hydraulic parts, so that the automatic control function which can be realized by an electrohydraulic control system is realized, and the problems of underground explosion prevention, electrical appliance joint inspection, coal safety reauthentication and the like are not involved; 2. compared with an electrohydraulic control original, the full-hydraulic control system has the advantages of low element cost, use and maintenance same as those of a conventional drilling machine, low difficulty and suitability for mass and large-scale popularization at present; 3. for the large-volume in-use drilling machine in the industry, the full hydraulic control system can be directly integrated with the in-use drilling machine.
The system of the application also has the following advantages: 1. the hydraulic anti-collision protection device has the full-hydraulic anti-collision protection function, and ensures the operation safety of moving parts, reduces the manual operation difficulty and ensures the reliable operation of the device by arranging a monitoring valve on dangerous parts, arranging a disconnecting loop on an oil circuit system of a propulsion mechanism, developing a hydraulic signal selection mode and the like; 2. the automatic rod adding module has the full-hydraulic logic action function, the automatic rod adding module adopts sequential flow control, one handle can finish a plurality of actions, and compared with the traditional single-action control (one handle only controls one action), the automatic rod adding module greatly reduces the operation difficulty and improves the efficiency.
The application 1, considering that the thrust of the power head is large, designs an axial self-adaptive sliding function for the hand grip, can adapt to different screw thread screwing rates of the power head, and plays a role of a protection device; 2. the device has small size and can be conveniently integrated with a drilling machine; 3. the drilling tool can be adapted to various straight diameter specifications and cross section shapes, including outer flat, triangular, spiral drilling rods and the like.
Drawings
FIG. 1 is a schematic diagram of the main components of an automatic rod-adding drilling machine;
FIG. 2 is a hydraulic schematic of a control system;
FIG. 3 is a schematic diagram of a power head position monitoring valve installation;
FIG. 4 is a schematic diagram of a robotic arm position monitoring valve installation.
Reference numerals meaning:
1. a hydraulic control system for a hydraulic control system comprises a power head, a support plate, a 3 drill rod bin, a 4 mechanical arm, a 5 feeding machine body, a 6 drilling control module, a 7 anti-collision protection module, a 7-1 feeding switching hydraulic control reversing valve, a 7-2 mechanical arm position monitoring valve, a 7-3 shuttle valve, a 7-4 driving head position monitoring valve, a 8-1 adding rod control module, a 8-1 reversing valve I, a 8-2 reversing valve II, a 8-3 reversing valve III, a 8-4 one-way throttle valve, a 8-5 hydraulic control one-way valve, a 8-6 one-way valve I, a 8-7 one-way valve II, a 8-8 sequential valve I, a 8-9 reducing valve, a 8-10 sequential valve II, a 8-11 sequential valve III, a 9 auxiliary control module, a 10 asynchronous motor, a 11.I pump, a 12.II pump function switching valve, a 13.II pump function switching valve, a 14 high pressure filter, a 15 rotary motor, a 16, a chuck 17, a 18 cylinder, a translation cylinder I, a 19, a translation cylinder, a 20, a guide rail seat, a 25 and a guide rail seat.
The application is described in detail below with reference to the drawings and the detailed description.
Detailed Description
The following specific embodiments of the present application are given according to the above technical solutions, and it should be noted that the present application is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present application. The present application will be described in further detail with reference to examples.
Example 1:
as shown in fig. 1 to 4, the present embodiment provides an all-hydraulic control system of an automatic rod-feeding drilling machine for coal mines, which comprises a feeding machine body 5, a power head 1 and a gripper 17 arranged at the front end and the rear end of the feeding machine body 5, and a drill rod bin 3 and a mechanical arm 4 arranged at the left side and the right side of the feeding machine body 5; the full hydraulic control system is adapted to an automatic rod adding drilling machine, and under the control of the hydraulic system, the mechanical arm 4 can transversely move into the drill rod bin 3 to grab a drill rod, and convey the drill rod to a drilling axis, and the drill rod is matched with the drilling machine power head 1 to complete the addition of the drill rod; the springs are arranged on the two sides of the hand grip of the mechanical arm 4 and can adaptively slide along the axial direction so as to meet different screwing rates and play a role in protecting the hand grip; the drill rods in the drill rod bin 3 are arranged in a single column, and the hydraulic lifter at the bottom can continuously jack up the drill rods to the position to be added; the whole drill rod bin 3 can be laterally pushed out through the pushing-out oil cylinder, so that drill rods can be conveniently supplemented; the mechanical arm 4 and the drill rod bin 3 can be matched with drill rods of different specifications by replacing a small number of nylon suites.
