A six-axis serial manipulator flexible pipe stick system and pipe stick method

Abstract

This invention discloses a six-axis tandem manipulator compliant drill rod loading and unloading system and method, including a three-degree-of-freedom main unit, a rod box, a six-axis tandem manipulator located between the three-degree-of-freedom main unit and the rod box, and a drill rod grasping compliant component at the end of the six-axis tandem manipulator. The six-axis tandem manipulator directly grasps the drill rod from the rod box and delivers it to a designated position on the main unit. The drill rod grasping compliant component at the end enables compliant control in multiple degrees of freedom and multiple directions, acting as a buffer during drill rod loading and unloading, preventing reaction forces on the manipulator, protecting the manipulator, and extending its service life. This invention improves drilling safety, drilling efficiency, and reduces labor intensity, while also promoting the automation and intelligent development of drilling equipment technology.

Description

Technical Field

[0001] This invention belongs to the field of underground drilling equipment in coal mines, and relates to a six-axis tandem manipulator system for compliantly loading and unloading drill pipes and a method for loading and unloading drill pipes. Background Technology

[0002] Facing a new round of energy technology revolution characterized by informatization and intelligentization, and in order to achieve the goal of "mechanization replacing manpower, automation reducing manpower, and intelligent unmanned operation" in underground mining, reducing manpower and increasing efficiency to drive technological innovation and developing intelligent drilling technology and equipment is an inevitable trend. As a key piece of equipment in the coal mine safety field, the improvement of the automation level of drilling rigs is particularly important. Coal mine drilling rigs use six-axis tandem manipulators for loading and unloading drill rods. These manipulators, based on rigid joints, are prone to rigid collisions; even a small positional deviation at the end of the manipulator can lead to huge contact forces, easily causing damage. The manipulator, drill rod box, and main unit of the coal mine drilling rig are located on the tracked platform of the drilling rig and are used for storing and loading / unloading drill rods during drilling operations. They need to be easy to store and grasp, but existing technologies have the following drawbacks: the manipulator requires secondary positioning during the loading and unloading of drill rods, affecting the efficiency of rod loading; the drill rod box capacity is small and cannot meet the drill rod requirements of a single well; when arranging drill rods, a certain gap is required between rows to meet the conditions for grasping the drill rods. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a six-axis tandem robotic arm compliant drill rod loading and unloading system and method, overcoming problems such as rigid robotic arms being locked by reaction forces during drill rod loading and unloading, and the need for secondary positioning during the drill rod loading and unloading process.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A six-axis tandem manipulator compliant drill rod loading and unloading system includes a three-degree-of-freedom main unit, a rod box, a six-axis tandem manipulator located between the three-degree-of-freedom main unit and the rod box, and a drill rod gripping compliant component at the end of the six-axis tandem manipulator. The three-degree-of-freedom main unit includes a feed body, a release device and a front clamp, a rear clamp, a power head, a feed cylinder, a slide plate, a translation cylinder, a translation clamp, a feed displacement sensor assembly, a translation displacement sensor assembly, and a luffing stabilization device. The luffing stabilization device is mounted on a tracked vehicle platform via a lifting cylinder, and its slewing support is connected to one side of the feed body. The translation of the translation cylinder, the lifting of the luffing stabilization device by the lifting cylinder, and the rotation of the slewing support enable adjustment of the three degrees of freedom of the main unit. The rod box includes a box bracket, a drill rod limiting bracket, a stop bar, and a pad. The system includes a front door, a baffle assembly, and a rear door; the rod box has multiple layers and rows of space to accommodate drill rods, and can adapt to drill rods of different diameters by adjusting the side pads and the bottom drill rod limiting frame; the six-axis serial manipulator includes a base, an arm, and a servo motor; the arm's rotation angle range on the base is -180° to +180°, and the servo motor can control the sequential or synchronous movements of the arm to achieve changes in the end-effector position, used to grab the drill rod from the rod box to the drill rod placement position of the three-degree-of-freedom host; the drill rod gripping compliant component includes an n-shaped frame, a first hydraulic cylinder mounted on the n-shaped frame, a flexible component and a gear and rack assembly located below the first hydraulic cylinder, and a gripper, as well as an elastic component, a proximity switch, a magnet, and a magnetic switch assembly; the first hydraulic cylinder can drive the gear and rack assembly to drive the gripper to open and close to grasp the drill rod.

