CN112412504B - Automatic charging control system and control method for intelligent anchor rod drill carriage - Google Patents
Automatic charging control system and control method for intelligent anchor rod drill carriage Download PDFInfo
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- CN112412504B CN112412504B CN202011218286.2A CN202011218286A CN112412504B CN 112412504 B CN112412504 B CN 112412504B CN 202011218286 A CN202011218286 A CN 202011218286A CN 112412504 B CN112412504 B CN 112412504B
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- 238000000034 method Methods 0.000 title abstract description 7
- 238000005507 spraying Methods 0.000 claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 239000003814 drug Substances 0.000 claims description 41
- 239000000843 powder Substances 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 229940079593 drug Drugs 0.000 claims description 3
- 239000002360 explosive Substances 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 abstract description 4
- 239000000575 pesticide Substances 0.000 abstract description 4
- 238000004873 anchoring Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D21/00—Anchoring-bolts for roof, floor in galleries or longwall working, or shaft-lining protection
- E21D21/002—Anchoring-bolts for roof, floor in galleries or longwall working, or shaft-lining protection using explosives charges
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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
- 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
- F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
-
- 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
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
-
- 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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
-
- 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
- F15B2211/78—Control of multiple output members
- F15B2211/783—Sequential control
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to the technical field of underground full-automatic jumbolters of coal mines, and particularly relates to an automatic charging control system and method of an intelligent jumbolter. Including hydraulic systems and pneumatic systems. The hydraulic system comprises a hydraulic pump driven by a motor I, high-pressure oil of the hydraulic pump is output to a triple valve, wherein a first triple valve controls a spraying air inlet oil cylinder and a spraying air outlet oil cylinder to extend out, a second triple valve controls a cartridge bin limiting oil cylinder to stretch out and draw back, a third triple valve controls a cartridge bin motor to rotate, and an LS pressure port of the third triple valve is connected with a pressure sensor. The pneumatic system comprises an air pump driven by a motor II, the air pump transmits high-pressure gas to a gas storage tank through a one-way valve, the gas storage tank is provided with a water drain ball valve and is provided with a safety valve for controlling the internal pressure of the gas storage tank, the high-pressure gas in the gas storage tank is communicated to air units through a master cut-off valve, the air units are respectively connected with electromagnetic directional valves on the left side and the right side, and finally reach a pesticide spraying and gas inlet oil cylinder through a pipeline through the electromagnetic directional valves.
Description
Technical Field
The invention belongs to the technical field of underground full-automatic jumbolters of coal mines, and particularly relates to an automatic charging control system and method of an intelligent jumbolter.
Background
The intelligent anchor rod drill carriage (the concrete structure is disclosed in patent No. 201611145346.6, an automatic injection and filling device for resin anchoring agent) is an intelligent device which is provided by the current intelligent mine construction and can realize automatic step pitch, automatic net laying, automatic drilling, automatic charging, anchor rod feeding, anchor rod fastening and continuous anchor rod supply, and has the functions of anchor drill parameter setting, automatic resetting, local/remote control operation, visual monitoring and the like, and is applied to anchor rod support in the coal mine roadway tunneling process. The device is used for tunneling a working face, workers can be released from heavy physical labor, the workers are far away from the working face to ensure safety, the working environment is improved, and the health of the workers is fully ensured. The development of the full-automatic two-arm anchor rod drill carriage has important significance for improving the automation level of roadway excavation, reducing the supporting working strength, improving the supporting safety and supporting efficiency and reducing anchor protection personnel, and is also an urgent need of the market.
The automatic medicine charging control system is used for realizing automatic medicine charging and continuous supply of the cartridges, rotation of the cartridges, spacing of the cartridges and sealed injection of the cartridges are realized through a hydraulic system in the automatic medicine charging system, an air inlet cylinder and an air outlet cylinder of the medicine spraying system ensure that the cartridges are required to be hermetically connected in a pipeline, spacing of the cartridges in the cartridge bin is realized through a cartridge bin spacing cylinder, the cartridges in the cartridge bin are ensured to be hermetically connected with the air inlet cylinder and the air outlet cylinder, a cartridge bin motor realizes rotation of the cartridges in the cartridge bin, and continuous supply of the cartridges in the medicine spraying system is ensured.
Disclosure of Invention
The invention provides an automatic charging control system of an intelligent anchor rod drill carriage, which aims to realize automatic charging and continuous supply of cartridges, and realizes cartridge rotation, cartridge limit and cartridge sealing injection through a hydraulic system in an automatic charging system.
