WO2016119186A1 - Auger drill operation system, auger drill, and control method - Google Patents

Auger drill operation system, auger drill, and control method Download PDF

Info

Publication number
WO2016119186A1
WO2016119186A1 PCT/CN2015/071875 CN2015071875W WO2016119186A1 WO 2016119186 A1 WO2016119186 A1 WO 2016119186A1 CN 2015071875 W CN2015071875 W CN 2015071875W WO 2016119186 A1 WO2016119186 A1 WO 2016119186A1
Authority
WO
WIPO (PCT)
Prior art keywords
proportional
receiver
valve
transmitter
adjustment valve
Prior art date
Application number
PCT/CN2015/071875
Other languages
French (fr)
Chinese (zh)
Inventor
高晶
刘娜
郜星
马旭
胡志民
董梅
郭进
王选卓
魏彩凤
Original Assignee
徐州徐工基础工程机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 徐州徐工基础工程机械有限公司 filed Critical 徐州徐工基础工程机械有限公司
Priority to PCT/CN2015/071875 priority Critical patent/WO2016119186A1/en
Priority to AU2015380180A priority patent/AU2015380180B2/en
Publication of WO2016119186A1 publication Critical patent/WO2016119186A1/en

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Definitions

  • the invention relates to the field of engineering machinery, in particular to a rotary drilling rig operating system, a rotary drilling rig and a control method.
  • the main actions of rotary drilling rigs at home and abroad are controlled by the operator in the cab to control the hydraulic pilot handle, and the hydraulic pilot handle controls the pilot oil passage, and then controls the corresponding Solenoid valves to achieve a variety of actions.
  • the rotary drilling rig is a heavy-duty construction machine with an average weight of up to several tens of tons, and the center of gravity of the whole machine is high.
  • the mechanical damage accident during construction is very uncertain, and there are many dangerous sources. It is not suitable for being particularly complicated and bad.
  • Construction in the environment such as: unclear areas of the construction site, prone to construction ground collapse areas, high ambient temperature, ultra-low areas, toxic gases, hazardous substances and other areas. These factors increase the risk of rig construction and limit the use of advanced construction machinery such as rotary drilling rigs.
  • the present invention provides a rotary drilling rig operating system including a transmitter and a receiver and a proportional adjustment valve, the proportional adjustment valve group being capable of adjusting the actions of the respective actuators of the rotary drilling rig.
  • the transmitter can send a command signal to the receiver, the PWM output port of the receiver and the proportional control valve
  • the group is connected to provide a corresponding PWM signal to the proportional control valve group.
  • the receiver includes a wireless remote control interface and a CAN bus interface, and the operating system is capable of switching between wireless frequency real-time communication and CAN bus communication.
  • the proportional control valve group comprises: an upper return steering left proportional control valve, an upper return steering right proportional adjustment valve, a crawler forward proportional adjustment valve, a track backward proportional adjustment valve, and a pressurized cylinder lifting proportional adjustment valve. , the pressure cylinder descending proportional control valve, the power head left turn proportional adjustment The valve and power head turn right into the proportional control valve.
  • the regulating valve, the power head left-turn proportional adjusting valve and the power head right-turn proportional adjusting valve are all proportional solenoid valves.
  • the transmitter includes an operating device.
  • the operating device comprises a linear rocker, and the transmitter command signal is controlled by controlling the operating amplitude of the rocker, so that the proportional control valve is controlled by the receiver, thereby adjusting the speed of the rotary machine.
  • the power switch, the battery, and the negative electrode of the battery are grounded through a power switch, and the positive electrode of the battery is connected to the power end of the receiver.
  • the invention also proposes a rotary drilling rig comprising the above described steering system.
  • the invention also has a control method of the operating system as described above, comprising: the transmitter transmitting a command signal to the receiver via wireless frequency real-time communication or via CAN bus communication;
  • the receiver provides a corresponding PWM signal to the proportional regulating valve group through the PWM output port according to the received command signal.
  • the method further includes the step of selecting a communication mode between the radio frequency real-time communication and the CAN bus communication before the transmitter transmits the command signal to the receiver through wireless frequency real-time communication or via CAN bus communication.
  • the operating device includes a linear rocker that controls the operating amplitude of the rocker to control the transmitter command signal, thereby controlling the proportional valve group through the receiver, thereby adjusting the speed of the rotary machine .
  • the utility model has the beneficial effects that the rotary drilling rig machine can operate the machine in the cab, and can remotely operate the machine from the cab to avoid environmental hazards and various possible injuries around the machine, thereby making the rotary drilling rig It can adapt to more complicated and harsh working environment and expand the scope of use of rotary drilling rigs.
  • the invention has the beneficial effects that the rotary drilling rig operator can operate the machine in the cab and remotely operate the machine from the cab to avoid environmental hazards around the machine. A variety of possible injuries, so that the rotary drilling rig can adapt to more complex and harsh working environment, expanding the scope of use of rotary drilling rigs.
