CN115596730B - Full-automatic loading and unloading hydraulic control system and method for anti-impact drilling robot drilling tool - Google Patents

Full-automatic loading and unloading hydraulic control system and method for anti-impact drilling robot drilling tool Download PDF

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Publication number
CN115596730B
CN115596730B CN202211382069.6A CN202211382069A CN115596730B CN 115596730 B CN115596730 B CN 115596730B CN 202211382069 A CN202211382069 A CN 202211382069A CN 115596730 B CN115596730 B CN 115596730B
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oil
port
valve
hydraulic
drilling tool
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CN115596730A (en
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司垒
单光朋
顾进恒
王忠宾
梁斌
魏东
闫海峰
谭超
邹筱瑜
戴剑博
刘新华
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/10—Slips; Spiders ; Catching devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/18—Connecting or disconnecting drill bit and drilling pipe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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Abstract

A hydraulic control system and method for fully autonomous loading and unloading of a drilling tool of an anti-impact drilling robot, the system comprises: the hydraulic pump is used for supplying oil to the proportional reversing valve I, the proportional reversing valve I is connected with the jacking cylinder through the one-way throttle valve and the hydraulic control one-way valve C, and the proportional reversing valve II is connected with the hydraulic motor; the proportional reversing valve three-way valve is connected with the pliers hydraulic cylinder through a double-hydraulic control one-way valve two; the proportional reversing valve is connected with the first to sixth bolt hydraulic cylinders through the first double-pilot-control check valve; the method comprises the following steps: the filling operation, the lifting plate is lifted to a set height, the fixing of the lowest row of drilling tools is released, the drilling tools fall onto the lifting plate, the penultimate row of drilling tools are fixed, the hydraulic motor drives the shuttle arms to rotate inwards and drive the pliers to move downwards to the drilling tool warehouse, the lifting plate is lowered, the drilling tools are clamped, the shuttle arms are driven to rotate outwards, and the pliers are driven to move towards the drilling system to loosen the drilling tools, so that the drilling tools are filled in place. The system and the method can improve the degree of automation when the drilling tool is assembled and disassembled by the anti-impact drilling robot.

Description

Full-automatic loading and unloading hydraulic control system and method for anti-impact drilling robot drilling tool
Technical Field
The invention belongs to the technical field of control of working faces of underground rock burst roadways of coal mines, and particularly relates to a fully-autonomous loading and unloading hydraulic control system and method for an anti-impact drilling robot drilling tool.
Background
In recent years, along with the continuous increase of coal resource exploitation depth and exploitation intensity, dynamic disasters such as mine rock burst and the like are increasingly aggravated, and the safety of coal exploitation is seriously threatened. Drilling is still an important means for exploring and managing coal mine disasters in China, wherein an anti-impact drilling robot is key equipment for pressure relief of rock burst mines.
Although the traditional underground drilling machine for the coal mine plays an important role in disaster management and safety guarantee, the underground drilling machine for the coal mine is gradually exposed along with the advancement of intelligent construction of the coal mine and the defects of obvious potential safety hazards and the like. The traditional drilling machine has low drilling tool loading and unloading automation degree, high labor intensity and more well descending staff, and severely restricts the working efficiency of the drilling machine and the production efficiency of a coal mine. Meanwhile, in the underground roadway, the space is narrow and dark, the environment is complex, and large potential safety hazards are easy to occur when the underground roadway is manually assembled and disassembled, so that coal mine production accidents can be caused. The traditional drilling machine is manually assembled and disassembled in the drilling process, the drilling tool is frequently started and stopped, the formed holes are easily damaged and collapsed, the coal dust is accumulated, and accidents such as drill rod breakage, drill tool loss and the like can also occur when the drilling tool is locked.
The anti-impact drilling robot can release pressure in drilling holes, and the degree of automation of the anti-impact drilling robot can play a great role in coal mine production when preventing and controlling geological disasters. In the working process of the anti-impact drilling robot, the efficiency and the automation degree of drilling tool loading and unloading play a decisive role in the working efficiency of the anti-impact drilling robot. The full autonomous loading and unloading of the drilling tool needs to meet the requirements of storing the drilling tool and quickly and efficiently conveying the drilling tool to a designated position in a limited space. The fully autonomous loading and unloading can effectively reduce the participation degree of underground workers, and further has a great effect on improving the production efficiency and the safety of the coal mine.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the full-automatic loading and unloading hydraulic control system and the full-automatic loading and unloading hydraulic control method for the drilling tool of the anti-impact drilling robot, and the system can realize the automatic control of various components, improves the degree of automation of the anti-impact drilling robot when loading and unloading the drilling tool, and is beneficial to improving the drilling efficiency and the safety in the working process. The method can comprehensively improve the working efficiency of underground drilling operation of the drilling robot, can effectively save human resources, has wide popularization value and social benefit, and has great effect on improving the production efficiency and the safety of the coal mine.
In order to achieve the above purpose, the invention provides a fully autonomous loading and unloading hydraulic control system of a drilling tool of a scour protection drilling robot, which comprises a hydraulic pump, a first hydraulic oil tank, a second hydraulic oil tank, a third hydraulic oil tank, a jacking oil cylinder group, a bolt hydraulic cylinder group, a hand wrench hydraulic cylinder and a hydraulic motor, wherein the hydraulic pump is driven by an engine coaxially connected with the hydraulic pump, and an oil suction port of the hydraulic pump is connected with the first hydraulic oil tank through an oil suction pipeline;
the device comprises a first proportional reversing valve, a second proportional reversing valve, a third proportional reversing valve, a fourth proportional reversing valve, a hydraulic control one-way valve C, a first one-way valve, a second one-way valve, an overflow valve A, a second double-hydraulic control one-way valve, a first double-hydraulic control one-way valve, a one-way sequence valve, a rotary encoder, a first pressure sensor, a second pressure sensor, a third pressure sensor and a controller;
the jacking cylinder group is used for driving the lifting action of the jacking plate and consists of a jacking cylinder I and a jacking cylinder II;
the bolt hydraulic cylinder group is used for driving the action of the drilling tool warehouse and consists of a bolt hydraulic cylinder I, a bolt hydraulic cylinder II, a bolt hydraulic cylinder III, a bolt hydraulic cylinder IV, a bolt hydraulic cylinder V and a bolt hydraulic cylinder six;
the hand pliers hydraulic cylinder is used for driving the hand pliers to open and close;
The hydraulic motor is used for driving the shuttle arm to act;
the oil discharge port of the hydraulic pump is respectively connected with the P port of the first proportional reversing valve, the P port of the second proportional reversing valve, the P port of the third proportional reversing valve and the P port of the fourth proportional reversing valve, and the T port of the first proportional reversing valve, the T port of the second proportional reversing valve, the T port of the third proportional reversing valve and the T port of the fourth proportional reversing valve are all connected with the second hydraulic oil tank;
an opening A of the first proportional reversing valve is connected with an oil inlet of a hydraulic control one-way valve C through a one-way throttle valve, and an oil outlet of the hydraulic control one-way valve C is respectively connected with a rodless cavity oil port of the jacking oil cylinder I and a rodless cavity oil port of the jacking oil cylinder II; the port B of the first proportional reversing valve is respectively connected with a rod cavity oil port of the first jacking oil cylinder and a rod cavity oil port of the second jacking oil cylinder; the hydraulic control port of the hydraulic control one-way valve C is connected with the port B of the proportional reversing valve I through a signal oil circuit;
the port A of the proportional reversing valve II is respectively connected with the port A of the hydraulic motor and the oil inlet of the one-way valve I, and the port B of the proportional reversing valve II is respectively connected with the port B of the hydraulic motor and the oil inlet of the one-way valve II; the oil outlet of the first check valve and the oil outlet of the second check valve are connected with the oil inlet of the overflow valve A, and the oil outlet of the overflow valve A is connected with the hydraulic oil tank III;
The port A of the proportional reversing valve III is connected with a first oil inlet of a double-hydraulic control one-way valve II, a first oil outlet of the double-hydraulic control one-way valve II is connected with a rodless cavity oil port of the pliers hydraulic cylinder, the port B of the proportional reversing valve III is connected with a second oil inlet of the double-hydraulic control one-way valve II, and a second oil outlet of the double-hydraulic control one-way valve II is connected with a rod cavity oil port of the pliers hydraulic cylinder;
the first oil outlet of the double-hydraulic control one-way valve I is respectively connected with a rod cavity oil port of the bolt hydraulic cylinder I, a rod cavity oil port of the bolt hydraulic cylinder II, a rod cavity oil port of the bolt hydraulic cylinder III, a rod cavity oil port of the bolt hydraulic cylinder IV, a rod cavity oil port of the bolt hydraulic cylinder V and a rod cavity oil port of the bolt hydraulic cylinder V; the oil outlet of the one-way sequence valve is respectively connected with the rodless cavity oil port of the first bolt hydraulic cylinder, the rodless cavity oil port of the second bolt hydraulic cylinder and the rodless cavity oil port of the third bolt hydraulic cylinder;
The rotary encoder is connected to the output shaft of the hydraulic motor;
the first pressure sensor is connected to a first oil outlet of the first double-hydraulic control one-way valve;
the second pressure sensor is connected to a first oil outlet of the second double-hydraulic-control one-way valve;
the pressure sensor III is connected to an oil outlet of the hydraulic control one-way valve C;
the controller is respectively connected with the engine, the first proportional reversing valve, the second proportional reversing valve, the third proportional reversing valve, the fourth proportional reversing valve, the rotary encoder, the first pressure sensor, the second pressure sensor and the third pressure sensor.
