阅读说明：本技术 一种顶锚网自动送料折弯装置的电液联合控制系统 (Electro-hydraulic combined control system of automatic feeding and bending device for anchor jacking net ) 是由 刘小凯 杨文林 张治彪 陶浩 李亚锋 吕浩亮 张弓 侯至丞 王卫军 于 2021-01-11 设计创作，主要内容包括：本发明公开了一种顶锚网自动送料折弯装置的电液联合控制系统,主要包括储料装置、取料机构、移载机构、折弯装置以及控制器；储料装置中的顶锚网顶升机构和移载机构使用伺服电缸；折弯装置中使用了折弯油缸；控制器负责处理各种限位开关和传感器输入信号以及向执行机构输出信号；控制器接收到启动信号后,会发送相应的控制指令给储料装置、取料机构、移载机构和折弯装置,然后整个控制系统根据储料仓取料、顶锚网传输、顶锚网折弯和顶锚网举升四道工序顺序循环执行；当控制器接收到暂停信号时,会停止当前正在作业的工序,直至收到恢复信号时再继续未完工序。本发明能替代顶锚网作业人工操作,提高工作效率,降低人员安全事故发生率。(The invention discloses an electro-hydraulic combined control system of an automatic feeding and bending device of a top anchor net, which mainly comprises a storage device, a material taking mechanism, a transfer mechanism, a bending device and a controller, wherein the material taking mechanism is arranged on the storage device; a jacking mechanism of the top anchor net and a transferring mechanism in the material storage device use a servo electric cylinder; a bending oil cylinder is used in the bending device; the controller is responsible for processing input signals of various limit switches and sensors and outputting signals to the actuating mechanism; after receiving the starting signal, the controller sends a corresponding control instruction to the material storage device, the material taking mechanism, the transfer mechanism and the bending device, and then the whole control system is circularly executed according to the sequence of four procedures of material taking of the material storage bin, transmission of the top anchor net, bending of the top anchor net and lifting of the top anchor net; when the controller receives the pause signal, the controller stops the currently operating process until the incomplete process is continued when the recovery signal is received. The invention can replace the manual operation of top anchor net operation, improve the working efficiency and reduce the occurrence rate of personnel safety accidents.)

1. An electro-hydraulic combined control system of an anchor jacking net automatic feeding and bending device is characterized in that the anchor jacking net automatic feeding and bending device comprises a material storage device, a material taking mechanism, a transferring mechanism and a bending device;

the material storage device is used for independently separating a top anchor net from top anchor nets stacked in a material bin and sending the top anchor net to a material taking mechanism; the material taking mechanism takes out the top anchor net to be bent and sends the top anchor net to the transferring mechanism; the transferring mechanism transmits the top anchor net to a bending station; after receiving the transmitted top anchor net, the bending device firstly fixes and tensions the top anchor net, then bends one side of the top anchor net, and lifts the top anchor net to the roadway top plate after the bending process is finished;

the electro-hydraulic combined control system comprises a controller; the controller is respectively connected with a first jacking servo electric cylinder, a second jacking servo electric cylinder, a detection sensor, a first limit switch, a second limit switch, a third limit switch, a fourth limit switch, a fifth limit switch, a sixth limit switch, a seventh limit switch, an eighth limit switch, a ninth limit switch, a tenth limit switch, a first air cylinder, a second air cylinder, a third air cylinder, a fourth air cylinder, an origin switch, a transfer servo motor, a first bending oil cylinder, a second bending oil cylinder, a first lifting oil cylinder, a second lifting oil cylinder, a first displacement sensor, a second displacement sensor and a start-stop switch;

the controller is a control center of the whole electro-hydraulic combined control system and is responsible for processing input signals of various limit switches and sensors and outputting signals to the actuating mechanism;

the start-stop switch is used for controlling the start-stop of the electro-hydraulic combined control system;

the first jacking servo electric cylinder and the second jacking servo electric cylinder are arranged in an automatic jacking mechanism of the material storage device and are used for driving the automatic jacking mechanism to jack a jacking anchor net in the material bin;