The invention adopts the following technical scheme: an automatic charging control system of an intelligent anchor rod drill carriage comprises a hydraulic system and a pneumatic system. The hydraulic system comprises a hydraulic pump driven by a motor I, high-pressure oil of the hydraulic pump is output to a triple valve, wherein a first triple valve controls a spraying air inlet oil cylinder I and a spraying air outlet oil cylinder to extend out, a second triple valve controls a cartridge bin limiting oil cylinder to stretch, a third triple valve controls a cartridge bin motor to rotate, and an LS pressure port of the third triple valve is connected with a pressure sensor; the pneumatic system comprises an air pump driven by a motor II, the air pump transmits high-pressure gas to a gas storage tank through a one-way valve, the gas storage tank is provided with a water drain ball valve and is provided with a safety valve for controlling the internal pressure of the gas storage tank, the high-pressure gas in the gas storage tank is communicated to an air unit through a master valve, the air unit is respectively connected with electromagnetic directional valves on the left side and the right side, and finally reaches a medicine spraying and air inlet oil cylinder II through a pipeline through the electromagnetic directional valves.
A control method of an intelligent anchor rod drill carriage automatic charging control system is characterized in that a hydraulic system realizes independent action of each oil cylinder and automatic control of a pesticide spraying system, and the first part is as follows: the hydraulic pump independently acts and outputs high-pressure oil to the triple valve under the driving of the motor I, wherein the first triple valve controls the extension of the spraying air inlet cylinder I and the spraying air outlet cylinder and is hermetically connected with a steel pipe in the cartridge bin to prevent high-pressure gas from leaking; the second valve controls the telescopic action of the cartridge bin limiting oil cylinder to limit the rotation of the cartridge bin; the third valve controls the rotation of the cartridge bin motor; a second part: automatic powder charge, after the system sends the automatic powder charge instruction, spout medicine hydro-cylinder I and spout the medicine hydro-cylinder of giving vent to anger and stretch out, with cartridge storehouse sealing connection, when pressure sensor detected pressure reached a definite value, the spacing hydro-cylinder in cartridge storehouse corresponded the valve and began the action, stretch out the spacing hydro-cylinder in cartridge storehouse, when pressure sensor detected pressure reached the setting value, the corresponding valve action of cartridge storehouse motor, the motor rotatory cartridge reached spacing hydro-cylinder limit position, when pressure sensor detected pressure reached the setting value, high-pressure gas was through spouting medicine hydro-cylinder I, spout cartridge in the cartridge storehouse from spouting medicine hydro-cylinder of giving vent to anger, realize automatic powder charge.
The pneumatic system is used for controlling the transmission and the injection of the cartridges, the air pump transmits high-pressure gas to the air storage tank through the one-way valve under the drive of the motor II, the air storage tank is provided with a water drain ball valve for draining accumulated water in the air storage tank, the safety valve controls the pressure in the air storage tank which is used for stabilizing the pressure in the pneumatic system, the high-pressure gas in the air storage tank passes through the general valve to reach the air unit and respectively reaches the electromagnetic directional valves at the left side and the right side of the anchor rod drill carriage, the electromagnetic directional valves are normally in a normally closed position, the high-pressure gas passing through the electromagnetic directional valves finally reaches the drug spraying air inlet oil cylinder II through a pipeline, the on-off of the electromagnetic directional valves is controlled by detecting pressure signals of a cartridge bin motor, when a pressure sensor detects a set value, the electromagnetic valves are opened, the cartridges are sprayed to the air outlet oil cylinder through the pipeline and finally reach the drill hole, and the drug spraying is completed.
Compared with the prior art, the full-automatic charging control system of the intelligent anchor rod drill carriage is designed according to the principles of the mechanical structure, the hydraulic system and the pneumatic system of the intelligent anchor rod drill carriage, and the automatic charging problem of the intelligent anchor rod drill carriage is realized. By designing the full-automatic charging control system of the intelligent anchor rod drill carriage, the automatic charging problem of the intelligent anchor rod drill carriage is solved. The automatic charging and the continuous supply of the cartridges are ensured, and a complete and reliable automatic charging system is formed, so that technical support is provided for completely realizing 'unmanned' and 'intelligent' full flow of coal mine anchoring operation.