Further, in order to filter various impurities in the oil, cleaning of the oil and control accuracy of a system can be effectively guaranteed, and a filter is connected in series in the oil suction pipeline.
Preferably, the controller is a PLC controller.
Preferably, the first proportional reversing valve, the second proportional reversing valve, the third proportional reversing valve and the fourth proportional reversing valve are three-position four-way valves, when the power supply works in the left position, the oil way between the P port and the A port is communicated, the oil way between the T port and the B port is communicated, when the power supply works in the middle position, the P port, the T port, the A port and the B port are all cut off, and when the power supply works in the right position, the oil way between the P port and the B port is communicated, and the oil way between the T port and the A port is communicated.
As one preferable mode, the first double-pilot-operated check valve is composed of a first pilot-operated check valve a and a first pilot-operated check valve B, wherein an oil inlet of the first pilot-operated check valve a is used as a first oil inlet of the first double-pilot-operated check valve a, an oil outlet of the first pilot-operated check valve a is used as a first oil outlet of the first double-pilot-operated check valve a, an oil inlet of the first pilot-operated check valve B is used as a second oil inlet of the first double-pilot-operated check valve a, an oil outlet of the first pilot-operated check valve B is used as an oil outlet of the second double-pilot-operated check valve a, a pilot-operated port of the first pilot-operated check valve a is connected with an oil inlet of the first pilot-operated check valve B through a signal oil path, and a pilot-operated port of the first pilot-operated check valve B is connected with an oil inlet of the first pilot-operated check valve a through a signal oil path;
the second hydraulic control check valve consists of a second hydraulic control check valve A and a second hydraulic control check valve B, wherein an oil inlet of the second hydraulic control check valve A is used as a first oil inlet of the second hydraulic control check valve, an oil outlet of the second hydraulic control check valve A is used as a first oil outlet of the second hydraulic control check valve, an oil inlet of the second hydraulic control check valve B is used as a second oil inlet of the second hydraulic control check valve, an oil outlet of the second hydraulic control check valve B is used as an oil outlet of the second hydraulic control check valve, a hydraulic control port of the second hydraulic control check valve A is connected with an oil inlet of the second hydraulic control check valve B through a signal oil way, and a hydraulic control port of the second hydraulic control check valve B is connected with an oil inlet of the second hydraulic control check valve A through a signal oil way.
Further, for convenience in control, the drilling tool loading device further comprises a start/stop button and a control handle, wherein the start/stop button and the control handle are connected with the controller 4, the start/stop button is used for respectively sending a start signal and a stop signal to the controller 4 according to control of an operator, and the control handle is used for respectively sending a drilling tool loading signal and a drilling tool reloading signal to the controller 4 according to control of the operator.
Further, in order to ensure that the system can work within the set pressure range, a relief valve B is further included, and the oil drain port of the hydraulic pump 3 is further connected to the first hydraulic tank through the relief valve B.
According to the hydraulic lifting device, the hydraulic control one-way valve C and the one-way throttle valve are arranged in the oil way connected with the rodless cavity of the lifting hydraulic cylinder group, so that the retraction process of the piston rod is slower, and the impact force of the drilling tool on the shuttle arm can be effectively reduced in the descending process of the lifting plate. Through the setting of pressure sensor three, can gather the pressure signal in jacking pneumatic cylinder rodless chamber in real time, and then can be convenient for the controller obtain the inside pressure value of jacking pneumatic cylinder in real time, and then can be convenient judge whether the jacking board lifts to the settlement height, or whether descend to the settlement height to can be convenient for realize the automated process of jacking pneumatic cylinder. The hydraulic motor is characterized in that an A port of the hydraulic motor and an oil inlet of a first check valve are connected with an A port of a second proportional reversing valve, an oil outlet of the first check valve is connected with a third hydraulic oil tank through an overflow valve A, a B port of the hydraulic motor and an oil inlet of the second check valve are connected with a B port of the second proportional reversing valve, and an oil outlet of the second check valve is connected with the third hydraulic oil tank through the overflow valve A, so that the situation that the pressure of the oil inlet is overlarge due to starting with load no matter the hydraulic motor rotates positively or rotates reversely can be ensured, and the hydraulic motor and an oil way can be effectively protected. Through the setting of rotary encoder, can gather hydraulic motor's rotation angle signal in real time, and then can be convenient for the controller obtain the displacement condition of shuttle arm in real time according to rotation angle signal, like this, can be favorable to realizing the automated control process to shuttle arm displacement. The double-hydraulic-control one-way valve II is arranged on the loop of the hand vice hydraulic cylinder, so that oil leakage caused by sealing of the proportional overflow valve can be effectively prevented, the pressure maintaining function of the loop can be achieved, meanwhile, the state of the hand vice hydraulic cylinder can be effectively locked, and shaking can be prevented. Through the setting of pressure sensor two, can gather the pressure signal in the no pole chamber of pliers pneumatic cylinder in real time, and then the controller of being convenient for acquires the inside pressure value of pliers pneumatic cylinder in real time, like this, can be convenient for the controller to carry out automatic control to the action of contrast ratio switching-over valve three, and then can realize the automatic control of pliers. The one-way sequence valve is arranged on the oil return branch of the bolt hydraulic cylinder group, and is arranged between rodless cavity oil ports of the first bolt hydraulic cylinder, the second bolt hydraulic cylinder and the third bolt hydraulic cylinder and rodless cavity oil ports of the fourth bolt hydraulic cylinder, the fifth bolt hydraulic cylinder and the sixth bolt hydraulic cylinder, so that the pressure on two sides of the one-way sequence valve can be adjusted to be balanced relatively, the bolt hydraulic cylinders can synchronously act in the working process, the drilling tool can be ensured to stably fall on the jacking plate, and the drilling tool can be ensured to be more stable in the locking process. The double hydraulic control check valve I is arranged on the loop of the bolt hydraulic cylinder group, so that the function of loop pressure maintaining can be achieved, meanwhile, the state of the bolt hydraulic cylinder can be effectively locked, and the shaking condition can be prevented. Through the setting of pressure sensor one, can be convenient for gather the pressure signal of the return circuit of bolt pneumatic cylinder group in real time, be convenient for the controller obtain the pressure value of bolt pneumatic cylinder group in real time, like this, can be convenient for the controller to carry out automated control to the contrast ratio switching-over valve four, further realized the automated control of bolt. The system can realize the automatic control process of various components, improves the automation degree of the anti-impact drilling robot when loading and unloading drilling tools, and is beneficial to improving the drilling efficiency and the safety in the working process.
