技术领域Technical field
本申请涉及凿岩机控制技术领域，具体而言，涉及一种凿岩机控制方法和凿岩机设备。The present application relates to the technical field of rock drill control, specifically, to a rock drill control method and rock drill equipment.
背景技术Background technique
在隧道施工、水利水电施工等场景中，凿岩机等工程设备的应用非常广泛。凿岩机在进行凿岩施工过程中，需要排渣、散热及润滑。这些功能需要综合水路系统、气路系统及润滑系统的配合才能实现正常使用。In tunnel construction, water conservancy and hydropower construction and other scenarios, engineering equipment such as rock drills are widely used. During the rock drilling process, the rock drill needs to discharge slag, dissipate heat and lubricate. These functions require the cooperation of the comprehensive water system, air system and lubrication system to achieve normal use.
现有技术中，凿岩机的水路系统、气路系统及润滑系统的运行状态主要依靠机手及协作人员直接通过肉眼进行观察，并凭借经验判断是否发生故障。In the existing technology, the operating status of the water circuit system, gas circuit system and lubrication system of the rock drill mainly relies on the operator and collaborators to observe directly with the naked eye, and judge whether a fault occurs based on experience.
但是，仅靠机手及协作人员肉眼观察并凭借经验判断凿岩机故障并不可靠，且无法及时根据故障状态做出正确的应对操作，从而无法保证凿岩机的设备安全，增大耗材损耗及设备损坏的几率。However, it is unreliable to rely solely on visual observation by operators and collaborators and experience to determine rock drill faults, and correct response operations cannot be made in time based on the fault status. This makes it impossible to ensure the safety of the rock drill equipment and increases the risk of consumable loss and equipment damage. probability.
发明内容Contents of the invention
本申请的目的在于，针对上述现有技术中的不足，提供一种凿岩机控制方法和凿岩机设备，以解决现有技术中无法保证凿岩机的设备安全，耗材损耗及设备损坏的几率大的问题。The purpose of this application is to provide a rock drill control method and rock drill equipment in view of the above-mentioned shortcomings in the prior art, so as to solve the problems in the prior art of being unable to ensure the safety of the rock drill equipment, and the high probability of consumable loss and equipment damage.
为实现上述目的，本申请采用的技术方案如下：In order to achieve the above purpose, the technical solutions adopted in this application are as follows:
第一方面，本申请提供了一种凿岩机控制方法，所述方法包括：In a first aspect, this application provides a rock drill control method, which method includes:
获取凿岩机设备中水路模块的进水流量以及进水压力，并根据所述进水流量以及所述进水压力，确定所述水路模块的第一当前运行状态；Obtain the water inlet flow rate and water inlet pressure of the water channel module in the rock drill equipment, and determine the first current operating state of the water channel module based on the water inlet flow rate and the water inlet pressure;
获取凿岩机设备中气路模块的储气罐气压，并根据所述储气罐气压，确定所述气路模块的第二当前运行状态；Obtain the air pressure of the gas storage tank of the gas path module in the rock drill equipment, and determine the second current operating state of the gas path module based on the gas storage tank pressure;
获取凿岩机设备中润滑模块的储油罐液位及油压，并根据所述储油罐液位及所述油压，确定所述润滑模块的第三当前运行状态；Obtain the oil storage tank liquid level and oil pressure of the lubrication module in the rock drill equipment, and determine the third current operating state of the lubrication module based on the oil storage tank liquid level and the oil pressure;
根据所述第一当前运行状态、所述第二当前运行状态以及所述第三当前运行状态，确定是否启动凿岩组件，若是，则控制所述凿岩组件启动并运行。According to the first current operating state, the second current operating state and the third current operating state, it is determined whether to start the rock drilling assembly, and if so, the rock drilling assembly is controlled to start and run.
可选的，所述根据所述进水流量以及所述进水压力，确定所述水路模块的第一当前运行状态，包括：Optionally, determining the first current operating state of the waterway module based on the inlet water flow rate and the inlet water pressure includes:
控制所述水路模块检测所述水路模块的进水流量以及进水压力，并根据预设进水流量阈值、预设进水压力阈值、所述水路模块的进水流量及所述水路模块的进水压力确定所述水路模块的第一当前运行状态，所述第一当前运行状态用于指示所述水路模块是否运行正常。The waterway module is controlled to detect the inlet water flow and water pressure of the waterway module, and based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the inlet flow of the waterway module and the inlet pressure of the waterway module. The water pressure determines the first current operating state of the waterway module, and the first current operating state is used to indicate whether the waterway module is operating normally.
可选的，所述根据所述储气罐气压，确定所述气路模块的第二当前运行状态，包括：Optionally, determining the second current operating state of the gas circuit module based on the gas pressure of the gas tank includes:
控制所述气路模块检测所述气路模块的储气罐气压，并根据预设储气罐气压阈值和气路模块的所述储气罐气压确定所述气路模块的第二当前运行状态，所述第二当前运行状态用于指示所述气路模块是否运行正常。Control the gas path module to detect the gas tank pressure of the gas path module, and determine the second current operating state of the gas path module based on the preset gas tank pressure threshold and the gas tank pressure of the gas path module, The second current operating status is used to indicate whether the gas circuit module is operating normally.
可选的，所述根据所述储油罐液位及所述油压，确定所述润滑模块的第三当前运行状态，包括：Optionally, determining the third current operating state of the lubrication module based on the oil storage tank liquid level and the oil pressure includes:
控制所述润滑模块检测所述润滑模块的储油罐液位及油压，并根据预设储油罐液位阈值、预设油压阈值、所述润滑模块的储气罐液位及所述润滑模块的油压确定所述润滑模块的第三当前运行状态，所述第三当前运行状态用于指示所述润滑模块是否运行正常。The lubrication module is controlled to detect the liquid level and oil pressure of the oil storage tank of the lubrication module, and based on the preset oil storage tank liquid level threshold, the preset oil pressure threshold, the gas storage tank liquid level of the lubrication module and the The oil pressure of the lubrication module determines a third current operating state of the lubrication module, and the third current operating state is used to indicate whether the lubrication module is operating normally.
可选的，所述水路模块包括水路检测单元及水路执行单元，所述水路检测单元包括过滤器前压力传感器及过滤器后压力传感器，所述水路执行单元包括过滤器，所述过滤器前压力传感器和过滤器后压力传感器的通信端与控制模块分别连接，所述过滤器前压力传感器的一端用于接入外接水源，所述过滤器前压力传感器的另一端与所述过滤器的一端连接，所述过滤器的另一端与过滤器后压力传感器的一端连接；Optionally, the waterway module includes a waterway detection unit and a waterway execution unit. The waterway detection unit includes a pre-filter pressure sensor and a post-filter pressure sensor. The waterway execution unit includes a filter. The pre-filter pressure sensor The communication ends of the sensor and the pressure sensor after the filter are respectively connected to the control module. One end of the pressure sensor before the filter is used to connect to an external water source. The other end of the pressure sensor before the filter is connected to one end of the filter. , the other end of the filter is connected to one end of the pressure sensor behind the filter;
所述根据预设进水流量阈值、预设进水压力阈值、所述水路模块的进水流量及所述水路模块的进水压力确定所述水路模块的第一当前运行状态，包括：Determining the first current operating state of the waterway module based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module includes:
经由所述过滤器前压力传感器的通信端和过滤器后压力传感器的通信端分别控制所述过滤器前压力传感器和过滤器后压力传感器检测过滤器前水压和过滤器后水压；Control the pre-filter pressure sensor and the post-filter pressure sensor to detect the water pressure before the filter and the water pressure after the filter via the communication end of the pre-filter pressure sensor and the communication end of the post-filter pressure sensor respectively;
根据预设进水流量阈值、预设进水压力阈值、所述水路模块的进水流量以及所述水路模块的进水压力，确定所述水路模块的第一中间运行状态，所述第一中间运行状态用于指示所述水路模块上供水是否正常；The first intermediate operating state of the water channel module is determined according to the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the water channel module, and the water inlet pressure of the water channel module, and the first intermediate The operating status is used to indicate whether the water supply on the waterway module is normal;
根据所述第一中间运行状态、预设过滤器压差阈值、所述过滤器前水压以及所述过滤器后水压确定所述水路模块的第一当前运行状态。The first current operating state of the waterway module is determined based on the first intermediate operating state, the preset filter pressure difference threshold, the water pressure before the filter, and the water pressure after the filter.
可选的，所述水路执行单元还包括：增压水泵，所述增压水泵与所述过滤器后压力传感器连接，所述增压水泵用于将接入的外接水源进行增压并输出至凿岩组件；Optionally, the water circuit execution unit further includes: a booster water pump, which is connected to the post-filter pressure sensor. The booster water pump is used to boost the connected external water source and output it to rock drilling components;
所述根据预设进水流量阈值、预设进水压力阈值、所述水路模块的进水流量以及所述水路模块的进水压力，确定所述水路模块的第一中间运行状态，包括：Determining the first intermediate operating state of the waterway module based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module includes:
经由所述水路模块的通信端控制所述水路检测单元检测所述增压水泵增压后的泵后水路压力和泵后水路流量；Control the waterway detection unit via the communication end of the waterway module to detect the waterway pressure behind the pump and the waterway flow behind the pump after the booster water pump pressurizes;
根据预设进水流量阈值、预设进水压力阈值、所述水路模块的进水流量以及所述水路模块的进水压力，确定所述水路模块的供水是否满足第一预设条件；Determine whether the water supply of the waterway module meets the first preset condition according to the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module;
若是，则根据所述泵后水路压力、所述泵后水路流量、预设泵后水路压力阈值及预设泵后水路流量阈值确定所述水路模块的第一中间运行状态。If so, the first intermediate operating state of the waterway module is determined based on the waterway pressure after the pump, the waterway flow after the pump, the preset waterway pressure threshold after the pump, and the preset waterway flow threshold after the pump.
可选的，所述气路模块包括：气路检测单元和气路执行单元，所述气路执行单元包括：储气罐单元及空压机单元，所述空压机单元的一端用于接入外界气体，所述空压机单元的另一端与所述储气罐单元的一端连接；Optionally, the gas path module includes: a gas path detection unit and a gas path execution unit. The gas path execution unit includes: a gas storage tank unit and an air compressor unit. One end of the air compressor unit is used for access. External air, the other end of the air compressor unit is connected to one end of the gas storage tank unit;
所述方法还包括：The method also includes:
当接收到气路启动信号后，控制所述储气罐单元按照预设开启排水时间进行排水，所述预设开启排水时间结束后，启动空压机单元并接入外界气体；After receiving the gas circuit start signal, the air storage tank unit is controlled to drain water according to the preset opening and drainage time. After the preset opening and drainage time is over, the air compressor unit is started and the outside air is connected;
当接收到气路关闭信号后，控制所述储气罐单元按照预设关闭排水时间进行排水。After receiving the gas circuit closing signal, the gas storage tank unit is controlled to drain water according to the preset closing drainage time.