  • FIG. 1 is a schematic diagram of one embodiment of a rotary drilling rig operating system of the present invention.
  • a rotary drilling rig operating system which includes a power switch 1, a battery 2, a transmitter 3 and a receiver 4, and a proportional control valve, the proportional adjustment valve being capable of adjusting the rotation
  • the speed of the excavator action the negative pole of the battery 2 is grounded through the power switch 1, the positive pole of the battery 2 is connected to the power end of the receiver 4, and the radio frequency is passed between the transmitter 3 and the receiver 4.
  • the real-time communication is connected via a CAN bus, the transmitter 3 is capable of transmitting a PWM signal to the receiver 4, and the PWM output port of the receiver 4 is connected to the proportional control valve.
  • the transmitter 3 transmits the signal to the receiver 4 wirelessly via wireless frequency or transmits the signal to the receiver 4 via the CAN bus.
  • the pressure lifting rocker on the transmitter 3 is manipulated, and the receiver 4 outputs a corresponding PWM signal to at least one of the 4 to 11 of the receiver 4 according to the received signal command, and the PWM signal of the 8-terminal output controls the corresponding
  • the proportional control valve operates, and the pressurizing cylinder of the drilling machine is lifted. According to this operation, the main action of the rig can be controlled from a long distance, and the machine can be operated without being in the cab.
  • the receiver 4 includes a wireless remote control interface and a CAN bus interface that is capable of switching between wireless frequency real-time communication and CAN bus communication.
  • the hydraulic system has added a set of electric proportional hydraulic pilot control system.
  • the electric proportional hydraulic pilot control system is connected in parallel with the original hydraulic pilot valve and is connected by the hydraulic shuttle valve group.
  • the two systems are supplied by a pilot pump to achieve two
  • the operating system independently operates the rotary drilling rig.
  • the electric proportional hydraulic pilot control system the electric proportional is controlled by a wired wireless remote control system. Through the control of the remote control system, the main functions of the rotary drilling rig can be realized.
  • the proportional control valve group includes: an upper return steering left proportional adjustment valve 6 , an upper return steering right proportional adjustment valve 8 , a track forward proportional adjustment valve 7 , and a track backward proportional adjustment valve 8 .
  • Corresponding control can be carried out according to proportional valves of different nature.
  • the upper vehicle turns to the left proportional adjustment valve 6, the upper vehicle back to the right proportional adjustment valve 8, the track forward proportional adjustment valve 7, the track backward proportional adjustment valve 8, and the pressure cylinder lifting ratio
  • the regulating valve 9, the pressurized cylinder lowering proportional regulating valve 10, the power head left-turn proportional adjusting valve 11 and the power head right-turn proportional adjusting valve 12 are all proportional solenoid valves.
  • the transmitter 3 includes an operating device.
  • the operating device includes a linear rocker that controls the magnitude of the PWM output of the transmitter 3 by controlling the amplitude of the manipulation of the rocker, thereby controlling the proportional adjustment valve through the receiver 4, thereby adjusting the speed of the rotary excavator operation. .
  • the receiver 4 also includes a ground port, depending on safety considerations.
  • the distance of the wireless frequency real-time communication is 100-150 meters.
  • the distance of the CAN bus communication is about 50 meters.
  • the system adopts all-digital micro-power high-frequency wireless receiving and transmitting device, which has multiple frequency segments, and the effective working range can reach 100-150 meters.
  • the present invention also provides a control method for the above-mentioned operating system, comprising: the transmitter 3 transmitting a command signal to the receiver 4 via wireless frequency real-time communication or via CAN bus communication; and receiving according to the receiver 4
  • the command signal provides a corresponding PWM signal to the proportional control valve group through the PWM output port.
  • the transmitter 3 communicates in real time via radio frequency or Before transmitting the command signal to the receiver 4 via the CAN bus communication, the method further includes the step of selecting a communication mode between the wireless frequency real-time communication and the CAN bus communication.
  • the operating device includes a linear rocker that controls the amplitude of the manipulation of the rocker, thereby controlling the command signal of the transmitter 3, thereby controlling the proportional control valve group through the receiver 4, thereby adjusting the speed of the rotary excavator operation.
  • the pressure lifting rocker on the transmitter 3 is manipulated, and the receiver 4 outputs a corresponding PWM signal to the 8 end of the receiver 4 according to the received signal command, 8
  • the PWM signal outputted by the terminal controls the action of the pressurizing lift proportional solenoid valve 9, at which time the pressurizing cylinder of the drill is lifted.
  • the other actions are the same.
  • the main action of the rig can be controlled from a distance, and the machine can be operated without being in the cab.
  • Other types of solenoid valves operate similarly to the above.
  • the present invention also provides a rotary drilling rig comprising the above described steering system.

