A cooperative anti-collision intelligent mechanical arm system for downhole drilling machine

Abstract

The utility model discloses a kind of cooperative anti-collision intelligent mechanical arm systems for underground drilling machine, comprising: intelligent mechanical arm and the PLC controller and safety relay of being set in control box, the PLC controller is electrically connected with mechanical arm driver and tactile sensor respectively, the mechanical arm driver is electrically connected with the intelligent mechanical arm, the tactile sensor is used to perceive the collision pressure from outside, the mechanical arm driver is used to drive intelligent mechanical arm to act on drill pipe, the safety relay is used to terminate intelligent mechanical arm action.The utility model perceives the collision pressure from outside in real time by tactile sensor, in combination with the quick response mechanism of safety relay, can terminate mechanical arm action in millisecond level time, effectively avoid equipment damage and personnel injury.

Description

Technical Field

[0001] This utility model relates to the field of intelligent mining equipment technology, specifically to a collaborative anti-collision intelligent robotic arm system for underground drilling rigs. Background Technology

[0002] With the rapid development of deep mineral resource development and underground engineering construction, the working environment of underground drilling rigs is becoming increasingly complex and three-dimensional. Traditional drilling rig robotic arm systems mostly adopt rigid serial structures with preset trajectory control, which are difficult to adapt to the dynamically changing working environment of underground roadways. Moreover, in underground drilling operations, the movement path of traditional robotic arms often intersects with personnel or equipment, resulting in poor perception capabilities. Furthermore, emergency stop mechanisms rely on manual operation, leading to delayed responses and increasing the risk of equipment damage or personnel injury.

[0003] Secondly, the monitoring and feedback mechanism for the robotic arm's motion status is imperfect, making it difficult to achieve precise control. During operation, deviations in motion can easily lead to malfunctions or safety hazards.

[0004] Therefore, there is an urgent need for a robotic arm system that can sense collision risks in real time, respond quickly to emergency signals, and achieve intelligent collaboration. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model proposes the following technical solution:

[0006] This utility model provides a collaborative anti-collision intelligent robotic arm system for downhole drilling rigs, including: an intelligent robotic arm and a PLC controller and a safety relay disposed in a control box. The PLC controller is electrically connected to a robotic arm driver and a tactile sensor, respectively. The robotic arm driver is electrically connected to the intelligent robotic arm. The tactile sensor is used to sense external collision pressure. The robotic arm driver is used to drive the intelligent robotic arm to move the drill pipe. The safety relay is used to terminate the movement of the intelligent robotic arm.

[0007] In one possible implementation, the first power port of the robotic arm driver is electrically connected to the positive terminal of the control power supply, the second power port of the robotic arm driver is electrically connected to the negative terminal of the control power supply, the P1 port of the robotic arm driver is electrically connected to the P1 port of the PLC controller, the -X1:1 port, -X1:2 port and -X1:3 port of the robotic arm driver are respectively electrically connected to the three-phase power supply, the robotic arm port of the robotic arm driver is electrically connected to the intelligent robotic arm, and the robotic arm driver includes an EL1809 input module, an EL2809 output module and an EL2808 output module.

[0008] In one possible implementation, the first terminal of the EL1809 input module is electrically connected to the first terminal of the first proximity switch sensor, the second terminal of the EL1809 input module is electrically connected to the first terminal of the second proximity switch sensor, the third terminal of the EL1809 input module is electrically connected to the first terminal of the third proximity switch sensor, the fourth terminal of the EL1809 input module is electrically connected to the first terminal of the fourth proximity switch sensor, and the fifth terminal of the EL1809 input module is electrically connected to the first terminal of the fifth proximity switch sensor. The second terminals of the first proximity switch sensor to the second terminals of the fifth proximity switch sensor are all electrically connected to the positive terminal of the control power supply.

[0009] In one possible implementation, the first terminal of the EL2809 output module is electrically connected to the first end of the first solenoid valve, the second terminal of the EL2809 output module is electrically connected to the first end of the second solenoid valve, the third terminal of the EL2809 output module is electrically connected to the first end of the third solenoid valve, and the fourth terminal of the EL2809 output module is electrically connected to the first end of the fourth solenoid valve. The second ends of the first solenoid valve to the second ends of the fourth solenoid valve are all electrically connected to the negative terminal of the control power supply.

[0010] In one possible implementation, the first terminal of the EL2808 output module is electrically connected to the first end of the first contact of the intermediate relay, the second end of the first contact of the intermediate relay is electrically connected to the second terminal of the EL2808 output module, the third terminal of the EL2808 output module is electrically connected to the first end of the second contact of the intermediate relay, and the second end of the second contact of the intermediate relay is electrically connected to the fourth terminal of the EL2808 output module.