可选的，所述气路检测单元包括：温度传感器；Optionally, the gas path detection unit includes: a temperature sensor;
所述方法还包括：The method also includes:
接收所述温度传感器发送的当前温度，若所述当前温度低于预设温度阈值，则基于气排水控制指令对水路模块进行气排水，并控制储气罐单元按照预设关闭排水时间进行排水。Receive the current temperature sent by the temperature sensor, and if the current temperature is lower than the preset temperature threshold, perform air drainage on the waterway module based on the air drainage control instruction, and control the air storage tank unit to drain water according to the preset closing drainage time.
可选的，所述润滑模块包括：电子脉冲泵；Optionally, the lubrication module includes: an electronic pulse pump;
所述根据预设储油罐液位阈值、预设油压阈值、所述润滑模块的储气罐液位及所述润滑模块的油压确定所述润滑模块的第三当前运行状态，包括：Determining the third current operating state of the lubrication module based on the preset oil storage tank liquid level threshold, the preset oil pressure threshold, the gas storage tank liquid level of the lubrication module, and the oil pressure of the lubrication module includes:
按照预设时间周期控制所述电子脉冲泵周期性将润滑油输送到凿岩组件中；Control the electronic pulse pump to periodically deliver lubricating oil to the rock drilling assembly according to a preset time period;
基于所述电子脉冲泵输送的润滑油，经由所述润滑模块的通信端控制润滑模块的润滑检测单元检测所述润滑模块的油压，并根据所述油压及预设油压阈值确定第二中间状态，所述第二中间状态用于指示所述润滑模块的供油是否正常；Based on the lubricating oil delivered by the electronic pulse pump, the lubrication detection unit of the lubrication module is controlled through the communication end of the lubrication module to detect the oil pressure of the lubrication module, and determine the second oil pressure according to the oil pressure and the preset oil pressure threshold. Intermediate state, the second intermediate state is used to indicate whether the oil supply of the lubrication module is normal;
经由所述润滑模块的通信端控制润滑模块的润滑检测单元检测所述润滑模块的储油罐液位，并根据所述储油罐液压及预设储油罐液位确定第三中间状态，所述第三中间状态用于指示所述润滑模块的储油是否正常；The lubrication detection unit of the lubrication module is controlled through the communication end of the lubrication module to detect the liquid level of the oil storage tank of the lubrication module, and determine the third intermediate state according to the hydraulic pressure of the oil storage tank and the preset oil storage tank liquid level, so The third intermediate state is used to indicate whether the oil storage of the lubrication module is normal;
根据所述第二中间状态和第三中间状态，确定所述润滑模块的第三当前运行状态。A third current operating state of the lubrication module is determined based on the second intermediate state and the third intermediate state.
第二方面，本申请提供了一种凿岩机设备，所述凿岩机设备包括控制模块、水路模块、气路模块、润滑模块及凿岩组件，所述控制模块分别与水路模块的通信端、气路模块的通信端、润滑模块的通信端电连接，所述水路模块的出水端、气路模块的出气端、润滑模块的出油端分别与凿岩组件电连接，所述凿岩机设备中控制模块用于执行如第一方面所述的凿岩机控制方法的步骤。In a second aspect, this application provides a rock drill equipment. The rock drill equipment includes a control module, a water circuit module, a gas circuit module, a lubrication module and a rock drilling assembly. The control module is connected to the communication end of the water circuit module and the gas circuit module respectively. The communication end and the communication end of the lubrication module are electrically connected. The water outlet end of the water path module, the air outlet end of the gas path module, and the oil outlet end of the lubrication module are electrically connected to the rock drilling assembly respectively. The control module in the rock drill equipment is used to The steps of the rock drill control method as described in the first aspect are performed.
第三方面，本申请提供了一种凿岩机控制系统，所述凿岩机控制系统包括凿岩机设备及控制面板，所述控制面板用于控制凿岩机设备执行如第一方面的凿岩机控制方法的步骤。In a third aspect, this application provides a rock drill control system. The rock drill control system includes rock drill equipment and a control panel. The control panel is used to control the rock drill equipment to perform the steps of the rock drill control method of the first aspect.
第四方面，本申请提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器运行时执行如上述凿岩机控制方法的步骤。In a fourth aspect, the present application provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. The computer program executes the steps of the above rock drill control method when run by a processor.
本申请的有益效果是：凿岩机设备中控制模块分别检测水路模块、气路模块及润滑模块是否发生故障，并通过故障状态判断是否启动凿岩组件。其中，水路模块检测进水压力和进水流量，气路模块检测储气罐气压，润滑模块检测储油罐液位及油压。通过检测上述数据，并将上述数据与预设阈值进行比较，从而分别判断凿岩机设备水路、气路和润滑是否发生故障，若发生故障，则及时停止凿岩组件的运行，从而保证凿岩机的设备安全，防止卡钎，减小耗材损耗及设备损坏的几率。The beneficial effects of this application are: the control module in the rock drill equipment detects whether the water circuit module, the gas circuit module and the lubrication module are faulty, and determines whether to start the rock drilling assembly based on the fault status. Among them, the water circuit module detects the inlet water pressure and flow rate, the gas circuit module detects the air pressure of the gas storage tank, and the lubrication module detects the liquid level and oil pressure of the oil storage tank. By detecting the above data and comparing the above data with the preset threshold, it is possible to determine whether the water path, gas path and lubrication of the rock drill equipment are faulty. If a fault occurs, the operation of the rock drilling components will be stopped in time to ensure the safety of the rock drill equipment. , to prevent jamming and reduce the probability of consumable loss and equipment damage.
附图说明Description of the drawings
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.
图1是本申请实施例提供的一种凿岩机设备的结构示意图；Figure 1 is a schematic structural diagram of a rock drill equipment provided by an embodiment of the present application;
图2是本申请实施例提供的一种凿岩机控制方法的流程示意图；Figure 2 is a schematic flow chart of a rock drill control method provided by an embodiment of the present application;
图3是本申请实施例提供的一种凿岩机设备水路模块的具体结构示意图；Figure 3 is a specific structural schematic diagram of a waterway module of rock drill equipment provided by an embodiment of the present application;
图4是本申请实施例提供的一种凿岩机控制方法的具体流程示意图；Figure 4 is a specific flow diagram of a rock drill control method provided by an embodiment of the present application;
图5是本申请实施例提供的一种凿岩机水路模块的进一步的结构示意图；Figure 5 is a further schematic structural diagram of a rock drill waterway module provided by an embodiment of the present application;
图6是本申请实施例提供的一种确定第一中间运行状态的流程示意图；Figure 6 is a schematic flowchart of determining the first intermediate operating state provided by an embodiment of the present application;
图7是本申请实施例提供的一种凿岩机气路模块的具体结构示意图；Figure 7 is a specific structural schematic diagram of a rock drill gas circuit module provided by an embodiment of the present application;
图8是本申请实施例提供的一种确定第三当前运行状态的具体流程示意图；Figure 8 is a specific flow chart for determining the third current operating state provided by an embodiment of the present application;
图9是本申请实施例提供的一种确定水路模块第一当前运行状态的方法流程图；Figure 9 is a flow chart of a method for determining the first current operating state of a waterway module provided by an embodiment of the present application;
图10是本申请实施例提供的一种确定气路模块第二当前运行状态的方法流程图；Figure 10 is a flow chart of a method for determining the second current operating state of a gas circuit module provided by an embodiment of the present application;
图11是本申请实施例提供的一种确定润滑模块第三当前运行状态的方法流程图。Figure 11 is a flow chart of a method for determining the third current operating state of a lubrication module provided by an embodiment of the present application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，应当理解，本申请中附图仅起到说明和描述的目的，并不用于限定本申请的保护范围。另外，应当理解，示意性的附图并未按实物比例绘制。本申请中使用的流程图示出了根据本申请的一些实施例实现的操作。应该理解，流程图的操作可以不按顺序实现，没有逻辑的上下文关系的步骤可以反转顺序或者同时实施。此外，本领域技术人员在本申请内容的指引下，可以向流程图添加一个或多个其他操作，也可以从流程图中移除一个或多个操作。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. It should be understood that the technical solutions attached in the embodiments of the present application The drawings are for illustration and description purposes only and are not intended to limit the scope of the present application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented in accordance with some embodiments of the application. It should be understood that the operations of the flowchart may be implemented out of sequence, and steps without logical context may be implemented in reverse order or simultaneously. In addition, those skilled in the art can add one or more other operations to the flow chart, or remove one or more operations from the flow chart under the guidance of the content of this application.
另外，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。In addition, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the appended drawings is not intended to limit the scope of the claimed application, but rather to represent selected embodiments of the application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without any creative work shall fall within the scope of protection of this application.
需要说明的是，本申请实施例中将会用到术语“包括”，用于指出其后所声明的特征的存在，但并不排除增加其它的特征。It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the existence of the features stated subsequently, but does not exclude the addition of other features.
凿岩机在进行凿岩施工过程中，需要排渣、散热及润滑。这些功能需要综合水路系统、气路系统及润滑系统的配合才能保证凿岩机正常使用。During the rock drilling process, the rock drill needs to discharge slag, dissipate heat and lubricate. These functions require the cooperation of the comprehensive water system, gas system and lubrication system to ensure the normal use of the rock drill.
具体的，一方面，由于岩层情况不同，因此不同清洗方式所产生的效果也不同。举例来说，在岩层条件较差的情况下，如在泥岩中直接使用水路进行清洗，水量过小会造成水和泥土混合从而导致泥水淤积堵塞孔位，导致装药困难，水量过大可能破坏围岩从而造成塌孔，甚至导致掌子面塌陷。在岩层环境较硬的情况下，若使用气路直接清洗，则因为气路的清洗效果较差于水路清洗，可能会导致由于排渣不畅从而卡钻，增大耗材损耗。Specifically, on the one hand, due to different rock formation conditions, different cleaning methods produce different effects. For example, when the rock formation conditions are poor, such as using water channels directly for cleaning in mudstone, too little water volume will cause water and soil to mix, causing muddy water to accumulate and block the holes, making it difficult to charge, and too much water volume may cause damage. The surrounding rock will cause collapse holes and even collapse of the tunnel face. In the case of a hard rock environment, if the gas channel is used for direct cleaning, the cleaning effect of the gas channel is worse than that of water channel cleaning, which may cause the drill to get stuck due to poor slag discharge and increase the loss of consumables.