The full hydraulic control system comprises a hydraulic pump set, a drilling control module 6, a rod adding control module 8, an anti-collision protection module 7 and an auxiliary control module 9, wherein:
the hydraulic pump set is connected with an asynchronous motor 10, and the asynchronous motor 10 can drive the hydraulic pump set to output high-pressure oil to the drilling control module 6, the rod adding control module 8, the anti-collision protection module 7 and the auxiliary control module 9.
The drilling control module 6 is respectively connected with the rotary motor 15 of the power head 1, the feeding cylinder 18 of the feeding machine body 5 and the clamping device 17 to respectively control the rotation of the power head 1, the feeding action of the feeding machine body 5 and the clamping device 17 to clamp a drill rod.
The rod adding control module 8 is respectively connected with the mechanical arm oil cylinder group and the drill rod bin oil cylinder group to respectively control the translation and the grabbing of the mechanical arm 4, the opening and the closing of the drill rod bin 3 and the lifting of the drill rod.
The anti-collision protection module 7 comprises a power head position monitoring valve 7-4, a mechanical arm position monitoring valve 7-2, a feed switching hydraulic control reversing valve 7-1 and a shuttle valve 7-3 so as to monitor the positions of the mechanical arm 4 and the power head 1 and prevent the power head 1 from collision with the mechanical arm 4.
The auxiliary control module 9 is connected to and controls the auxiliary actuator 24.
The hydraulic pump set comprises an I pump 11 and a II pump 12, and high-pressure filters 14 are arranged on output pipelines of the I pump 11 and the II pump 12; the output pipeline of the II pump 12 is also provided with a II pump function switching valve 13. The high-pressure oil output by the I pump 11 enters the drilling control module 6 through the high-pressure filter 14 to control the rotary motor 15 of the power head 1 and the feed cylinder 18 of the feed body 5, respectively. The high-pressure oil output by the II pump 12 enters the II pump function switching valve 13 through the high-pressure filter 14, and when the II pump function switching valve 13 is in drilling position, the high-pressure oil output by the II pump 12 enters the drilling control module 6 to control the clamp 17 and the chuck 16 on the clamp to act; when the II pump function switching valve 13 is in the auxiliary position, high-pressure oil output by the II pump 12 enters the auxiliary control module 9 to control the auxiliary actuating mechanism 24, and the auxiliary actuating mechanism 24 comprises a stable oil cylinder, an angle adjusting oil cylinder and a turntable motor.
When the II pump function switching valve 13 is in the drilling position, high-pressure oil output by the II pump 12 can also enter the rod adding control module 8, and the rod adding control module 8 and the drilling control module 6 do not work simultaneously, are mutually independent and do not affect each other; the mechanical arm oil cylinder group connected with the rod adding control module 8 comprises a translation oil cylinder I19, a translation oil cylinder II20 and a gripper oil cylinder 21, and the drill rod bin oil cylinder group comprises a lifting oil cylinder 22 and a pushing-out oil cylinder 23.
The rod adding control module 8 comprises a reversing valve I8-1, a reversing valve II8-2 and a reversing valve III8-3 which are arranged on a high-pressure oil pipeline output by the II pump 12 and connected in parallel; three hydraulic operating handles, 5 bit changing positions, respectively control 3 processes (rod taking, rod center feeding and rod exiting feeding machine body) of the rod adding process and 2 actions (rod bin opening and rod bin closing) of rod supplementing of the rod bin.
The reversing valve I8-1 is positioned in the linkage sequence action of the cross reversing potential energy control translation oil cylinder I19, the translation oil cylinder II20, the gripper oil cylinder 21 and the lifting oil cylinder 22 so as to realize the rod taking of the mechanical arm 4 from the drill rod bin 3; the reversing valve I8-1 is positioned in parallel reversing potential to control the simultaneous actions of the translation cylinder I19 and the lifting cylinder 22 so as to realize the central rod feeding.