[0011] In one possible implementation, the A1 and S13 ports of the safety relay are both electrically connected to the positive terminal of the 24V power supply, the A2 port of the safety relay is electrically connected to the negative terminal of the 24V power supply, the S31 port of the safety relay is electrically connected to the first terminal of the first auxiliary contact of the local emergency stop button, the second terminal of the first auxiliary contact of the local emergency stop button is electrically connected to the first terminal of the first auxiliary contact of the remote emergency stop button, the second terminal of the first auxiliary contact of the remote emergency stop button is electrically connected to the 32 port of the safety relay, and the S21 port of the safety relay is electrically connected to the first terminal of the second auxiliary contact of the local emergency stop button. The second end of the second auxiliary contact of the local emergency stop button is electrically connected to the first end of the second auxiliary contact of the remote emergency stop button. The second end of the second auxiliary contact of the remote emergency stop button is electrically connected to the S22 port of the safety relay. The S11 port of the safety relay is electrically connected to the S12 port of the safety relay. The S14 port of the safety relay is electrically connected to the first end of the intermediate relay coil. The second end of the intermediate relay coil is electrically connected to the negative terminal of the 24V power supply. The S33 port of the safety relay is electrically connected to the first end of the reset button. The second end of the reset button is electrically connected to the S34 port of the safety relay.

[0012] In one possible implementation, the safety relay is model PILZ.787310.

[0013] In one possible implementation, the robotic arm actuator is a KRC4 model.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention uses a tactile sensor to detect collision pressure in real time, and combined with the rapid response mechanism of a safety relay, it can terminate the robotic arm's movement within milliseconds, effectively preventing equipment damage and personal injury.

[0016] This invention achieves automated cycle of robotic arm grasping, extending, and clamping actions through the coordinated control of solenoid valves and proximity switch sensors, reducing manual intervention and improving work efficiency. It also supports remote and on-site emergency stop operations, enhancing operational flexibility. Attached Figure Description

[0017] Figure 1 A schematic diagram of a collaborative anti-collision intelligent robotic arm system for downhole drilling rigs provided in this embodiment of the present invention;

[0018] Figure 2 A schematic diagram of the control box provided in an embodiment of this utility model;

[0019] Figure 3A schematic diagram of the circuit structure of the robotic arm driver provided in an embodiment of this utility model;

[0020] Figure 4 The circuit diagram of the safety relay provided in the embodiment of this utility model. Detailed Implementation

[0021] The present solution will now be described in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 A schematic diagram of a collaborative anti-collision intelligent robotic arm system for downhole drilling rigs provided in this embodiment of the present invention is shown below. Figure 1 and Figure 2 This utility model provides a collaborative anti-collision intelligent robotic arm system for downhole drilling rigs, comprising: an intelligent robotic arm and a PLC controller and a safety relay installed in a control box. The PLC controller is electrically connected to the robotic arm driver and a tactile sensor, respectively. The robotic arm driver is electrically connected to the intelligent robotic arm. The tactile sensor is used to sense external collision pressure and monitor abnormal torque of each axis in real time. The robotic arm driver is used to drive the intelligent robotic arm to move the drill pipe, and the safety relay is used to terminate the movement of the intelligent robotic arm.

[0023] The robotic arm driver can be replaced with the appropriate driver according to the actual requirements. In this embodiment, the robotic arm driver is of type KRC4. See [link to relevant documentation]. Figure 3 The first power port of the robotic arm driver is electrically connected to the positive terminal of the control power supply, the second power port of the robotic arm driver is electrically connected to the negative terminal of the control power supply, the P1 port of the robotic arm driver is electrically connected to the P1 port of the PLC controller, the -X1:1 port, -X1:2 port and -X1:3 port of the robotic arm driver are respectively electrically connected to the three-phase power supply, and the robotic arm port X30 of the robotic arm driver is electrically connected to the intelligent robotic arm. The robotic arm driver includes an EL1809 input module, an EL2809 output module and an EL2808 output module.