需要说明的是，气路排渣除了具有清洗效果较差的缺点，且需要配置风冷散热，并考虑除尘处理。It should be noted that in addition to the shortcoming of poor cleaning effect, gas line slag removal also needs to be equipped with air cooling and dust removal.
另一方面，若凿岩机润滑系统出现故障，如凿岩机设备润滑系统缺油、油雾气压不足或者油雾气压不高，则会导致凿岩机因为没有润滑、润滑不足或者破坏密封件等情况进而损坏凿岩机。On the other hand, if the rock drill lubrication system fails, such as the rock drill equipment lubrication system is short of oil, the oil mist air pressure is insufficient, or the oil mist air pressure is not high, it will cause the rock drill to be damaged due to no lubrication, insufficient lubrication, or damaged seals.
因此需要保证凿岩设备正常工作的同时，在水路系统、气路系统及润滑系统发生故障时及时做出响应，防止凿岩钻头频繁卡钎。Therefore, it is necessary to ensure the normal operation of the rock drilling equipment and at the same time respond promptly when the water system, gas system and lubrication system fails to prevent the rock drilling bit from frequently getting stuck.
现有技术中，凿岩机的水路系统、气路系统及润滑系统的运行状态主要依靠机手及协作人员直接通过肉眼进行观察，并凭借经验判断是否发生故障。但是，仅靠机手及协作人员肉眼观察并凭借经验判断凿岩机故障并不可靠，且无法及时根据故障状态做出正确的应对操作，从而无法保证凿岩机的设备安全，增大耗材损耗及设备损坏的几率。In the existing technology, the operating status of the water circuit system, gas circuit system and lubrication system of the rock drill mainly relies on the operator and collaborators to observe directly with the naked eye, and judge whether a fault occurs based on experience. However, it is unreliable to rely solely on visual observation by operators and collaborators and experience to determine rock drill faults, and correct response operations cannot be made in time based on the fault status. This makes it impossible to ensure the safety of the rock drill equipment and increases the risk of consumable loss and equipment damage. probability.
基于上述问题，本申请提出一种凿岩机控制方法，该方法应用于凿岩机设备的控制模块，凿岩机设备还包括水路模块、气路模块、润滑模块及凿岩组件，控制模块经由水路模块控制水路模块的水路检测单元检测水路模块的进水流量及进水压力，经由气路模块控制气路模块的气路检测单元检测气路模块的储气罐气压，经由润滑模块控制润滑模块的润滑检测单元检测润滑模块的储油罐液位及油压，并根据各参数对应的预设阈值确定当前运行状态，再根据当前运行状态确定是否启动凿岩组件，若是，则控制凿岩组件启动并运行。通过上述方法，可以在凿岩机设备启动前及运行过程中，实时的检测水路模块、气路模块及油路模块是否发生故障，从而保证凿岩机的设备安全，减小耗材损耗及设备损坏的几率。Based on the above problems, this application proposes a rock drill control method. This method is applied to the control module of the rock drill equipment. The rock drill equipment also includes a water path module, a gas path module, a lubrication module and a rock drilling assembly. The control module controls the water path module through the water path module. The water path detection unit detects the inlet water flow and pressure of the water path module. The gas path detection unit controls the gas path module through the gas path module to detect the air pressure of the gas storage tank of the gas path module. The lubrication detection unit controls the lubrication module through the lubrication module to detect lubrication. The fluid level and oil pressure of the module's oil storage tank are determined, and the current operating status is determined based on the preset thresholds corresponding to each parameter, and then whether to start the rock drilling assembly is determined based on the current operating status. If so, the rock drilling assembly is controlled to start and run. Through the above method, whether the water circuit module, gas circuit module and oil circuit module are faulty can be detected in real time before the rock drill equipment is started and during operation, thereby ensuring the safety of the rock drill equipment and reducing the probability of consumable loss and equipment damage.
先参照图1对凿岩机设备的结构进行介绍。如图1所示，凿岩机设备包括控制模块、水路模块、气路模块、润滑模块及凿岩组件。控制模块分别与水路模块的通信端、气路模块的通信端、润滑模块的通信端电连接，水路模块的入水端接入外接水源，气路模块的入气端接入外界气体，外界气体可以是空气等，润滑模块中可以包括储油罐，水路模块的出水端、气路模块的出气端、润滑模块的出油端分别与凿岩组件电连接。值得一提的是，控制模块可以通过控制线的方式分别与水路模块的通信端、气路模块的通信端、润滑模块的通信端连接，也可以通过无线的方法与水路模块的通信端、气路模块的通信端、润滑模块的通信端连接，如蓝牙连接等。可选的，控制模块可以接收控制人员的控制指令，该指令包括：启动水路模块、停止水路模块、启动气路模块、停止气路模块、启动润滑模块及停止润滑模块。其中，启动和停止水路模块，可以是控制外界水源的输入及水路模块中检测单元和执行单元的启停，启动和停止气路模块，可以是控制外界空气的输入及气路模块中检测单元和执行单元的启停，启动和停止润滑模块，可以是控制储油罐是否输出润滑油。First, the structure of the rock drill equipment will be introduced with reference to Figure 1. As shown in Figure 1, the rock drill equipment includes a control module, a water circuit module, a gas circuit module, a lubrication module and rock drilling components. The control module is electrically connected to the communication end of the water circuit module, the communication end of the gas circuit module, and the communication end of the lubrication module respectively. The water inlet end of the water circuit module is connected to an external water source, and the air inlet end of the gas circuit module is connected to outside air. The outside air can air, etc., the lubrication module may include an oil storage tank, and the water outlet end of the water path module, the air outlet end of the gas path module, and the oil outlet end of the lubrication module are electrically connected to the rock drilling assembly respectively. It is worth mentioning that the control module can be connected to the communication end of the water circuit module, the communication end of the gas circuit module, and the communication end of the lubrication module respectively through control lines, or it can also be connected to the communication end of the water circuit module and the gas circuit module through wireless methods. The communication end of the circuit module and the communication end of the lubrication module are connected, such as Bluetooth connection, etc. Optionally, the control module can receive control instructions from the controller, which instructions include: start the water path module, stop the water path module, start the air path module, stop the air path module, start the lubrication module and stop the lubrication module. Among them, starting and stopping the water path module can be to control the input of external water sources and the start and stop of the detection unit and execution unit in the water path module. Starting and stopping the air path module can be to control the input of outside air and the detection unit and execution unit in the air path module. The start and stop of the execution unit, starting and stopping the lubrication module, can control whether the oil storage tank outputs lubricating oil.
作为一种可选的实施方式，水路模块和气路模块的出水端和出气端可以作为同一管道通入凿岩组件尾部，从而对凿岩钻头进行清洗。As an optional implementation, the water outlet and the gas outlet of the water circuit module and the gas circuit module can be used as the same pipe to pass into the rear of the rock drilling assembly to clean the rock drilling bit.
接下来，参照图2介绍凿岩机控制方法的具体实施方式：Next, the specific implementation of the rock drill control method is introduced with reference to Figure 2:
S201、获取凿岩机设备中水路模块的进水流量以及进水压力，并根据进水流量以及进水压力，确定水路模块的第一当前运行状态。S201. Obtain the water inlet flow rate and water inlet pressure of the water channel module in the rock drill equipment, and determine the first current operating state of the water channel module based on the water inlet flow rate and water inlet pressure.
可选的，凿岩机设备中的水路模块可以检测水路模块中进水口处的进水流量和进水压力。示例性的，可以通过流量计测得进水流量，通过压力计测得进水压力。Optionally, the waterway module in the rock drill equipment can detect the water inlet flow and pressure at the water inlet in the waterway module. For example, the inlet water flow rate can be measured through a flow meter, and the inlet water pressure can be measured through a pressure meter.
可选的，可以根据第一当前运行状态确定水路模块是否发生故障。示例性的，如果水路模块中进水流量以及进水压力出现异常，则可以确定水路模块的第一当前运行状态为故障状态。Optionally, whether the waterway module fails may be determined based on the first current operating state. For example, if the inlet water flow rate and the inlet water pressure in the waterway module are abnormal, it can be determined that the first current operating state of the waterway module is a fault state.
S202、获取凿岩机设备中气路模块的储气罐气压，并根据储气罐气压，确定气路模块的第二当前运行状态。S202. Obtain the air pressure of the gas storage tank of the gas path module in the rock drill equipment, and determine the second current operating state of the gas path module based on the gas storage tank pressure.
可选的，凿岩机设备中的气路模块可以检测气路模块中储气罐压力。具体的，气路模块中可以通过空压机将外界空气压缩后送入储气罐中进行存储，当气路模块需要对凿岩组件进行清洁时，储气罐向凿岩组件输送气体。示例性的，储气罐压力可以通过压力计测得。Optionally, the gas circuit module in the rock drill equipment can detect the pressure of the gas tank in the gas circuit module. Specifically, the air path module can compress the external air through an air compressor and send it to the gas storage tank for storage. When the gas path module needs to clean the rock drilling components, the gas storage tank delivers gas to the rock drilling components. For example, the pressure of the gas tank can be measured by a pressure gauge.
可选的，可以根据第二当前运行状态确定气路模块是否发生故障。示例性的，如果气路模块中储气罐压力出现异常，则可以确定气路模块的第二当前运行状态为故障状态。Optionally, whether the gas circuit module fails may be determined based on the second current operating state. For example, if the pressure of the gas tank in the gas circuit module is abnormal, it can be determined that the second current operating state of the gas circuit module is a fault state.
S203、获取凿岩机设备中润滑模块的储油罐液位及油压，并根据储油罐液位及油压，确定润滑模块的第三当前运行状态。S203. Obtain the oil storage tank liquid level and oil pressure of the lubrication module in the rock drill equipment, and determine the third current operating state of the lubrication module based on the oil storage tank liquid level and oil pressure.