Drawings
FIG. 1 is a schematic diagram of a hydraulic system;
FIG. 2 is a schematic diagram of a pneumatic system;
1.1-hydraulic pump, 1.2-motor I, 1.3-triple valve, 1.4-cartridge motor, 1.5-cartridge limit cylinder, 1.6-spraying inlet cylinder I, 1.7-spraying outlet cylinder, 1.8-pressure sensor, 2.1-air pump, 2.2-motor II, 2.3-one-way valve, 2.4-air storage tank, 2.5-water ball valve, 2.6-safety valve, 2.7-total stop valve, 2.8-air unit, 2.9-electromagnetic reversing valve, 2.10-spraying inlet cylinder II.
Detailed Description
An automatic charging control system of an intelligent anchor rod drill carriage comprises a hydraulic system and a pneumatic system.
As shown in fig. 1, the hydraulic system comprises a hydraulic pump 1.1 driven by a motor I1.2, high-pressure oil of the hydraulic pump 1.1 is output to a triple valve 1.3, wherein a first triple valve of the triple valve 1.3 controls extension of a medicine spraying air inlet cylinder I1.6 and a medicine spraying air outlet cylinder 1.7, a second triple valve controls telescopic action of a medicine roll bin limiting cylinder 1.5, a third triple valve controls rotation action of a medicine roll bin motor 1.4, and an LS pressure port of the third triple valve is connected with a pressure sensor 1.8.
As shown in fig. 2, the pneumatic system includes an air pump 2.1 driven by a motor II2.2, the air pump 2.1 transmits high pressure air to a gas storage tank 2.4 through a one-way valve 2.3, the gas storage tank 2.4 is provided with a water discharge ball valve 2.5, the gas storage tank 2.4 is provided with a safety valve 2.6 for controlling the internal pressure thereof, the high pressure air in the gas storage tank 2.4 is communicated to an air unit 2.8 through a main stop valve 2.7, the air unit 2.8 is respectively connected with electromagnetic directional valves 2.9 on the left and right sides, and finally reaches a medicine spraying and air intake cylinder II2.10 through the electromagnetic directional valve 2.9 via a pipeline.
A control method of an intelligent anchor rod drill carriage automatic charging control system is characterized in that a hydraulic system realizes independent action of each oil cylinder and automatic control of a pesticide spraying system, and the first part is as follows: the single action is realized, the hydraulic pump 1.1 outputs high-pressure oil to a triple valve 1.3 under the drive of a motor I1.2, wherein a first triple valve controls the extension of a spraying inlet oil cylinder I1.6 and a spraying outlet oil cylinder 1.7, and the extension is hermetically connected with a steel pipe in a cartridge bin to prevent high-pressure gas from leaking; the second valve controls the cartridge bin limiting oil cylinder 1.5 to stretch and retract so as to limit the rotation of the cartridge bin; the third valve controls the cartridge bin motor 1.4 to rotate; a second part: automatic powder charging, after the system sends the automatic powder charging instruction, spout medicine hydro-cylinder I1.6 and spout medicine hydro-cylinder 1.7 and stretch out, with cartridge storehouse sealing connection, when pressure sensor 1.8 detected pressure reached a definite value, cartridge storehouse spacing hydro-cylinder 1.5 corresponds the valve and begins the action, stretch out cartridge storehouse spacing hydro-cylinder 1.5, when waiting for pressure sensor 1.8 detected pressure to the setting value, cartridge storehouse motor 1.4 corresponds the valve action, the motor is rotatory to spacing hydro-cylinder limit position, when pressure sensor 1.8 detected pressure reached the setting value, high-pressure gas through spouting medicine hydro-cylinder 1.6, spout cartridge in the cartridge storehouse from spouting medicine hydro-cylinder 1.7, realize automatic powder charging.
The pneumatic system is used for controlling the transmission and the injection of the explosive cartridge, the air pump 2.1 is driven by the motor II to transmit high-pressure air to the air storage tank 2.4 through the one-way valve 2.3, the air storage tank 2.4 is provided with a water discharge ball valve 2.5, the pressure control device is used for discharging accumulated water in the gas storage tank 2.4, the safety valve 2.6 controls the pressure in the gas storage tank 2.4, the gas storage tank 2.4 is used for stabilizing the pressure in a pneumatic system, high-pressure gas in the gas storage tank 2.4 passes through the main stop valve 2.7 to the air unit 2.8 and respectively reaches the electromagnetic directional valves 2.9 on the left side and the right side of the anchor rod drill carriage, the electromagnetic directional valves are normally in a normally closed position, the high-pressure gas passing through the electromagnetic directional valves finally reaches the pesticide spraying and gas inlet oil cylinder II2.10 through a pipeline, wherein the on-off of the electromagnetic directional valve 2.9 is controlled by detecting the pressure signal of the cartridge chamber motor, when the pressure sensor detects the signal to the set value, and opening the electromagnetic valve, spraying the explosive cartridge to the air outlet oil cylinder through a pipeline, and finally reaching the inside of the drill hole to finish the medicine spraying.