The invention also provides a fully-automatic loading and unloading hydraulic control method of the anti-impact drilling robot drilling tool, which comprises a fully-automatic loading and unloading hydraulic control system of the anti-impact drilling robot drilling tool, and further comprises the following steps:
step one: an operator sends a starting signal to a controller through a starting/stopping button, and the controller controls the engine to start after receiving the starting signal to drive the hydraulic pump to work so that the system enters a working state;
step two: executing the third step after the controller receives the drilling tool loading signal, and executing the fourth step after the controller receives the drilling tool reloading signal;
step three: filling operation;
s301, a controller controls a proportional reversing valve to be operated at the left position, and a jacking plate is jacked to a set height by a jacking hydraulic cylinder group;
s302, the controller controls the proportional reversing valve IV to be electrically operated at the left position, and the retraction action of the bolt hydraulic cylinder group is utilized to drive the bolt to retract, so that the fixation of the drilling tool warehouse to the lowest row of drilling tools is relieved, and the drilling tools of the lowest row fall onto the lifting plate under the action of dead weight;
s303, the controller controls the proportional reversing valve IV to work in the right position, the bolt is driven to extend by the extending action of the bolt hydraulic cylinder group, and the penultimate row of drilling tools are fixed through the drilling tool library;
S304, the controller controls the second proportional reversing valve to be electrically operated at the left position, the shuttle arm is driven to rotate inwards by utilizing the forward rotating action of the hydraulic motor, and meanwhile, the pliers are driven to move horizontally towards the inner side of the drilling tool warehouse, and when the pliers move to the position below the first row of drilling tools in the drilling tool warehouse, the drilling tools are stopped and are ready to receive the drilling tools falling from the drilling tool warehouse;
s305, the controller controls the proportional reversing valve to be operated at the right position, and the jacking hydraulic cylinder group is utilized to drive the jacking plate to descend until the borne drilling tool descends to the concave part of the pliers;
s306, the controller controls the proportional reversing valve III to be electrically operated at the left position, and the pliers are driven to clamp the drilling tool by the extending action of the pliers hydraulic cylinder;
s307, the controller controls the second proportional reversing valve to work at the right position, drives the shuttle arm to rotate outwards by utilizing the reverse rotation action of the hydraulic motor, and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, and sends the drilling tool to the clamping part of the drilling system, and the drilling tool stops when the set position is reached;
s308, the controller controls the proportional reversing valve III to work in the right position, and the retraction action of the hydraulic cylinder of the pliers is utilized to drive the pliers to loosen the clamping action of the drilling tool, so that the drilling tool is filled in place;
s309, repeatedly executing the steps S304 to S08 once to finish the filling operation of the second row of drilling tools, and stopping when the pliers move to the position below the second row of drilling tools in the tool library in the step 304 in the filling process of the second row of drilling tools;
S310, repeatedly executing the step S304 to the step S08 once to finish the filling operation of the third row of drilling tools, and stopping when the pliers move to the position below the third row of drilling tools in the tool library in the step 304 in the filling process of the third row of drilling tools;
s310, repeatedly executing the steps S301 to S10 for a plurality of times, and filling each row of drilling tools until the filling operation of the last row of drilling tools is finished;
step four: drilling tool reloading operation;
s401: the controller controls the proportional reversing valve III to be electrically operated at the left position, and the hydraulic cylinder of the pliers stretches out to drive the pliers to clamp the drilling tool which is withdrawn from the drilling system;
s402, a controller controls a second proportional reversing valve to be electrically operated at a left position, and drives a shuttle arm to rotate inwards by utilizing forward rotation action of a hydraulic motor, and simultaneously drives a pliers to move horizontally towards the inner side of a drilling tool warehouse, and the second proportional reversing valve stops when moving to the position below a first row of drilling tools in the drilling tool warehouse;
s403, the controller controls the proportional reversing valve III to work in the right position, and the retraction action of the hydraulic cylinder of the pliers is utilized to drive the pliers to loosen the clamping state of the drilling tool;
s404, the controller controls the proportional reversing valve to be operated at the left position, and the jacking plate is jacked up by the jacking hydraulic cylinder group and the drilling tools are jacked into the first row of the drilling tool warehouse;
Meanwhile, the controller controls the proportional reversing valve IV to be electrically operated at the left position, and the retraction action of the bolt hydraulic cylinder group is utilized to drive the bolt to retract, so that the locking state of the drilling tool warehouse is relieved, and the drilling tools jacked by the jacking plate enter the drilling tool warehouse;
s405, the controller controls the proportional reversing valve IV to work in the right position, and the extending action of the bolt hydraulic cylinder group is used for driving the bolt to extend so as to fix drilling tools entering the drilling tool warehouse;
s406, the controller controls the proportional reversing valve to be operated at the right position, and the jacking hydraulic cylinder group is utilized to drive the jacking plate to descend until the jacking plate descends to the set position;
s407, the controller controls the second proportional reversing valve to work at the right position, drives the shuttle arm to rotate outwards by utilizing the reverse rotation action of the hydraulic motor, and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, and stops when the pliers move to a designated position to receive the next drilling tool which is withdrawn from the drilling system;
s408, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the second drilling tool, stopping when the pliers move to the position below the second column of the drilling tool library in the step S402 in the process of reloading the second drilling tool, and lifting the drilling tool into the second column of the drilling tool library in the step S404;
S409, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the third drilling tool, stopping when the clamped drilling tool moves to the lower part of the third row of the drilling tool library in the step S402 in the process of reloading the third row of the drilling tool, and lifting the drilling tool into the third row of the drilling tool library in the step S404;
s410, repeatedly executing the steps S401 to 407 once to finish the reloading operation of the fourth drilling tool;
s411, repeatedly executing the step S408 once to finish the reinstallation operation of the fifth drilling tool;
s412, repeatedly executing the step S409 once to finish the reinstallation operation of the sixth drilling tool;
and S413, repeatedly executing the steps S401 to S412 for a plurality of times until the completion of the reloading operation of all drilling tools.
The method can automatically realize the drilling tool filling operation and the drilling tool returning operation, comprehensively improve the working efficiency of the underground drilling operation of the drilling robot, effectively save human resources, has wide popularization value and social benefit, and has great effect on improving the production efficiency and the safety of the coal mine.
Drawings
FIG. 1 is a hydraulic schematic of the system of the present invention;
fig. 2 is a flow chart of the method of the present invention.
In the figure: 1. the hydraulic oil tank I, 2, the filter, 3, the hydraulic pump, 4, the controller, 5, the hydraulic oil tank II, 6, the proportional reversing valve I, 7, the proportional reversing valve II, 8, the proportional reversing valve III, 9, the proportional reversing valve IV, 10, the double-hydraulic control check valve I, 11, the pressure sensor I, 12, the bolt hydraulic cylinder I, 13, the bolt hydraulic cylinder II, 14, the bolt hydraulic cylinder III, 15, the bolt hydraulic cylinder IV, 16, the bolt hydraulic cylinder IV, 17, the bolt hydraulic cylinder VI, 18, the one-way sequence valve, 19, the double-hydraulic control check valve II, 20, the pressure sensor II, 21, the pliers hydraulic cylinder, 22, the hydraulic oil tank III, 23, the overflow valve A,24, the check valve I, 25, the check valve II, 26, the hydraulic motor 27, the rotary encoder, 28, the one-way throttle valve 29, the hydraulic control check valve C,30, the pressure sensor III, 31, the jacking hydraulic cylinder I, 32 and the jacking hydraulic cylinder II.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the fully-autonomous loading and unloading hydraulic control system of the anti-impact drilling robot drilling tool comprises a hydraulic pump 3, a first hydraulic oil tank 1, a second hydraulic oil tank 5, a third hydraulic oil tank 22, a jacking oil cylinder group, a bolt hydraulic cylinder group, a hand wrench hydraulic cylinder 21 and a hydraulic motor 26, wherein the hydraulic pump 3 is driven by an engine coaxially connected with the hydraulic pump, and an oil suction port of the hydraulic pump is connected with the first hydraulic oil tank 1 through an oil suction pipeline;
a first proportional reversing valve 6, a second proportional reversing valve 7, a third proportional reversing valve 8, a fourth proportional reversing valve 9, a hydraulic control one-way valve C29, a first one-way valve 24, a second one-way valve 25, an overflow valve A23, a second double hydraulic control one-way valve 19, a first double hydraulic control one-way valve 10, a one-way sequence valve 18, a rotary encoder 27, a first pressure sensor 11, a second pressure sensor 20, a third pressure sensor 30 and a controller 4;
the jacking cylinder group consists of a jacking cylinder I31 and a jacking cylinder II 32; the jacking cylinder group is used for driving the lifting action of the jacking plate, and in the process of filling drilling tools, a drill rod falling in the drilling tool warehouse is placed at the clamping position of the pliers, and in the process of unloading the drilling tools, the drilling tools are jacked into the drilling tool warehouse;
The bolt hydraulic cylinder group is used for driving the action of the drilling tool warehouse and consists of a bolt hydraulic cylinder I12, a bolt hydraulic cylinder II 13, a bolt hydraulic cylinder III 14, a bolt hydraulic cylinder IV 15, a bolt hydraulic cylinder V16 and a bolt hydraulic cylinder V17; in the process of filling the drilling tool, the bolt hydraulic cylinder group is retracted, so that the fixing of the drilling tool warehouse to the drilling tool can be relieved, and the drilling tool can fall above the lifting plate under the action of gravity. In the process of the back loading of the drilling tool, the drilling tool jacked by the jacking plate can be fixed in the drilling tool warehouse again by extending the pin hydraulic cylinder group.
The hand pliers hydraulic cylinder 21 is used for driving the hand pliers to open and close, and clamping of the drilling tool can be realized through the opening and closing of the hand pliers;
the hydraulic motor 26 is used for driving the shuttle arm to move to a designated position for receiving or reloading the drilling tool;
the oil discharge port of the hydraulic pump 3 is respectively connected with the P port of the first proportional reversing valve 6, the P port of the second proportional reversing valve 7, the P port of the third proportional reversing valve 8 and the P port of the fourth proportional reversing valve 9, and the T port of the first proportional reversing valve 6, the T port of the second proportional reversing valve 7, the T port of the third proportional reversing valve 8 and the T port of the fourth proportional reversing valve 9 are all connected with the second hydraulic oil tank 5;
An opening A of the first proportional reversing valve 6 is connected with an oil inlet of a hydraulic control one-way valve C29 through a one-way throttle valve 28, and an oil outlet of the hydraulic control one-way valve C29 is respectively connected with a rodless cavity oil port of a first jacking oil cylinder 31 and a rodless cavity oil port of a second jacking oil cylinder 32; the port B of the first proportional reversing valve 6 is respectively connected with a rod cavity oil port of the first jacking cylinder 31 and a rod cavity oil port of the second jacking cylinder 32; the hydraulic control port of the hydraulic control one-way valve C29 is connected with the port B of the proportional reversing valve I6 through a signal oil circuit;
the port A of the proportional reversing valve II 7 is respectively connected with the port A of the hydraulic motor 26 and the oil inlet of the one-way valve I24, and the port B of the proportional reversing valve II 7 is respectively connected with the port B of the hydraulic motor 26 and the oil inlet of the one-way valve II 25; the oil outlet of the first check valve 24 and the oil outlet of the second check valve 25 are both connected with the oil inlet of the overflow valve A23, and the oil outlet of the overflow valve A23 is connected with the third hydraulic oil tank 22; through the arrangement of the first check valve 24, the second check valve 25 and the overflow valve A23, the pressure of the oil inlet can be ensured not to be too high when the hydraulic motor 26 is started with load, and the hydraulic motor 26 and an oil way where the hydraulic motor is positioned can be safely protected.