The reversing valve II8-2 is positioned at the cross reversing potential to control the linkage sequence action of the gripper cylinder 21 and the translation cylinder II20 so as to enable the mechanical arm 4 to withdraw from the feeding machine body 5.
The reversing valve III8-3 is in linkage sequential action of the parallel reversing potential energy control pushing-out oil cylinder 23 and the lifting oil cylinder 22 to open the drill rod bin 3, and the reversing valve III8-3 is in cross reversing potential energy control pushing-out oil cylinder 23 to close the drill rod bin 3.
A sequence valve I8-8 is arranged on an oil inlet pipeline of a rodless cavity of the gripper oil cylinder 21 so as to ensure that drill rod grabbing is performed after the translation oil cylinder I19, the translation oil cylinder II20 and the lifting oil cylinder 22 run; a sequence valve II8-10 is arranged on an oil inlet pipeline of a rodless cavity of the translation oil cylinder II20 so as to ensure that the translation operation is performed after the operation of the gripper oil cylinder 21 is finished; the sequence valve III8-11 is arranged on the rodless cavity oil inlet pipeline of the push-out oil cylinder 23 to ensure that the push-out action is performed after the operation of the lifting oil cylinder 22 is finished; the lifting cylinder 22 is provided with a pressure reducing valve 8-9 on the rodless cavity oil inlet pipeline. The sequence valves and the pressure reducing valves can realize the sequence actions of the mechanical arm and the oil cylinder group of the drill rod bin, thereby achieving the purposes of simplifying operation and high efficiency movement.
A hydraulic pipeline from the reversing valve I8-1 to the port of the lifting oil cylinder 22B is sequentially provided with a one-way throttle valve 8-4 and a hydraulic control one-way valve 8-5; a hydraulic pipeline from the reversing valve III8-3 to the port of the lifting oil cylinder 22B is sequentially provided with a one-way valve II8-7 and a one-way valve I8-6.
The high-pressure oil output by the pump 11 can be respectively connected to a power head position monitoring valve 7-4 and a mechanical arm position monitoring valve 7-2 of the anti-collision protection module through a high-pressure filter 14, the power head position monitoring valve 7-4 and the mechanical arm position monitoring valve 7-2 are both communicated with a shuttle valve 7-3, the shuttle valve 7-3 is communicated with a feed switching hydraulic control reversing valve 7-1, and the feed switching hydraulic control reversing valve 7-1 can be communicated with an oil inlet and an oil outlet of a feed oil cylinder 18, wherein the feed switching hydraulic control reversing valve 7-1 is of a normal type. When the power head position monitoring valve 7-4 or the mechanical arm position monitoring valve 7-2 is conducted, high-pressure oil can be input into the feeding switching hydraulic control reversing valve 7-1 through the shuttle valve 7-3 to drive the feeding cylinder 18.
The mechanical arm position monitoring valve 7-2 is arranged on the side wall of the rail seat 26 below the mechanical arm 4, when the inner sleeve of the mechanical arm 4 stretches out, the mechanical arm position monitoring valve 7-2 is not contacted with the inner sleeve end plate 27, when the inner sleeve of the mechanical arm 4 is retracted to completely withdraw from the feeding machine body 5, the inner sleeve end plate 27 can contact and press the mechanical arm position monitoring valve 7-2, and when the spring of the mechanical arm position monitoring valve 7-2 is extruded and contracted, hydraulic oil circuit conduction can be realized.
The lower end of the supporting plate 2 below the power head 1 is provided with a guide rail 25 parallel to the feeding machine body 5, and the lower end of the guide rail 25 is provided with a convex strip 25-1 parallel to the guide rail 25; the power head position monitoring valve 7-4 is arranged on the side part of the feeding machine body 5, when the guide rail 25 moves to the position above the power head position monitoring valve 7-4 along with the power head 1, the convex strip 25-1 can contact and press the power head position monitoring valve 7-4, and when the spring of the power head position monitoring valve 7-4 is pressed and contracted, the hydraulic oil way conduction can be realized.
