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工程设计学报
Chin J Eng Design  2022, Vol. 29 Issue (6): 776-783    DOI: 10.3785/j.issn.1006-754X.2022.00.080
Whole Machine and System Design     
Design of control system of airborne water exploration and drainage drilling rig of excavating and anchoring all-in-one machine
Shu-wei GU1,2(),Kai CHEN2,Ya-xin SONG2,Ming-sheng YU2,Zhi-xiang LIU3(),Kang ZOU3
1.Faculty of Electrical and Control Engineering, Liaoning Technical University, Huludao 125000, China
2.Lijiahao Coal Mine, Baotou Energy Co. , Ltd. of National Energy Group, Ordos 017000, China
3.Research Institute of Mineral Resources Development and Utilization Technology and Equipment, Liaoning Technical University, Fuxin 123000, China
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Abstract  

In order to solve the problem that the traditional tunnel drilling rig is not convenient for rapid installation and operation due to its huge volume when conducting the water exploration and drainage operation in the tunneling roadway, an airborne water exploration and drainage drilling rig of excavating and anchoring all-in-one machine was designed. This paper introduced the structure of the airborne water exploration and drainage drilling rig and the overall structure of its automatic electronic control system, designed the hardware of the control system, analyzed its work flow, and conducted industrial experiments in the factory and underground for the water exploration and drainage drilling rig. The experimental results verified the feasibility of the control system of the designed drilling rig. The developed water exploration and drainage drilling rig can significantly improve the efficiency of water exploration and drainage, and has a good application prospect.

Key words： excavating and anchoring all-in-one machine      airborne drilling rig      water exploration and drainage drilling rig      control system      monitoring system     
Received: 23 February 2022      Published: 06 January 2023
CLC:  TP 028.8  
Corresponding Authors: Zhi-xiang LIU     E-mail: 264012@qq.com;380357369@qq.com
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Shu-wei GU
Kai CHEN
Ya-xin SONG
Ming-sheng YU
Zhi-xiang LIU
Kang ZOU
Cite this article:

Shu-wei GU,Kai CHEN,Ya-xin SONG,Ming-sheng YU,Zhi-xiang LIU,Kang ZOU. Design of control system of airborne water exploration and drainage drilling rig of excavating and anchoring all-in-one machine. Chin J Eng Design, 2022, 29(6): 776-783.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.080     OR     https://www.zjujournals.com/gcsjxb/Y2022/V29/I6/776


掘锚一体机机载式探放水钻机控制系统的设计

为了解决传统坑道钻机在进行掘进巷道探放水作业时由于体积庞大而不便于快速安装和作业的问题，设计了一种掘锚一体机机载式探放水钻机。介绍了机载式探放水钻机的结构及其自动电控系统的总体架构，设计了控制系统的硬件，分析了其工作流程，进行了探放水钻机厂内和井下工业性实验，实验结果验证了所设计的探放水钻机控制系统的可行性。采用所研制的探放水钻机可以显著提高探放水作业效率，其具有良好的应用前景。


关键词： 掘锚一体机,  机载式钻机,  探放水钻机,  控制系统,  监控系统 
Fig.1 Schematic of installation position of water exploration and drainage drilling rig
Fig.2 Structure of water exploration and drainage drilling rig
Fig.3 General structure of automatic electric control system for water exploration and drainage drilling rig
序号监测量传感器类型型号量程
1一级伸缩油缸位移位移传感器1 200 mm
2二级伸缩油缸位移GUC1200B
3钻机进给油缸位移
4垂直旋转回转驱动所调节的整机倾角矿用本安型倾角传感器GUD90（A）-45°~45°
5水平回转驱动所调节的整机水平转角矿用本安型编码器BQH24
6支撑立柱下段油缸压力油压力传感器0~30 MPa
7支撑立柱上段油缸压力
8动力头旋转载荷GPD60
9动力头推进载荷
10系统总压力
11掘锚一体机倾角矿用本安型倾角传感器GUD90（A）-45°~45°
12掘锚一体机水平距离超声波测距传感器GUC66 000 mm
13设备振动加速度矿用本安型振动传感器GBC80（A）-80~80 m/s2
14掘锚一体机振动加速度
Table 1 Type and range of main monitoring sensors in the control system of water exploration and drainage drilling rig
序号功能型号流量/(L/min)
进油联STPSV55C2C/240-3200
第1联动力头旋转马达控制-42H100/100NN/EA2100
第2联动力头推进油缸控制
第3联俯仰姿态调整马达控制-32H80/80NN/EA280
第4联水平姿态调整马达控制
第5联一级伸缩油缸位移控制
第6联二级伸缩油缸位移控制
第7联支撑立柱旋转油缸控制
第8联支撑立柱油缸控制
尾联-E1-G24MA-10m
Table 2 Type and parameter of solenoid explosion-proof valve group
Fig.4 Wiring of main modules of PLC control system
Fig.5 Drilling operation process
Fig.6 Automatic recording process of drilling depth and drill pipe quantity
Fig.7 Handling process of sticking
Fig.8 Installation mode of external oil cylinder displacement sensor
Fig.9 Monitoring interface of airborne water exploration and drainage drilling rig of excavating and anchoring all-in-one machine
Fig.10 Field test results of airborne water exploration and drainage drilling rig of excavating and anchoring all-in-one machine
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