The port A of the proportional reversing valve III 8 is connected with a first oil inlet of the double-pilot-operated check valve II 19, a first oil outlet of the double-pilot-operated check valve II 19 is connected with a rodless cavity oil port of the pliers hydraulic cylinder 21, the port B of the proportional reversing valve III 8 is connected with a second oil inlet of the double-pilot-operated check valve II 19, and a second oil outlet of the double-pilot-operated check valve II 19 is connected with a rod cavity oil port of the pliers hydraulic cylinder 21;
The port A of the proportional reversing valve IV 9 is connected with a first oil inlet of the double-hydraulic control one-way valve I10, a first oil outlet of the double-hydraulic control one-way valve I10 is respectively connected with a rod cavity oil port of the bolt hydraulic cylinder I12, a rod cavity oil port of the bolt hydraulic cylinder II 13, a rod cavity oil port of the bolt hydraulic cylinder III 14, a rod cavity oil port of the bolt hydraulic cylinder IV 15, a rod cavity oil port of the bolt hydraulic cylinder V16 and a rod cavity oil port of the bolt hydraulic cylinder V17, a port B of the proportional reversing valve IV 9 is connected with a second oil inlet of the double-hydraulic control one-way valve I10, and a second oil outlet of the double-hydraulic control one-way valve I10 is respectively connected with a rod cavity oil port of the bolt hydraulic cylinder IV 15, a rod cavity oil port of the bolt hydraulic cylinder V16, a rod cavity oil port of the bolt hydraulic cylinder V17 and an oil inlet of the one-way sequence valve 18; the oil outlet of the one-way sequence valve 18 is respectively connected with the rodless cavity oil port of the first bolt hydraulic cylinder 12, the rodless cavity oil port of the second bolt hydraulic cylinder 13 and the rodless cavity oil port of the third bolt hydraulic cylinder 14;
the rotary encoder 27 is connected to the output shaft of the hydraulic motor 26, and is used for acquiring the rotation angle signal of the hydraulic motor 26 in real time, sending the rotation angle signal to the controller 4 in real time, and acquiring the displacement of the shuttle arm by the controller 4 in real time according to the rotation angle signal; the displacement of the shuttle arms can respectively correspond to three rows of drilling tools in the drilling tool library, so that the shuttle arms drive the pliers to move to different positions, and drilling tools in different rows can be received.
The first pressure sensor 11 is connected to a first oil outlet of the first double-hydraulic-control check valve 10 and is used for acquiring pressure signals in the bolt hydraulic cylinder group in real time and sending the pressure signals to the controller 4 in real time, and the controller 4 acquires pressure values in the bolt hydraulic cylinder group in real time according to the pressure signals;
the second pressure sensor 20 is connected to the first oil outlet of the second double-hydraulic control one-way valve 19, and is used for acquiring pressure signals in the hand vice oil cylinder 21 in real time and sending the pressure signals to the controller 4 in real time, and the controller 4 acquires pressure values in the hand vice oil cylinder in real time according to the pressure signals;
the third pressure sensor 30 is connected to the oil outlet of the hydraulic control one-way valve C29, and is used for acquiring pressure signals in the jacking oil cylinder group in real time and sending the pressure signals to the controller 4 in real time, and the controller 4 acquires pressure values in the jacking oil cylinder group in real time according to the pressure signals;
the controller 4 is respectively connected with the engine, the first proportional reversing valve 6, the second proportional reversing valve 7, the third proportional reversing valve 8, the fourth proportional reversing valve 9, the rotary encoder 27, the first pressure sensor 11, the second pressure sensor 20 and the third pressure sensor 30.
In order to filter various impurities in the oil, thereby effectively guaranteeing the cleanness of the oil and the control precision of the system, the filter 2 is connected in series in the oil suction pipeline.
Preferably, the controller 4 is a PLC controller.
As one preferable mode, the first proportional reversing valve 6, the second proportional reversing valve 7, the third proportional reversing valve 8 and the fourth proportional reversing valve 9 are three-position four-way valves, when the power supply works in the left position, the oil way between the P port and the A port is communicated, the oil way between the T port and the B port is communicated, when the power supply works in the middle position, the P port, the T port, the A port and the B port are all cut off, and when the power supply works in the right position, the oil way between the P port and the B port is communicated, and the oil way between the T port and the A port is communicated.
As one preferable mode, the double-pilot operated check valve one 10 is composed of a first pilot operated check valve a and a first pilot operated check valve B, wherein an oil inlet of the first pilot operated check valve a is used as a first oil inlet of the double-pilot operated check valve one 10, an oil outlet of the first pilot operated check valve a is used as a first oil outlet of the double-pilot operated check valve one 10, an oil inlet of the first pilot operated check valve B is used as a second oil inlet of the double-pilot operated check valve one 10, an oil outlet of the first pilot operated check valve B is used as an oil outlet of a second pilot operated check valve one 10, a pilot operated port of the first pilot operated check valve a is connected with an oil inlet of the first pilot operated check valve B through a signal oil path, and a pilot operated port of the first pilot operated check valve B is connected with an oil inlet of the first pilot operated check valve a through a signal oil path;
The second double-pilot-operated check valve 19 is composed of a second pilot-operated check valve A and a second pilot-operated check valve B, an oil inlet of the second pilot-operated check valve A is used as a first oil inlet of the second double-pilot-operated check valve 19, an oil outlet of the second pilot-operated check valve A is used as a first oil outlet of the second double-pilot-operated check valve 19, an oil inlet of the second pilot-operated check valve B is used as a second oil inlet of the second double-pilot-operated check valve 19, an oil outlet of the second pilot-operated check valve B is used as an oil outlet of the second double-pilot-operated check valve 19, a pilot-operated port of the second pilot-operated check valve A is connected with an oil inlet of the second pilot-operated check valve B through a signal oil way, and a pilot-operated port of the second pilot-operated check valve B is connected with an oil inlet of the second pilot-operated check valve A through a signal oil way.
Preferably, the oil drain port of the hydraulic pump 3 is further connected with the first hydraulic oil tank 1 through a relief valve B, the relief valve B is used for maintaining the pressure in the system not to exceed a set value, and when the pressure exceeds the set value, the relief valve B communicates the oil drain port of the hydraulic pump 3 with the first hydraulic oil tank 1;
preferably, the automatic drilling machine further comprises a start/stop button and a control handle, wherein the start/stop button and the control handle are connected with the controller 4, the start/stop button is used for respectively sending a start signal and a stop signal to the controller 4 according to the control of an operator, and the control handle is used for respectively sending a drilling tool filling signal and a drilling tool reloading signal to the controller 4 according to the control of the operator.
According to the hydraulic lifting device, the hydraulic control one-way valve C and the one-way throttle valve are arranged in the oil way connected with the rodless cavity of the lifting hydraulic cylinder group, so that the retraction process of the piston rod is slower, and the impact force of the drilling tool on the shuttle arm can be effectively reduced in the descending process of the lifting plate. Through the setting of pressure sensor three, can gather the pressure signal in jacking pneumatic cylinder rodless chamber in real time, and then can be convenient for the controller obtain the inside pressure value of jacking pneumatic cylinder in real time, and then can be convenient judge whether the jacking board lifts to the settlement height, or whether descend to the settlement height to can be convenient for realize the automated process of jacking pneumatic cylinder. The hydraulic motor is characterized in that an A port of the hydraulic motor and an oil inlet of a first check valve are connected with an A port of a second proportional reversing valve, an oil outlet of the first check valve is connected with a third hydraulic oil tank through an overflow valve A, a B port of the hydraulic motor and an oil inlet of the second check valve are connected with a B port of the second proportional reversing valve, and an oil outlet of the second check valve is connected with the third hydraulic oil tank through the overflow valve A, so that the situation that the pressure of the oil inlet is overlarge due to starting with load no matter the hydraulic motor rotates positively or rotates reversely can be ensured, and the hydraulic motor and an oil way can be effectively protected. Through the setting of rotary encoder, can gather hydraulic motor's rotation angle signal in real time, and then can be convenient for the controller obtain the displacement condition of shuttle arm in real time according to rotation angle signal, like this, can be favorable to realizing the automated control process to shuttle arm displacement. The double-hydraulic-control one-way valve II is arranged on the loop of the hand vice hydraulic cylinder, so that oil leakage caused by sealing of the proportional overflow valve can be effectively prevented, the pressure maintaining function of the loop can be achieved, meanwhile, the state of the hand vice hydraulic cylinder can be effectively locked, and shaking can be prevented. Through the setting of pressure sensor two, can gather the pressure signal in the no pole chamber of pliers pneumatic cylinder in real time, and then the controller of being convenient for acquires the inside pressure value of pliers pneumatic cylinder in real time, like this, can be convenient for the controller to carry out automatic control to the action of contrast ratio switching-over valve three, and then can realize the automatic control of pliers. The one-way sequence valve is arranged on the oil return branch of the bolt hydraulic cylinder group, and is arranged between rodless cavity oil ports of the first bolt hydraulic cylinder, the second bolt hydraulic cylinder and the third bolt hydraulic cylinder and rodless cavity oil ports of the fourth bolt hydraulic cylinder, the fifth bolt hydraulic cylinder and the sixth bolt hydraulic cylinder, so that the pressure on two sides of the one-way sequence valve can be adjusted to be balanced relatively, the bolt hydraulic cylinders can synchronously act in the working process, the drilling tool can be ensured to stably fall on the jacking plate, and the drilling tool can be ensured to be more stable in the locking process. The double hydraulic control check valve I is arranged on the loop of the bolt hydraulic cylinder group, so that the function of loop pressure maintaining can be achieved, meanwhile, the state of the bolt hydraulic cylinder can be effectively locked, and the shaking condition can be prevented. Through the setting of pressure sensor one, can be convenient for gather the pressure signal of the return circuit of bolt pneumatic cylinder group in real time, be convenient for the controller obtain the pressure value of bolt pneumatic cylinder group in real time, like this, can be convenient for the controller to carry out automated control to the contrast ratio switching-over valve four, further realized the automated control of bolt. The system can realize the automatic control process of various components, improves the automation degree of the anti-impact drilling robot when loading and unloading drilling tools, and is beneficial to improving the drilling efficiency and the safety in the working process.