[0006] The present invention also includes the following technical features:

[0007] Specifically, the three-degree-of-freedom main unit's unlatcher, front clamp, and rear clamp are screwed onto the mounting plate of the feed machine body and cooperate with the power head to achieve automatic loading and unloading of drill rods; the power head and the slide plate are connected by a pin, and the slide plate is connected to the cylinder of the feed cylinder and moves with the cylinder of the feed cylinder. The power head and the slide plate slide on the feed machine body as the feed cylinder extends and retracts, realizing the drilling rig's lowering and raising; one end of the feed cylinder is connected to the front end of the feed machine body, and the other end is fixed to the rear end of the feed machine body; the feed... One end of the displacement sensor assembly is fixed to the feed machine body, and the other end is fixed to the slide plate, which detects and provides feedback on the stroke position of the feed cylinder in real time; one end of the translation cylinder is hinged to the front end of the feed machine body, and the other end is hinged to the rear end of the feed machine body. The cylinder barrel is connected to the translation plate. The extension and retraction of the translation cylinder drives the feed machine body to move back and forth, adjusting the distance between the feed machine body and the borehole opening; one end of the translation displacement sensor assembly is fixed to the feed machine body, and the other end is fixed to the translation plate, which detects and provides feedback on the translation amount of the translation cylinder.

[0008] Specifically, the variable amplitude stabilizing device includes a column cylinder slide rail assembly, a slewing bearing, an encoder, a lifting cylinder, a lifting displacement sensor assembly, a column lower stabilizing assembly, and a rotary upper stabilizing assembly;

[0009] The column cylinder slide rail assembly is mounted on the two column lower stabilizing components. A rotary support is installed on the front wall of the column cylinder slide rail assembly. The rotary support is connected to the feed machine body through an L-shaped support plate. The rotary support's rotating turbine can drive the L-shaped support plate and the feed machine body to rotate. The rotary support contains a brake, which can hydraulically brake and lock the rotary turbine. The encoder is connected to the brake through a mounting base. The encoder's inner shaft is connected to the L-shaped support plate through a transmission shaft, realizing the direct measurement of the drilling inclination angle.

[0010] The lower end of the lifting cylinder is screwed to the tracked vehicle platform, and the upper end of the lifting cylinder is screwed to the rear wall of the column cylinder slide rail assembly. The extension and retraction of the lifting cylinder causes the feed machine body to move along the column cylinder, thereby realizing the adjustment of the drilling rig's opening height.

[0011] One end of the lifting displacement sensor assembly is screwed onto the column cylinder slide rail assembly, and the other end is screwed onto the tracked vehicle platform, used to detect and provide feedback on the displacement of the lifting cylinder.

[0012] Specifically, there are two parallel columns for the lower stabilizing components. Each column includes a lower column and a lower hydraulic cylinder located below it. The piston rod of the lower hydraulic cylinder is equipped with a displacement sensor.

[0013] There are two rotating upper stabilizing components, both of which are parallel to the lower stabilizing component of the column. The rotating upper stabilizing component is connected to the lower stabilizing component of the column through its lower rotating sleeve. The rotating upper stabilizing component includes an upper column and an upper hydraulic cylinder inside it. A limit pin is provided at the lower end of the rotating upper stabilizing component. During transportation, the rotating upper stabilizing component is fixed to the tracked vehicle platform by the limit pin, so that the upper stabilizing component is retracted and consistent with the width of the vehicle body.

[0014] When the drilling rig is in a stable state during construction, pull out the limit pin and rotate both of the upper rotary stabilizing components outward by 90° to the outside of the vehicle body, i.e., to the sides of the lower column stabilizing component, to increase the stabilization distance and improve the stabilization reliability. During transportation, the piston rod of the upper hydraulic cylinder of the upper rotary stabilizing component extends upward and the piston rod of the lower hydraulic cylinder of the lower column stabilizing component extends downward respectively to stabilize the drilling rig.

[0015] Specifically, the support frame of the drill rod box includes a square base and four side plates at the four corners. The square base includes two parallel side beams and two parallel end beams. Each side beam has two vertical side plates to surround the drill rod. There are two parallel drill rod limiting frames, each vertically connected between the two side beams. The drill rod limiting frames have equally spaced arc-shaped grooves to stack the drill rods, ensuring that the drill rods are stacked at a fixed interval. The drill rods are placed perpendicular to the drill rod limiting frames. A stop bar is detachably installed between two opposite side plates and parallel to the drill rod limiting frames to prevent... To prevent drill rods from falling off due to vibration during transport, the stop bar is removed and placed into the two sets of support through holes behind the box frame when the drilling rig is working. The pad is screwed onto the side plate. By adjusting the thickness of the pad and replacing the drill rod limit frame, it can accommodate drill rods of different diameters and adapt to different types of hand grippers. The front and rear compartment doors are parallel to each other and are respectively located between the two side plates above the two end beams. The front compartment door is screwed together with the baffle assembly and then screwed onto the two parallel side plates. It is removed from the box frame when the drilling rig is working to limit the axial movement of the drill rods in the drill rod box when the drilling rig moves.