the detection sensor is arranged in the material storage device and used for detecting whether the top anchor net stacked in the material bin is jacked in place;

the first limit switch, the second limit switch, the third limit switch, the fourth limit switch, the first air cylinder and the second air cylinder are arranged in a separating mechanism of the material storage device, the first limit switch is used for detecting whether the first air cylinder returns to the original position, and the second limit switch is used for detecting whether the first air cylinder moves to a station; the third limit switch is used for detecting whether the second air cylinder returns to the initial position or not, and the fourth limit switch is used for detecting whether the second air cylinder moves to the station or not; the first air cylinder and the second air cylinder are respectively used as power units of a separating mechanism of the material storage device and used for driving the separating mechanism to complete separating action;

a fifth limit switch, a sixth limit switch, a seventh limit switch, an eighth limit switch, a third cylinder and a fourth cylinder are arranged in the material taking mechanism, the fifth limit switch is used for detecting whether the third cylinder returns to the original position, and the sixth limit switch is used for detecting whether the third cylinder moves to the station; the seventh limit switch is used for detecting whether the fourth cylinder returns to the initial position or not, and the eighth limit switch is used for detecting whether the fourth cylinder moves to the station or not; the third cylinder and the fourth cylinder are respectively used as power units of the material taking mechanisms on the left side and the right side and used for driving the material taking mechanisms to finish material taking actions;

a ninth limit switch, a tenth limit switch, an origin switch and a transfer servo motor are arranged on a conveying table of the transfer mechanism, the ninth limit switch is used for detecting whether the transfer mechanism moves to a material taking action completion station of the material taking mechanism, the tenth limit switch is used for detecting whether the transfer mechanism moves to a bending preparation station of the bending device, and the origin switch is used for searching an initial position of a transfer servo motor encoder; the transfer servo motor is used for driving the transfer mechanism to transmit the top anchor net;

the first bending oil cylinder, the second bending oil cylinder, the first lifting oil cylinder and the second lifting oil cylinder are arranged in the bending device, the first bending oil cylinder and the second bending oil cylinder are respectively used as bending power units of the left-side and right-side bending devices, and the first lifting oil cylinder and the second lifting oil cylinder are respectively used as lifting power units of the left-side and right-side bending devices;

the first displacement sensors and the second displacement sensors are installed in the first bending oil cylinders and the second bending oil cylinders in a one-to-one correspondence mode and are used for detecting the action distance of the bending oil cylinders and guaranteeing the bending precision of the anchor jacking net.

2. The electro-hydraulic combined control system of the top anchor net automatic feeding and bending device according to claim 1, further comprising a reset switch connected with the controller and used for controlling the reset of the electro-hydraulic combined control system.

3. The electro-hydraulic combined control system of the top anchor net automatic feeding and bending device as claimed in claim 1, wherein the bending device bends one side of the top anchor net by 90 degrees.

Technical Field

The invention relates to the technical field of roadway tunneling equipment, in particular to an electro-hydraulic combined control system of an automatic feeding and bending device for a top anchor net.

Background

With the increasing maturity and popularization of anchor net supporting technology, anchor nets are mainly adopted for roadway supporting in coal mines, metal mines, roadways and tunnels. The roadway support mainly comprises a top support part and a side support part, the top anchor net is an important component unit of the top support, and the top anchor net is mainly used for resisting deformation and damage of the roadway and preventing the stockstones on the top of the roadway from being crushed and falling off under the influence of pressure in the roadway tunneling operation process, so that operating personnel and equipment are hit and safety accidents occur. At present, the top anchor net bending operation in the roadway excavation process in China mainly adopts manual operation, corresponding operators are required to be equipped for each top anchor net bending device respectively, and the procedures of material taking, feeding, bending, lifting and the like of the top anchor net are completed manually; the manual top anchor net bending operation is heavy in task, high in labor intensity and severe in working environment, and certain safety risks exist. Therefore, the automatic control system for the top anchor net bending operation is designed to replace the manual work, so that the working efficiency and the top anchor net bending quality are improved, the labor intensity is reduced, the safety level of roadway construction is ensured, and the automatic control system has good application value. At present, the research and development of the automatic bending and feeding device for the top anchor net in the roadway support in China are in a starting stage, a mature control system is not available temporarily, the automatic operation of the operation process of the top anchor net can be realized, and the automatic bending and feeding device has wide development space.