Abstract

Provided is an auger drill operation system, comprising a power supply switch (1), a battery (2), a transmitter (3), a receiver (4), and a ratio adjustment valve; the ratio adjustment valve can adjust the speed of the movements of the auger drill; the negative electrode of the battery (2) is grounded by means of the power supply switch (1); the positive electrode of the battery (2) is connected to the power supply terminal of the receiver (4); the transmitter (3) and the receiver (4) may communicate with each other in real time by means of a radio frequency, or are connected and communicate by means of a CAN bus; the transmitter (3) can send a PWM signal to the receiver (4); the PWM output port of the receiver (4) is connected to the ratio adjustment valve. The invention also relates to a control method for the described operation system, and an auger drill comprising the described operation system; the auger drill comprising the described operation system is capable of adapting to complex and harsh working environments.

Description

一种旋挖钻机操纵系统、旋挖钻机及控制方法Rotary drilling rig operating system, rotary drilling rig and control method 技术领域Technical field
本发明涉及工程机械领域，特别是一种旋挖钻机操纵系统、旋挖钻机及控制方法。The invention relates to the field of engineering machinery, in particular to a rotary drilling rig operating system, a rotary drilling rig and a control method.
背景技术Background technique
目前国内外的旋挖钻机的主要动作，如主卷、回转、动力头、加压等，均是机手在驾驶室内操纵液压先导手柄进行控制，由液压先导手柄控制先导油路，进而控制相应的电磁阀来实现各种动作。但是旋挖钻机是一种重型工程机械，平均重量可高达几十吨，而且整机重心较高，施工时机械伤害事故不确定性非常大，危险源较多，并不适应在特别复杂、恶劣的环境中施工，如：施工现场地层情况不明区域，易发生施工地面塌陷区域，环境温度超高、超低区域，存在有毒气体、有害物质等区域。这些因素增加了钻机施工的危险性，限制了旋挖钻机这种先进施工机械的使用范围。At present, the main actions of rotary drilling rigs at home and abroad, such as main coil, rotary, power head, pressurization, etc., are controlled by the operator in the cab to control the hydraulic pilot handle, and the hydraulic pilot handle controls the pilot oil passage, and then controls the corresponding Solenoid valves to achieve a variety of actions. However, the rotary drilling rig is a heavy-duty construction machine with an average weight of up to several tens of tons, and the center of gravity of the whole machine is high. The mechanical damage accident during construction is very uncertain, and there are many dangerous sources. It is not suitable for being particularly complicated and bad. Construction in the environment, such as: unclear areas of the construction site, prone to construction ground collapse areas, high ambient temperature, ultra-low areas, toxic gases, hazardous substances and other areas. These factors increase the risk of rig construction and limit the use of advanced construction machinery such as rotary drilling rigs.
发明内容Summary of the invention
针对上述现有技术存在的问题，本发明提出一种旋挖钻机操纵系统，包括发射器和接收器和比例调节阀，所述比例调节阀组能够调节旋挖钻机的各个执行元件的动作，所述发射器与所述接收器之间通过无线频率实时通讯或者通过CAN总线通讯连接，所述发射器能够向所述接收器发送指令信号，所述接收器的PWM输出端口与所述比例调节阀组连接，向所述比例调节阀组提供对应的PWM信号。In view of the above problems in the prior art, the present invention provides a rotary drilling rig operating system including a transmitter and a receiver and a proportional adjustment valve, the proportional adjustment valve group being capable of adjusting the actions of the respective actuators of the rotary drilling rig. Transmitting the transmitter and the receiver by wireless frequency real-time communication or by CAN bus communication, the transmitter can send a command signal to the receiver, the PWM output port of the receiver and the proportional control valve The group is connected to provide a corresponding PWM signal to the proportional control valve group.
进一步地，接收器包括无线遥控接口和CAN总线接口，所述操纵系统能够在无线频率实时通讯和CAN总线通讯之间切换。Further, the receiver includes a wireless remote control interface and a CAN bus interface, and the operating system is capable of switching between wireless frequency real-time communication and CAN bus communication.
进一步地，所述比例调节阀组包括：上车回转向左比例调节阀、上车回转向右比例调节阀、履带向前比例调节阀、履带向后比例调节阀、加压缸提升比例调节阀、加压缸下降比例调节阀、动力头左转比例调节 阀和动力头右转比例调节阀。Further, the proportional control valve group comprises: an upper return steering left proportional control valve, an upper return steering right proportional adjustment valve, a crawler forward proportional adjustment valve, a track backward proportional adjustment valve, and a pressurized cylinder lifting proportional adjustment valve. , the pressure cylinder descending proportional control valve, the power head left turn proportional adjustment The valve and power head turn right into the proportional control valve.