Specifically, three states of the anti-collision protection module of this embodiment are:
(1) The mechanical arm completely withdraws from the feeding machine body, and the power head can move back and forth freely;
(2) The mechanical arm does not completely withdraw from the feeding machine body, and the power head can move back and forth within the contact range of the convex strips of the guide rail and the position monitoring valve of the power head;
(3) The mechanical arm does not completely withdraw from the feeding machine body, the power head moves beyond the contact range of the convex strips of the guide rail and the power head position monitoring valve, and the power head automatically stops moving forward.
Example 2:
the embodiment provides a full-hydraulic control method of an automatic rod adding drilling machine for a coal mine, which is realized by the control system of the embodiment 1 and comprises the following steps of mechanical arm rod adding and rod supplementing control of a drill rod bin:
the mechanical arm takes the pole action: the reversing valve I is controlled to push to the cross reversing direction, high-pressure oil enters the ports of the translation oil cylinder I, the translation oil cylinder II and the lifting oil cylinder A through hydraulic pipelines to drive the mechanical arm to translate towards the drill rod bin, the lifter in the drill rod bin pushes the drill rod upwards, and the pressure entering the lifting oil cylinder can be limited by the pressure reducing valve so as to convey the drill rod to a position to be grabbed; when the translation oil cylinder I, the translation oil cylinder II and the lifting oil cylinder all move to the limit positions until the system pressure reaches the set value of the sequence valve I, high-pressure oil enters the opening A of the gripper oil cylinder to grip the drill rod to be gripped;
center rod feeding action of mechanical arm: the reversing valve I is controlled to push to a parallel reversing direction, and high-pressure oil enters a translation oil cylinder IB port through a hydraulic pipeline to drive the mechanical arm to move to the position of the central axis of the drilling hole along with the drill rod; meanwhile, high-pressure oil can also enter the port B of the lifting cylinder through the one-way throttle valve and the hydraulic control one-way valve to drive the lifter to slowly descend.
The mechanical arm withdraws from the feeding machine body to act: the reversing valve II is controlled to push to the exchange position, high-pressure oil enters the opening B of the manipulator arm gripper oil cylinder through a hydraulic pipeline, and when the gripper oil cylinder is fully retracted until the pressure rises to the set value of the sequence valve II, the high-pressure oil enters the opening IIB of the translation oil cylinder again to drive the manipulator arm to withdraw from the feeding machine body;
opening the drill rod bin: the reversing valve III is controlled to be in a parallel reversing direction, high-pressure oil enters the port B of the lifting oil cylinder through the one-way valve II and the one-way valve I through a hydraulic pipeline to drive the lifting machine to fall to the lowest point, and when the pressure rises to the set value of the sequence valve III, the high-pressure oil enters the pushing oil cylinder again to drive the drill rod bin to be opened; the function can prevent equipment damage caused by the fact that the drill rod bin is opened when the lifter is not completely dropped;
closing the drill rod bin: the reversing valve III is controlled to be in a cross reversing direction, and high-pressure oil enters an opening B of the push-out oil cylinder through a hydraulic pipeline to drive the drill rod bin to be closed; meanwhile, the hydraulic control one-way valve is opened by high-pressure oil, so that the smooth return oil of the pushing-out oil cylinder is ensured.
Example 3:
the embodiment provides a full-hydraulic control method of an automatic rod-adding drilling machine for a coal mine, which is realized by the control system of the embodiment 1 and comprises the following steps of:
the stable pressure oil of the way provided by the drilling control valve is simultaneously led to the mechanical arm position monitoring valve and the power head position monitoring valve, the mechanical arm or the power head can trigger the monitoring valve when moving to a certain position range, so that the monitoring valve commutates the path, the monitoring valve keeps a spring reset to break under other states, signals are transmitted to the feeding switching hydraulic control commutating valve in real time through the 2 monitoring valves, and the oil inlet and outlet paths of the propulsion oil cylinder can be communicated under dangerous states, thereby realizing the purpose of automatically stopping the power head from advancing.