The working section of the tunnel in the tunneling operation is large, the two sides are soft, and the security threat of the tunnel roof leakage caused by pressure influence is large. Therefore, the roadway operation needs to be supported, wherein the roadway operation comprises top supporting and upper supporting. The metal top anchor net is an important structure for top support and is formed by welding criss-cross steel wires. In the traditional manual operation process, the work procedures of material taking, material feeding, bending, lifting and the like of the top anchor net are heavy, and certain dangerousness is realized.

At present, the construction of the roadway top support in China mainly adopts manual operation, including actions of manually taking materials, manually bending, manually lifting and the like. The working process has low efficiency, high labor intensity and high danger.

Disclosure of Invention

In view of the above, in order to improve the efficiency of tunneling operation and improve the automation level of the traditional tunneling operation, the invention provides an electro-hydraulic combined control system of an automatic top anchor net feeding and bending device.

The invention solves the problems through the following technical means:

an electro-hydraulic combined control system of an anchor jacking net automatic feeding and bending device comprises a material storage device, a material taking mechanism, a transferring mechanism and a bending device;

the material storage device is used for independently separating a top anchor net from top anchor nets stacked in a material bin and sending the top anchor net to a material taking mechanism; the material taking mechanism takes out the top anchor net to be bent and sends the top anchor net to the transferring mechanism; the transferring mechanism transmits the top anchor net to a bending station; after receiving the transmitted top anchor net, the bending device firstly fixes and tensions the top anchor net, then bends one side of the top anchor net, and lifts the top anchor net to the roadway top plate after the bending process is finished;

the electro-hydraulic combined control system comprises a controller; the controller is respectively connected with a first jacking servo electric cylinder, a second jacking servo electric cylinder, a detection sensor, a first limit switch, a second limit switch, a third limit switch, a fourth limit switch, a fifth limit switch, a sixth limit switch, a seventh limit switch, an eighth limit switch, a ninth limit switch, a tenth limit switch, a first air cylinder, a second air cylinder, a third air cylinder, a fourth air cylinder, an origin switch, a transfer servo motor, a first bending oil cylinder, a second bending oil cylinder, a first lifting oil cylinder, a second lifting oil cylinder, a first displacement sensor, a second displacement sensor and a start-stop switch;

the controller is a control center of the whole electro-hydraulic combined control system and is responsible for processing input signals of various limit switches and sensors and outputting signals to the actuating mechanism;

the start-stop switch is used for controlling the start-stop of the electro-hydraulic combined control system;

the first jacking servo electric cylinder and the second jacking servo electric cylinder are arranged in an automatic jacking mechanism of the material storage device and are used for driving the automatic jacking mechanism to jack a jacking anchor net in the material bin;

the detection sensor is arranged in the material storage device and used for detecting whether the top anchor net stacked in the material bin is jacked in place;

the first limit switch, the second limit switch, the third limit switch, the fourth limit switch, the first air cylinder and the second air cylinder are arranged in a separating mechanism of the material storage device, the first limit switch is used for detecting whether the first air cylinder returns to the original position, and the second limit switch is used for detecting whether the first air cylinder moves to a station; the third limit switch is used for detecting whether the second air cylinder returns to the initial position or not, and the fourth limit switch is used for detecting whether the second air cylinder moves to the station or not; the first air cylinder and the second air cylinder are respectively used as power units of a separating mechanism of the material storage device and used for driving the separating mechanism to complete separating action;