可选的，凿岩机设备中的润滑模块可以检测润滑模块中储油罐液位及油压，其中，油压为储油罐至凿岩组件出油口中间的润滑油压力。示例性的，储油罐液位可以通过安装在储油罐中的液位计测得，油压可以通过压力传感器测得。Optionally, the lubrication module in the rock drill equipment can detect the liquid level and oil pressure of the oil storage tank in the lubrication module, where the oil pressure is the lubricating oil pressure between the oil storage tank and the oil outlet of the rock drilling assembly. For example, the liquid level of the oil storage tank can be measured by a liquid level gauge installed in the oil storage tank, and the oil pressure can be measured by a pressure sensor.
可选的，可以根据第三当前运行状态确定润滑模块是否发生故障。示例性的，如果润滑模块中储油罐液位或者油压出现异常，则可以确定润滑模块的第三当前运行状态为故障状态。Optionally, whether the lubrication module fails may be determined based on the third current operating state. For example, if the liquid level or oil pressure of the oil storage tank in the lubrication module is abnormal, it may be determined that the third current operating state of the lubrication module is a fault state.
S204、根据第一当前运行状态、第二当前运行状态以及第三当前运行状态，确定是否启动凿岩组件，若是，则控制凿岩组件启动并运行。S204. Determine whether to start the rock drilling assembly according to the first current operating state, the second current operating state and the third current operating state. If so, control the rock drilling assembly to start and run.
可选的，若第一当前运行状态、第二当前运行状态和第三当前运行状态均未指示发生故障，则确定开启凿岩组件并进行凿岩工作。Optionally, if the first current operating state, the second current operating state, and the third current operating state do not indicate a fault, it is determined to turn on the rock drilling assembly and perform rock drilling work.
可选的，若第一当前运行状态、第二当前运行状态和第三当前运行状态中任一状态指示发生故障，则在凿岩组件不能进行工作，若正在进行钻孔工作，则凿岩组件停止冲击，凿岩组件中钻头保持旋转状态退回钻杆，防止卡钎。Optionally, if any one of the first current operating state, the second current operating state and the third current operating state indicates a failure, the rock drilling assembly cannot work. If drilling work is in progress, the rock drilling assembly Stop the impact, and the drill bit in the rock drilling assembly will keep rotating and return to the drill pipe to prevent jamming.
本实施例中，获取凿岩机设备中水路模块的进水流量以及进水压力，从而确定水路模块的第一当前运行状态，再获取凿岩机设备中气路模块的储气罐气压，从而确定气路模块的第二当前运行状态，然后获取凿岩机设备中润滑模块的储油罐液位及油压，从而确定润滑模块的第三当前运行状态，最后根据第一当前运行状态、第二当前运行状态以及第三当前运行状态，确定是否启动凿岩组件，若是，则控制凿岩组件启动并运行。通过上述步骤，从水路、气路及润滑三个维度同时保证凿岩机的设备安全，防止卡钎，减小耗材损耗及设备损坏的几率。In this embodiment, the water inlet flow rate and water inlet pressure of the water path module in the rock drill equipment are obtained to determine the first current operating state of the water path module, and then the gas tank pressure of the gas path module in the rock drill equipment is obtained to determine the gas path module the second current operating state, and then obtain the oil storage tank liquid level and oil pressure of the lubrication module in the rock drill equipment, thereby determining the third current operating state of the lubrication module, and finally based on the first current operating state, the second current operating state and the third 3. Current operating status, determine whether to start the rock drilling assembly, and if so, control the rock drilling assembly to start and run. Through the above steps, the equipment safety of the rock drill can be ensured from the three dimensions of water path, gas path and lubrication at the same time, preventing jamming and reducing the probability of consumable loss and equipment damage.
接下来，分别对上述步骤中水路模块、气路模块和润滑模块具体如何确定当前运行状态进行详细介绍：Next, we will introduce in detail how the water circuit module, air circuit module and lubrication module determine the current operating status in the above steps:
可选的，上述步骤S201中的根据进水流量以及进水压力，确定水路模块的第一当前运行状态，具体来说：Optionally, in the above step S201, the first current operating state of the waterway module is determined based on the inlet water flow and the inlet water pressure, specifically:
可选的，经由水路模块的通信端控制水路模块中的水路检测单元检测水路模块的进水流量以及进水压力，并根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量及水路模块的进水压力确定水路模块的第一当前运行状态，第一当前运行状态用于指示水路模块是否运行正常。Optionally, the waterway detection unit in the waterway module is controlled through the communication end of the waterway module to detect the inlet water flow and pressure of the waterway module, and based on the preset water flow threshold, the preset water pressure threshold, and the inlet water pressure of the waterway module. The water flow rate and the water inlet pressure of the waterway module determine the first current operating state of the waterway module, and the first current operating state is used to indicate whether the waterway module is operating normally.
可选的，水路模块可以包括水路检测单元，水路检测单元中可以包括进水流量计及进水压力传感器。其中，进水流量计可以检测水路模块的进水流量，进水压力传感器可以检测水路模块的进水压力。Optionally, the waterway module may include a waterway detection unit, and the waterway detection unit may include an inlet water flow meter and an inlet water pressure sensor. Among them, the inlet water flow meter can detect the inlet water flow of the water channel module, and the inlet water pressure sensor can detect the inlet water pressure of the water channel module.
可选的，水路检测单元的通信端用于接收控制模块的开启指令，并将采集到的进水流量和进水压力的数据传输到控制模块中。Optionally, the communication end of the waterway detection unit is used to receive the opening instruction of the control module, and transmit the collected data of inlet water flow and inlet water pressure to the control module.
可选的，若水路检测单元检测到进水压力或者进水流量不满足预设进水压力阈值及预设进水流量阈值时，则控制模块生成进水不足报警信号。Optionally, if the water path detection unit detects that the inlet water pressure or the inlet water flow does not meet the preset inlet water pressure threshold and the preset inlet water flow threshold, the control module generates an insufficient water inlet alarm signal.
示例性的，预设进水流量阈值可以是40升每分钟(L/min)，预设进水压力阈值可以是1.5巴(bar)到3bar，则当水路检测单元检测到进水压力大于40L/min，且进水压力在1.5bar到3bar之间时，则第一当前运行状态指示当前水路模块运行正常，否则，第一当前运行状态指示当前水路模块运行故障。For example, the preset water flow rate threshold can be 40 liters per minute (L/min), and the preset water pressure threshold can be 1.5 bar (bar) to 3 bar. When the water path detection unit detects that the inlet water pressure is greater than 40L /min, and the inlet water pressure is between 1.5bar and 3bar, then the first current operating state indicates that the current waterway module is operating normally, otherwise, the first current operating state indicates that the current waterway module is operating faulty.
本实施例中，经由水路模块的通信端控制水路模块中的水路检测单元检测水路模块的进水流量以及进水压力，并根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量及水路模块的进水压力确定水路模块的第一当前运行状态，从而根据水路模块的检测情况判断水路模块是否发生故障，保证凿岩机设备水路模块的正常运行，从而保证凿岩机设备的运行安全。In this embodiment, the communication terminal of the waterway module controls the waterway detection unit in the waterway module to detect the inlet water flow and pressure of the waterway module, and detects the inlet water flow rate and pressure of the waterway module according to the preset water inlet flow threshold, the preset water inlet pressure threshold, and the The inlet water flow rate and the water inlet pressure of the waterway module determine the first current operating state of the waterway module, thereby determining whether the waterway module has failed based on the detection of the waterway module, ensuring the normal operation of the waterway module of the rock drill equipment, thereby ensuring the safe operation of the rock drill equipment. .
可选的，上述步骤S202中的根据储气罐气压，确定气路模块的第二当前运行状态，具体来说：Optionally, in the above step S202, the second current operating state of the gas path module is determined according to the gas pressure of the gas tank, specifically:
可选的，经由气路模块的通信端控制气路模块中的气路检测单元检测气路模块的储气罐气压，并根据预设储气罐气压阈值和气路模块的储气罐气压确定气路模块的第二当前运行状态，第二当前运行状态用于指示气路模块是否运行正常。Optionally, the gas path detection unit in the gas path module is controlled through the communication end of the gas path module to detect the gas storage tank pressure of the gas path module, and determine the gas flow based on the preset gas storage tank pressure threshold and the gas storage tank pressure of the gas path module. The second current operating status of the gas circuit module is used to indicate whether the gas circuit module is operating normally.
可选的，气路模块可以包括气路检测单元，气路检测单元可以包括气压传感器，气压传感器用于检测储气罐气压。Optionally, the gas path module may include a gas path detection unit, and the gas path detection unit may include a gas pressure sensor, and the gas pressure sensor is used to detect the gas pressure of the gas tank.
值得一提的是，储气罐用于储存外界接入的气体，在使用时基于预设储气罐气压阈值输送到凿岩组件。若储气罐气压无法达到预设储气罐气压阈值，则气路模块发生故障。It is worth mentioning that the gas storage tank is used to store gas connected from the outside, and when used, it is delivered to the rock drilling assembly based on the preset gas pressure threshold of the gas storage tank. If the gas tank pressure cannot reach the preset gas tank pressure threshold, the gas circuit module will fail.
可选的，在储气罐处设置安全阀，当气压超压时安全阀开启，进行超压保护。Optionally, a safety valve is installed at the gas storage tank. When the air pressure exceeds the pressure, the safety valve opens to provide overpressure protection.
可选的，若储气罐气压低于储气罐气压阈值时，则控制模块生成气压不足报警信号。Optionally, if the gas tank pressure is lower than the gas tank pressure threshold, the control module generates an insufficient gas pressure alarm signal.
示例性的，预设储气罐气压可以是7.5bar，当气路检测单元检测到的储气罐气压低于7.5bar时，则第二当前运行状态指示气路模块发生故障，否则，第二当前运行状态指示气路模块正常。For example, the preset gas tank pressure may be 7.5 bar. When the gas tank pressure detected by the gas path detection unit is lower than 7.5 bar, the second current operating status indicates that the gas path module is faulty. Otherwise, the second The current operating status indicates that the gas circuit module is normal.
本实施例中，经由气路模块的通信端控制气路模块中的气路检测单元检测气路模块的储气罐气压，并根据预设储气罐气压阈值和气路模块的储气罐气压确定气路模块的第二当前运行状态，从而根据气路模块的检测情况判断气路模块是否发生故障，保证凿岩机设备气路模块的正常运行，从而保证凿岩机设备的运行安全。In this embodiment, the gas path detection unit in the gas path module is controlled through the communication end of the gas path module to detect the gas tank pressure of the gas path module, and determine the gas tank pressure based on the preset gas tank pressure threshold and the gas tank pressure of the gas path module. The second current operating state of the gas circuit module is used to determine whether the gas circuit module has failed based on the detection of the gas circuit module, ensuring the normal operation of the gas circuit module of the rock drill equipment, thereby ensuring the safe operation of the rock drill equipment.