When the mechanical arm completely exits the feeding machine body, the mechanical arm position monitoring valve is extruded and conducted by the end plate of the inner sleeve of the mechanical arm, high-pressure oil enters the control cavity of the feeding switching hydraulic control reversing valve through the shuttle valve so that the control cavity is not communicated with the oil inlet and the oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the mechanical arm translates to the feeding machine body to carry out a rod adding action, the mechanical arm position monitoring valve is not pressed, and the internal spring of the mechanical arm position monitoring valve is reset to cause the mechanical arm position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move;
when the power head moves in the contact range of the guide rail convex strips and the power head position monitoring valve, the power head position monitoring valve is always extruded by the convex strips to enable the power head position monitoring valve to be conducted, high-pressure oil enters the feeding switching hydraulic control reversing valve through the shuttle valve to enable the high-pressure oil not to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the power head moves to the position where the guide rail convex strips are separated from the power head position monitoring valve, the power head position monitoring valve is not pressed, the internal spring is reset to cause the power head position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with the oil inlet and the oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move; the length of the raised strips is determined according to the actual distance between the power head and the mechanical arm, and the distance safety between the power head and the mechanical arm is ensured on the basis of meeting the stroke required by screwing.
Claims (9)
1. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine comprises a feeding machine body (5), power heads (1) and grippers (17) arranged at the front end and the rear end of the feeding machine body (5), and a drill rod bin (3) and a mechanical arm (4) arranged at the left side and the right side of the feeding machine body (5); the full hydraulic control system is characterized by comprising a hydraulic pump set, a drilling control module (6), a rod adding control module (8), an anti-collision protection module (7) and an auxiliary control module (9);
the hydraulic pump set is connected with an asynchronous motor (10), and the asynchronous motor (10) can drive the hydraulic pump set to output high-pressure oil to the drilling control module (6), the rod adding control module (8), the anti-collision protection module (7) and the auxiliary control module (9);
the drilling control module (6) is respectively connected with a rotary motor (15) of the power head (1), an feeding cylinder (18) of the feeding machine body (5) and a clamp holder (17) to respectively control the rotation of the power head (1), the feeding action of the feeding machine body (5) and the clamping of the clamp holder (17) to clamp a drill rod;
the rod adding control module (8) is respectively connected with the mechanical arm oil cylinder group and the drill rod bin oil cylinder group to respectively control the translation and the grabbing of the mechanical arm (4), the opening and the closing of the drill rod bin (3) and the lifting of the drill rod;
the anti-collision protection module (7) comprises a power head position monitoring valve (7-4), a mechanical arm position monitoring valve (7-2), a feeding switching hydraulic control reversing valve (7-1) and a shuttle valve (7-3) so as to monitor the positions of the mechanical arm (4) and the power head (1) and prevent the power head (1) and the mechanical arm (4) from collision;
the auxiliary control module (9) is connected with and controls an auxiliary executing mechanism (24);
the hydraulic pump set comprises an I pump (11) and a II pump (12), and high-pressure filters (14) are arranged on output pipelines of the I pump (11) and the II pump (12); a II pump function switching valve (13) is also arranged on the output pipeline of the II pump (12);
high-pressure oil output by the I pump (11) enters the drilling control module (6) through a high-pressure filter (14) to respectively control a rotary motor (15) of the power head (1) and an feeding cylinder (18) of the feeding machine body (5);
high-pressure oil output by the II pump (12) enters the II pump function switching valve (13) through the high-pressure filter (14), and when the II pump function switching valve (13) is in a drilling position, the high-pressure oil output by the II pump (12) enters the drilling control module (6) to control the action of the clamp holder (17) and the chuck (16) on the clamp holder; when the II pump function switching valve (13) is in an auxiliary position, high-pressure oil output by the II pump (12) enters the auxiliary control module (9) to control the auxiliary actuating mechanism (24), and the auxiliary actuating mechanism (24) comprises a stable oil cylinder, an angle adjusting oil cylinder and a turntable motor.
2. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 1, wherein when the II pump function switching valve (13) is in a drilling position, high-pressure oil output by the II pump (12) can also enter the rod-adding control module (8); the mechanical arm oil cylinder group connected with the rod adding control module (8) comprises a translation oil cylinder I (19), a translation oil cylinder II (20) and a gripper oil cylinder (21), and the drill rod bin oil cylinder group comprises a lifting oil cylinder (22) and a pushing-out oil cylinder (23);
the rod adding control module (8) comprises a reversing valve I (8-1), a reversing valve II (8-2) and a reversing valve III (8-3) which are arranged on a high-pressure oil pipeline output by the II pump (12) and connected in parallel;
the reversing valve I (8-1) is positioned in a linkage sequence of a cross reversing potential energy control translation oil cylinder I (19), a translation oil cylinder II (20), a gripper oil cylinder (21) and a lifting oil cylinder (22) so as to realize rod taking of the mechanical arm (4) from the drill rod bin (3); the reversing valve I (8-1) is positioned in parallel reversing potential energy to control the simultaneous actions of the translation oil cylinder I (19) and the lifting oil cylinder (22) so as to realize the central rod feeding;
the reversing valve II (8-2) is positioned in the linkage sequence action of the cross reversing potential energy control gripper oil cylinder (21) and the translation oil cylinder II (20) so as to enable the mechanical arm (4) to withdraw from the feeding machine body (5);
the reversing valve III (8-3) is positioned in a linkage sequence action of the parallel reversing potential energy control pushing-out oil cylinder (23) and the lifting oil cylinder (22) so as to open the drill rod bin (3), and the reversing valve III (8-3) is positioned in the cross reversing potential energy control pushing-out oil cylinder (23) so as to close the drill rod bin (3).
3. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 2, wherein a sequence valve I (8-8) is arranged on an oil inlet pipeline of a rodless cavity of the gripper oil cylinder (21) so as to ensure that a translation oil cylinder I (19), a translation oil cylinder II (20) and a lifting oil cylinder (22) perform drill rod grabbing after running; a sequence valve II (8-10) is arranged on an oil inlet pipeline of the rodless cavity of the translation oil cylinder II (20) so as to ensure that the translation operation is performed after the operation of the gripper oil cylinder (21) is finished; a sequence valve III (8-11) is arranged on an oil inlet pipeline of the rodless cavity of the push-out oil cylinder (23) so as to ensure that the push-out action is performed after the lifting oil cylinder (22) runs out; the lifting oil cylinder (22) is provided with a pressure reducing valve (8-9) on an oil inlet pipeline of the rodless cavity.
4. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 3, wherein a hydraulic pipeline from a reversing valve I (8-1) to a port B of a lifting oil cylinder (22) is sequentially provided with a one-way throttle valve (8-4) and a hydraulic control one-way valve (8-5);
a hydraulic pipeline from the reversing valve III (8-3) to the port B of the lifting oil cylinder (22) is sequentially provided with a one-way valve II (8-7) and a one-way valve I (8-6).
5. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 2, wherein high-pressure oil output by the I pump (11) can be respectively connected to a power head position monitoring valve (7-4) and a mechanical arm position monitoring valve (7-2) of the anti-collision protection module (7) through a high-pressure filter (14), the power head position monitoring valve (7-4) and the mechanical arm position monitoring valve (7-2) are communicated with the shuttle valve (7-3), the shuttle valve (7-3) is communicated with the feed switching hydraulic control reversing valve (7-1), and the feed switching hydraulic control reversing valve (7-1) can be communicated with an oil inlet and an oil outlet of a feed cylinder (18);
when the power head position monitoring valve (7-4) or the mechanical arm position monitoring valve (7-2) is conducted, high-pressure oil can be input into the feeding switching hydraulic control reversing valve (7-1) through the shuttle valve (7-3) so as to drive the feeding oil cylinder (18).
6. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 5, wherein the mechanical arm position monitoring valve (7-2) is arranged on the side wall of a rail seat (26) below the mechanical arm (4), when the inner sleeve of the mechanical arm (4) stretches out, the mechanical arm position monitoring valve (7-2) is not contacted with the inner sleeve end plate (27), when the inner sleeve of the mechanical arm (4) is retracted to completely withdraw from the feeding machine body (5), the inner sleeve end plate (27) can contact and press the mechanical arm position monitoring valve (7-2), and when a spring of the mechanical arm position monitoring valve (7-2) is extruded and contracted, hydraulic oil circuit conduction can be realized.