[0016] Specifically, the arm of the six-axis serial manipulator can rotate horizontally around the base, which has a zero reference. The arm includes a shoulder, upper arm, forearm, and wrist connected in sequence. The lower end of the shoulder is connected to the base, and the upper end of the shoulder is connected to one end of the upper arm through a shoulder joint controlled by a servo motor. The other end of the upper arm is connected to one end of the forearm through an elbow joint controlled by a servo motor. The other end of the forearm is connected to the upper part of the wrist through a wrist joint controlled by a servo motor. The lower end of the wrist is connected to the drill rod to grasp the compliant component.

[0017] Specifically, the first hydraulic cylinder for gripping the compliant component of the drill rod passes through and is installed on the top plate of the n-shaped frame. A flexible component is installed at the lower end of the first hydraulic cylinder, and the lower part of the intermediate shaft of the flexible component is connected to a gear and rack assembly. The gear and rack assembly includes a rack, a mounting shaft, and a gear. The rack is connected to the intermediate shaft of the flexible component, and the gear is sleeved on the mounting shaft, which is located between the two side plates of the n-shaped frame. Two grippers are also provided on the mounting shaft so that the grippers can be opened and closed by the first hydraulic cylinder pushing the gear and rack assembly. A magnetic switch assembly and a magnet are installed between the two grippers below the n-shaped frame. The hydraulic cylinder in the magnetic switch assembly can control whether the magnet is magnetic. An elastic component is connected between the upper end of the magnet and the outside of the side wall of the n-shaped frame.

[0018] Specifically, the flexible component includes a connecting housing, a spring, a wedge, a spherical bearing, an upper housing, a slider, a lower housing, an elastic element, a connecting disc, and an intermediate shaft;

[0019] The connecting housing and the upper housing, as well as the upper housing and the lower housing, are all connected by bolts. A spring is installed between the top protrusion on the inner wall of the connecting housing and the upper end of the wedge. The wedge is installed in the groove of the upper housing, and the lower end of the wedge contacts the inclined surface of one end of the slider. The slider is installed on the upper surface of the lower housing. A spherical bearing is installed inside the slider. The outer ring of the spherical bearing is fixed to the slider, and the inner ring is fitted to one end of the intermediate shaft. The other end of the intermediate shaft is connected to the gear rack assembly. An elastic element is fixed between the connecting plate and the upper surface of the lower housing by screws. The connecting plate is connected between the intermediate shaft and the elastic element, allowing the intermediate shaft to swing and twist around the slider.

[0020] A method for adding and unloading drill pipes using the six-axis tandem manipulator compliant drill pipe adding and unloading system, the method comprising the following steps:

[0021] Step A1: Initialize the six-axis serial manipulator and the three-degree-of-freedom main unit. Both the six-axis serial manipulator and the three-degree-of-freedom main unit return to the calibration zero point, the release device closes, the rear gripper opens, and the power head returns to the calibration position.

[0022] Step A2: The explosion-proof remote control inputs the target hole parameters to the three-degree-of-freedom main unit;

[0023] Step A3: The three-degree-of-freedom host moves to the designated position according to the calculation results and feeds back the coordinate position to the controller;

[0024] Step A4: The explosion-proof remote control sends a lever extension command to the three-degree-of-freedom main unit and the six-axis serial robot arm;

[0025] Step A5: The three-degree-of-freedom main unit waits for the rod to be added, and the six-axis serial manipulator and its end drill rod grab the compliant component to remove the rod;

[0026] Step A6: The six-axis tandem robot arm grabs the drill pipe and places it into the set position of the clamp based on the coordinate values ​​fed back by the three-degree-of-freedom host.

[0027] Step A7: The gripper clamps the drill pipe and sends a message to the drill pipe gripper compliant component control gripper to release the gripper;

[0028] Step A8: The six-axis tandem robot moves to the designated safe position and sends information to the three-degree-of-freedom host;

[0029] Step A9: The power head rotates back to feed the pressure until the set value is reached;

[0030] Step A10: Determine that the upper clamping is complete by detecting a sudden change in pressure, and release the clamp.

[0031] Step A11: The power head rotates back to feed the pressure until the set value is reached;

[0032] Step A12: Determine that the upper buckle is complete by the sudden change in pressure. Release the buckle and complete the rod addition.

[0033] A method for loading and unloading drill pipes using a six-axis tandem robotic arm compliant drill pipe loading and unloading system, the unloading process of which includes the following steps:

[0034] Step B1: Initialize the six-axis serial manipulator and simultaneously detect the status of the three-degree-of-freedom host machine, in the state of the drill rod to be unloaded when the active drill rod is separated from the drill rod, the front gripper clamps the drill rod and closes, and the rear gripper opens.

