CN107524434A - One kind is automatically positioned drilling drill jumbo drill boom control system - Google Patents
One kind is automatically positioned drilling drill jumbo drill boom control system Download PDFInfo
- Publication number
- CN107524434A CN107524434A CN201610449676.8A CN201610449676A CN107524434A CN 107524434 A CN107524434 A CN 107524434A CN 201610449676 A CN201610449676 A CN 201610449676A CN 107524434 A CN107524434 A CN 107524434A
- Authority
- CN
- China
- Prior art keywords
- control system
- automatically positioned
- drill boom
- valve
- drill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 12
- 239000007788 liquid Substances 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 239000011435 rock Substances 0.000 description 12
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
-
- 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
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
One kind is automatically positioned drilling drill jumbo drill boom control system, using guide's cavity pressure of threeway proportional pressure-relief valve control proportional reversing valve, so as to realize the position servo control in each joint.The system can meet the control performance demand for being automatically positioned drilling drill jumbo, and theoretical foundation and method are provided to be automatically positioned the design of drilling drill jumbo.
Description
Art
The present invention relates to one kind to be automatically positioned drilling drill jumbo drill boom control system, suitable for mechanical field.
Background technology
With the continuous development of coal industry field, the speedy drivage of rock gangway has turned into the key of safe and efficient mine construction, and
Mechanized Drifting In Rock is the effective way for realizing speedy drivage.Drill jumbo is the main mechanical of current stone drifting,
But the control mode of current drill jumbo mostly manually controls, result in hidden in the presence of safety in work progress
Suffer from, efficiency is low and the defects of laneway molding is poor.Computer control, which is automatically positioned drilling drill jumbo, has boring positioning accurate, remote
Journey automatically controls and the features such as efficient drilling, the defects of effectively overcoming common drill jumbo work progress.
The content of the invention
The present invention proposes one kind and is automatically positioned drilling drill jumbo drill boom control system, and the system can meet to be automatically positioned
The control performance demand of drilling drill jumbo, theoretical foundation and method are provided to be automatically positioned the design of drilling drill jumbo.
The technical solution adopted in the present invention is：
The drilling drill jumbo that is automatically positioned uses upper and lower structure form.Host computer is entered with slave computer by PC adapters
Row communication.Host computer is completed the input of borehole layout drawing, Location vehicle, hole expansion theory and kinematics using technical grade single-borad computer and asked
Solution etc., and each joint variable value finally solved is sent to slave computer and is used as the desired value of slave computer closed-loop control.Under
Position machine is completed the acquisition process of drill boom information, action sequence generation and target component using programmable controller (PLC) and follows control
System etc..In joint parameter follows control process, realize that drill boom is quick, stable and accurate using electric-hydraulic proportion Closed loop Control
Be automatically positioned.
The control system uses guide's cavity pressure of threeway proportional pressure-relief valve control proportional reversing valve, each so as to realize
The position servo control in joint.Proportional reversing valve uses load-sensitive ratio pilot-controlled multi-way reversing valve, the driving pressure of each oil cylinder
Power is individually set by LS overflow valves, can be passed through by slow supply oil valve efficiently against rocking during drill boom posture adjustment
The cooperation of shuttle valve network and load-sensitive hydraulic pump controls, and realizes the volume-restrictive velocity control characteristic of drill boom hydraulic control system, from
And make throttle grverning output flow and proportional pressure-reducing valve input signal it is linear.
The beneficial effects of the invention are as follows：The system can meet the control performance demand for being automatically positioned drilling drill jumbo, be
The design for being automatically positioned drilling drill jumbo provides theoretical foundation and method.
Brief description of the drawings
Fig. 1 is the control system block diagram of the present invention.
Fig. 2 is the Proportional Valve-controlled hydraulic cylinder control system figure of the present invention.
Fig. 3 is the closed-loop control system block diagram of the present invention.
Fig. 4 is the rock drilling control system of the present invention.
In figure：1. threeway proportional pressure-reducing valve；2. balanced valve；3. hydraulic cylinder；4th, 8. slow supply oil valve；5.LS overflow valves；6.
Proportional reversing valve；7. pressure compensator；8. balanced valve；9. propelling cylinder；10. pilot operated directional control valve；11. liquid hinders；12. check valve；
13. proportional pressure-reducing valve；14. pressure measuring tie-in；15. sequence valve；16. proportional pressure control valve.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, it is automatically positioned drilling drill jumbo and uses upper and lower structure form.Host computer is fitted with slave computer by PC
Orchestration is communicated.Host computer completes the input of borehole layout drawing, Location vehicle, hole expansion theory and fortune using technical grade single-borad computer
It is dynamic to learn solution etc., and each joint variable value finally solved is sent to slave computer and is used as the target of slave computer closed-loop control
Value.Slave computer is completed the acquisition process of drill boom information, action sequence generation and target component using programmable controller (PLC) and chased after
With control etc..In joint parameter follows control process, using electric-hydraulic proportion Closed loop Control realize drill boom it is quick, it is stable and
Accurately it is automatically positioned.