Claims (1)
1. The utility model provides an automatic powder charge control system of intelligence stock drill carriage which characterized in that: comprises a hydraulic system and a pneumatic system,
the hydraulic system comprises a hydraulic pump (1.1) driven by a motor I (1.2), high-pressure oil of the hydraulic pump (1.1) is output to a triple valve (1.3), wherein a first triple valve (1.3) controls the extension of a medicine spraying air inlet oil cylinder I (1.6) and a medicine spraying air outlet oil cylinder (1.7), a second triple valve controls the telescopic action of a medicine roll bin limiting oil cylinder (1.5), a third triple valve controls the rotation action of a medicine roll bin motor (1.4), and an LS pressure port of the third triple valve is connected with a pressure sensor (1.8);
the pneumatic system comprises an air pump (2.1) driven by a motor II (2.2), the air pump (2.1) transmits high-pressure gas to a gas storage tank (2.4) through a one-way valve (2.3), the gas storage tank (2.4) is provided with a water discharge ball valve (2.5), the gas storage tank (2.4) is provided with a safety valve (2.6) for controlling the internal pressure, the high-pressure gas in the gas storage tank (2.4) is communicated to an air unit (2.8) through a main stop valve (2.7), the air unit (2.8) is respectively connected with electromagnetic reversing valves (2.9) on the left side and the right side, and finally reaches a medicine spraying and air inlet oil cylinder II (2.10) through a pipeline through the electromagnetic reversing valve (2.9);
hydraulic system realizes every hydro-cylinder independent action and spouts medicine system automatic control, the first part: the single action is realized, the hydraulic pump (1.1) outputs high-pressure oil to the triple valve (1.3) under the drive of the motor I (1.2), wherein the first triple valve controls the extension of the spraying air inlet cylinder I (1.6) and the spraying air outlet cylinder (1.7) and realizes the sealing connection with a steel pipe in the cartridge bin to prevent high-pressure gas from leaking; the second valve controls the telescopic action of a cartridge bin limiting oil cylinder (1.5) to limit the rotation of the cartridge bin; the third valve controls the rotation of the cartridge bin motor (1.4); a second part: after the system sends an automatic charging instruction, a medicine spraying air inlet cylinder I (1.6) and a medicine spraying air outlet cylinder (1.7) extend out and are connected with a medicine roll bin in a sealing mode, when the pressure sensor (1.8) detects that the pressure reaches a certain value, a medicine roll bin limiting cylinder (1.5) starts to act corresponding to a valve, the medicine roll bin limiting cylinder (1.5) extends out, when the pressure sensor (1.8) detects that the pressure reaches a set value, a medicine roll bin motor (1.4) acts corresponding to the valve, the motor rotates a medicine roll to the limiting cylinder limiting position, when the pressure sensor (1.8) detects that the pressure reaches the set value, high-pressure gas passes through the medicine spraying air inlet cylinder I (1.6), the medicine roll in the medicine roll bin is sprayed out from the medicine spraying air outlet cylinder (1.7), and automatic charging is achieved;
the pneumatic system is used for controlling the transmission and the injection of the cartridges, the air pump (2.1) transmits high-pressure gas to the air storage tank (2.4) through the one-way valve (2.3) under the drive of the motor II, the air storage tank (2.4) is provided with a water discharge ball valve (2.5) for discharging accumulated water in the air storage tank (2.4), the safety valve (2.6) controls the internal pressure of the air storage tank (2.4), the air storage tank (2.4) is used for stabilizing the pressure in the pneumatic system, the high-pressure gas in the air storage tank (2.4) passes through the general stop valve (2.7) to the air unit (2.8) and respectively reaches the electromagnetic directional valves (2.9) at the left side and the right side of the anchor rod drill carriage, the electromagnetic