[0035] Step B2: The power head is fed to the calibrated position, and the upper and lower ends are fastened;

[0036] Step B3: The power head rotates to feed in, and after the pressure change indicates that the upper clamping is complete, the front clamp is released;

[0037] Step B4: Pull the power head to the calibrated position, clamp the front clamp, and release the front end buckle;

[0038] Step B5: The power head rotates to pull out the clips. After determining that the uncoupling is complete by the sudden change in pressure, the power head pulls out to the calibrated position.

[0039] Step B6: Clamp the rear clamp and remove the rear end buckle;

[0040] Step B7: The power head rotates and pulls back. After the pressure change determines that the unhooking is complete, the power head pulls back to the calibrated position and sends the current position coordinates to the main controller. At the same time, it sends a waiting bar unloading signal to the six-axis serial robot.

[0041] Step B8: The six-axis tandem robot and its end effector grip the compliant component and clamp the drill rod. After the gripper is released, the six-axis tandem robot places the drill rod into the rod box at the set position. During this process, when the six-axis tandem robot moves to the designated safe position, it sends information to the three-degree-of-freedom host.

[0042] Compared with the prior art, the present invention has the following technical effects:

[0043] This invention provides a six-axis serial manipulator and a large-capacity drill rod box for grasping compliant components and matching their stacking program. The six-axis serial manipulator directly grasps the drill rod from the drill rod box and delivers it to the designated position on the host machine without the need for secondary positioning and precise positioning, which simplifies the rod addition process and improves the rod addition efficiency.

[0044] The compliant end-grip drill rod gripping component of this invention enables compliant control with multiple degrees of freedom and multiple directions. It plays a certain buffering role during drill rod loading and unloading, preventing the robotic arm from experiencing reaction forces, thus protecting the robotic arm and improving its service life. The magnetic gripper of the compliant end-grip drill rod gripping component can directly retrieve rods from the stacked drill rod boxes, effectively reducing the spacing between drill rods and decreasing the width and height dimensions of the drill rod boxes.

[0045] During construction, the stabilizing cylinders of the three-degree-of-freedom main unit of this invention can rotate to both sides of the tracked vehicle body, increasing the stabilization distance and improving stabilization reliability. At the same time, it is easier for the robot arm to grab the drill rod and pass between the two stabilizing columns. During transportation, the stabilizing cylinders can be retracted to match the width of the vehicle body, effectively reducing the width of the tracked vehicle body.

[0046] The drill rods in this invention's drill rod box are stacked, with the stacking achieved by a drill rod limiting plate at the bottom, ensuring that the drill rods are arranged at fixed intervals. It can also adapt to different diameter drill rod specifications by replacing parts, meeting the construction needs of different borehole diameters. Simultaneously, the large-capacity drill rod box can meet the construction requirements of a single borehole in a coal mine, providing a guarantee for fully automated drilling construction. Furthermore, by marking rows and columns on the drill rod box, after shutdown and restart, the operator can directly enter the drilling rig's working mode by inputting the current drill rod's row and column on the remote control, eliminating the need to inspect the current drill rod position, reducing drilling preparation time, and improving efficiency. While improving drilling safety, drilling efficiency, and reducing labor intensity, it also promotes the development of automation and intelligence in drilling equipment technology. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the overall structure of the present invention installed on a tracked vehicle body;

[0048] Figure 2 This is a schematic diagram of the gripper of the present invention;

[0049] Figure 3 This is a schematic diagram of the three-degree-of-freedom host structure of the present invention;

[0050] Figure 4 This is a schematic diagram of the variable amplitude stabilization device of the present invention;

[0051] Figure 5 This is a schematic diagram of the rod box structure of the present invention;

[0052] Figure 6 This is a schematic diagram of the structure of the six-axis serial manipulator and its end drill rod gripping compliant component of the present invention;

[0053] Figure 7 This is a schematic diagram of the drill rod gripping compliant component of the present invention, (a) showing the gripper closed, and (b) showing the gripper open;

[0054] Figure 8 This is a schematic diagram of the flexible component structure of the present invention;

[0055] Figure 9 This is a schematic diagram of the feed displacement sensor assembly of the present invention;

[0056] Figure 10 This is a schematic diagram of the tracked vehicle body structure;

[0057] Figure 11 This is a schematic diagram of the integrated drilling robot structure formed by the system of the present invention mounted on a tracked vehicle body;

[0058] Meaning of the symbols in the attached image:

[0059] 1. Three-DOF main unit; 2. Tracked chassis; 3. Pressure gauge assembly; 4. Valve group; 5. Rod box; 6. Oil tank assembly; 7. Cooler assembly; 8. Mining explosion-proof emergency stop button; 9. Motor pump unit; 10. Main controller; 11. Six-axis tandem manipulator; 12. Drill rod gripping compliant component; 13. Feed body; 14. Unlatcher and front clamp; 15. Rear clamp; 16. Luffing stabilizing device; 17. Power head; 18. Feed cylinder; 19. Cargo slide; 20. Translation cylinder; 21. Translation clamp; 22. Feed displacement sensor assembly; 23. Translation displacement sensor assembly; 24. Slewing bearing; 25. Encoder; 26. Lifting displacement sensor assembly; 27. Lifting cylinder; 28. Column cylinder slide rail assembly; 29. ​​Column lower stabilizing assembly; 30. Rotary upper stabilizing assembly; 31. Tracks. 31. Vehicle platform; 32. Track assembly; 33. Intrinsically safe dual-axis tilt sensor for mining; 34. Lifting sling; 35. Control panel valve group; 36. Pressure transmitter assembly; 37. Junction box assembly; 38. Housing bracket; 39. Drill pipe limit bracket; 40. Stop bar; 41. Pad; 42. Front door; 43. Baffle assembly; 44. Rear door; 45. Base; 46. Arm; 47. Servo motor; 48. First hydraulic cylinder; 49. N-shaped frame; 50. Gear and rack assembly; 51. Flexible component; 52. Elastic component; 53. Proximity switch; 54. Magnet; 55. Gripper; 56. Magnetic switch assembly; 57. Connecting housing; 58. Spring; 59. Wedge; 60. Spherical bearing; 61. Upper housing; 62. Slider; 63. Lower housing; 64. Elastic element; 65. Connecting disc; 66. Intermediate shaft. Detailed Implementation

[0060] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0061] Example 1:

[0062] This embodiment provides a six-axis tandem robotic arm system for compliant loading and unloading of drill pipes, such as... Figures 1 to 9As shown, the system includes a three-degree-of-freedom main unit 1, a rod box 5, a six-axis tandem manipulator 11 located between the three-degree-of-freedom main unit 1 and the rod box 5, and a drill rod gripping compliant component 12 at the end of the six-axis tandem manipulator 11. The three-degree-of-freedom main unit 1 includes a feed body 13, a release mechanism and a front clamp 14, a rear clamp 15, a power head 17, a feed cylinder 18, a slide plate 19, a translation cylinder 20, a translation clamp 21, a feed displacement sensor assembly 22, a translation displacement sensor assembly 23, and a variable amplitude stabilizing device 16. The variable amplitude stabilizing device 16 is mounted on the tracked vehicle platform 31 via a lifting cylinder 27, and the slewing support 24 of the variable amplitude stabilizing device 16 is connected to one side of the feed body 13. The translation cylinder 20 translates, the lifting cylinder 27 of the variable amplitude stabilizing device 16 lifts, and the slewing support 24 rotates to achieve adjustment of the three degrees of freedom of the main unit. The rod box 5 includes a box bracket 38, a drill rod limit bracket 39, and a stop bar. 40, pad 41, front door 42, baffle assembly 43, and rear door 44; the rod box 5 has a multi-layer, multi-row space for accommodating drill rods, and can adapt to drill rods of different diameters by adjusting the side pad 41 and the bottom drill rod limiting frame 39; the six-axis serial manipulator 11 includes a base 45, an arm 46, and a servo motor 47; the rotation angle range of the arm 46 on the base 45 is -180° to +180°, and the servo motor 47 can control the sequential or synchronous movement of the arm 46 to realize the change of the end position, used to grab the drill rod from the rod box 5 to the drill rod placement position of the three-degree-of-freedom host 1; the drill rod gripping compliant component 12 includes a first hydraulic cylinder 48, an n-shaped frame 49, a gear and rack assembly 50, a flexible component 51, an elastic component 52, a proximity switch 53, a magnet 54, a gripper 55, and a magnetic switch assembly 56; the first hydraulic cylinder can drive the gear and rack assembly to drive the gripper to open and close to grip the drill rod.