进一步地，所述上车回转向左比例调节阀、上车回转向右比例调节阀、履带向前比例调节阀、履带向后比例调节阀、加压缸提升比例调节阀、加压缸下降比例调节阀、动力头左转比例调节阀和动力头右转比例调节阀的均为比例电磁阀。Further, the upper vehicle back to the left proportional adjustment valve, the upper vehicle back to the right proportional adjustment valve, the track forward proportional adjustment valve, the track backward proportional adjustment valve, the pressurized cylinder lifting proportional adjustment valve, the pressure cylinder descending ratio The regulating valve, the power head left-turn proportional adjusting valve and the power head right-turn proportional adjusting valve are all proportional solenoid valves.
进一步地，所述发射器包括操纵装置。Further, the transmitter includes an operating device.
进一步地，所述操纵装置包括线性摇杆，通过控制摇杆的操纵幅度来控制所述发射器指令信号，从而通过接收器控制比例调节阀，进而调节所述旋挖机动作的速度。Further, the operating device comprises a linear rocker, and the transmitter command signal is controlled by controlling the operating amplitude of the rocker, so that the proportional control valve is controlled by the receiver, thereby adjusting the speed of the rotary machine.
进一步地，还包括电源开关、蓄电池、所述蓄电池的负极通过电源开关接地，所述蓄电池的正极连接所述接收器的电源端。Further, the power switch, the battery, and the negative electrode of the battery are grounded through a power switch, and the positive electrode of the battery is connected to the power end of the receiver.
本发明也提出一种旋挖钻机，其包括上述的操纵系统。The invention also proposes a rotary drilling rig comprising the above described steering system.
本发明同时也一种如上述的操纵系统的控制方法，包括：所述发射器通过无线频率实时通讯或者通过CAN总线通讯向所述接收器发送指令信号；The invention also has a control method of the operating system as described above, comprising: the transmitter transmitting a command signal to the receiver via wireless frequency real-time communication or via CAN bus communication;
所述接收器的根据接收的指令信号通过PWM输出端口向所述比例调节阀组提供对应的PWM信号。The receiver provides a corresponding PWM signal to the proportional regulating valve group through the PWM output port according to the received command signal.
进一步地，包括：在所述发射器通过无线频率实时通讯或者通过CAN总线通讯向所述接收器发送指令信号之前，还包括在无线频率实时通讯和CAN总线通讯之间选择通信模式的步骤。Further, the method further includes the step of selecting a communication mode between the radio frequency real-time communication and the CAN bus communication before the transmitter transmits the command signal to the receiver through wireless frequency real-time communication or via CAN bus communication.
进一步地，所述操纵装置包括线性摇杆，控制所述摇杆的操纵幅度，进而控制所述发射器指令信号，从而通过接收器控制比例调节阀组，进而调节所述旋挖机动作的速度。Further, the operating device includes a linear rocker that controls the operating amplitude of the rocker to control the transmitter command signal, thereby controlling the proportional valve group through the receiver, thereby adjusting the speed of the rotary machine .
本发明的有益效果是：使旋挖钻机机手既可以在驾驶室内操纵机器，又可以离开驾驶室远距离操纵机器，以避免机器周围的环境危险及各种可能的伤害，从而使旋挖钻机能适应更加复杂、恶劣的工作环境，拓展了旋挖钻机的使用范围。The utility model has the beneficial effects that the rotary drilling rig machine can operate the machine in the cab, and can remotely operate the machine from the cab to avoid environmental hazards and various possible injuries around the machine, thereby making the rotary drilling rig It can adapt to more complicated and harsh working environment and expand the scope of use of rotary drilling rigs.
本发明的有益效果是：使旋挖钻机机手既可以在驾驶室内操纵机器，又可以离开驾驶室远距离操纵机器，以避免机器周围的环境危险及 各种可能的伤害，从而使旋挖钻机能适应更加复杂、恶劣的工作环境，拓展了旋挖钻机的使用范围。The invention has the beneficial effects that the rotary drilling rig operator can operate the machine in the cab and remotely operate the machine from the cab to avoid environmental hazards around the machine. A variety of possible injuries, so that the rotary drilling rig can adapt to more complex and harsh working environment, expanding the scope of use of rotary drilling rigs.
附图说明DRAWINGS
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:
图1为本发明的旋挖钻机操纵系统的一个实施例的原理图。1 is a schematic diagram of one embodiment of a rotary drilling rig operating system of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作进一步说明。The invention will now be further described with reference to the accompanying drawings.