[0024] In this embodiment, the first terminal 1 of the EL1809 input module is electrically connected to the first terminal of the first proximity switch sensor-S1; the second terminal 2 of the EL1809 input module is electrically connected to the first terminal of the second proximity switch sensor-S2; the third terminal 3 of the EL1809 input module is electrically connected to the first terminal of the third proximity switch sensor-S3; the fourth terminal 4 of the EL1809 input module is electrically connected to the first terminal of the fourth proximity switch sensor-S4; and the fifth terminal 5 of the EL1809 input module is electrically connected to the first terminal of the fifth proximity switch sensor-S5. The second terminals of the first proximity switch sensor-S1 to the fifth proximity switch sensor-S5 are all electrically connected to the positive terminal of the control power supply. In this embodiment, the first proximity switch sensor-S1 is used to detect whether the telescopic cylinder is fully extended; the second proximity switch sensor-S2 is used to detect whether the telescopic cylinder is fully retracted; the third proximity switch sensor-S3 is used to detect whether the gripper of the robotic arm is fully engaged; the fourth proximity switch sensor-S4 is used to detect whether the gripper of the robotic arm is fully disengaged; and the fifth proximity switch sensor-S5 is used to detect the drill rod.

[0025] In this embodiment, the first terminal 1 of the EL2809 output module is electrically connected to the first end of the first solenoid valve-Y1, the second terminal 2 of the EL2809 output module is electrically connected to the first end of the second solenoid valve-Y2, the third terminal 3 of the EL2809 output module is electrically connected to the first end of the third solenoid valve-Y3, the fourth terminal 4 of the EL2809 output module is electrically connected to the first end of the fourth solenoid valve-Y4, and the second ends of the first solenoid valve-Y1 to the second ends of the fourth solenoid valve-Y4 are all electrically connected to the negative terminal of the control power supply.

[0026] The first terminal 1 of the EL2808 output module is electrically connected to the first end of the first contact of the intermediate relay. The second end of the first contact of the intermediate relay is electrically connected to the second terminal 2 of the EL2808 output module. The third terminal 3 of the EL2808 output module is electrically connected to the first end of the second contact of the intermediate relay. The second end of the second contact of the intermediate relay is electrically connected to the fourth terminal 4 of the EL2808 output module.

[0027] See Figure 4In this embodiment, the safety relay is model PILZ.787310. Ports A1 and S13 of the safety relay are both electrically connected to the positive terminal of the 24V power supply, and port A2 is electrically connected to the negative terminal of the 24V power supply. Port S31 of the safety relay is electrically connected to the first end of the first auxiliary contact of the local emergency stop button-SN1. The second end of the first auxiliary contact of the local emergency stop button-SN1 is electrically connected to the first end of the first auxiliary contact of the remote emergency stop button-SN2. The second end of the first auxiliary contact of the remote emergency stop button-SN2 is electrically connected to port 32 of the safety relay. Port S21 of the safety relay is electrically connected to the second auxiliary contact of the local emergency stop button-SN1. The first end of the local emergency stop button-SN1 is electrically connected to the second end of the second auxiliary contact of the remote emergency stop button-SN2. The second end of the second auxiliary contact of the remote emergency stop button-SN2 is electrically connected to the S22 port of the safety relay. The S11 port of the safety relay is electrically connected to the S12 port of the safety relay. The S14 port of the safety relay is electrically connected to the first end of the intermediate relay coil. The second end of the intermediate relay coil is electrically connected to the negative terminal of the 24V power supply. The S33 port of the safety relay is electrically connected to the first end of the reset button-SB1. The second end of the reset button-SB1 ​​is electrically connected to the S34 port of the safety relay.

