CN115142842A - Control system and control method for mechanical hand of coal mine drilling machine - Google Patents
Control system and control method for mechanical hand of coal mine drilling machine Download PDFInfo
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- CN115142842A CN115142842A CN202210805677.7A CN202210805677A CN115142842A CN 115142842 A CN115142842 A CN 115142842A CN 202210805677 A CN202210805677 A CN 202210805677A CN 115142842 A CN115142842 A CN 115142842A
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- manipulator
- valve
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- 238000005553 drilling Methods 0.000 title claims abstract description 38
- 239000003245 coal Substances 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000013519 translation Methods 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 12
- 230000006837 decompression Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a coal mine drilling machine manipulator control system and a control method thereof, wherein the coal mine drilling machine manipulator control system comprises a manipulator clamping/translation system and a drill rod pushing system; the manipulator clamping/translation system comprises a manual reversing valve I, a hydraulic control reversing valve I connected with the manual reversing valve I, a manipulator clamping oil cylinder connected with the hydraulic control reversing valve I, a sequence valve I and a sequence valve II respectively connected with the manual reversing valve I, a hydraulic lock connected with the sequence valve I and the sequence valve II, and a manipulator translation oil cylinder connected with the hydraulic lock; the drill rod pushing system comprises a one-way valve, a stroke control valve, a hydraulic control reversing valve II, a back pressure valve, a drill rod pushing oil cylinder and a manual reversing valve II, wherein the stroke control valve and the hydraulic control reversing valve II are sequentially connected with the one-way valve through control oil K1; the mechanical arm clamping and the translation logic sequence linkage control simplify the operation process, reduce the cost, and improve the working efficiency through stroke control of the translation of the mechanical arm and the pushing of the drill rod.
Description
Technical Field
The invention belongs to the field of coal mine drilling machine design, relates to a coal mine drilling machine manipulator control system and a control method thereof, and particularly relates to a manipulator control system applied to a coal mine underground tunnel drilling machine and a control method thereof.
Background
The technical field of the industrial robot is very mature, the manipulator is controlled by a hydraulic servo control system, the control precision is high, but the servo system has extremely high requirement on the cleanliness of oil, does not meet the underground explosion-proof requirement, and cannot be used for a coal mine drilling machine.
In the field of coal mines, development of underground intelligent drilling technical equipment is trending to achieve the aims of mechanical people reduction, automatic people replacement and intelligent unmanned underground coal mines. The intelligent drilling machine is realized by a mechanical arm, the action of the mechanical arm is controlled by an explosion-proof electromagnetic directional valve, but high-performance explosion-proof components and electric control systems are expensive.
In consideration of the complex environment of the underground coal mine, the economic common drilling machine with mature technology, compact design, high quality and low price still occupies an important market in the long time in the future, so that a manipulator hydraulic control system and a control method thereof are needed, and the system is suitable for controlling the full hydraulic control automatic drill rod adding manipulator aiming at the economic common drilling machine so as to meet the intelligent modification requirement of the market on the common drilling machine.
Disclosure of Invention
In view of the above, the invention provides a coal mine drilling machine manipulator control system and a control method thereof, aiming at solving the problems of various control valves, complex operation and low working efficiency of the existing full hydraulic control automatic drill rod adding and connecting manipulator control system of an economical common drilling machine.
In order to achieve the purpose, the invention provides the following technical scheme:
a coal mine drilling machine manipulator control system comprises a manipulator clamping/translation system and a drill rod pushing system;
the manipulator clamping/translation system comprises a manual reversing valve I, a hydraulic control reversing valve I connected with the manual reversing valve I, a manipulator clamping oil cylinder connected with the hydraulic control reversing valve I, a sequence valve I and a sequence valve II respectively connected with the manual reversing valve I, a hydraulic lock connected with the sequence valve I and the sequence valve II and a manipulator translation oil cylinder connected with the hydraulic lock;
the drill rod pushing system comprises a one-way valve, a stroke control valve, a hydraulic control reversing valve II, a back pressure valve, a drill rod pushing oil cylinder and a manual reversing valve II, wherein the stroke control valve and the hydraulic control reversing valve II are sequentially connected with the one-way valve through control oil K1, the back pressure valve is connected with the two ends of the hydraulic control reversing valve II through pressure relief oil ways K2 respectively, and the manual reversing valve II is connected with the drill rod pushing oil cylinder.