7. The full-hydraulic control system of the automatic rod-adding drilling machine for the coal mine according to claim 6, wherein a guide rail (25) parallel to the feeding machine body (5) is arranged at the lower end of the supporting plate (2) below the power head (1), and a raised strip (25-1) parallel to the guide rail (25) is arranged at the lower end of the guide rail (25); the power head position monitoring valve (7-4) is arranged on the side part of the feeding machine body (5), when the guide rail (25) moves to the position above the power head position monitoring valve (7-4) along with the power head (1), the convex strips (25-1) can contact and squeeze the power head position monitoring valve (7-4), and when the spring of the power head position monitoring valve (7-4) is squeezed and contracted, the hydraulic oil way conduction can be realized.
8. The full-hydraulic control method of the automatic rod adding drilling machine for the coal mine is characterized by comprising the following steps of controlling the rod adding of a mechanical arm and rod supplementing of a rod bin by the control system according to claim 4:
the mechanical arm takes the pole action: the reversing valve I is in a cross direction change direction, high-pressure oil enters the translation oil cylinder I, the translation oil cylinder II and the lifting oil cylinder to drive the mechanical arm to translate towards the drill rod bin, and the lifter in the drill rod bin pushes the drill rod upwards, and the pressure entering the lifting oil cylinder can be limited by the pressure reducing valve so as to send the drill rod to a position to be grabbed; when the system pressure reaches the set value of the sequence valve I, high-pressure oil enters the gripper cylinder again to grasp the drill rod to be grasped;
center rod feeding action of mechanical arm: the reversing valve I is in parallel reversing direction, and high-pressure oil enters the translation oil cylinder I to drive the mechanical arm to move to the position of the central axis of the drilling hole with the drill rod;
the mechanical arm withdraws from the feeding machine body to act: the reversing valve II is in a cross reversing direction, high-pressure oil enters the gripper cylinder, and when the gripper cylinder is completely retracted until the pressure rises to a set value of the sequence valve II, the high-pressure oil enters the translation cylinder II again to drive the mechanical arm to withdraw from the feeding machine body;
opening the drill rod bin: the reversing valve III is in parallel reversing direction, high-pressure oil enters the lifting oil cylinder through the one-way valve II and the one-way valve I to drive the lifting machine to fall to the lowest point, and when the pressure rises to the set value of the sequence valve III, the high-pressure oil enters the pushing oil cylinder again to drive the drill rod bin to be opened;
closing the drill rod bin: the reversing valve III is controlled to be in a cross reversing direction, and high-pressure oil enters the pushing-out oil cylinder to drive the drill rod bin to be closed.
9. The full-hydraulic control method of the automatic rod adding drilling machine for the coal mine is characterized by comprising the following steps of:
when the mechanical arm completely exits the feeding machine body, the mechanical arm position monitoring valve is extruded and conducted by the end plate of the inner sleeve of the mechanical arm, high-pressure oil enters the control cavity of the feeding switching hydraulic control reversing valve through the shuttle valve so that the control cavity is not communicated with the oil inlet and the oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the mechanical arm translates to the feeding machine body to carry out a rod adding action, the mechanical arm position monitoring valve is not pressed, and the internal spring of the mechanical arm position monitoring valve is reset to cause the mechanical arm position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move;
when the power head moves in the contact range of the guide rail convex strips and the power head position monitoring valve, the power head position monitoring valve is always extruded by the convex strips to enable the power head position monitoring valve to be conducted, high-pressure oil enters the feeding switching hydraulic control reversing valve through the shuttle valve to enable the high-pressure oil not to be communicated with an oil inlet and an oil outlet of the feeding oil cylinder, and the feeding oil cylinder can normally drive the power head to advance and retreat;
when the power head moves to the position where the guide rail convex strips are separated from the power head position monitoring valve, the power head position monitoring valve is not pressed, the internal spring is reset to cause the power head position monitoring valve to be disconnected, and no high-pressure oil enters the feeding switching hydraulic control reversing valve to be communicated with the oil inlet and the oil outlet of the feeding oil cylinder, so that the feeding oil cylinder cannot drive the power head to move.
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