可选的，上述步骤S203中的根据所述储油罐液位及所述油压，确定所述润滑模块的第三当前运行状态，具体来说：Optionally, in the above step S203, the third current operating state of the lubrication module is determined based on the liquid level of the oil storage tank and the oil pressure, specifically:
可选的，经由润滑模块的通信端控制润滑模块中的润滑检测单元检测润滑模块的储油罐液位及油压，并根据预设储油罐液位阈值、预设油压阈值、润滑模块的储气罐液位及润滑模块的油压确定润滑模块的第三当前运行状态，第三当前运行状态用于指示润滑模块是否运行正常。Optionally, the lubrication detection unit in the lubrication module is controlled through the communication end of the lubrication module to detect the oil storage tank liquid level and oil pressure of the lubrication module, and the lubrication module determines the oil storage tank liquid level and oil pressure according to the preset oil storage tank liquid level threshold and the preset oil pressure threshold. The liquid level of the gas storage tank and the oil pressure of the lubrication module determine the third current operating state of the lubrication module, and the third current operating state is used to indicate whether the lubrication module is operating normally.
可选的，润滑模块可以包括润滑检测模块，润滑检测模块可以包括液位计及储油罐油压传感器。液位计位于储油罐内部。Optionally, the lubrication module may include a lubrication detection module, and the lubrication detection module may include a liquid level gauge and an oil pressure sensor in the oil storage tank. The level gauge is located inside the oil storage tank.
可选的，若储油罐液位低于预设液位阈值时，控制模块生成润滑油不足报警信号。具体的，预设液位阈值可以包括第一预设液位阈值和第二预设液位阈值，若储油罐液位低于第一预设液位阈值，如储油罐总油量的30％，则控制模块生成润滑油不足报警信号，则不影响第三当前运行状态，及第三当前运行状态的储油罐液位方面不指示为故障，若储油罐液位低于第二预设液位阈值，如储油罐总油量的20％，则控制模块生成润滑油不足报警信号，且第三当前运行状态的储油罐液位方面指示为故障。Optionally, if the liquid level in the oil storage tank is lower than the preset liquid level threshold, the control module generates a lubricating oil insufficient alarm signal. Specifically, the preset liquid level threshold may include a first preset liquid level threshold and a second preset liquid level threshold. If the oil storage tank liquid level is lower than the first preset liquid level threshold, such as the total oil volume of the oil storage tank, 30%, the control module generates a lubricating oil insufficient alarm signal, which does not affect the third current operating state, and the oil storage tank level in the third current operating state does not indicate a fault. If the oil storage tank level is lower than the second If the liquid level threshold is preset, such as 20% of the total oil volume in the oil storage tank, the control module generates a lubricating oil insufficient alarm signal, and the liquid level of the oil storage tank in the third current operating state indicates a fault.
可选的，润滑系统可以包括控制润滑油通路通断的电磁阀，预设油压阈值可以包括预设油压上限阈值及预设油压下限阈值，若油压高于预设油压上限阈值时，如高于4bar时，则控制模块控制电磁阀关闭润滑油通路，并生成油压不足报警信号，且第三当前运行状态的油压方面指示为故障。若油压低于预设油压下限阈值时，如低于2bar时，则控制模块生成油压不足报警信号，且第三当前运行状态的油压方面指示为故障。Optionally, the lubrication system may include a solenoid valve that controls the opening and closing of the lubricating oil passage. The preset oil pressure threshold may include a preset upper oil pressure threshold and a preset lower oil pressure threshold. If the oil pressure is higher than the preset upper oil pressure threshold, If it is higher than 4bar, the control module controls the solenoid valve to close the lubricating oil passage, and generates an insufficient oil pressure alarm signal, and the oil pressure of the third current operating state indicates a fault. If the oil pressure is lower than the preset lower oil pressure threshold, for example, lower than 2 bar, the control module generates an insufficient oil pressure alarm signal, and the oil pressure of the third current operating state is indicated as a fault.
本实施例中，经由润滑模块的通信端控制润滑模块中的润滑检测单元检测润滑模块的储油罐液位及油压，并根据预设储油罐液位阈值、预设油压阈值、润滑模块的储气罐液位及润滑模块的油压确定润滑模块的第三当前运行状态，从而根据润滑模块的检测情况判断润滑模块是否发生故障，保证凿岩机设备润滑模块的正常运行，从而保证凿岩机设备的运行安全。In this embodiment, the lubrication detection unit in the lubrication module is controlled through the communication end of the lubrication module to detect the oil storage tank liquid level and oil pressure of the lubrication module, and based on the preset oil storage tank liquid level threshold, preset oil pressure threshold, lubrication The liquid level of the gas tank of the module and the oil pressure of the lubrication module determine the third current operating state of the lubrication module, thereby determining whether the lubrication module has failed based on the detection of the lubrication module, ensuring the normal operation of the lubrication module of the rock drill equipment, thereby ensuring the rock drill equipment. operational safety.
作为一种可选的实施方式，图3为水路模块的具体结构示意图，如图3所示，水路模块包括水路检测单元及水路执行单元，水路检测单元包括过滤器前压力传感器及过滤器后压力传感器，水路执行单元包括过滤器，过滤器前压力传感器和过滤器后压力传感器的通信端与控制模块分别连接，过滤器前压力传感器的一端用于接入外接水源，过滤器前压力传感器的另一端与过滤器的一端连接，过滤器的另一端与过滤器后压力传感器的一端连接。As an optional implementation, Figure 3 is a schematic structural diagram of the waterway module. As shown in Figure 3, the waterway module includes a waterway detection unit and a waterway execution unit. The waterway detection unit includes a pre-filter pressure sensor and a post-filter pressure sensor. The sensor and waterway execution unit include a filter. The communication ends of the pre-filter pressure sensor and the post-filter pressure sensor are respectively connected to the control module. One end of the pre-filter pressure sensor is used to connect to an external water source, and the other end of the pre-filter pressure sensor is used to connect to the external water source. One end is connected to one end of the filter, and the other end of the filter is connected to one end of the pressure sensor behind the filter.
可选的，水路检测单元可以检测水路执行单元在水路模块前后的水路数据，如压力数据。Optionally, the waterway detection unit can detect waterway data, such as pressure data, of the waterway execution unit before and after the waterway module.
可选的，过滤器用于过滤水路模块接入的外界水源，将水路检测单元中的过滤器前压力传感器和过滤器后压力传感器分别安装在过滤器的前端和后端，用于分别检测过滤器前的水压和过滤器后的水压。Optionally, the filter is used to filter the external water source connected to the waterway module. The pre-filter pressure sensor and the post-filter pressure sensor in the waterway detection unit are installed at the front and rear ends of the filter respectively to detect the filter respectively. water pressure before the filter and water pressure after the filter.
接下来，参照图4对上述步骤中根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量及水路模块的进水压力确定水路模块的第一当前运行状态进行介绍：Next, refer to Figure 4 to introduce the first current operating state of the waterway module determined in the above steps based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module:
S401、经由过滤器前压力传感器的通信端和过滤器后压力传感器的通信端分别控制过滤器前压力传感器和过滤器后压力传感器检测过滤器前水压和过滤器后水压。S401. Control the pre-filter pressure sensor and the post-filter pressure sensor to detect the water pressure before the filter and the water pressure after the filter via the communication end of the pre-filter pressure sensor and the communication end of the post-filter pressure sensor respectively.
可选的，控制模块可以通过过滤器前压力传感器的通信端和过滤器后压力传感器的通信端控制传感器的启停，并接收各传感器检测到的信号。Optionally, the control module can control the start and stop of the sensor through the communication end of the pressure sensor before the filter and the communication end of the pressure sensor after the filter, and receive the signals detected by each sensor.
S402、根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量以及水路模块的进水压力，确定水路模块的第一中间运行状态，第一中间运行状态用于指示水路模块上供水是否正常。S402. Determine the first intermediate operating state of the waterway module based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module. The first intermediate operating state is used to indicate the waterway. Is the water supply on the module normal?
可选的，通过判断进水流量和进水压力确定水路模块的供水端是否满足供水条件。Optionally, determine whether the water supply end of the water path module meets the water supply conditions by judging the inlet water flow rate and the inlet water pressure.
S403、根据第一中间运行状态、预设过滤器压差阈值、过滤器前水压以及过滤器后水压确定水路模块的第一当前运行状态。S403. Determine the first current operating state of the waterway module according to the first intermediate operating state, the preset filter pressure difference threshold, the water pressure before the filter, and the water pressure after the filter.
可选的，通过过滤器前压力传感器及过滤器后压力传感器分别检测出过滤器前水压和过滤器后水压，若过滤器前水压大于过滤器后水压，且压差大于预设过滤器压差阈值，如大于0.2bar，则说明过滤器发生堵塞，控制模块生成过滤器堵塞报警信号。将过滤器故障情况结合第一中间运行状态确定水路模块的第一当前运行状态，此时第一当前运行状态可以指示供水是否正常，且可以指示过滤器是否正常。Optionally, use the pre-filter pressure sensor and the post-filter pressure sensor to detect the water pressure before the filter and the water pressure after the filter respectively. If the water pressure before the filter is greater than the water pressure after the filter, and the pressure difference is greater than the preset If the filter pressure difference threshold is greater than 0.2bar, it means that the filter is clogged, and the control module generates a filter clogging alarm signal. The first current operating state of the waterway module is determined by combining the filter failure condition with the first intermediate operating state. At this time, the first current operating state can indicate whether the water supply is normal and can indicate whether the filter is normal.
本实施例中，水路模块中，过滤器前压力传感器及过滤器后压力传感器分别检测出过滤器前水压和过滤器后水压，经由过滤器前压力传感器的通信端和过滤器后压力传感器的通信端分别控制过滤器前压力传感器和过滤器后压力传感器检测过滤器前水压和过滤器后水压，根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量以及水路模块的进水压力，确定水路模块的第一中间运行状态，然后根据第一中间运行状态、预设过滤器压差阈值、过滤器前水压以及过滤器后水压确定水路模块的第一当前运行状态，从而结合水路模块中过滤器的情况判断水路模块是否发生故障，使故障判断更加精准。In this embodiment, in the waterway module, the pre-filter pressure sensor and the post-filter pressure sensor detect the water pressure before the filter and the water pressure after the filter respectively, through the communication end of the pre-filter pressure sensor and the post-filter pressure sensor. The communication end respectively controls the pressure sensor before the filter and the pressure sensor after the filter to detect the water pressure before the filter and the water pressure after the filter. According to the preset water inlet flow threshold, the preset water inlet pressure threshold, and the inlet water flow of the waterway module and the inlet water pressure of the waterway module, determine the first intermediate operating state of the waterway module, and then determine the third intermediate operating state of the waterway module based on the first intermediate operating state, the preset filter pressure difference threshold, the water pressure before the filter, and the water pressure after the filter. A current operating status, so as to determine whether the waterway module is faulty based on the condition of the filter in the waterway module, making the fault judgment more accurate.