As shown in fig. 2, the invention further provides a fully autonomous loading and unloading hydraulic control method for the anti-impact drilling robot drilling tool, which comprises a fully autonomous loading and unloading hydraulic control system for the anti-impact drilling robot drilling tool, and further comprises the following steps:
step one: an operator sends a starting signal to the controller 4 through a starting/stopping button, the controller 4 receives the starting signal and then controls the engine to start so as to drive the hydraulic pump 3 to work, and the system is in a working state;
after the engine is started, the system enters a working state and waits for the control action of the controller 4, in the process, the pressure in the system is ensured not to exceed a set value by using the overflow valve B, and when the pressure in the system exceeds the set value after a certain time, the overflow valve B establishes a communication passage between an oil discharge port of the hydraulic pump 3 and the first hydraulic oil tank 1;
step two: executing the third step after the controller 4 receives the drilling tool loading signal, and executing the fourth step after the controller 4 receives the drilling tool reloading signal;
step three: filling operation;
s301, the controller 4 controls the power-on operation of the first proportional reversing valve 6 to be at the left position, controls the opening of a valve port of the first proportional reversing valve 6 through the output current, and lifts the lifting plate to a set height by utilizing the lifting hydraulic cylinder group;
In the process, part of high-pressure oil output by the hydraulic pump 3 is supplied to an oil inlet of the one-way throttle valve 28 through an oil path between a port P and a port A of the proportional reversing valve I6, and then enters a rodless cavity of the jacking cylinder I31 and a rodless cavity of the jacking cylinder II 32 through the one-way throttle valve 28 and the hydraulic control one-way valve C29, so that a piston rod of the jacking cylinder I31 and a piston rod of the jacking cylinder II 32 synchronously extend outwards, and a jacking plate is lifted; meanwhile, oil in the rod cavity of the first jacking cylinder 31 and the rod cavity of the second jacking cylinder 32 flows back to the second hydraulic oil tank 5 through an oil path between the port B and the port T of the first proportional reversing valve 6;
the controller 4 acquires the pressure value in the jacking cylinder group in real time through the pressure signal acquired by the pressure sensor III 30 in real time, and when the pressure value reaches a set value A, the controller 4 judges that the jacking plate is jacked to a set height, so that the proportional reversing valve I6 is controlled to lose electricity and work in the middle position;
s302, the controller 4 controls the proportional reversing valve IV 9 to be electrically operated at the left position, and controls the opening of the valve port of the proportional reversing valve IV 9 through the output current, and the retraction action of the bolt hydraulic cylinder group is utilized to drive the bolt to retract, so that the fixation of the drilling tool warehouse to the lowest row of drilling tools is relieved, and the drilling tools of the lowest row fall onto the lifting plate under the action of dead weight;
In the process, part of high-pressure oil output by the hydraulic pump 3 enters a rod cavity oil port of a first bolt hydraulic cylinder 12, a rod cavity oil port of a second bolt hydraulic cylinder 13, a rod cavity oil port of a third bolt hydraulic cylinder 14, a rod cavity oil port of a fourth bolt hydraulic cylinder 15, a rod cavity oil port of a fifth bolt hydraulic cylinder 16 and a rod cavity oil port of a sixth bolt hydraulic cylinder 17 through an oil path between a P port and an A port of a proportional reversing valve four 9 and an oil path between a first oil inlet and a first oil outlet of a double-hydraulic control one-way valve 10 respectively, so that piston rods of all the bolt hydraulic cylinders retract, further bolts are driven to retract, and the fixation of a drilling tool warehouse to the lowest row of drilling tools is relieved, and the drilling tools of the lowest row fall onto a lifting plate under the action of gravity; meanwhile, the oil in the rodless cavity of the first bolt hydraulic cylinder 12, the oil in the rodless cavity of the second bolt hydraulic cylinder 13, the oil in the rodless cavity of the third bolt hydraulic cylinder 14, the oil in the rodless cavity of the fourth bolt hydraulic cylinder 15, the oil in the rodless cavity of the fifth bolt hydraulic cylinder 16 and the oil in the rodless cavity of the sixth bolt hydraulic cylinder 17 flow back to the second hydraulic oil tank 5 through the oil way between the second oil inlet and the second oil outlet of the double-pilot-control one-way valve 10 and the oil way between the port B and the port T of the proportional reversing valve four 9;
The first double-hydraulic control check valve 10 can play a role in maintaining pressure and locking the positions of the oil cylinders, the one-way sequence valve 18 can adjust the relative balance of the pressures at two sides, the action synchronism in the working process of the 6 bolt hydraulic cylinders is ensured, and the drilling tool can stably land on the lifting plate.
The controller 4 acquires a pressure value in the bolt hydraulic cylinder group in real time through a pressure signal acquired by the first pressure sensor 11 in real time, and when the pressure value reaches a set value II A, the controller 4 judges that the bolt is completely retracted, so that the proportional reversing valve IV 9 is controlled to work in the middle position in a power-losing mode;
s303, the controller 4 controls the proportional reversing valve IV 9 to be electrically operated at the right position, controls the opening of a valve port of the proportional reversing valve IV 9 through the output current, drives a bolt to extend through the extending action of the bolt hydraulic cylinder group, and fixes the penultimate gang drill through the drilling tool library;
in the process, part of high-pressure oil output by the hydraulic pump 3 enters a P port of a proportional reversing valve IV 9 and is output through a B port of the proportional reversing valve IV 9, part of oil output by the B port of the proportional reversing valve IV 9 firstly enters a rod cavity oil port of a bolt hydraulic cylinder IV 15, a rod cavity oil port of a bolt hydraulic cylinder V16 and a rod cavity oil port of a bolt hydraulic cylinder V17, so that bolts driven by the bolt hydraulic cylinder IV 15, the bolt hydraulic cylinder V16 and the bolt hydraulic cylinder V17 extend, after a certain time, a one-way sequence valve 18 is opened, and the other part of oil output by the B port of the proportional reversing valve IV 9 enters a rod cavity oil port of a bolt hydraulic cylinder I12, a rod cavity oil port of a bolt hydraulic cylinder II 13 and a rod cavity oil port of a bolt hydraulic cylinder III 14, so that bolts driven by the bolt hydraulic cylinder I12, the bolt hydraulic cylinder II 13 and the bolt hydraulic cylinder III 14 extend, and a bolt driven by the bolt hydraulic cylinder V17 drive a drilling tool library to fix penultimate drilling tools; meanwhile, the oil in the rod cavity of the first bolt hydraulic cylinder 12, the oil in the rod cavity of the second bolt hydraulic cylinder 13, the oil in the rod cavity of the third bolt hydraulic cylinder 14, the oil in the rod cavity of the fourth bolt hydraulic cylinder 15, the oil in the rod cavity of the fifth bolt hydraulic cylinder 16 and the oil in the rod cavity of the sixth bolt hydraulic cylinder 17 flow back to the second hydraulic oil tank 5 through the oil way between the first oil inlet and the first oil outlet of the double-pilot-control one-way valve 10 and the oil way between the A port and the T port of the proportional reversing valve four 9;
The controller 4 acquires a pressure value in the bolt hydraulic cylinder group in real time through a pressure signal acquired by the first pressure sensor 11 in real time, and when the pressure value reaches a set value II B, the controller 4 judges that the bolt is fully extended, so that the proportional reversing valve IV 9 is controlled to work in the middle position in a power-losing mode;
s304, the controller 4 controls the proportional reversing valve II 7 to work at the left position, the forward rotation action of the hydraulic motor 26 is utilized to drive the shuttle arm to rotate inwards, meanwhile, the pliers are driven to move horizontally towards the inner side of the drilling tool warehouse, and when the pliers move to the position below the first row of drilling tools in the drilling tool warehouse, the drilling tools are stopped and are ready to receive the drilling tools falling from the drilling tool warehouse;
in the process, part of high-pressure oil output by the hydraulic pump 3 enters an A port of the hydraulic motor 26 through an oil way between a P port and an A port of the proportional reversing valve II 7, and oil output by a B port of the hydraulic motor 26 flows back to the hydraulic oil tank II 5 through an oil way between a B port and a T port of the proportional reversing valve 7;
the controller 4 acquires the rotation angle signal of the hydraulic motor 26 in real time through the rotary encoder 27, acquires the displacement value of the shuttle arm in real time, and when the displacement value A is the same as the first column displacement set value, the controller 4 controls the proportional reversing valve II 7 to work in the middle position in a power-off mode, so that the hydraulic motor 26 stops rotating.