如图1所示为本发明的旋挖钻机操纵系统的一个实施例，其包括电源开关1、蓄电池2、发射器3和接收器4和比例调节阀，所述比例调节阀能够调节所述旋挖机动作的速度，所述蓄电池2的负极通过电源开关1接地，所述蓄电池2的正极连接所述接收器4的电源端，所述发射器3与所述接收器4之间通过无线频率实时通讯或者通过CAN总线通讯连接，所述发射器3能够向所述接收器4发送PWM信号，所述接收器4的PWM输出端口与所述比例调节阀连接。当操纵发射器3上的动作摇杆时，发射器3通过无线频率将信号传输给接收器4无线，或通过CAN总线将信号传输给接收器4有线。例如操纵发射器3上的加压提升摇杆，接收器4根据接收到的信号指令，输出对应的PWM信号至接收器4的4～11中的至少一端，8端输出的PWM信号控制对应的比例调节阀动作，此时钻机的加压缸进行提升。按此操作可远距离控制钻机的主要动作，不需要在驾驶室内，同样可以操纵机器。1 shows an embodiment of a rotary drilling rig operating system according to the present invention, which includes a power switch 1, a battery 2, a transmitter 3 and a receiver 4, and a proportional control valve, the proportional adjustment valve being capable of adjusting the rotation The speed of the excavator action, the negative pole of the battery 2 is grounded through the power switch 1, the positive pole of the battery 2 is connected to the power end of the receiver 4, and the radio frequency is passed between the transmitter 3 and the receiver 4. The real-time communication is connected via a CAN bus, the transmitter 3 is capable of transmitting a PWM signal to the receiver 4, and the PWM output port of the receiver 4 is connected to the proportional control valve. When manipulating the action rocker on the transmitter 3, the transmitter 3 transmits the signal to the receiver 4 wirelessly via wireless frequency or transmits the signal to the receiver 4 via the CAN bus. For example, the pressure lifting rocker on the transmitter 3 is manipulated, and the receiver 4 outputs a corresponding PWM signal to at least one of the 4 to 11 of the receiver 4 according to the received signal command, and the PWM signal of the 8-terminal output controls the corresponding The proportional control valve operates, and the pressurizing cylinder of the drilling machine is lifted. According to this operation, the main action of the rig can be controlled from a long distance, and the machine can be operated without being in the cab.
接收器4包括无线遥控接口和CAN总线接口，所述操纵系统能够在无线频率实时通讯和CAN总线通讯之间切换。The receiver 4 includes a wireless remote control interface and a CAN bus interface that is capable of switching between wireless frequency real-time communication and CAN bus communication.
为了实现驾驶室、遥控操纵功能的切换，液压系统增加了一套电比例液压先导控制系统，电比例液压先导控制系统与原液压先导阀并联，并通过液压梭阀组联系在一起。两个系统由一个先导泵供油，能实现两 种操作系统独立操作旋挖钻机。在电比例液压先导控制系统中，由有线无线遥控系统控制电比例。通过遥控系统的操控，能实现旋挖钻机的主要功能。In order to realize the switching of the cab and remote control functions, the hydraulic system has added a set of electric proportional hydraulic pilot control system. The electric proportional hydraulic pilot control system is connected in parallel with the original hydraulic pilot valve and is connected by the hydraulic shuttle valve group. The two systems are supplied by a pilot pump to achieve two The operating system independently operates the rotary drilling rig. In the electric proportional hydraulic pilot control system, the electric proportional is controlled by a wired wireless remote control system. Through the control of the remote control system, the main functions of the rotary drilling rig can be realized.
如图1所示，所述比例调节阀组包括：上车回转向左比例调节阀6、上车回转向右比例调节阀8、履带向前比例调节阀7、履带向后比例调节阀8、加压缸提升比例调节阀9、加压缸下降比例调节阀10、动力头左转比例调节阀11和动力头右转比例调节阀12。可根据不同性质的比例阀来进行相应的控制。As shown in FIG. 1 , the proportional control valve group includes: an upper return steering left proportional adjustment valve 6 , an upper return steering right proportional adjustment valve 8 , a track forward proportional adjustment valve 7 , and a track backward proportional adjustment valve 8 . The pressurizing cylinder lift proportional adjustment valve 9, the pressurizing cylinder lowering proportional regulating valve 10, the power head left turn proportional adjusting valve 11 and the power head right turn proportional adjusting valve 12. Corresponding control can be carried out according to proportional valves of different nature.
为了更好地实现控制，所述上车回转向左比例调节阀6、上车回转向右比例调节阀8、履带向前比例调节阀7、履带向后比例调节阀8、加压缸提升比例调节阀9、加压缸下降比例调节阀10、动力头左转比例调节阀11和动力头右转比例调节阀12的均为比例电磁阀。In order to achieve better control, the upper vehicle turns to the left proportional adjustment valve 6, the upper vehicle back to the right proportional adjustment valve 8, the track forward proportional adjustment valve 7, the track backward proportional adjustment valve 8, and the pressure cylinder lifting ratio The regulating valve 9, the pressurized cylinder lowering proportional regulating valve 10, the power head left-turn proportional adjusting valve 11 and the power head right-turn proportional adjusting valve 12 are all proportional solenoid valves.