Such as Fig. 2, drill boom is in boring procedure is automatically positioned, main working process：Pass through the movement in each joint on drill boom
Or rotating makes bore bit position the position to be drilled to needs and posture and then by controlling propelling cylinder and each parameter of rock drill come real
Existing efficient drilling.Control system uses guide's cavity pressure of threeway proportional pressure-relief valve control proportional reversing valve, each so as to realize
The position servo control in joint.Proportional reversing valve uses load-sensitive ratio pilot-controlled multi-way reversing valve, the driving pressure of each oil cylinder
Power is individually set by LS overflow valves, can be passed through by slow supply oil valve efficiently against rocking during drill boom posture adjustment
The cooperation of shuttle valve network and load-sensitive hydraulic pump controls, and realizes the volume-restrictive velocity control characteristic of drill boom hydraulic control system, from
And make throttle grverning output flow and proportional pressure-reducing valve input signal it is linear.
Such as Fig. 3, chassis, due to the diversity of rock property, such as runs into crack, solution cavity or rock in rock drilling bore operation
During the too big transition region of stone nature difference, just easily it is stuck in the bore bit of boring work, bore operation will be forced to stop.Rock drilling
The propelling pressure of rock drill, surge, pricker rotary speed and fltting speed must match with rock behavio(u)r in boring procedure, no
Bit freezing, disconnected drill steel and the inaccurate phenomenon that drills then occurs, has a strong impact on the operating efficiency and borehole accuracy of chassis.So chisel
Rock machine and propulsion control system need with anti-sticking pricker function and automatically adjust propelling pressure, surge, pricker rotary speed and push away
Enter the function of the parameters such as speed.
Such as Fig. 4, system passing ratio depressurizes the propelling pressure of valve control system.By the impact of proportional overflow valve control system
Pressure, pricker rotary speed are controlled with fltting speed by corresponding proportional multi-way valve.The groups such as sequence valve, hydraulic damping and pilot operated directional control valve
Into hydraulic pressure anti-sticking pricker function.Principle：When card pricker trend occurs.Pricker turns oil circuit pressure gradually or suddenly risen, and pricker turns pressure letter
The entrance of sequence valve number is acted on by A mouths, when pricker, which turns pressure, reaches setting value (the card pricker pressure spot) of sequence valve.Sequence valve
Open, pricker turns pressure and act on pilot operated directional control valve to make its commutation.At this moment propelling cylinder retreats, and pricker turns oil pressure and is decreased below card pricker
Pressure spot, sequence valve are closed, and anti-sticking pricker valve automatically resets under spring force, and propelling cylinder switches to forward travel state.Such as
This reciprocal reparation blasthole.Until bore bit will recover normal bore operation by card pricker region, rock drill.
Claims (6)
1. one kind is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：It is described to be automatically positioned drilling drill jumbo
Using upper and lower structure form, host computer is communicated with slave computer by PC adapters.
2. one kind according to claim 1 is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：On described
Position machine completes the input of borehole layout drawing, Location vehicle, hole expansion theory and kinematics solution etc. using technical grade single-borad computer, and will
The each joint variable value finally solved sends to slave computer and is used as the desired value of slave computer closed-loop control.
3. one kind according to claim 1 is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：Under described
Position machine is completed the acquisition process of drill boom information, action sequence generation and target component using programmable controller (PLC) and follows control
System etc..
4. one kind according to claim 1 is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：In joint
Parameter is followed in control process, is realized quick drill boom, stabilization using electric-hydraulic proportion Closed loop Control and is accurately automatically positioned.
5. one kind according to claim 1 is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：The control
System processed uses guide's cavity pressure of threeway proportional pressure-relief valve control proportional reversing valve, so as to realize the position servo in each joint
Control.
6. one kind according to claim 1 is automatically positioned drilling drill jumbo drill boom control system, it is characterized in that：The ratio
Example reversal valve uses load-sensitive ratio pilot-controlled multi-way reversing valve, and the driving pressure of each oil cylinder is individually set by LS overflow valves
It is fixed, shuttle valve network and load-sensitive liquid can be passed through efficiently against rocking during drill boom posture adjustment by slow supply oil valve
The cooperation control of press pump, the volume-restrictive velocity control characteristic of drill boom hydraulic control system is realized, so that the output stream of throttle grverning
Amount is linear with the input signal of proportional pressure-reducing valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610449676.8A CN107524434A (en) | 2016-06-21 | 2016-06-21 | One kind is automatically positioned drilling drill jumbo drill boom control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610449676.8A CN107524434A (en) | 2016-06-21 | 2016-06-21 | One kind is automatically positioned drilling drill jumbo drill boom control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107524434A true CN107524434A (en) | 2017-12-29 |
Family
ID=60734819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610449676.8A Pending CN107524434A (en) | 2016-06-21 | 2016-06-21 | One kind is automatically positioned drilling drill jumbo drill boom control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107524434A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112878981A (en) * | 2021-01-28 | 2021-06-01 | 中国矿业大学 | Control system and control method of drill jumbo |
-
2016
- 2016-06-21 CN CN201610449676.8A patent/CN107524434A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112878981A (en) * | 2021-01-28 | 2021-06-01 | 中国矿业大学 | Control system and control method of drill jumbo |
| CN112878981B (en) * | 2021-01-28 | 2023-02-17 | 中国矿业大学 | Control system and control method of drill jumbo |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171229 |