S305, the controller 4 controls the proportional reversing valve I6 to work in the right position after power is supplied, and controls the opening of the valve port of the proportional reversing valve I6 through the output current, and the jacking hydraulic cylinder group is utilized to drive the jacking plate to descend until the borne drilling tool descends to the concave part of the pliers;
in the process, part of high-pressure oil output by the hydraulic pump 3 enters a rod cavity of the first jacking cylinder 31 through an oil way between a P port and a B port of the proportional reversing valve 6, so that a piston rod of the first jacking cylinder 31 and a piston rod of the second jacking cylinder 32 synchronously retract inwards, and the jacking plate is driven to descend; meanwhile, the oil in the rodless cavity of the first jacking cylinder 31 and the rodless cavity of the second jacking cylinder 32 flows back to the second hydraulic oil tank 5 through the oil paths among the hydraulic control one-way valve C29, the throttle valve 28 and the ports A and T of the first proportional reversing valve 6; in the descending process of the lifting plate, the descending speed of the lifting plate is slower due to the functions of the hydraulic control one-way valve C29 and the one-way throttle valve 28, so that the impact of the drilling tool on the shuttle arm can be effectively reduced.
The controller 4 acquires the pressure value in the jacking cylinder group in real time through the pressure signal acquired by the pressure sensor III 30 in real time, and when the pressure value reaches the set value I B, the controller 4 judges that the jacking plate has fallen to the set height, so that the proportional reversing valve I6 is controlled to lose electricity and work in the middle position;
S306, the controller 4 controls the proportional reversing valve III 8 to work in the left position in a power-on mode, the opening of a valve port of the proportional reversing valve III 8 is controlled through the output current, and the pliers are driven to clamp the drilling tool by the aid of the extending action of the pliers hydraulic cylinder 21;
in the process, part of high-pressure oil output by the hydraulic pump 3 enters a rodless cavity of the pliers hydraulic cylinder 21 through an oil way between a P port and an A port of the proportional reversing valve III 8 and an oil way between a first oil inlet and a first oil outlet of the double-hydraulic control one-way valve II 19, and meanwhile, the oil in the rod cavity of the pliers hydraulic cylinder 21 flows back to the hydraulic oil tank II 5 through an oil way between a second oil inlet and a second oil outlet of the double-hydraulic control one-way valve II 19 and an oil way between a B port and a T port of the proportional reversing valve III 8, so that a piston rod of the hydraulic oil tank II is pushed to extend outwards, and the pliers are driven to complete clamping action;
the controller 4 acquires a pressure value in the hydraulic cylinder of the pliers in real time through a pressure signal acquired in real time by the pressure sensor II 20, and when the pressure value reaches a set value III A, the controller 4 judges that the pliers have realized clamping action and controls the proportional reversing valve III 8 to work in the middle position in a power-losing mode;
s307, the controller 4 controls the proportional reversing valve II 7 to work at the right position, drives the shuttle arm to rotate outwards by utilizing the reverse rotation action of the hydraulic motor 26, and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, so that the drilling tool is sent to the clamping part of the drilling system, and the drilling tool stops when the set position is reached;
In the process, part of high-pressure oil output by the hydraulic pump 3 enters the port B of the hydraulic motor 26 through an oil way between the port P and the port B of the proportional reversing valve II 7, and the oil output by the port A of the hydraulic motor 26 flows back to the hydraulic oil tank II 5 through an oil way between the port A and the port T of the proportional reversing valve 7;
the controller 4 acquires the rotation angle signal of the hydraulic motor 26 in real time through the rotary encoder 27, acquires the displacement value D of the shuttle arm in real time, and controls the proportional reversing valve II 7 to work in the middle position in a power-off mode when the displacement value D is the same as the set value of the position of the drilling tool box, so that the hydraulic motor 26 stops rotating.
S308, the controller 4 controls the proportional reversing valve III 8 to work in the right position in a power-on mode, and controls the opening of a valve port of the proportional reversing valve III 8 through the output current, and the retraction action of the hydraulic cylinder 21 of the pliers is utilized to drive the pliers to loosen the clamping action of the drilling tool, so that the drilling tool is filled in place;
in the process, part of high-pressure oil output by the hydraulic pump 3 enters a rod cavity of the pliers hydraulic cylinder 21 through an oil way between a P port and a B port of the proportional reversing valve III 8 and an oil way between a second oil inlet and a second oil outlet of the double-hydraulic control one-way valve II 19, and meanwhile, oil in a rodless cavity of the pliers hydraulic cylinder 21 flows back to the hydraulic oil tank II 5 through an oil way between a first oil inlet and a first oil outlet of the double-hydraulic control one-way valve II 19 and an oil way between an A port and a T port of the proportional reversing valve III 8, so that a piston rod of the hydraulic oil tank II is driven to retract inwards, and the pliers are driven to finish loosening actions; wherein, two hydraulically controlled check valves 19 play the effect of pressurize and locking the hydro-cylinder position.
The controller 4 acquires a pressure value in the hydraulic cylinder of the pliers in real time through a pressure signal acquired in real time by the pressure sensor II 20, and when the pressure value reaches a set value III B, the controller 4 judges that the pliers have realized loosening action and controls the proportional reversing valve III 8 to work in the middle position in a power-losing mode;
s309, repeatedly executing the steps S304 to S08 once to finish the filling operation of the second row of drilling tools, in the filling process of the second row of drilling tools, stopping when the pliers move to the position below the second row of drilling tools in the drilling tool library in the step 304, acquiring a rotation angle signal of the hydraulic motor 26 in real time by the controller 4 through the rotary encoder 27, acquiring a displacement value of the shuttle arm in real time, and controlling the second proportional reversing valve 7 to be in a neutral position by the controller 4 when the displacement value B is the same as a second row displacement set value, so that the hydraulic motor 26 stops rotating;
s310, repeatedly executing the steps S304 to S08 once to finish the filling operation of the third row of drilling tools, in the filling process of the third row of drilling tools, stopping when the pliers move to the position below the third row of drilling tools in the drilling tool library in the step 304, acquiring a rotation angle signal of the hydraulic motor 26 in real time by the controller 4 through the rotary encoder 27, acquiring a displacement value of the shuttle arm in real time, and controlling the second proportional reversing valve 7 to be in a neutral position by the controller 4 when the displacement value C is the same as a displacement set value of the third row, so that the hydraulic motor 26 stops rotating;
S310, repeatedly executing the steps S301 to S10 for a plurality of times, and filling each row of drilling tools until the filling operation of the last row of drilling tools is finished;
step four: drilling tool reloading operation;
s401: the controller 4 controls the proportional reversing valve III 8 to work in the left position in a power-on mode, the opening of a valve port of the proportional reversing valve III 8 is controlled through the output current, and the extending action of the hydraulic cylinder 21 of the pliers is utilized to drive the pliers to clamp a drilling tool which is withdrawn from the drilling system;
the specific working process is the same as step S306;
s402, the controller 4 controls the proportional reversing valve II 7 to work at the left position in a power-on mode, the forward rotation action of the hydraulic motor 26 is utilized to drive the shuttle arm to rotate inwards, meanwhile, the pliers are driven to move horizontally towards the inner side of the drilling tool warehouse, and the drilling tool is stopped when moving to the position below the first row of drilling tools in the drilling tool warehouse;
the specific working process is the same as that of step S304;
s403, the controller 4 controls the proportional reversing valve III 8 to work in the right position in a power-on mode, and controls the opening of a valve port of the proportional reversing valve III 8 through the output current, and the retraction action of the pliers hydraulic cylinder 21 is utilized to drive the pliers to loosen the clamping state of the drilling tool;
the specific working process is the same as that of step S308;
s404, the controller 4 controls the proportional reversing valve I6 to be electrically operated at the left position, controls the opening of the valve port of the proportional reversing valve I6 through the output current, and utilizes the jacking hydraulic cylinder group to jack up the jacking plate and jack up the drilling tools into the first column of the drilling tool warehouse; step S301 is a specific oil way working process, wherein the control actions are different in that the controller 4 acquires pressure values in the jacking cylinder group in real time through pressure signals acquired by the pressure sensor III 30, and when the pressure values reach a set value I C, the controller 4 judges that the jacking plate is jacked into a drilling tool library, so that the proportional reversing valve I6 is controlled to work in the neutral position in a power-losing mode;
Meanwhile, the controller 4 controls the proportional reversing valve IV 9 to be electrically operated at the left position, and controls the opening of the valve port of the proportional reversing valve IV 9 through the output current, and the retraction action of the bolt hydraulic cylinder group is utilized to drive the bolt to retract, so that the locking state of the drilling tool warehouse is relieved, and the drilling tools lifted by the lifting plate enter the drilling tool warehouse; the specific working process is the same as that of step S302;
s405, the controller 4 controls the proportional reversing valve IV 9 to be electrically operated at the right position, and controls the opening of the valve port of the proportional reversing valve IV 9 through the output current, and the extending action of the bolt hydraulic cylinder group is utilized to drive the bolt to extend so as to fix the drilling tools entering the drilling tool warehouse; the specific working process is the same as step S303;
s406, the controller 4 controls the proportional reversing valve I6 to work in the right position after power is obtained, controls the opening of the valve port of the proportional reversing valve I6 through the output current, and drives the jacking plate to descend by utilizing the jacking hydraulic cylinder group until the jacking plate descends to the set position;
the specific working process is the same as step S305;
s407, the controller 4 controls the proportional reversing valve II 7 to work at the right position, drives the shuttle arm to rotate outwards by utilizing the reverse rotation action of the hydraulic motor 26, and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, and stops when the pliers move to a designated position to receive the next drilling tool which is withdrawn from the drilling system;
The specific working process is the same as that of step S304;
s408, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the second drilling tool, stopping when the pliers move to the lower part of the second column of the drilling tool library in the step S402 in the process of reloading the second drilling tool, acquiring a rotation angle signal of the hydraulic motor 26 in real time by the controller 4 through the rotary encoder 27 in the control process, acquiring a displacement value of the shuttle arm in real time, and controlling the second 7 of the proportional reversing valve to be in a neutral position by the controller 4 when the first B displacement value is the same as the second column displacement set value so as to stop the rotation of the hydraulic motor 26; in step S404, the drilling tool is lifted up into the second column of the drilling tool library, during the control process, the controller 4 acquires the rotation angle signal of the hydraulic motor 26 in real time through the rotary encoder 27, acquires the displacement value of the shuttle arm in real time, and when the displacement value C is the same as the displacement set value of the third column, the controller 4 controls the second proportional reversing valve 7 to be in the neutral position and stops the rotation of the hydraulic motor 26;
s409, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the third drilling tool, stopping when the clamped drilling tool moves to the lower part of the third row of the drilling tool library in the step S402 in the process of reloading the third row of the drilling tool, and lifting the drilling tool into the third row of the drilling tool library in the step S404;
S410, repeatedly executing the steps S401 to 407 once to finish the reloading operation of the fourth drilling tool;
s411, repeatedly executing the step S408 once to finish the reinstallation operation of the fifth drilling tool;
s412, repeatedly executing the step S409 once to finish the reinstallation operation of the sixth drilling tool;
and S413, repeatedly executing the steps S401 to S412 for a plurality of times until the completion of the reloading operation of all drilling tools.