Further, the control method of the coal mine drilling machine manipulator control system comprises the following steps:
s1: sequentially loading the drill rods into a drill rod box, operating a manual reversing valve II to a left position, and pushing the drill rods to a manipulator paw clamping position by the aid of system pressure after a drill rod pushing oil cylinder extends out;
s2: the manual reversing valve I is operated to the left position, the manipulator clamping oil cylinder extends out, and a manipulator claw clamps the drill rod; meanwhile, the control oil K1 pushes the hydraulic control reversing valve II to reverse through the one-way valve and the stroke control valve, the drill rod pushing oil cylinder pressure relief oil way K2 returns oil through the back pressure valve, and the manipulator paw is guaranteed to grab the drill rod at a lower back pressure;
s3: after the drilling machine finishes the action of screwing the drill rod, operating the manual reversing valve I to the right position, retracting the manipulator clamping oil cylinder, and loosening the drill rod by the manipulator claw;
s4: and after the drill rod in the drill rod box is connected, operating the manual reversing valve II to the right, retracting the drill rod pushing oil cylinder, and putting the drill rod into the drill rod box again to perform the next working cycle.
Further, in the step S1, the manual reversing valve II always works in the left position in the sequential drill rod adding and connecting process.
And furthermore, when the pressure of the clamped drill rod reaches a set value of the sequence valve I in the step S2, the sequence valve I is opened, the manipulator translation oil cylinder extends out, and the manipulator pushes the grabbed drill rod to the drilling machine to twist the drill rod.
Further, in the step S2, the time interval between the operation of clamping the drill rod by the manipulator and the operation of extending the manipulator is adjusted by the preset value of the sequence valve I.
And further, when the pressure of the loosened drill rod reaches a set value of the sequence valve II in the step S3, the sequence valve II is opened, and the manipulator translation oil cylinder retracts.
Further, when the manipulator translation oil cylinder retracts completely, the stroke control valve reverses under the pushing of the sliding block, the hydraulic control reversing valve II controls oil to be decompressed through the stroke control valve, the decompression oil path K2 of the drill rod pushing oil cylinder is disconnected, and the next drill rod in the drill rod box is pushed to the manipulator claw clamping position under the acting force of the pushing oil cylinder by system pressure.
Further, the time interval between the drill rod loosening action of the manipulator and the manipulator retracting action in the step S3 is adjusted through the preset value of the sequence valve II.
The invention has the beneficial effects that:
1. according to the coal mine drilling machine manipulator control system and the control method thereof disclosed by the invention, the clamping and translation actions of the manipulator are controlled in a logic sequence linkage manner through the manual reversing valve I, so that control valves are reduced, the operation process is simplified, and the cost is reduced.
2. According to the coal mine drilling machine manipulator control system and the control method thereof disclosed by the invention, the translation of the manipulator and the pushing of the drill rod are controlled through the stroke of the stroke control valve and the hydraulic control reversing valve II, so that the working efficiency is improved.
3. According to the control system and the control method for the manipulator of the coal mine drilling machine, the adopted valves are all common industrial valves, the working performance is stable and reliable, the pollution resistance is strong, explosion prevention is not needed, the universality is strong, the economical efficiency is good, and the cost is reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a coal mine drilling machine manipulator control system of the present invention;
fig. 2 is a schematic structural diagram of a manipulator in the coal mine drilling machine manipulator control system.