[0063] In the drill rod loading and unloading system, the six-axis tandem manipulator 11 can meet the arm span and end load requirements for loading and unloading drill rods, and can load and unload drill rods within the workspace of the three-degree-of-freedom host 1 through control; the drill rod gripping compliant component 12 is a simple structure with strong applicability, used as a multi-directional passive compliant device for coal mine robots to grip drill rods, protecting the rigid manipulator arm; the rod box 5 has a multi-layer, multi-row space to accommodate drill rods, and can be adjusted to accommodate drill rods of different diameters; by applying multi-robot collaborative control technology and compliant control technology, the robot loading and unloading of drill rods is realized. By controlling the six-axis serial manipulator 11 and the drill rod gripping compliant component 12, the task of loading and unloading drill rods between the rod box 5 and the three-degree-of-freedom host 1 is completed. Since all components are installed on the same vehicle platform, the distance between the six-axis serial manipulator 11 and the rod box 5 and the three-degree-of-freedom host 1 is relatively fixed. During debugging, the manipulator and the three-degree-of-freedom host 1 are zeroed, and the relative coordinate values ​​between the drill rod box 5 and the manipulator, and between the zero-point host and the manipulator are measured. During operation, the change in the coordinate value of the three-degree-of-freedom host 1 is transmitted to the controller through three sensors on the host. The controller then sends a command to the manipulator, and the manipulator sends the drill rod to the designated position. When the manipulator grips the drill rod from the drill rod box 5, because the drill rods are arranged according to a fixed row spacing and column spacing, the current gripping coordinate value is calculated each time based on the previous coordinate value through a stacking algorithm, so as to accurately grip the drill rod. Within the specified number of loading and unloading drill rods, the mean error is obtained by applying the mean method and automatically compensated.

[0064] The three-degree-of-freedom main unit 1 has its unscrewer, front clamp 14, and rear clamp 15 screwed onto the mounting plate of the feed body 13, and works with the power head 17 to achieve automatic loading and unloading of drill rods. The power head 17 is connected to the slide plate 19 via a pin, and the slide plate 19 is connected to the cylinder of the feed cylinder 18 and moves with the cylinder of the feed cylinder 18. The power head 17 and the slide plate 19 slide on the feed body 13 as the feed cylinder 18 extends and retracts, realizing the drilling rig's lowering and raising. The rear end cover of the power head 17 is equipped with a speed sensor for real-time detection of the rotation speed. One end of the feed cylinder 18 is connected to the front end of the feed body 13, and the other end is fixed to the rear end of the feed body 13. One end of the feed displacement sensor assembly 22 is fixed to the feed body 13, and the other end is fixed to the slide plate 19, for real-time detection and feedback to the feed displacement sensor assembly 22. The stroke position of the infeed cylinder 18; one end of the double-acting translation cylinder 20 is hinged to the front end of the feed machine body 13, and the other end is hinged to the rear end of the feed machine body 13. The cylinder barrel is connected to the translation plate 21. The extension and retraction of the translation cylinder 20 drives the feed machine body 13 to move back and forth, adjusting the distance between the feed machine body 13 and the borehole opening; one end of the translation displacement sensor assembly 23 is fixed on the feed machine body 13, and the other end is fixed on the translation plate 21 to detect and provide feedback on the translation amount of the translation cylinder 20; the luffing stabilizing device 16 is installed on the tracked vehicle platform 31 through the lifting cylinder 27, and the slewing support 24 of the luffing stabilizing device 16 is connected to one side of the feed machine body 13; the translation of the translation cylinder 20, the lifting of the luffing stabilizing device 16 by the lifting cylinder 27, and the rotation of the slewing support 24 can realize the adjustment of the main machine in three degrees of freedom.

[0065] The variable amplitude stabilizing device 16 includes a column cylinder slide rail assembly 28, a slewing support 24, an encoder 25, a lifting cylinder 27, a lifting displacement sensor assembly 26, a column lower stabilizing assembly 29, and a rotary upper stabilizing assembly 30.

[0066] The column cylinder slide rail assembly 28 is mounted on the two column lower stabilizing assemblies 29. A rotary support 24 is installed on the front wall of the column cylinder slide rail assembly 28 (allowing for adjustment of the feed machine body 13's tilt angle from -90° to +90°, with convenient and reliable adjustments). The rotary support 24 is connected to the feed machine body 13 via an L-shaped support plate. The rotating turbine of the rotary support 24 drives the L-shaped support plate and the feed machine body 13 to rotate. The rotary support contains a brake, which can hydraulically lock the rotating turbine, significantly improving performance. The stability and safety factor of the main machine operation; the encoder 25 is connected to the brake through the mounting base, and the inner shaft of the encoder 25 is connected to the L-shaped support plate through the transmission shaft to realize the direct measurement of the drilling inclination angle; more specifically, the outer ring of the rotary support 24 is fixed to the front wall of the column cylinder slide rail assembly 28, the inner ring of the rotary support 24 is fixed to the L-shaped support plate, and the L-shaped support plate is fixed to the feed body 13; the inner shaft of the encoder 25 is connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the L-shaped support plate.