便于操作的需要，所述发射器3包括操纵装置。For ease of operation, the transmitter 3 includes an operating device.
具体地，所述操纵装置包括线性摇杆，通过控制摇杆的操纵幅度来控制所述发射器3PWM输出的大小，从而通过接收器4控制比例调节阀，进而调节所述旋挖机动作的速度。Specifically, the operating device includes a linear rocker that controls the magnitude of the PWM output of the transmitter 3 by controlling the amplitude of the manipulation of the rocker, thereby controlling the proportional adjustment valve through the receiver 4, thereby adjusting the speed of the rotary excavator operation. .
根据安全考虑，所述接收器4还包括接地端口。The receiver 4 also includes a ground port, depending on safety considerations.
根据实际工况的需要，所述无线频率实时通讯的距离为100～150米。According to the actual working conditions, the distance of the wireless frequency real-time communication is 100-150 meters.
考虑CAN总线通讯的有效传输距离，所述CAN总线通讯的距离约为50米。本系统采用全数字式微功率高频无线接收发射装置，有多个频率段，有效工作范围可达100-150米。为了防止施工现场强磁场的干扰而无法使用无线频率，因此还另备有一套有线操作备用方案，操作距离可达50米。Considering the effective transmission distance of CAN bus communication, the distance of the CAN bus communication is about 50 meters. The system adopts all-digital micro-power high-frequency wireless receiving and transmitting device, which has multiple frequency segments, and the effective working range can reach 100-150 meters. In order to prevent the interference of the strong magnetic field on the construction site and the radio frequency cannot be used, there is also a wired operation alternative solution with an operating distance of up to 50 meters.
本发明还提出了一种上述的操纵系统的控制方法，包括：所述发射器3通过无线频率实时通讯或者通过CAN总线通讯向所述接收器4发送指令信号；所述接收器4的根据接收的指令信号通过PWM输出端口向所述比例调节阀组提供对应的PWM信号。The present invention also provides a control method for the above-mentioned operating system, comprising: the transmitter 3 transmitting a command signal to the receiver 4 via wireless frequency real-time communication or via CAN bus communication; and receiving according to the receiver 4 The command signal provides a corresponding PWM signal to the proportional control valve group through the PWM output port.
为了便于模式的选择，在所述发射器3通过无线频率实时通讯或 者通过CAN总线通讯向所述接收器4发送指令信号之前，还包括在无线频率实时通讯和CAN总线通讯之间选择通信模式的步骤。In order to facilitate the selection of modes, the transmitter 3 communicates in real time via radio frequency or Before transmitting the command signal to the receiver 4 via the CAN bus communication, the method further includes the step of selecting a communication mode between the wireless frequency real-time communication and the CAN bus communication.
所述操纵装置包括线性摇杆，控制所述摇杆的操纵幅度，进而控制所述发射器3指令信号，从而通过接收器4控制比例调节阀组，进而调节所述旋挖机动作的速度。The operating device includes a linear rocker that controls the amplitude of the manipulation of the rocker, thereby controlling the command signal of the transmitter 3, thereby controlling the proportional control valve group through the receiver 4, thereby adjusting the speed of the rotary excavator operation.
下面以加压提升为例，说明一下具体操作过程：操纵发射器3上的加压提升摇杆，接收器4根据接收到的信号指令，输出对应的PWM信号至接收器4的8端，8端输出的PWM信号控制加压提升比例电磁阀9动作，此时钻机的加压缸进行提升。其它动作同理，按此操作可远距离控制钻机的主要动作，不需要在驾驶室内，同样可以操纵机器。其他类型电磁阀的操作与上述类似。Taking the pressure boosting as an example, the specific operation process will be described: the pressure lifting rocker on the transmitter 3 is manipulated, and the receiver 4 outputs a corresponding PWM signal to the 8 end of the receiver 4 according to the received signal command, 8 The PWM signal outputted by the terminal controls the action of the pressurizing lift proportional solenoid valve 9, at which time the pressurizing cylinder of the drill is lifted. The other actions are the same. According to this operation, the main action of the rig can be controlled from a distance, and the machine can be operated without being in the cab. Other types of solenoid valves operate similarly to the above.
另外，本发明也提出一种旋挖钻机，包括上述的操纵系统。In addition, the present invention also provides a rotary drilling rig comprising the above described steering system.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制；尽管参照较佳实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本发明技术方案的精神，其均应涵盖在本发明请求保护的技术方案范围当中。 It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to be limiting; although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that The invention is not limited to the spirit of the technical solutions of the present invention, and should be included in the scope of the technical solutions claimed in the present invention.