[0028] During operation, when the intelligent robotic arm system reaches the gripping position, the robotic arm gripper is in a released state. The fourth solenoid valve-Y4 is released, and the fourth proximity switch sensor-S4 detects whether the robotic arm gripper is fully released. After passing the detection, the first solenoid valve-Y1 opens, the telescopic rod extends, and the first proximity switch sensor-S1 detects whether the telescopic cylinder is fully extended. Simultaneously, the fifth proximity switch sensor-S5 detects whether there is a drill rod. If there is, the third solenoid valve-Y3 opens, and the robotic arm gripper clamps the drill rod. At the same time, the third proximity switch sensor-S3 detects whether the robotic arm gripper is fully clamped. After the gripper is fully clamped, the second solenoid valve-Y2 opens, the telescopic rod retracts, and the second proximity switch sensor-S2 detects whether the telescopic cylinder has retracted. After the robotic arm moves to the designated position, it extends via a telescopic cylinder. The first proximity switch sensor (S1) detects that the extension is complete and opens the fourth solenoid valve (Y4), releasing the gripper. The fourth proximity switch sensor (S4) detects that the extension is complete and the telescopic cylinder retracts. The second proximity switch sensor (S2) detects that the retraction is complete. An alarm will sound if the gripper or extension / retraction is not completed. This process repeats until the robotic arm returns to the gripping position for another gripping action. If personnel intrude during operation, a tactile sensor detects the impact pressure. If the impact force exceeds a preset value, pressing the SN1 or SN2 emergency stop button activates the safety relay, stopping the robotic arm and all its movements. To restart, the SB1 button needs to be pressed briefly to reset the safety relay.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0030] The above description is merely a specific embodiment of this utility model. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. The protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A collaborative anti-collision intelligent robotic arm system for downhole drilling rigs, characterized in that, include: The system includes an intelligent robotic arm, a PLC controller, and a safety relay housed in a control box. The PLC controller is electrically connected to the robotic arm driver and a tactile sensor. The robotic arm driver is electrically connected to the intelligent robotic arm. The tactile sensor detects external impact pressure. The robotic arm driver drives the intelligent robotic arm to move the drill rod. The safety relay terminates the robotic arm's movement. The first power port of the robotic arm driver is electrically connected to the positive terminal of the control power supply. The second power port of the robotic arm driver is electrically connected to the negative terminal of the control power supply. The P1 port of the robotic arm driver is electrically connected to the P1 port of the PLC controller. The -X1:1, -X1:2, and -X1:3 ports of the robotic arm driver are respectively electrically connected to a three-phase power supply. The robotic arm port of the robotic arm driver is electrically connected to the intelligent robotic arm. The robotic arm driver includes an EL1809 input module, an EL2809 output module, and an EL2808 output module. The A1 and S13 ports of the safety relay are both electrically connected to the positive terminal of a 24V power supply. The A2 port of the device is electrically connected to the negative terminal of the 24V power supply. The S31 port of the safety relay is electrically connected to the first end of the first auxiliary contact of the local emergency stop button. The second end of the first auxiliary contact of the local emergency stop button is electrically connected to the first end of the first auxiliary contact of the remote emergency stop button. The second end of the first auxiliary contact of the remote emergency stop button is electrically connected to the 32 port of the safety relay. The S21 port of the safety relay is electrically connected to the first end of the second auxiliary contact of the local emergency stop button. The second end of the second auxiliary contact of the local emergency stop button is electrically connected to the first end of the second auxiliary contact of the remote emergency stop button. The second end of the second auxiliary contact of the remote emergency stop button is electrically connected to the S22 port of the safety relay. The S11 port of the safety relay is electrically connected to the S12 port of the safety relay. The S14 port of the safety relay is electrically connected to the first end of the intermediate relay coil. The second end of the intermediate relay coil is electrically connected to the negative terminal of the 24V power supply. The S33 port of the safety relay is electrically connected to the first end of the reset button. The second end of the reset button is electrically connected to the S34 port of the safety relay.

2. The collaborative anti-collision intelligent robotic arm system for downhole drilling rigs according to claim 1, characterized in that, The first terminal of the EL1809 input module is electrically connected to the first terminal of the first proximity switch sensor. The second terminal of the EL1809 input module is electrically connected to the first terminal of the second proximity switch sensor. The third terminal of the EL1809 input module is electrically connected to the first terminal of the third proximity switch sensor. The fourth terminal of the EL1809 input module is electrically connected to the first terminal of the fourth proximity switch sensor. The fifth terminal of the EL1809 input module is electrically connected to the first terminal of the fifth proximity switch sensor. The second terminals of the first proximity switch sensor to the fifth proximity switch sensor are all electrically connected to the positive terminal of the control power supply.

3. The collaborative anti-collision intelligent robotic arm system for downhole drilling rigs according to claim 1, characterized in that, The first terminal of the EL2809 output module is electrically connected to the first end of the first solenoid valve, the second terminal of the EL2809 output module is electrically connected to the first end of the second solenoid valve, the third terminal of the EL2809 output module is electrically connected to the first end of the third solenoid valve, and the fourth terminal of the EL2809 output module is electrically connected to the first end of the fourth solenoid valve. The second ends of the first solenoid valve to the second ends of the fourth solenoid valve are all electrically connected to the negative terminal of the control power supply.

4. The collaborative anti-collision intelligent robotic arm system for downhole drilling rigs according to claim 1, characterized in that, The first terminal of the EL2808 output module is electrically connected to the first end of the first contact of the intermediate relay, the second end of the first contact of the intermediate relay is electrically connected to the second terminal of the EL2808 output module, the third terminal of the EL2808 output module is electrically connected to the first end of the second contact of the intermediate relay, and the second end of the second contact of the intermediate relay is electrically connected to the fourth terminal of the EL2808 output module.

5. The collaborative anti-collision intelligent robotic arm system for downhole drilling rigs according to claim 1, characterized in that, The safety relay is model PILZ.787310.

6. The collaborative anti-collision intelligent robotic arm system for downhole drilling rigs according to claim 1, characterized in that, The robotic arm actuator is of model KRC4.

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