a fifth limit switch, a sixth limit switch, a seventh limit switch, an eighth limit switch, a third cylinder and a fourth cylinder are arranged in the material taking mechanism, the fifth limit switch is used for detecting whether the third cylinder returns to the original position, and the sixth limit switch is used for detecting whether the third cylinder moves to the station; the seventh limit switch is used for detecting whether the fourth cylinder returns to the initial position or not, and the eighth limit switch is used for detecting whether the fourth cylinder moves to the station or not; the third cylinder and the fourth cylinder are respectively used as power units of the material taking mechanisms on the left side and the right side and used for driving the material taking mechanisms to finish material taking actions;

a ninth limit switch, a tenth limit switch, an origin switch and a transfer servo motor are arranged on a conveying table of the transfer mechanism, the ninth limit switch is used for detecting whether the transfer mechanism moves to a material taking action completion station of the material taking mechanism, the tenth limit switch is used for detecting whether the transfer mechanism moves to a bending preparation station of the bending device, and the origin switch is used for searching an initial position of a transfer servo motor encoder; the transfer servo motor is used for driving the transfer mechanism to transmit the top anchor net;

the first bending oil cylinder, the second bending oil cylinder, the first lifting oil cylinder and the second lifting oil cylinder are arranged in the bending device, the first bending oil cylinder and the second bending oil cylinder are respectively used as bending power units of the left-side and right-side bending devices, and the first lifting oil cylinder and the second lifting oil cylinder are respectively used as lifting power units of the left-side and right-side bending devices;

the first displacement sensors and the second displacement sensors are installed in the first bending oil cylinders and the second bending oil cylinders in a one-to-one correspondence mode and are used for detecting the action distance of the bending oil cylinders and guaranteeing the bending precision of the anchor jacking net.

Furthermore, the electrohydraulic combined control system also comprises a reset switch connected with the controller and used for controlling the reset of the electrohydraulic combined control system.

Further, the bending device bends one side of the top anchor net by 90 degrees.

Compared with the prior art, the invention has the beneficial effects that at least:

1. by adopting a combined control system combining servo control, hydraulic control and pneumatic control, the automatic top anchor net feeding and bending device has the characteristics of high response speed and high positioning precision of a servo system, and also has the characteristics of large torque and stable work of the hydraulic system.

2. Personnel's participation in the operation can be reduced in the tunnel, improves the degree of automation of top anchor net flow of bending, realizes the automation of top anchor net and gets the material, and automatic bending promotes the operating efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural view of an automatic feeding and bending device for a roof anchor net of the invention;

FIG. 2 is a block diagram of the working process of the automatic feeding and bending device for the anchor jacking net of the invention;

FIG. 3 is a hardware schematic diagram of an electro-hydraulic combined control system of the automatic top anchor net feeding and bending device of the invention;

FIG. 4 is a circuit diagram of an electro-hydraulic combined control system of the automatic feeding and bending device for the anchor jacking net of the invention;

description of reference numerals:

the method comprises the following steps of 1-a material storage device, 2-a material taking mechanism, 3-a transfer mechanism and 4-a bending device.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.