Reference numerals are as follows: the hydraulic control drill rod pushing device comprises a manual reversing valve I1, a hydraulic control reversing valve I2, a manipulator clamping oil cylinder 3, a sequence valve I4.1, a sequence valve II 4.2, a hydraulic lock 5, a manipulator translation oil cylinder 6, a one-way valve 7, a stroke control valve 8, a hydraulic control reversing valve II 9, a back pressure valve 10, a drill rod pushing oil cylinder 11, a manual reversing valve II 12, a manipulator paw 13 and a drill rod box 14.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
A coal mine drilling machine manipulator control system as shown in fig. 1, comprising a manipulator clamping/translation system and a drill rod pushing system; the manipulator clamping/translation system comprises a manual reversing valve I1 for controlling the actions of a manipulator clamping oil cylinder 3 and a manipulator translation oil cylinder 6, a hydraulic control reversing valve I2 connected with the manual reversing valve I1 to ensure that a manipulator claw 13 can reliably clamp a drill rod, the manipulator clamping oil cylinder 3 connected with the hydraulic control reversing valve I2 to control the clamping and loosening of the manipulator claw 13, a sequence valve I4.1 and a sequence valve II 4.2 which are respectively connected with the manual reversing valve I1 to control the sequence of actions of the manipulator translation oil cylinder 6, a hydraulic lock 5 connected with the sequence valve I4.1 and the sequence valve II 4.2 to ensure that the manipulator translation oil cylinder 6 can reliably stop at any position in a stroke range, and a manipulator translation oil cylinder 6 connected with the hydraulic lock 5 to control the extension and retraction of a manipulator.
The drill rod pushing system comprises a check valve 7 for preventing the control oil of the manipulator clamping cylinder 3 from flowing back, a stroke control valve 8 sequentially connected with the check valve 7 through the control oil K1 to switch a control oil path of the manipulator clamping cylinder 3, a hydraulic control reversing valve II 9 for switching a drill rod pushing pressure relief oil path, a back pressure limiting pre-grabbing drill rod connected with two ends of the hydraulic control reversing valve II 9 through pressure relief oil paths K2 respectively, drill rod grabbing impact is reduced, a back pressure valve 10 for protecting a drill rod box 14, a drill rod pushing cylinder 11 for controlling the pushing action of a drill rod in the drill rod box 14, and a manual reversing valve II 12 connected with the drill rod pushing cylinder 11 to control the extension and retraction of the drill rod pushing cylinder 11.
The control method of the coal mine drilling machine manipulator control system comprises the following steps:
s1: as shown in the structural schematic diagram of the manipulator shown in FIG. 2, drill rods are sequentially placed into a drill rod box 14, the hand-operated direction valve II 12 is operated to the left position, the drill rod pushing oil cylinder 11 extends out to push the drill rods to the clamping position of the manipulator claw 13 under system pressure, and the hand-operated direction valve II 12 always works at the left position in the sequential drill rod adding process.
S2: the manual reversing valve I1 is operated to the left position, the manipulator clamping oil cylinder 3 extends out, and the manipulator claw 13 clamps the drill rod; meanwhile, the control oil K1 pushes the hydraulic control reversing valve II 9 to reverse through the one-way valve 7 and the stroke control valve 8, the drill rod pushing oil cylinder pressure relief oil way K2 returns oil through the backpressure valve 10, and the manipulator paw 13 is guaranteed to grab a drill rod with low backpressure.
When the pressure of the clamped drill rod reaches a set value of the sequence valve I4.1, the sequence valve I4.1 is opened, the manipulator translation oil cylinder 6 extends out, and the manipulator pushes the grabbed drill rod to the drilling machine to perform drill rod screwing operation.
The hydraulic control reversing valve I2 ensures that the manipulator reliably clamps the drill rod all the time in the whole process. The time interval between the two actions of clamping the drill rod by the manipulator and extending the manipulator is adjusted by the preset value of the sequence valve I4.1.
S3: after the drilling machine finishes the action of screwing the drill rod, the manual reversing valve I1 is operated to the right, the manipulator clamping oil cylinder 3 retracts, and the manipulator claw 13 loosens the drill rod.