Claims (11)

  1. 一种旋挖钻机操纵系统，其特征在于，包括发射器(3)和接收器(4)和比例调节阀，所述比例调节阀组能够调节旋挖钻机的各个执行元件的动作，所述发射器(3)与所述接收器(4)之间通过无线频率实时通讯和/或者通过CAN总线通讯连接，所述发射器(3)能够向所述接收器(4)发送指令信号，所述接收器(4)的PWM输出端口与所述比例调节阀组连接，向所述比例调节阀组提供对应的PWM信号。A rotary drilling rig operating system, comprising: a transmitter (3) and a receiver (4) and a proportional control valve, the proportional control valve group being capable of adjusting an action of each of the actuators of the rotary drilling rig, the launching The device (3) is connected to the receiver (4) by wireless frequency real-time communication and/or via a CAN bus, and the transmitter (3) is capable of transmitting a command signal to the receiver (4), A PWM output port of the receiver (4) is coupled to the proportional regulating valve group to provide a corresponding PWM signal to the proportional regulating valve group.
  2. 如权利要求1所述的操纵系统，其特征在于，接收器包括无线遥控接口和/或CAN总线接口，所述操纵系统能够在无线频率实时通讯和CAN总线通讯之间切换。The operating system of claim 1 wherein the receiver comprises a wireless remote control interface and/or a CAN bus interface, said operating system being switchable between wireless frequency real time communication and CAN bus communication.
  3. 如权利要求1所述的操纵系统，其特征在于，所述比例调节阀组包括：上车回转向左比例调节阀(6)、上车回转向右比例调节阀(8)、履带向前比例调节阀(7)、履带向后比例调节阀(8)、加压缸提升比例调节阀(9)、加压缸下降比例调节阀(10)、动力头左转比例调节阀(11)和动力头右转比例调节阀(12)。The operating system according to claim 1, wherein said proportional control valve group comprises: an upper vehicle return steering left proportional control valve (6), an upper vehicle return steering right proportional control valve (8), and a crawler forward ratio Regulating valve (7), track backward proportional adjusting valve (8), pressurizing cylinder lifting proportional adjusting valve (9), pressurizing cylinder lowering proportional regulating valve (10), power head left turn proportional adjusting valve (11) and power Turn the head to the right to adjust the proportional valve (12).
  4. 如权利要求3所述的操纵系统，其特征在于，所述上车回转向左比例调节阀(6)、上车回转向右比例调节阀(8)、履带向前比例调节阀(7)、履带向后比例调节阀(8)、加压缸提升比例调节阀(9)、加压缸下降比例调节阀(10)、动力头左转比例调节阀(11)和动力头右转比例调节阀(12)的均为比例电磁阀。The operating system according to claim 3, wherein said upper vehicle is turned to the left proportional adjustment valve (6), the upper vehicle is turned to the right proportional adjustment valve (8), and the track forward proportional adjustment valve (7), Track backward proportional adjustment valve (8), pressurized cylinder lift proportional adjustment valve (9), pressurized cylinder lowering proportional adjustment valve (10), power head left-turn proportional adjustment valve (11) and power head right-turn proportional adjustment valve (12) are all proportional solenoid valves.
  5. 根据权利要求1所述的操纵系统，其特征在于，所述发射器(3)包括操纵装置，以用于调节所述旋挖机动作的速度。The handling system according to claim 1, characterized in that the transmitter (3) comprises an operating device for adjusting the speed of the action of the rotary digger.
  6. 根据权利要求5所述的操纵系统，其特征在于，所述操纵装置包括线性摇杆，通过控制摇杆的操纵幅度来控制所述发射器(3)指令信号，从而通过接收器(4)控制比例调节阀，进而调节所述旋挖机动作的速度。The operating system according to claim 5, wherein said operating means comprises a linear rocker, said transmitter (3) command signal being controlled by controlling the amplitude of the joystick, thereby being controlled by the receiver (4) The proportional control valve further adjusts the speed of the rotary excavator operation.
  7. 根据权利要求1所述的操纵系统，其特征在于，还包括 电源开关(1)、蓄电池(2)，所述蓄电池(2)的负极通过电源开关(1)接地，所述蓄电池(2)的正极连接所述接收器(4)的电源端。The handling system of claim 1 further comprising A power switch (1), a battery (2), a cathode of the battery (2) is grounded through a power switch (1), and a positive pole of the battery (2) is connected to a power terminal of the receiver (4).
  8. 一种旋挖钻机，其特征在于，包括如权利要求1～7任一所述的操纵系统。A rotary drilling rig comprising the steering system of any one of claims 1-7.
  9. 一种如权利要求1～7任一个所述的操纵系统的控制方法，其特征在于，包括：所述发射器(3)通过无线频率实时通讯和/或通过CAN总线通讯向所述接收器(4)发送指令信号；A control method for a handling system according to any one of claims 1 to 7, characterized in that the transmitter (3) communicates to the receiver via a wireless frequency real-time communication and/or via a CAN bus ( 4) sending a command signal;
    所述接收器(4)的根据接收的指令信号通过PWM输出端口向所述比例调节阀组提供对应的PWM信号。The receiver (4) provides a corresponding PWM signal to the proportional regulating valve group through the PWM output port according to the received command signal.
  10. 如权利要求9所述的控制方法，其特征在于，包括：在所述发射器(3)通过无线频率实时通讯和/或通过CAN总线通讯向所述接收器(4)发送指令信号之前，还包括在无线频率实时通讯和CAN总线通讯之间选择通信模式的步骤。The control method according to claim 9, comprising: before the transmitter (3) transmits a command signal to the receiver (4) via wireless frequency real-time communication and/or via CAN bus communication, This includes the steps of selecting a communication mode between wireless frequency real-time communication and CAN bus communication.
  11. 如权利要求10所述的控制方法，其特征在于，所述操纵装置包括线性摇杆；控制所述摇杆的操纵幅度，进而控制所述发射器(3)指令信号，从而通过接收器(4)控制比例调节阀组，进而调节所述旋挖机动作的速度。 The control method according to claim 10, wherein said manipulation means comprises a linear rocker; controlling the manipulation amplitude of said joystick, thereby controlling said transmitter (3) command signal to pass through the receiver (4) The proportional control valve group is controlled to adjust the speed of the rotary excavator operation.
PCT/CN2015/071875 2015-01-30 2015-01-30 Auger drill operation system, auger drill, and control method WO2016119186A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2015/071875 WO2016119186A1 (en) 2015-01-30 2015-01-30 Auger drill operation system, auger drill, and control method
AU2015380180A AU2015380180B2 (en) 2015-01-30 2015-01-30 Auger drill operation system, auger drill, and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/071875 WO2016119186A1 (en) 2015-01-30 2015-01-30 Auger drill operation system, auger drill, and control method