The invention provides an electro-hydraulic combined control system of an anchor jacking net automatic feeding and bending device, wherein the structural schematic diagram of the anchor jacking net automatic feeding and bending device is shown in figure 1, and the whole anchor jacking net automatic feeding and bending device comprises four modules, namely a storage device 1, a material taking mechanism 2, a transfer mechanism 3 and a bending device 4. The four modules sequentially work according to the operation procedures of material taking, feeding, bending and lifting of the top anchor net. When the electro-hydraulic combined control system receives a starting signal, the controller sends a starting instruction to a jacking servo electric cylinder of the jacking mechanism of the material storage device, the jacking servo electric cylinder drives the jacking mechanism to jack a jacking anchor net, when a detection sensor detects that the jacking anchor net is jacked to a specific station, a detection signal is given to the controller, and the controller controls the jacking servo electric cylinder of the jacking mechanism to stop acting; then the separation mechanism of the material storage device acts to lift the single top anchor net by a certain height, so that the single top anchor net is separated from the material storage device; then the material taking mechanism acts, the tail end is inserted into a gap between the single top anchor net and the storage bin stacking top anchor net, and then the material taking mechanism is transported to the transferring mechanism; a left limit switch, a right limit switch and an original point switch are arranged on two sides of a sliding rail of the transferring mechanism, the transferring servo motor drives the transferring mechanism to move to a left limit position from the original point along the sliding rail, a top anchor net taken out by the material taking mechanism is received, then the top anchor net is transported to a right limit position and sent to the bending mechanism; the bending mechanism firstly fixes the anchor jacking net in the bending process, then the anchor jacking net is tensioned, the bending oil cylinder acts as a power element for bending the anchor jacking net, and after the bending oil cylinder acts, the bending device jacking mechanism lifts the bent anchor jacking net to the top plate. The bending process of the top anchor net only needs to bend one side of the top anchor net to 90 degrees, so that the left side and the right side are respectively provided with a bending device, only one side device is needed to operate independently when the top anchor net is bent every time, the left side and the right side of the bending device can work alternately, and the bending efficiency is improved.

The work flow diagram of the automatic feeding and bending device for the top anchor net is shown in fig. 2. The material storage device is used for independently separating a top anchor net from top anchor nets stacked in a material bin and sending the top anchor net to a material taking mechanism; the material taking mechanism takes out the top anchor net to be bent and sends the top anchor net to the transferring mechanism; the transferring mechanism transmits the top anchor net to a bending station; after the bending device receives the transmitted top anchor net, the top anchor net is fixed and tensioned, so that the bending effect is prevented from being influenced by severe shaking during bending; and then bending one side of the top anchor net by 90 degrees, and lifting the top anchor net to a roadway roof after the bending process is finished. And after the bending task of one top anchor net is finished, the controller controls each actuating mechanism to return to the original position to prepare for bending the next top anchor net.

The hardware schematic diagram of the electro-hydraulic combined control system of the top anchor net automatic feeding and bending device is shown in fig. 3, the circuit diagram is shown in fig. 4, and the electro-hydraulic combined control system comprises a controller; the controller is connected with jacking servo electric jar 1, jacking servo electric jar 2 respectively, detect sensor, limit switch 1, limit switch 2, limit switch 3, limit switch 4, limit switch 5, limit switch 6, limit switch 7, limit switch 8, limit switch 9, limit switch 10, cylinder 1, cylinder 2, cylinder 3, cylinder 4, initial point switch, move and carry servo motor, the hydro-cylinder 1 that bends, the hydro-cylinder 2 that bends, lift hydro-cylinder 1, lift hydro-cylinder 2, displacement sensor 1, displacement sensor 2 and open and stop switch.

The controller is a control center of the whole electro-hydraulic combined control system and is responsible for processing input signals of various limit switches and sensors and outputting signals to an actuating mechanism.

The start-stop switch is used for controlling the start-stop of the electro-hydraulic combined control system.

The jacking servo electric cylinder 1 and the jacking servo electric cylinder 2 are installed in an automatic jacking mechanism of the material storage device and used for driving the automatic jacking mechanism to jack a top anchor net in a material bin.

The detection sensor is installed in the storage device and used for detecting whether the top anchor net stacked in the storage bin is jacked in place.

The limiting switch 1, the limiting switch 2, the limiting switch 3, the limiting switch 4, the air cylinder 1 and the air cylinder 2 are installed in a separating mechanism of the material storage device, the limiting switch 1 is used for detecting whether the air cylinder 1 returns to the original position or not, and the limiting switch 2 is used for detecting whether the air cylinder 1 moves to a station or not; the limit switch 3 is used for detecting whether the cylinder 2 returns to the initial position, and the limit switch 4 is used for detecting whether the cylinder 2 moves to the station; the air cylinder 1 and the air cylinder 2 are respectively used as a power unit of a separating mechanism of the material storage device and used for driving the separating mechanism to complete separating action.