在介绍完如何检测过滤器是否发生故障后，参照图5对水路模块的结构进行进一步介绍：After introducing how to detect whether the filter is faulty, refer to Figure 5 for a further introduction to the structure of the waterway module:
可选的，水路执行单元还包括：增压水泵，增压水泵与过滤器后压力传感器连接，增压水泵用于将接入的外接水源进行增压并输出至凿岩组件。Optionally, the waterway execution unit also includes: a booster water pump. The booster water pump is connected to the post-filter pressure sensor. The booster water pump is used to boost the connected external water source and output it to the rock drilling assembly.
可选的，为考虑凿岩机设备水清洗的效率，可以采用增压水泵进行增压。Optionally, in order to consider the efficiency of water cleaning of rock drill equipment, a booster water pump can be used for boosting.
可选的，可以在增压水泵处设置安全阀，当水压超压时，打开安全阀，从而进行超压保护。Optionally, a safety valve can be installed at the booster water pump. When the water pressure is overpressure, the safety valve will be opened to provide overpressure protection.
可选的，水路检测模块还可以包括泵后压力传感器和泵后流量计，分别用于检测依次经过过滤器及增压水泵后的水的压力和流量。Optionally, the waterway detection module can also include a post-pump pressure sensor and a post-pump flow meter, respectively used to detect the pressure and flow rate of water after passing through the filter and the booster water pump in sequence.
下面参照图6对上述步骤S402中根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量以及水路模块的进水压力，确定水路模块的第一中间运行状态进行介绍：The following describes the determination of the first intermediate operating state of the waterway module based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow rate of the waterway module, and the water inlet pressure of the waterway module in the above step S402 with reference to Figure 6:
S601、经由水路模块的通信端控制水路检测单元检测增压水泵增压后的泵后水路压力和泵后水路流量。S601. Control the waterway detection unit through the communication terminal of the waterway module to detect the waterway pressure behind the pump and the waterway flow behind the pump after the booster water pump is pressurized.
可选的，控制模块可以通过水路检测单元中泵后压力传感器的通信端和泵后流量计的通信端控制上述检测单元的启停，并接收各传感器检测到的信号。Optionally, the control module can control the start and stop of the above-mentioned detection unit through the communication end of the pressure sensor behind the pump and the communication end of the flow meter behind the pump in the waterway detection unit, and receive signals detected by each sensor.
S602、根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量以及水路模块的进水压力，确定水路模块的供水是否满足第一预设条件。S602. Determine whether the water supply of the waterway module meets the first preset condition based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module.
可选的，若水路模块的进水流量满足预设进水流量阈值，且水路模块的进水压力满足预设进水压力阈值，则水路模块的供水满足第一预设条件。否则，不启动增压水泵。若增压水泵正在运行，则停止运行增压水泵。Optionally, if the inlet water flow rate of the water channel module meets the preset water inlet flow rate threshold, and the inlet water pressure of the water channel module meets the preset water inlet pressure threshold value, then the water supply of the water channel module meets the first preset condition. Otherwise, the booster water pump will not be started. If the booster water pump is running, stop the booster water pump.
S603、若是，则根据泵后水路压力、泵后水路流量、预设泵后水路压力阈值及预设泵后水路流量阈值确定水路模块的第一中间运行状态。S603. If yes, determine the first intermediate operating state of the waterway module based on the waterway pressure after the pump, the waterway flow after the pump, the preset waterway pressure threshold after the pump, and the preset waterway flow threshold after the pump.
可选的，若满足第一预设条件，则判断泵后水路压力是否满足预设泵后水路压力阈值，并判断泵后水路流量是否满足预设泵后水路流量阈值。具体的，泵后水路流量大于预设泵后水路流量阈值，如大于40L/min，且泵后水路压力大于预设泵后压力阈值，如大于0.8bar，则增压水泵后水路未发生故障。若否，则增压水泵后水路发生故障，控制模块生成水压不足报警信号或者流量不足报警信号。Optionally, if the first preset condition is met, determine whether the pressure in the waterway after the pump meets the preset waterway pressure threshold after the pump, and determine whether the flow rate in the waterway after the pump meets the preset waterway flow threshold after the pump. Specifically, if the flow rate of the water path after the pump is greater than the preset water path flow threshold after the pump, such as greater than 40L/min, and the water path pressure after the pump is greater than the preset pressure threshold after the pump, such as greater than 0.8 bar, then the water path after the booster water pump has not failed. If not, the water path behind the booster water pump fails, and the control module generates an insufficient water pressure alarm signal or an insufficient flow alarm signal.
本实施例中，水路执行单元还包括：增压水泵，增压水泵与过滤器后压力传感器连接，控制模块经由水路模块的通信端控制水路检测单元检测增压水泵增压后的泵后水路压力和泵后水路流量，根据预设进水流量阈值、预设进水压力阈值、水路模块的进水流量以及水路模块的进水压力，确定水路模块的供水是否满足第一预设条件，若是，则根据泵后水路压力、泵后水路流量、预设泵后水路压力阈值及预设泵后水路流量阈值确定水路模块的第一中间运行状态，从而保证增压水泵后水路无故障，避免因为水路故障导致凿岩组件发生故障，造成经济损失。In this embodiment, the waterway execution unit also includes: a booster water pump. The booster water pump is connected to the post-filter pressure sensor. The control module controls the waterway detection unit through the communication end of the waterway module to detect the post-pump waterway pressure after the booster water pump increases the pressure. and the waterway flow after the pump, based on the preset water inlet flow threshold, the preset water inlet pressure threshold, the water inlet flow of the waterway module, and the water inlet pressure of the waterway module, determine whether the water supply of the waterway module meets the first preset condition, and if so, Then the first intermediate operating state of the waterway module is determined based on the pressure of the waterway behind the pump, the waterway flow after the pump, the preset waterway pressure threshold after the pump and the preset waterway flow threshold after the pump, thereby ensuring that the waterway after the booster water pump is fault-free and avoiding problems due to the waterway Failure causes rock drilling components to malfunction, resulting in economic losses.
在介绍完水路模块中各单元的结构、运行及检测之后，接下来参照图7对气路模块的结构进行介绍：After introducing the structure, operation and detection of each unit in the water circuit module, the structure of the gas circuit module will be introduced with reference to Figure 7:
可选的，气路模块包括：气路检测单元和气路执行单元，气路执行单元包括：储气罐单元及空压机单元，空压机单元的一端用于接入外界气体，空压机单元的另一端与储气罐单元的一端连接。Optionally, the gas path module includes: a gas path detection unit and a gas path execution unit. The gas path execution unit includes: a gas storage tank unit and an air compressor unit. One end of the air compressor unit is used to access external air. The air compressor The other end of the unit is connected to one end of the gas tank unit.
可选的，空压机单元用于接入外界气体并进行压缩，压缩后输入到储气罐单元中进行储存。空压机单元可以包括用于压缩气体的电机，储气罐单元可以包括储气罐体、储气罐安全阀、气压传感器及储气罐排水电磁阀。Optionally, the air compressor unit is used to access external gas and compress it, and then input it into the gas storage tank unit for storage. The air compressor unit may include a motor for compressing gas, and the gas storage tank unit may include a gas storage tank body, a gas storage tank safety valve, an air pressure sensor, and a gas storage tank drain solenoid valve.
作为一种可选的实施方式，接下来对凿岩机控制方法中气路模块的控制流程：As an optional implementation, the following is the control process of the gas circuit module in the rock drill control method:
可选的，当接收到气路启动信号后，控制储气罐单元按照预设开启排水时间进行排水，预设开启排水时间结束后，启动空压机单元并接入外界气体。Optionally, after receiving the gas circuit start signal, the air storage tank unit is controlled to drain water according to the preset opening and drainage time. After the preset opening and drainage time is over, the air compressor unit is started and the outside air is connected.
可选的，控制模块接收到控制人员发送的气路启动信号后，控制储气罐中的储气罐排水电磁阀的开闭，从而控制储气罐单元按照预设开启排水时间进行排水，预设开启排水时间结束后，启动空压机单元。Optionally, after receiving the gas circuit start signal sent by the controller, the control module controls the opening and closing of the gas tank drainage solenoid valve in the gas storage tank, thereby controlling the gas storage tank unit to drain according to the preset opening and drainage time. It is assumed that the air compressor unit is started after the water drainage time is over.
示例性的，可以在接收到气路启动信号后，控制储气罐单元排水20秒。当20秒过后，停止排水，并启动空压机，从而开启气路模块导通气体对凿岩组件进行清洗。For example, after receiving the gas circuit start signal, the gas storage tank unit can be controlled to drain water for 20 seconds. When 20 seconds pass, stop draining water and start the air compressor, thereby opening the gas circuit module to conduct gas to clean the rock drilling components.
可选的，当接收到气路关闭信号后，控制储气罐单元按照预设关闭排水时间进行排水。Optionally, after receiving the air circuit closing signal, the air storage tank unit is controlled to drain water according to the preset closing drainage time.
可选的，气路关闭信号可以是控制人员通过控制面板发出的，控制模块也可以根据空压机运行情况判断是否气路关闭，若空压机停止运行，即为接收到气路关闭信号。Optionally, the air circuit closing signal can be sent by the controller through the control panel, and the control module can also determine whether the air circuit is closed based on the operation of the air compressor. If the air compressor stops running, the air circuit closing signal is received.
示例性的，储气罐单元可以在按照控制模块控制，开启储气罐排水电磁阀排水30秒，并在30秒后关闭储气罐排水电磁阀，从而实现自动排水功能。For example, the gas storage tank unit can be controlled according to the control module, open the gas storage tank drainage solenoid valve to drain water for 30 seconds, and close the gas storage tank drainage solenoid valve after 30 seconds, thereby realizing the automatic drainage function.