[0067] The lower end of the lifting cylinder 27 is screwed onto the tracked vehicle platform 31, and the upper end of the lifting cylinder 27 is screwed onto the rear wall of the column cylinder slide rail assembly 28. The extension and retraction of the lifting cylinder 27 causes the feed body 13 to move along the column cylinder, thereby realizing the adjustment of the drilling rig's opening height.

[0068] One end of the lifting displacement sensor assembly 26 is screwed onto the column cylinder slide rail assembly 28, and the other end is screwed onto the tracked vehicle platform 31, in order to detect and provide feedback on the displacement of the lifting cylinder 27.

[0069] There are two parallel columns with each other. Each column stabilizer includes a lower column and a lower hydraulic cylinder inside it. The piston rod of the lower hydraulic cylinder is equipped with a displacement sensor, which can monitor the rise of the front end of the drilling rig platform in real time. The upper part of the column stabilizer is hollow, which can reduce the weight of the column itself while ensuring structural strength. The displacement sensor signal line passes through the hollow part of the column to the top end cap. The side of the column is provided with a through hole for installing a set screw to fix the displacement sensor.

[0070] There are two rotating upper stabilizing components 30, both of which are parallel to the lower stabilizing component 29. The rotating upper stabilizing component 30 is connected to the lower stabilizing component 29 through its lower rotating sleeve. The rotating upper stabilizing component 30 includes an upper column and an upper hydraulic cylinder inside it. A limit pin is provided at the lower end of the rotating upper stabilizing component 30. During transportation, the rotating upper stabilizing component 30 is fixed to the tracked vehicle platform 31 by the limit pin, so that the upper stabilizing component is retracted and consistent with the width of the vehicle body.

[0071] When the drilling is in a stable state, the limiting pins are pulled out, and both rotating upper stabilizing components 30 are rotated outward by 90° to the sides of the lower stabilizing component 29 outside the vehicle body (limited by the limiting blocks). The pin holes at both ends of the connecting plate are aligned with the pin holes of the rotating upper stabilizing component 30 and the vehicle platform, and the pin shafts are inserted to restrict their degrees of freedom, increase the stabilization distance, improve the stabilization reliability, and make it easier for the robot arm to grab the drill rod and pass it between the two stabilizing columns. During transportation, the piston rod of the upper hydraulic cylinder of the rotating upper stabilizing component 30 extends upward and the piston rod of the lower hydraulic cylinder of the lower stabilizing component 29 extends downward to stabilize the drilling rig. This increases the distance between the upper stabilizing components, leaving enough space for the automatic drill rod loading and unloading system, and also increases the lower stabilization range and the stabilization area, thereby enhancing the stability of the drilling operation.

[0072] The box frame 38 of the rod box 5 includes a square base and four side plates at the four corners. The square base includes two parallel side beams and two parallel end beams. Each side beam has two vertical side plates to surround the drill rods. There are two parallel drill rod limiting frames 39, which are vertically connected between the two side beams. The drill rod limiting frames 39 have equally spaced arc-shaped grooves to stack the drill rods, ensuring that the drill rods are stacked at a fixed interval. The drill rods are placed perpendicular to the drill rod limiting frames 39. The stop bar 40 is detachably installed between the two opposite side plates and is parallel to the drill rod limiting frames 39 to prevent vibration during the transportation of the entire box of drill rods. The movement causes the drill rod to fall. When the drilling rig is working, the stop bar 40 is removed and placed into the two sets of support through holes behind the box bracket 38. The pad plate 41 is screwed onto the side plate. By adjusting the thickness of the pad plate 41 and replacing the drill rod limiting bracket 39, it can accommodate drill rods of different diameters and adapt to different types of hand grippers. The front compartment door 42 and the rear compartment door 44 are parallel to each other and are respectively located between the two side plates above the two end beams. The front compartment door 42 is screwed together with the baffle assembly 43 and then screwed onto the two parallel side plates. When the drilling rig is working, it is removed from the box bracket 38 to limit the axial movement of the drill rod in the drill rod box 5. The rod box 5 has a multi-layer, multi-row space to accommodate drill rods, and can adapt to drill rods of different diameters by adjusting the side pad plate 41 and the bottom drill rod limiting bracket 39.

[0073] The arm 46 of the six-axis serial manipulator 11 can rotate horizontally around the base 45, which has a zero reference. The rotation angle range of the arm 46 is -180° to +180°. The arm 46 includes a shoulder, upper arm, forearm, and wrist connected in sequence. The lower end of the shoulder is connected to the base 45, and the upper end of the shoulder is connected to one end of the upper arm via a shoulder joint controlled by a servo motor 47. The other end of the upper arm is connected to one end of the forearm via an elbow joint controlled by a servo motor 47, and the other end of the forearm is connected to the upper part of the wrist via a wrist joint controlled by a servo motor 47. The lower end of the wrist is connected to the drill rod gripping compliant component 12. Six explosion-proof servo motors 47 are used to control the joints, enabling the six serial axes of the manipulator to move sequentially or synchronously, thereby changing the position of the end effector gripper 55 to grip the drill rod from the rod holder to the drill rod placement position on the main unit. The explosion-proof six-degree-of-freedom manipulator has an overall protection rating of IP54, making it suitable for operation in complex environments such as humid and dusty conditions in underground coal mines.