When the pressure of the loosened drill rod reaches the set value of the sequence valve II 4.2, the sequence valve II 4.2 is opened, and the manipulator translation oil cylinder 6 retracts; when the manipulator translation oil cylinder 6 is completely retracted, the stroke control valve 8 is driven by the sliding block to change the direction, the hydraulic control reversing valve II 9 controls oil to be decompressed through the stroke control valve 8, the decompression oil path K2 of the drill rod pushing oil cylinder is disconnected, and the next drill rod in the drill rod box 14 is pushed to the clamping position of the manipulator claw 13 under the action force of the drill rod pushing oil cylinder 11.
The time interval between the drill rod loosening action of the manipulator and the manipulator retracting action is adjusted through the preset value of the sequence valve II 4.2.
And (5) performing reciprocating circulation until the drill rods in the drill rod box 14 are completely jointed.
S4: after the drill rod in the drill rod box 14 is connected, the manual reversing valve II 12 is operated to the right position, the drill rod pushing oil cylinder 11 retracts, and the drill rod is placed again for the next working cycle.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (8)
1. A coal mine drilling machine manipulator control system is characterized by comprising a manipulator clamping/translation system and a drill rod pushing system; the manipulator clamping/translation system comprises a manual reversing valve I, a hydraulic control reversing valve I connected with the manual reversing valve I, a manipulator clamping oil cylinder connected with the hydraulic control reversing valve I, a sequence valve I and a sequence valve II respectively connected with the manual reversing valve I, a hydraulic lock connected with the sequence valve I and the sequence valve II, and a manipulator translation oil cylinder connected with the hydraulic lock; the drill rod pushing system comprises a one-way valve, a stroke control valve, a hydraulic control reversing valve II, a back pressure valve, a drill rod pushing oil cylinder and a manual reversing valve II, wherein the stroke control valve and the hydraulic control reversing valve II are sequentially connected with the one-way valve through control oil K1, the back pressure valve and the drill rod pushing oil cylinder are respectively connected with the two ends of the hydraulic control reversing valve II through pressure relief oil ways K2, and the manual reversing valve II is connected with the drill rod pushing oil cylinder.
2. The control method for the coal mine drilling machine manipulator control system according to claim 1, characterized by comprising the steps of:
s1: sequentially loading the drill rods into a drill rod box, operating the manual reversing valve II to a left position, and pushing the drill rods to a manipulator paw clamping position by the aid of the drill rod pushing oil cylinder in a stretching mode under system pressure;
s2: the manual reversing valve I is operated to a left position, the manipulator clamping oil cylinder extends out, and a manipulator claw clamps the drill rod; meanwhile, the control oil K1 pushes the hydraulic control reversing valve II to reverse through the one-way valve and the stroke control valve, and the drill rod pushing oil cylinder pressure relief oil way K2 returns oil through the backpressure valve, so that the manipulator paw is guaranteed to grab the drill rod at a lower backpressure;
s3: after the drilling machine finishes the action of screwing the drill rod, operating the manual reversing valve I to the right position, retracting the manipulator clamping oil cylinder, and loosening the drill rod by the manipulator claw;
s4: and after the drill rod in the drill rod box is connected, operating the manual reversing valve II to the right position, retracting the drill rod pushing oil cylinder, and putting the drill rod into the drill rod box again to perform the next working cycle.
3. The control method of the coal mine drilling machine manipulator control system according to claim 2, characterized in that the manual reversing valve II always works in a left position in the sequential drill rod adding process in the step S1.
4. The control method of the coal mine drilling machine manipulator control system according to claim 2, characterized in that when the pressure for clamping the drill rod in the step S2 reaches the set value of the sequence valve I, the sequence valve I is opened, the manipulator translation oil cylinder extends out, and the manipulator pushes the grabbed drill rod to the drilling machine to perform the operation of screwing the drill rod.
5. The control method of the coal mine drilling machine manipulator control system according to claim 2, wherein the time interval between the actions of clamping the drill rod by the manipulator and extending the manipulator in the step S2 is adjusted by the preset value of the sequence valve I.