The method can automatically realize the drilling tool filling operation and the drilling tool returning operation, comprehensively improve the working efficiency of the underground drilling operation of the drilling robot, effectively save human resources, has wide popularization value and social benefit, and has great effect on improving the production efficiency and the safety of the coal mine.

Claims (8)

1. The hydraulic control system comprises a hydraulic pump (3), a first hydraulic oil tank (1), a second hydraulic oil tank (5), a third hydraulic oil tank (22), a jacking oil cylinder group, a bolt hydraulic cylinder group, a hand wrench hydraulic cylinder (21) and a hydraulic motor (26), wherein the hydraulic pump (3) is driven by an engine coaxially connected with the hydraulic pump, and an oil suction port of the hydraulic pump is connected with the first hydraulic oil tank (1) through an oil suction pipeline;
the hydraulic control system is characterized by further comprising a first proportional reversing valve (6), a second proportional reversing valve (7), a third proportional reversing valve (8), a fourth proportional reversing valve (9), a hydraulic control one-way valve C (29), a first one-way valve (24), a second one-way valve (25), an overflow valve A (23), a second double-hydraulic control one-way valve (19), a first double-hydraulic control one-way valve (10), a one-way sequence valve (18), a rotary encoder (27), a first pressure sensor (11), a second pressure sensor (20), a third pressure sensor (30) and a controller (4);
The jacking cylinder group is used for driving the lifting action of the jacking plate and consists of a first jacking cylinder (31) and a second jacking cylinder (32);
the bolt hydraulic cylinder group is used for driving the action of the drilling tool warehouse and consists of a bolt hydraulic cylinder I (12), a bolt hydraulic cylinder II (13), a bolt hydraulic cylinder III (14), a bolt hydraulic cylinder IV (15), a bolt hydraulic cylinder V (16) and a bolt hydraulic cylinder V (17);
the hand pliers hydraulic cylinder (21) is used for driving the hand pliers to open and close;
the hydraulic motor (26) is used for driving the shuttle arm to act;
the oil discharge port of the hydraulic pump (3) is respectively connected with the P port of the first proportional reversing valve (6), the P port of the second proportional reversing valve (7), the P port of the third proportional reversing valve (8) and the P port of the fourth proportional reversing valve (9), and the T port of the first proportional reversing valve (6), the T port of the second proportional reversing valve (7), the T port of the third proportional reversing valve (8) and the T port of the fourth proportional reversing valve (9) are all connected with the second hydraulic oil tank (5);
an opening A of the first proportional reversing valve (6) is connected with an oil inlet of a hydraulic control one-way valve C (29) through a one-way throttle valve (28), and an oil outlet of the hydraulic control one-way valve C (29) is respectively connected with a rodless cavity oil port of a first jacking oil cylinder (31) and a rodless cavity oil port of a second jacking oil cylinder (32); the port B of the first proportional reversing valve (6) is respectively connected with a rod cavity oil port of the first jacking cylinder (31) and a rod cavity oil port of the second jacking cylinder (32); the hydraulic control port of the hydraulic control one-way valve C (29) is connected with the port B of the proportional reversing valve I (6) through a signal oil circuit;
The port A of the proportional reversing valve II (7) is respectively connected with the port A of the hydraulic motor (26) and the oil inlet of the one-way valve I (24), and the port B of the proportional reversing valve II (7) is respectively connected with the port B of the hydraulic motor (26) and the oil inlet of the one-way valve II (25); the oil outlet of the first check valve (24) and the oil outlet of the second check valve (25) are connected with the oil inlet of the overflow valve A (23), and the oil outlet of the overflow valve A (23) is connected with the third hydraulic oil tank (22);
the A port of the proportional reversing valve III (8) is connected with a first oil inlet of a double-hydraulic control one-way valve II (19), a first oil outlet of the double-hydraulic control one-way valve II (19) is connected with a rodless cavity oil port of a pliers hydraulic cylinder (21), the B port of the proportional reversing valve III (8) is connected with a second oil inlet of the double-hydraulic control one-way valve II (19), and a second oil outlet of the double-hydraulic control one-way valve II (19) is connected with a rod cavity oil port of the pliers hydraulic cylinder (21);
the oil-free hydraulic control device comprises a first oil inlet of a first double-hydraulic control check valve (10), a second oil outlet of the first double-hydraulic control check valve (10), a third oil outlet of the second double-hydraulic control check valve (10), a fourth oil inlet of the third bolt hydraulic cylinder (15), a fifth oil inlet of the fourth bolt hydraulic cylinder (16) and a sixth oil inlet of the sixth bolt hydraulic cylinder (17), wherein the first oil inlet of the first double-hydraulic control check valve (10) is connected with the first oil inlet of the first double-hydraulic control check valve (9), and the second oil outlet of the first double-hydraulic control check valve (10) is connected with the rodless cavity oil port of the fourth bolt hydraulic cylinder (15), the rodless cavity oil port of the fifth bolt hydraulic cylinder (16), the rodless cavity oil port of the sixth bolt hydraulic cylinder (17) and the oil inlet of a one-way sequence valve (18) respectively; the oil outlet of the one-way sequence valve (18) is respectively connected with the rodless cavity oil port of the first bolt hydraulic cylinder (12), the rodless cavity oil port of the second bolt hydraulic cylinder (13) and the rodless cavity oil port of the third bolt hydraulic cylinder (14);
The rotary encoder (27) is connected to the output shaft of the hydraulic motor (26);
the first pressure sensor (11) is connected to a first oil outlet of the first double-hydraulic control one-way valve (10);
the second pressure sensor (20) is connected to a first oil outlet of the second double-hydraulic-control one-way valve (19);
the third pressure sensor (30) is connected to the oil outlet of the hydraulic control one-way valve C (29);
the controller (4) is respectively connected with the engine, the first proportional reversing valve (6), the second proportional reversing valve (7), the third proportional reversing valve (8), the fourth proportional reversing valve (9), the rotary encoder (27), the first pressure sensor (11), the second pressure sensor (20) and the third pressure sensor (30).
2. The fully autonomous loading and unloading hydraulic control system of the impact-resistant drilling robot drilling tool according to claim 1, wherein a filter (2) is connected in series in the oil suction pipeline.
3. The fully autonomous loading and unloading hydraulic control system of a drilling tool of a scout drilling robot according to claim 1 or 2, characterized in that the controller (4) is a PLC controller.
4. The fully autonomous loading and unloading hydraulic control system of the impact-resistant drilling robot drilling tool according to claim 3, wherein the first proportional reversing valve (6), the second proportional reversing valve (7), the third proportional reversing valve (8) and the fourth proportional reversing valve (9) are three-position four-way valves, when the impact-resistant drilling robot drilling tool is in a left position, an oil way between a port P and a port A is communicated, an oil way between a port T and a port B is communicated, when the impact-resistant drilling robot drilling tool is in a neutral position, the port P, the port T, the port A and the port B are all cut off, when the impact-resistant drilling robot drilling tool is in a right position, the oil way between the port P and the port B is communicated, and the oil way between the port T and the port A is communicated.