The limit switch 5, the limit switch 6, the limit switch 7, the limit switch 8, the cylinder 3 and the cylinder 4 are installed in the material taking mechanism, the limit switch 5 is used for detecting whether the cylinder 3 returns to the original position, and the limit switch 6 is used for detecting whether the cylinder 3 moves to a station; the limit switch 7 is used for detecting whether the cylinder 4 returns to the initial position, and the limit switch 8 is used for detecting whether the cylinder 4 moves to the station; the air cylinder 3 and the air cylinder 4 are respectively used as power units of the material taking mechanisms on the left side and the right side and used for driving the material taking mechanisms to finish material taking actions.

The limiting switch 9, the limiting switch 10, the origin switch and the transfer servo motor are arranged on a conveying table of the transfer mechanism, the limiting switch 9 is used for detecting whether the transfer mechanism moves to a material taking action completion station of the material taking mechanism, the limiting switch 10 is used for detecting whether the transfer mechanism moves to a bending device bending preparation station, and the origin switch is used for searching an initial position of a transfer servo motor encoder; the transfer servo motor is used for driving the transfer mechanism to transmit the top anchor net.

The bending oil cylinder 1, the bending oil cylinder 2, the lifting oil cylinder 1 and the lifting oil cylinder 2 are installed in the bending device, the bending oil cylinder 1 and the bending oil cylinder 2 are respectively used as bending power units of the left and right bending devices, and the lifting oil cylinder 1 and the lifting oil cylinder 2 are respectively used as lifting power units of the left and right bending devices; the displacement sensor 1 and the displacement sensor 2 are respectively installed in the bending oil cylinder 1 and the bending oil cylinder 2 and used for detecting the action distance of the oil cylinders and ensuring the bending precision of the anchor jacking net.

The electrohydraulic combined control system also comprises a reset switch connected with the controller and used for controlling the reset of the electrohydraulic combined control system.

The whole controller controls the running state of each actuating mechanism, including the start-stop operation of each servo motor, each hydraulic oil cylinder and each air cylinder. The jacking of the top anchor net of the silo and the conveying of the top anchor net are realized by a servo system, namely corresponding actions are realized by a servo motor; the material taking, fixing and clamping of the top anchor net are realized by the action control of the air cylinder; the bending of the top anchor net is realized by a hydraulic system, namely the hydraulic system adopts a proportional valve to realize the open-loop positioning control of the position of a bending oil cylinder.

The invention discloses an electro-hydraulic combined control system of an anchor jacking net automatic feeding and bending device. The jacking mechanism and the transferring mechanism of the top anchor net in the storage device use servo electric cylinders, so that the stroke precision of the single top anchor net during automatic separation and conveying from the storage bin is ensured; a bending oil cylinder is used in the bending device, so that the large moment required during bending is ensured; the controller is used as a control center of the whole control system and is responsible for processing input signals of various limit switches and sensors and outputting signals to an actuating mechanism. After receiving the starting signal, the controller sends a corresponding control command to the material storage device, the material taking mechanism, the transfer mechanism and the bending device, and then the whole control system carries out the four processes of material taking according to the material storage bin, top anchor net transmission, top anchor net bending and top anchor net lifting in a circulating mode. When the controller receives the pause signal, the controller stops the currently operating process until the incomplete process is continued when the recovery signal is received.

The invention adopts a control mode of combining the servo electric cylinder and the hydraulic cylinder, the material storage device and the transfer mechanism are provided with the servo motors, the bending device has the characteristics of high response speed and high action positioning precision, the power unit of the bending mechanism is derived from the oil cylinder, has the characteristics of large moment and stable work, effectively combines the advantages of a servo system and a hydraulic control system, ensures the bending effect of the top anchor net, and simultaneously realizes the automatic operation of the bending operation of the top anchor net.

The invention can realize the automatic operation of the top anchor net material taking, feeding, bending and lifting procedures in the process of constructing the top support of the roadway; the manual operation of top anchor net operation is replaced, the manual participation degree is reduced, the working efficiency is improved, and the personnel safety accident rate is reduced.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.