6. The control method for the coal mine drilling machine manipulator control system according to claim 2, characterized in that when the pressure of the released drill rod in the step S3 reaches the set value of the sequence valve II, the sequence valve II is opened, and the manipulator translation oil cylinder retracts.
7. The control method of the coal mine drilling machine manipulator control system according to claim 6, characterized in that when the manipulator translation cylinder retracts, the stroke control valve is driven by the slide block to change the direction, the hydraulic control reversing valve II controls oil to be decompressed through the stroke control valve, a decompression oil path K2 of the drill rod pushing cylinder is disconnected, and the next drill rod in the drill rod box is pushed to a manipulator claw clamping position under the acting force of the pushing cylinder by system pressure.
8. The control method for the control system of the manipulator of the coal mine drilling machine according to claim 2, characterized in that the time interval between the actions of releasing the drill rod by the manipulator and retracting the manipulator in the step S3 is adjusted by the preset value of the sequence valve II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210805677.7A CN115142842A (en) | 2022-07-08 | 2022-07-08 | Control system and control method for mechanical hand of coal mine drilling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210805677.7A CN115142842A (en) | 2022-07-08 | 2022-07-08 | Control system and control method for mechanical hand of coal mine drilling machine |
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| CN115142842A true CN115142842A (en) | 2022-10-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210805677.7A Pending CN115142842A (en) | 2022-07-08 | 2022-07-08 | Control system and control method for mechanical hand of coal mine drilling machine |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040168828A1 (en) * | 2003-02-10 | 2004-09-02 | Mock Philip W. | Tractor with improved valve system |
| CN102606555A (en) * | 2012-03-30 | 2012-07-25 | 中煤科工集团重庆研究院 | Integrated linkage control valve bank for all-hydraulic coal mine drill |
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| US20210156250A1 (en) * | 2017-06-26 | 2021-05-27 | Suhua Liu | Advance and Retreat Automatic Control Method Based on Hydraulic Sensing Conversion and Advance and Retreat Automatic Control System Based on Hydraulic Sensing Conversion |
| CN213598282U (en) * | 2020-09-25 | 2021-07-02 | 沈阳理工大学 | Hydraulic system for drilling machine |
| CN114320290A (en) * | 2021-11-24 | 2022-04-12 | 中煤科工集团西安研究院有限公司 | Full hydraulic control system and control method for automatic rod-adding drilling machine for coal mine |
-
2022
- 2022-07-08 CN CN202210805677.7A patent/CN115142842A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040168828A1 (en) * | 2003-02-10 | 2004-09-02 | Mock Philip W. | Tractor with improved valve system |
| CN102606555A (en) * | 2012-03-30 | 2012-07-25 | 中煤科工集团重庆研究院 | Integrated linkage control valve bank for all-hydraulic coal mine drill |
| CN202971363U (en) * | 2012-11-30 | 2013-06-05 | 中煤科工集团重庆研究院 | Full-hydraulic underground drill rig hydraulic control system for mine |
| US20210156250A1 (en) * | 2017-06-26 | 2021-05-27 | Suhua Liu | Advance and Retreat Automatic Control Method Based on Hydraulic Sensing Conversion and Advance and Retreat Automatic Control System Based on Hydraulic Sensing Conversion |
| CN213598282U (en) * | 2020-09-25 | 2021-07-02 | 沈阳理工大学 | Hydraulic system for drilling machine |
| CN114320290A (en) * | 2021-11-24 | 2022-04-12 | 中煤科工集团西安研究院有限公司 | Full hydraulic control system and control method for automatic rod-adding drilling machine for coal mine |
Non-Patent Citations (2)
| Title |
|---|
| 孙毅刚, 王树国, 蔡鹤皋: "液压单向顺序阀在煤矿自动化液压设备中的应用", 矿山机械, no. 11, 10 November 1994 (1994-11-10), pages 39 - 41 * |
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