本实施例中，通过在接收到气路开启或者关闭的信号后，控制储气罐单元按照预设的时间进行排水，从而保证及时排空储气罐内积水，防止水汽进入气路模块，从而损坏气路模块中的元器件。In this embodiment, after receiving a signal to open or close the gas path, the gas storage tank unit is controlled to drain water according to a preset time, thereby ensuring that the water in the gas storage tank is drained in time and preventing water vapor from entering the gas path module. Thereby damaging the components in the gas circuit module.
作为另一种可选的实施方式，气路检测单元包括：温度传感器。As another optional implementation, the gas path detection unit includes: a temperature sensor.
可选的，温度传感器可以安装在凿岩机设备内部，用于检测凿岩机设备环境温度。Optionally, a temperature sensor can be installed inside the rock drill equipment to detect the ambient temperature of the rock drill equipment.
可选的，控制模块接收温度传感器发送的当前温度，若当前温度低于预设温度阈值，则基于气排水控制指令对水路模块进行气排水，并控制储气罐单元按照预设关闭排水时间进行排水。Optionally, the control module receives the current temperature sent by the temperature sensor. If the current temperature is lower than the preset temperature threshold, it performs air drainage on the waterway module based on the air drainage control instruction, and controls the air storage tank unit to perform drainage according to the preset closing time. drain.
可选的，若接收到温度传感器发送的当前温度低于预设温度阈值，如低于0度时，生成低温报警信号，并提示控制人员及时发出气排水控制指令。若收到气排水控制指令，则控制气路模块对水路模块进行通气，排出水路模块中的水，防止水路由于低温结冰。Optionally, if the current temperature received from the temperature sensor is lower than the preset temperature threshold, for example, below 0 degrees, a low temperature alarm signal is generated and the controller is prompted to issue air and drainage control instructions in a timely manner. If the air and drainage control command is received, the air path module is controlled to ventilate the water path module and drain the water in the water path module to prevent the water path from freezing due to low temperature.
可选的，在检测到当前温度低于预设温度阈值时，控制储气罐单元按照预设关闭排水时间进行排水，防止储气罐单元结冰。Optionally, when it is detected that the current temperature is lower than the preset temperature threshold, the gas storage tank unit is controlled to drain water according to the preset closing drainage time to prevent the gas storage tank unit from freezing.
本实施例中，通过接收温度传感器发送的当前温度，并当当前温度低于预设温度阈值，则基于气排水控制指令对水路模块进行气排水，并控制储气罐单元排水，从而避免凿岩机出现结冰现象。In this embodiment, by receiving the current temperature sent by the temperature sensor, and when the current temperature is lower than the preset temperature threshold, the waterway module is drained of air based on the air drainage control instruction, and the drainage of the gas storage tank unit is controlled, thereby preventing the rock drill from occurring. Freezing phenomenon.
接下来，对凿岩机设备的润滑模块进行介绍：润滑模块包括：电子脉冲泵。Next, the lubrication module of the rock drill equipment is introduced: the lubrication module includes: electronic pulse pump.
可选的，电子脉冲泵用于按照预设的时间周期将储油罐中的润滑油输送到凿岩组件中。Optionally, an electronic pulse pump is used to deliver lubricating oil from the oil storage tank to the rock drilling assembly according to a preset time period.
参照图8对上述步骤S203中根据预设储油罐液位阈值、预设油压阈值、润滑模块的储气罐液位及润滑模块的油压确定润滑模块的第三当前运行状态，进行介绍：Referring to Figure 8 , the determination of the third current operating state of the lubrication module based on the preset oil storage tank liquid level threshold, the preset oil pressure threshold, the gas storage tank liquid level of the lubrication module, and the oil pressure of the lubrication module in the above step S203 will be introduced. :
S801、按照预设时间周期控制电子脉冲泵周期性将润滑油输送到凿岩组件中。S801. Control the electronic pulse pump to periodically deliver lubricating oil to the rock drilling assembly according to a preset time period.
示例性的，电子脉冲泵可以按照通电2秒，断电3秒的时间周期进行启停，从而周期性的输送润滑油。For example, the electronic pulse pump can be started and stopped according to the time period of 2 seconds when the power is on and 3 seconds when the power is off, thereby delivering lubricating oil periodically.
S802、基于电子脉冲泵输送的润滑油，经由润滑模块的通信端控制润滑模块的润滑检测单元检测润滑模块的油压，并根据油压及预设油压阈值确定第二中间状态，第二中间状态用于指示润滑模块的供油是否正常。S802. Based on the lubricating oil delivered by the electronic pulse pump, the lubrication detection unit of the lubrication module is controlled through the communication end of the lubrication module to detect the oil pressure of the lubrication module, and the second intermediate state is determined based on the oil pressure and the preset oil pressure threshold. The status is used to indicate whether the oil supply to the lubrication module is normal.
可选的，润滑检测单元检测的油压可以是电子脉冲泵周期性输送过来的油压。Optionally, the oil pressure detected by the lubrication detection unit can be the oil pressure periodically delivered by the electronic pulse pump.
S803、经由润滑模块的通信端控制润滑模块的润滑检测单元检测润滑模块的储油罐液位，并根据储油罐液压及预设储油罐液位确定第三中间状态，第三中间状态用于指示润滑模块的储油是否正常。S803. Control the lubrication detection unit of the lubrication module through the communication end of the lubrication module to detect the oil storage tank liquid level of the lubrication module, and determine the third intermediate state according to the oil storage tank hydraulic pressure and the preset oil storage tank liquid level. The third intermediate state is It is used to indicate whether the oil storage in the lubrication module is normal.
可选的，在检测润滑模块中油压是否正常的同时，还需要检测储油罐液位是否满足预设储油罐液位阈值的要求。Optionally, while detecting whether the oil pressure in the lubrication module is normal, it is also necessary to detect whether the oil storage tank liquid level meets the preset oil storage tank liquid level threshold.
S804、根据第二中间状态和第三中间状态，确定润滑模块的第三当前运行状态。S804. Determine the third current operating state of the lubrication module according to the second intermediate state and the third intermediate state.
可选的，当润滑模块的油压和储油罐液位同时满足上述对应的阈值时，第三当前运行状态指示当前润滑模块正常。Optionally, when the oil pressure of the lubrication module and the liquid level of the oil storage tank both meet the above corresponding thresholds, the third current operating state indicates that the current lubrication module is normal.
本实施例中，润滑模块还包括电子脉冲泵，按照预设时间周期控制电子脉冲泵周期性将润滑油输送到凿岩组件中，并通过第二中间状态和第三中间状态确定第三当前运行状态，从而确定润滑模块是否正常。其中，通过设置预设时间周期从而控制电子脉冲泵的流量输出，实现流量的实时控制。In this embodiment, the lubrication module also includes an electronic pulse pump, which controls the electronic pulse pump to periodically deliver lubricating oil to the rock drilling assembly according to a preset time period, and determines the third current operation through the second intermediate state and the third intermediate state. status to determine whether the lubrication module is normal. Among them, real-time control of the flow rate is achieved by setting a preset time period to control the flow output of the electronic pulse pump.
作为另一种可选的实施方式，凿岩机设备还包括岩层传感器。As another optional implementation, the rock drill equipment further includes a rock formation sensor.
可选的，岩层传感器用于检测当前围岩情况，并将围岩情况发送给控制模块。围岩通常根据强度和稳定性分为六级。示例性的，围岩一级围岩是指具有非常高的强度和稳定性的围岩，不需要支护或仅需少量支护即可进行开挖。典型的一级围岩包括花岗岩、玄武岩等。二级围岩是指具有较高强度和稳定性的围岩，需要进行少量支护才能进行开挖。典型的二级围岩包括石灰岩、砂岩等。三级围岩是指具有中等强度和稳定性的围岩，需要进行较多的支护才能进行开挖。典型的三级围岩包括泥岩、页岩等。四级围岩是指具有较低强度和稳定性的围岩，需要进行大量的支护才能进行开挖。典型的四级围岩包括煤层、软岩等。五级围岩是指具有很低强度和稳定性的围岩，需要进行非常多的支护才能进行开挖。典型的五级围岩包括黏土、沙土等。六级围岩是指具有非常低强度和稳定性的围岩，需要进行非常复杂的支护才能进行开挖。典型的六级围岩包括泥质砂岩、砾岩等。Optionally, the rock layer sensor is used to detect the current surrounding rock conditions and send the surrounding rock conditions to the control module. Surrounding rock is usually divided into six levels based on strength and stability. For example, first-level surrounding rock refers to surrounding rock with very high strength and stability, which can be excavated without support or with only a small amount of support. Typical first-level surrounding rocks include granite, basalt, etc. Secondary surrounding rock refers to surrounding rock with higher strength and stability, which requires a small amount of support before excavation can be carried out. Typical secondary surrounding rocks include limestone, sandstone, etc. Level 3 surrounding rock refers to surrounding rock with medium strength and stability, which requires more support before excavation can be carried out. Typical third-level surrounding rocks include mudstone, shale, etc. Level 4 surrounding rock refers to surrounding rock with lower strength and stability, which requires a large amount of support for excavation. Typical fourth-level surrounding rocks include coal seams, soft rocks, etc. Level five surrounding rock refers to surrounding rock with very low strength and stability, which requires a lot of support for excavation. Typical fifth-grade surrounding rocks include clay, sand, etc. Level 6 surrounding rock refers to surrounding rock with very low strength and stability, which requires very complex support for excavation. Typical sixth-grade surrounding rocks include argillaceous sandstone, conglomerate, etc.
可选的，接收岩层传感器发送的岩层信号，根据岩层信号确定是否开启水排渣功能和/或气吹孔功能。Optionally, receive the rock formation signal sent by the rock formation sensor, and determine whether to turn on the water slag discharge function and/or the air blowing hole function according to the rock formation signal.
可选的，若岩层状态较好，如一级围岩和二级围岩，则可以启动水排渣功能。若岩层状态较差，则可以启动气吹孔功能。Optionally, if the rock formation is in good condition, such as first-level surrounding rock and second-level surrounding rock, the water slagging function can be started. If the rock formation is in poor condition, the air blowing function can be started.
可选的，水排渣功能即为启动气路模块和水路模块共同进行排渣和清洗。气吹孔功能即为启动气路模块进行排渣和清洗。Optional, the water slagging function is to start the air path module and the water path module to jointly perform slag discharging and cleaning. The air blow hole function is to start the air path module for slag removal and cleaning.