directional valves are normally at a normally closed position, the high-pressure gas passing through the electromagnetic directional valves finally reaches the drug spraying and air inlet cylinder II (2.10) through a pipeline, wherein the on-off of the electromagnetic directional valves (2.9) are controlled by detecting the pressure signal of the cartridge motor, when the pressure sensor detects a set value, and opening the electromagnetic valve, spraying the explosive cartridge to the air outlet oil cylinder through a pipeline, and finally reaching the inside of the drill hole to finish the medicine spraying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011218286.2A CN112412504B (en) | 2020-11-04 | 2020-11-04 | Automatic charging control system and control method for intelligent anchor rod drill carriage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011218286.2A CN112412504B (en) | 2020-11-04 | 2020-11-04 | Automatic charging control system and control method for intelligent anchor rod drill carriage |
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| CN112412504A CN112412504A (en) | 2021-02-26 |
| CN112412504B true CN112412504B (en) | 2022-05-17 |
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| CN202011218286.2A Active CN112412504B (en) | 2020-11-04 | 2020-11-04 | Automatic charging control system and control method for intelligent anchor rod drill carriage |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114000901B (en) * | 2021-11-05 | 2023-09-22 | 中铁隧道局集团有限公司 | Full-automatic installation device of resin cartridge |
| CN115387720A (en) * | 2022-08-09 | 2022-11-25 | 中煤科工集团西安研究院有限公司 | A rock bolter, power system and control method |
| CN116026407B (en) * | 2022-12-24 | 2024-11-08 | 中国煤炭科工集团太原研究院有限公司 | Experimental device and experimental method for automatically pushing explosive cartridge by pulse airflow |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1104292A1 (en) * | 1983-05-06 | 1984-07-23 | Комплексный Отдел Института Горного Дела Со Ан Ссср | Arrangement for setting anchor support |
| DE3337928A1 (en) * | 1983-10-19 | 1985-05-02 | Ruhrkohle Ag, 4300 Essen | Method and apparatus for supporting rise headings when using a rise-heading machine, preferably an explosive-charging arrangement |
| RU2236595C1 (en) * | 2003-04-30 | 2004-09-20 | Тульский государственный университет | Method for mounting anchor |
| CN203837604U (en) * | 2014-05-09 | 2014-09-17 | 攀钢集团工程技术有限公司 | Full-face hole bottom air-spaced loading mechanism for underground roadway tunneling |
| CN104912484B (en) * | 2015-04-21 | 2017-03-15 | 王发秀 | Coal Full-automatic mine roofboltier |
| CN105370305B (en) * | 2015-11-11 | 2018-02-16 | 中国煤炭科工集团太原研究院有限公司 | A kind of Anchor Agent powder stick automatic subpackaging, injection apparatus |
| CN106437797B (en) * | 2016-12-13 | 2018-06-29 | 中国煤炭科工集团太原研究院有限公司 | A kind of resin anchoring agent sprays automatically and filling device |
| CN207261026U (en) * | 2017-06-29 | 2018-04-20 | 中国煤炭科工集团太原研究院有限公司 | A kind of intelligent anchor rod drill carriage |
| CN108756965A (en) * | 2018-06-01 | 2018-11-06 | 中国神华能源股份有限公司 | A kind of roofboltier |
| CN108825276B (en) * | 2018-06-13 | 2019-10-11 | 中国煤炭科工集团太原研究院有限公司 | A kind of underground coal mine fully automatic anchor cable drilling machine |
| CN109854225B (en) * | 2018-12-26 | 2024-05-17 | 中国煤炭科工集团太原研究院有限公司 | Electrohydraulic control system of coal mine jumbolter |
| CN110130957B (en) * | 2019-06-27 | 2021-05-18 | 张福学 | Mine underground pneumatic anchor rod charging device |
| CN110593923B (en) * | 2019-08-26 | 2020-10-13 | 中国煤炭科工集团太原研究院有限公司 | Mechanism for driving flexible cable to push resin anchoring agent by one-way motor |
| CN110486065B (en) * | 2019-08-26 | 2020-10-13 | 中国煤炭科工集团太原研究院有限公司 | Multi-motor driven resin anchoring agent and anchor cable feeding and cutting mechanism |
| CN110552925A (en) * | 2019-08-27 | 2019-12-10 | 中国煤炭科工集团太原研究院有限公司 | Intelligent two-arm anchor rod drill carriage electro-hydraulic walking synchronous control system with automatic speed measuring device |
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2020
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