Publications (1)

Publication Number Publication Date
WO2016119186A1 true WO2016119186A1 (en) 2016-08-04

Family

ID=56542182

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/071875 WO2016119186A1 (en) 2015-01-30 2015-01-30 Auger drill operation system, auger drill, and control method

Country Status (2)

Country Link
AU (1) AU2015380180B2 (en)
WO (1) WO2016119186A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109854225A (en) * 2018-12-26 2019-06-07 中国煤炭科工集团太原研究院有限公司 A kind of mine bolt drilling machine electrohydraulic control system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100228398A1 (en) * 2009-03-04 2010-09-09 Riemer Powers Corp. System and method for remotely monitoring and controlling pump jacks
CN203066485U (en) * 2012-12-27 2013-07-17 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 Intelligent arm support control system of concrete pump truck
CN103295375A (en) * 2012-03-02 2013-09-11 江阴中科矿业安全科技有限公司 Wireless remote control system of deep hole drill carriage for coal mine
CN203822285U (en) * 2014-04-25 2014-09-10 上海派司尼科技发展有限公司 Remote control system and rotary drilling machine
US20150022326A1 (en) * 2013-07-19 2015-01-22 Cameron International Corporation System for Measuring and Reporting a Condition of Equipment

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020084984A1 (en) * 2000-12-29 2002-07-04 Beinor Stephen E. Linear joystick

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100228398A1 (en) * 2009-03-04 2010-09-09 Riemer Powers Corp. System and method for remotely monitoring and controlling pump jacks
CN103295375A (en) * 2012-03-02 2013-09-11 江阴中科矿业安全科技有限公司 Wireless remote control system of deep hole drill carriage for coal mine
CN203066485U (en) * 2012-12-27 2013-07-17 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 Intelligent arm support control system of concrete pump truck
US20150022326A1 (en) * 2013-07-19 2015-01-22 Cameron International Corporation System for Measuring and Reporting a Condition of Equipment
CN203822285U (en) * 2014-04-25 2014-09-10 上海派司尼科技发展有限公司 Remote control system and rotary drilling machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109854225A (en) * 2018-12-26 2019-06-07 中国煤炭科工集团太原研究院有限公司 A kind of mine bolt drilling machine electrohydraulic control system

Also Published As

Publication number Publication date
AU2015380180B2 (en) 2019-03-07
AU2015380180A1 (en) 2017-08-31

Similar Documents

Publication Publication Date Title
CN110857571B (en) Hydraulic system of excavator working device and excavation control method
CN103049006A (en) Intelligent jib control system of concrete pump car
CN102991439A (en) Wireless sight distance control system of small underground trackless carry-scraper
WO2016119186A1 (en) Auger drill operation system, auger drill, and control method
CN107060727A (en) A kind of hydraulic gate TT＆C system
CN205297310U (en) Automatic rig is dug soon in gyration
CA3070640A1 (en) Intelligent mechanical linkage performance system
CN104563855A (en) Rotary drilling rig, soil throwing system of rotary drilling rig and soil throwing method based on soil throwing system
CN203701186U (en) Automatic reset control device for walking leg of walking excavator
CN202954397U (en) Wireless visual range control system for small-size underground trackless scraper
CN216589342U (en) Oil circuit control system of punching equipment, hydraulic system and punching equipment
CN102995621B (en) Hydraulic system of crawler type dynamic compaction machine with remote control device and dynamic compaction machine with system
CN204406179U (en) A kind of rotary drilling rig control system and rotary drilling rig
CN201694232U (en) Automatic steering control device of articulated vehicle
CN109407586A (en) A kind of non line of sight underground carry scraper remote control system
CN104500023B (en) Rotary drilling rig and control system thereof
CN212104246U (en) Excavator digging arm operating condition switches locking means
CN107587777A (en) One kind transport drilling installation electric wire lever apparatus
CN208903107U (en) A kind of non line of sight underground carry scraper remote control device
CN210033409U (en) Coal mine roof bolter electrohydraulic control system
CN102312455A (en) Intelligent crushing load tunnel repair machine
CN104765336A (en) Rotary drilling rig operating system, rotary drilling rig and control method
WO2016119187A1 (en) Multi-gear mode control device for auger drill power head, and auger drill and control method
CN107419761B (en) Remotely-operable full-section roadway repairing machine and construction method thereof
CA3072929A1 (en) Intelligent mechanical linkage performance system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15879394

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2015380180

Country of ref document: AU

Date of ref document: 20150130

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 15879394

Country of ref document: EP

Kind code of ref document: A1