可选的，可以由控制模块自动根据岩层信号判断是否开启，并选择开启水排渣功能和气吹孔功能，也可以根据控制人员基于当前现场情况发送的指令，控制开启水排渣功能和气吹孔功能。Optionally, the control module can automatically determine whether to turn it on based on the rock formation signal, and choose to turn on the water slag discharge function and air blow hole function. It can also control the water slag discharge function and air blow hole function to be turned on according to the instructions sent by the controller based on the current site conditions. Function.
值得说明的是，水路模块与气路模块的连接处可以包括气动球阀，该启动球阀根据控制模块发送的控制信号控制阀门的开启，从而控制气路中的气体是否通入水路通入凿岩组件的管道。当气路检测单元检测到气压大于预设气压上限阈值时，如大于6bar时，则自动开启水排渣功能。It is worth noting that the connection between the water circuit module and the gas circuit module may include a pneumatic ball valve. The activated ball valve controls the opening of the valve according to the control signal sent by the control module, thereby controlling whether the gas in the gas circuit flows into the waterway and into the rock drilling assembly. of pipelines. When the air path detection unit detects that the air pressure is greater than the preset air pressure upper limit threshold, such as greater than 6 bar, the water slag discharge function is automatically turned on.
可选的，通过接收岩层传感器发送的层岩信号，并根据层岩信号确定是否开启水排渣功能和/或气吹孔功能，从而实现自动开启水路模块和气路模块。Optionally, by receiving the layer rock signal sent by the rock layer sensor, and determining whether to turn on the water slag removal function and/or the air blowing hole function according to the layer rock signal, the water path module and the gas path module can be automatically turned on.
作为再一种可选择的实施方式，接下来参照图9对确定水路模块的第一当前运行状态进行介绍：As yet another optional implementation, the determination of the first current operating state of the waterway module will be introduced next with reference to Figure 9:
控制人员通过终端等控制面板开启外部水源，并开启水路模块中各水路检测单元，先采集供水端的进水压力和进水流量，若进水压力满足预设进水压力阈值，如在1.5bar至3bar之间，且进水流量大于预设进水流量阈值，如大于等于40L/min，则可以开启水路执行单元中的增压水泵。同时监测过滤器前和过滤器后的水压，若过滤器前水压大于过滤器后水压，且压差大于预设过滤器压差阈值，如大于0.2bar，则停止运行增压水泵，且生成滤芯堵塞报警信号并输出。当增压水泵启动后，检测泵后水路流量及泵后水路压力，若泵后水路流量大于等于预设泵后水路流量阈值，如大于等于40L/min，且泵后水路压力大于预设泵后水路压力阈值，如大于等于0.8bar，则确定水路模块的第一当前状态为水路模块运行正常。The controller turns on the external water source through a control panel such as the terminal, and turns on each waterway detection unit in the waterway module. First, the inlet water pressure and flow rate of the water supply end are collected. If the inlet water pressure meets the preset water inlet pressure threshold, such as between 1.5bar and 3bar, and the inlet water flow is greater than the preset water inlet flow threshold, such as greater than or equal to 40L/min, the booster water pump in the waterway execution unit can be turned on. Monitor the water pressure before and after the filter at the same time. If the water pressure before the filter is greater than the water pressure after the filter, and the pressure difference is greater than the preset filter pressure difference threshold, if it is greater than 0.2bar, the booster water pump will stop running. And generate a filter element clogging alarm signal and output it. When the booster water pump is started, the flow rate of the water line behind the pump and the pressure of the water line behind the pump are detected. If the flow rate of the water line after the pump is greater than or equal to the preset water line flow threshold after the pump, such as greater than or equal to 40L/min, and the water line pressure after the pump is greater than the preset water line pressure after the pump If the waterway pressure threshold is greater than or equal to 0.8bar, it is determined that the first current state of the waterway module is that the waterway module is operating normally.
图10是确定气路模块的第二当前运行状态的流程示意图。参照图10，控制人员通过控制面板控制控制模块发送空压机开启信号后，先控制气路模块中气路执行单元中储气罐单元按照预设开启排水时间进行排水，如排水20秒，然后控制空压机单元启动，当空压机单元启动后，控制气路检测单元检测储气罐气压，判断储气罐气压是否大于等于预设储气罐气压阈值，如是否大于等于7.5bar，若是，则确定气路模块的第二当前状态为气路模块运行正常。当控制模块发出空压机关闭信号后，控制气路执行单元中储气罐单元按照预设关闭排水时间进行排水，如排水30秒，然后控制空压机单元关闭。值得注意的是，通过温度传感器判断环境温度是否低于预设温度阈值，如是否低于0度，若是，则控制模块发送空压机关闭信号，生成低温报警信号并输出。Figure 10 is a schematic flowchart of determining the second current operating state of the gas circuit module. Referring to Figure 10, after the controller sends the air compressor start signal through the control panel control module, he first controls the air storage tank unit in the air circuit execution unit in the air circuit module to drain water according to the preset water drainage time, such as draining for 20 seconds, and then Control the start of the air compressor unit. When the air compressor unit starts, the control air path detection unit detects the air pressure of the air tank and determines whether the air pressure in the air tank is greater than or equal to the preset air tank pressure threshold, such as whether it is greater than or equal to 7.5bar. If so, Then it is determined that the second current state of the gas circuit module is that the gas circuit module is operating normally. When the control module sends the air compressor shutdown signal, the air storage tank unit in the control air circuit execution unit drains water according to the preset shutdown drainage time, such as draining for 30 seconds, and then controls the air compressor unit to shut down. It is worth noting that the temperature sensor is used to determine whether the ambient temperature is lower than the preset temperature threshold, such as whether it is lower than 0 degrees. If so, the control module sends an air compressor shutdown signal, generates a low temperature alarm signal and outputs it.
图11是确定润滑模块的第三当前运行状态的流程示意图。参照图10，控制人员通过控制面板控制控制模块发送润滑模块开启信号，润滑模块中的电子脉冲泵按照预设时间周期进行周期性输油，润滑检测油压是否满足预设油压阈值，如判断油压是否在2bar至4bar之间，同时判断储油罐液位是否满足预设储油罐液位阈值，如判断储油罐液位是否高于20％，若上述两个条件同时满足，则确定润滑模块的第三当前状态为润滑模块运行正常。值得说明的是，可以设定预设第二储油罐液位阈值，如30％，用于当储油罐液位低于预设第二储油罐液位阈值但高于预设储油罐液位阈值时，生成低液位报警信号并输出。Figure 11 is a flow diagram for determining a third current operating state of the lubrication module. Referring to Figure 10, the controller controls the control module to send the lubrication module start signal through the control panel. The electronic pulse pump in the lubrication module periodically delivers oil according to the preset time period. The lubrication detects whether the oil pressure meets the preset oil pressure threshold, as judged by Whether the oil pressure is between 2bar and 4bar, and at the same time determine whether the oil storage tank liquid level meets the preset oil storage tank liquid level threshold. For example, determine whether the oil storage tank liquid level is higher than 20%. If the above two conditions are met at the same time, then It is determined that the third current state of the lubrication module is that the lubrication module is operating normally. It is worth mentioning that a preset second oil storage tank liquid level threshold can be set, such as 30%, for when the oil storage tank liquid level is lower than the preset second oil storage tank liquid level threshold but higher than the preset oil storage tank When the tank liquid level reaches the threshold, a low liquid level alarm signal is generated and output.
基于同一发明构思，本申请实施例还提供一种凿岩机设备，所述凿岩机设备包括控制模块、水路模块、气路模块、润滑模块及凿岩组件，所述控制模块分别与水路模块的通信端、气路模块的通信端、润滑模块的通信端电连接，所述水路模块的出水端、气路模块的出气端、润滑模块的出油端分别与凿岩组件电连接，所述凿岩机设备中控制模块用于执行如上述凿岩机控制方法的步骤。Based on the same inventive concept, embodiments of the present application also provide a rock drill equipment. The rock drill equipment includes a control module, a water path module, a gas path module, a lubrication module and a rock drilling assembly. The control module is connected to the communication end of the water path module, The communication end of the gas path module and the communication end of the lubrication module are electrically connected. The water outlet end of the water path module, the air outlet end of the gas path module, and the oil outlet end of the lubrication module are electrically connected to the rock drilling assembly respectively. The rock drill equipment controls The module is used to perform the steps of the rock drill control method as described above.
本申请实施例还提供了一种凿岩机控制系统，所述凿岩机控制系统包括凿岩机设备及控制面板，所述控制面板用于控制凿岩机设备执行上述凿岩机控制方法的步骤。Embodiments of the present application also provide a rock drill control system. The rock drill control system includes rock drill equipment and a control panel. The control panel is used to control the rock drill equipment to execute the steps of the rock drill control method.
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述凿岩机控制方法的步骤。Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is run by a processor, the steps of the rock drill control method are executed.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考方法实施例中的对应过程，本申请中不再赘述。在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be described again in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some communication interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，RandomAccess Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit. If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.
以上仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, and they should be covered by within the protection scope of this application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311702576.8ACN117722168A (en) | 2023-12-11 | 2023-12-11 | Rock drill control method and rock drill equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311702576.8ACN117722168A (en) | 2023-12-11 | 2023-12-11 | Rock drill control method and rock drill equipment |
| Publication Number | Publication Date |
|---|---|
| CN117722168Atrue CN117722168A (en) | 2024-03-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311702576.8APendingCN117722168A (en) | 2023-12-11 | 2023-12-11 | Rock drill control method and rock drill equipment |
| Country | Link |
|---|---|
| CN (1) | CN117722168A (en) |
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| US20110192593A1 (en)* | 2007-04-02 | 2011-08-11 | Halliburton Energy Services, Inc. | Use of Micro-Electro-Mechanical Systems (MEMS) in Well Treatments |
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| US20110192593A1 (en)* | 2007-04-02 | 2011-08-11 | Halliburton Energy Services, Inc. | Use of Micro-Electro-Mechanical Systems (MEMS) in Well Treatments |
| CN106247145A (en)* | 2016-08-26 | 2016-12-21 | 浙江志高机械股份有限公司 | Self-monitoring oil gas mixing unit |
| CN108131126A (en)* | 2018-02-09 | 2018-06-08 | 徐工集团工程机械有限公司 | Control system, drill jumbo and the control method of rock drill |
| CN115899528A (en)* | 2022-10-27 | 2023-04-04 | 四川蓝海智能装备制造有限公司 | Water-air lubricating system for rock drilling equipment |
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