5. The fully automatic loading and unloading hydraulic control system of the anti-impact drilling robot drilling tool according to claim 4, wherein the first double-pilot check valve (10) consists of a first pilot check valve A and a first pilot check valve B, an oil inlet of the first pilot check valve A is used as a first oil inlet of the first double-pilot check valve (10), an oil outlet of the first pilot check valve A is used as a first oil outlet of the first double-pilot check valve (10), an oil inlet of the first pilot check valve B is used as a second oil inlet of the first double-pilot check valve (10), an oil outlet of the first pilot check valve B is used as an oil outlet of the second double-pilot check valve (10), a pilot port of the first pilot check valve A is connected with an oil inlet of the first pilot check valve B through a signal oil way, and a pilot port of the first pilot check valve B is connected with an oil inlet of the first pilot check valve A through a signal oil way;
the second hydraulic control check valve (19) is composed of a second hydraulic control check valve A and a second hydraulic control check valve B, an oil inlet of the second hydraulic control check valve A is used as a first oil inlet of the second hydraulic control check valve (19), an oil outlet of the second hydraulic control check valve A is used as a first oil outlet of the second hydraulic control check valve (19), an oil inlet of the second hydraulic control check valve B is used as a second oil inlet of the second hydraulic control check valve (19), an oil outlet of the second hydraulic control check valve B is used as an oil outlet of the second hydraulic control check valve (19), a hydraulic control port of the second hydraulic control check valve A is connected with an oil inlet of the second hydraulic control check valve B through a signal oil way, and a hydraulic control port of the second hydraulic control check valve B is connected with an oil inlet of the second hydraulic control check valve A through a signal oil way.
6. The fully autonomous loading and unloading hydraulic control system of the impact-resistant drilling robot drilling tool according to claim 5, further comprising a start/stop button and a control handle, wherein the start/stop button and the control handle are connected with the controller (4), the start/stop button is used for respectively sending a start signal and a stop signal to the controller (4) according to control of an operator, and the control handle is used for respectively sending a drilling tool loading signal and a drilling tool reloading signal to the controller (4) according to control of the operator.
7. The fully automatic loading and unloading hydraulic control system of the anti-impact drilling robot drilling tool according to claim 6, further comprising an overflow valve B, wherein an oil drain port of the hydraulic pump (3) is further connected with a first hydraulic oil tank (1) through the overflow valve B.
8. A fully autonomous loading and unloading hydraulic control method for a drilling tool of a drilling robot for preventing a flushing, comprising a fully autonomous loading and unloading hydraulic control system for a drilling tool of a drilling robot for preventing a flushing according to any one of claims 1 to 7, comprising the steps of:
step one: an operator sends a starting signal to the controller (4) through a starting/stopping button, and the controller (4) controls the engine to start after receiving the starting signal to drive the hydraulic pump (3) to work so as to enable the system to enter a working state;
Step two: executing the third step after the controller (4) receives the drilling tool loading signal, and executing the fourth step after the controller (4) receives the drilling tool reloading signal;
step three: filling operation;
s301, a controller (4) controls a first proportional reversing valve (6) to be electrically operated at a left position, and a jacking hydraulic cylinder group is utilized to jack a jacking plate to a set height;
s302, a controller (4) controls a proportional reversing valve IV (9) to work at the left position, and the retraction action of a bolt hydraulic cylinder group is utilized to drive a bolt to retract, so that the fixation of a drilling tool warehouse to the lowest row of drilling tools is relieved, and the drilling tools of the lowest row fall onto a lifting plate under the action of dead weight;
s303, a controller (4) controls a proportional reversing valve IV (9) to work in a right position, the bolts are driven to extend by the extending action of the bolt hydraulic cylinder group, and the penultimate gang drill is fixed through a drilling tool library;
s304, the controller (4) controls the proportional reversing valve II (7) to work at the left position, the shuttle arm is driven to rotate inwards by utilizing the forward rotation action of the hydraulic motor (26), and meanwhile, the pliers are driven to move horizontally towards the inner side of the drilling tool warehouse, and when the pliers move to the position below the first row of drilling tools in the drilling tool warehouse, the drilling tools are stopped and are ready to receive the drilling tools falling from the drilling tool warehouse;
s305, the controller (4) controls the first proportional reversing valve (6) to work at the right position, and the jacking hydraulic cylinder group is utilized to drive the jacking plate to descend until the borne drilling tool descends to the concave part of the pliers;
S306, the controller (4) controls the proportional reversing valve III (8) to be electrically operated at the left position, and the pliers are driven to clamp the drilling tool by the extending action of the pliers hydraulic cylinder (21);
s307, the controller (4) controls the proportional reversing valve II (7) to work at the right position, drives the shuttle arms to rotate outwards by utilizing the reverse rotation action of the hydraulic motor (26), and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, so that the drilling tool is sent to the clamping part of the drilling system, and is stopped when the set position is reached;
s308, the controller (4) controls the proportional reversing valve III (8) to work at the right position, and the retraction action of the pliers hydraulic cylinder (21) is utilized to drive the pliers to loosen the clamping action of the drilling tool, so that the drilling tool is filled in place;
s309, repeatedly executing the steps S304 to S08 once to finish the filling operation of the second row of drilling tools, and stopping when the pliers move to the position below the second row of drilling tools in the tool library in the step 304 in the filling process of the second row of drilling tools;
s310, repeatedly executing the step S304 to the step S08 once to finish the filling operation of the third row of drilling tools, and stopping when the pliers move to the position below the third row of drilling tools in the tool library in the step 304 in the filling process of the third row of drilling tools;
s310, repeatedly executing the steps S301 to S10 for a plurality of times, and filling each row of drilling tools until the filling operation of the last row of drilling tools is finished;
Step four: drilling tool reloading operation;
s401: the controller (4) controls the proportional reversing valve III (8) to be electrically operated at the left position, and the extending action of the pliers hydraulic cylinder (21) is utilized to drive the pliers to clamp the drilling tool which is withdrawn from the drilling system;
s402, a controller (4) controls a proportional reversing valve II (7) to work at the left position, the shuttle arm is driven to rotate inwards by utilizing the forward rotating action of a hydraulic motor (26), and meanwhile, the pliers are driven to move horizontally towards the inner side of the drilling tool warehouse, and the drilling tool is stopped when moving to the position below a first row of drilling tools in the drilling tool warehouse;
s403, the controller (4) controls the proportional reversing valve III (8) to be electrically operated at the right position, and the hand pliers are driven to loosen the clamping state of the drilling tool by the retracting action of the hand pliers hydraulic cylinder (21);
s404, a controller (4) controls a first proportional reversing valve (6) to work at the left position, a jacking plate is jacked up by a jacking hydraulic cylinder group, and drilling tools are jacked up into a first column of a drilling tool warehouse;
meanwhile, the controller (4) controls the proportional reversing valve IV (9) to be electrically operated at the left position, and the retraction action of the bolt hydraulic cylinder group is utilized to drive the bolt to retract, so that the locking state of the drilling tool warehouse is released, and the drilling tools jacked by the jacking plate enter the drilling tool warehouse;
s405, a controller (4) controls a proportional reversing valve IV (9) to work in a right position, and the extending action of a bolt hydraulic cylinder group is utilized to drive a bolt to extend, so that drilling tools entering a drilling tool warehouse are fixed;
S406, the controller (4) controls the first proportional reversing valve (6) to work at the right position, and the jacking hydraulic cylinder group is utilized to drive the jacking plate to descend until the jacking plate descends to the set position;
s407, the controller (4) controls the proportional reversing valve II (7) to work at the right position, drives the shuttle arm to rotate outwards by utilizing the reverse rotation action of the hydraulic motor (26), and simultaneously drives the pliers to move horizontally to the outer side of the drilling tool warehouse, and stops when the pliers move to a designated position to receive the next drilling tool which is withdrawn from the drilling system;
s408, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the second drilling tool, stopping when the pliers move to the position below the second column of the drilling tool library in the step S402 in the process of reloading the second drilling tool, and lifting the drilling tool into the second column of the drilling tool library in the step S404;
s409, repeatedly executing the steps S401 to S407 once to finish the reloading operation of the third drilling tool, stopping when the clamped drilling tool moves to the lower part of the third row of the drilling tool library in the step S402 in the process of reloading the third row of the drilling tool, and lifting the drilling tool into the third row of the drilling tool library in the step S404;
s410, repeatedly executing the steps S401 to 407 once to finish the reloading operation of the fourth drilling tool;
S411, repeatedly executing the step S408 once to finish the reinstallation operation of the fifth drilling tool;
s412, repeatedly executing the step S409 once to finish the reinstallation operation of the sixth drilling tool;
and S413, repeatedly executing the steps S401 to S412 for a plurality of times until the completion of the reloading operation of all drilling tools.
CN202211382069.6A 2022-11-07 2022-11-07 Full-automatic loading and unloading hydraulic control system and method for anti-impact drilling robot drilling tool Active CN115596730B (en)

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