[0074] The first hydraulic cylinder 48 of the drill rod gripping compliant component 12 is mounted on the n-shaped frame 49. The lower end of the first hydraulic cylinder 48 is connected to the gear and rack assembly 50 through the flexible component 51. The gear and rack assembly 50 is connected to the gripper 55. The gripper 55 can be opened and closed by the first hydraulic cylinder 48 pushing the gear and rack assembly 50. When the robot loads and unloads the drill rod, the gripper 55 will be subjected to forces in the X, Y, and Z directions and around the X, Y, and Z axes, resulting in positional and angular displacements. The flexible component 51 can eliminate the reaction forces. The magnetic switch assembly 56 and the magnet 54 are installed between the two grippers 55 below the n-shaped frame 49. The hydraulic cylinder in the magnetic switch assembly 56 can control whether the magnet 54 is magnetic. The elastic component 52 is connected between the upper end of the magnet 54 and the outside of the side wall of the n-shaped frame 49. If the magnet 54 is subjected to a reaction force when the gripper 55 clamps the drill rod, it is eliminated by the elastic component 52, which protects the rigid robotic arm.

[0075] The first hydraulic cylinder 48 passes through and is installed on the top plate of the n-shaped frame 49. A flexible component 51 is installed at the lower end of the first hydraulic cylinder 48. The lower part of the intermediate shaft 66 of the flexible component 51 is connected to the gear and rack assembly 50. The gear and rack assembly 50 includes a rack, a mounting shaft, and a gear. The rack is connected to the intermediate shaft 66 of the flexible component 51, and the gear is sleeved on the mounting shaft. The mounting shaft is located between the two side plates of the n-shaped frame 49. Two grippers 55 are also provided on the mounting shaft. The first hydraulic cylinder 48 can drive the intermediate shaft 66 to drive the rack to move, and the rack drives the gear to rotate, thereby driving the two grippers 55 to open or close.

[0076] The flexible component 51 includes a connecting housing 57, a spring 58, a wedge 59, a spherical bearing 60, an upper housing 61, a slider 62, a lower housing 63, an elastic element 64, a connecting plate 65, and an intermediate shaft 66. The connecting housing 57 and the upper housing 61, as well as the upper housing 61 and the lower housing 63, are connected by bolts. The bolted connections are staggered by 45° for easy assembly and disassembly. The spring 58 is installed between the top protrusion on the inner wall of the connecting housing 57 and the upper end of the wedge 59. The wedge 59 is installed in a groove in the upper housing 61, with its lower inclined surface contacting the inclined surface of one end of the slider 62. The slider 62 is installed on the upper inner surface of the lower housing 63 and can translate in the X, Y, and Z axes. The spherical bearing 60 is installed inside the slider 62. The outer ring of the spherical bearing 60 is fixed to the slider 62, and its inner ring mates with one end of the intermediate shaft 66. The other end of the intermediate shaft 66 is connected to the gear and rack assembly 50. The elastic element... Component 64 is fixed between the connecting plate 65 and the upper inner surface of the lower housing 63 by screws. The connecting plate 65 is connected between the intermediate shaft 66 and the elastic element 64, allowing the intermediate shaft 66 to swing and twist around the slider 62. When the robot is not subjected to a reaction force, the flexible component 51 remains rigid. When subjected to an external force, it is transmitted to the intermediate shaft 66 through the gripper 55. The intermediate shaft 66 will drive the slider 62 to shift its position. This position shift can be converted into the displacement of the wedge 59 along the slide groove direction. At this time, the spring 58 is compressed and generates a vertically downward restoring force, which restores the wedge 59 and the slider 62. This makes the flexible component 51 compliant in the X, Y, and Z axis directions. When there is an angular shift, the elastic restoring force of the elastic element 64 restores the intermediate shaft 66, thus enabling the flexible component 51 to be compliant around the X, Y, and Z axis directions. Finally, the flexible component 51 protects the robot arm from reaction forces.

[0077] Example 2:

[0078] This embodiment provides a method for adding and unloading drill pipes using the six-axis tandem manipulator compliant drill pipe adding and unloading system of Embodiment 1. The rod adding process of this method includes the following steps:

[0079] Step A1: Initialize the six-axis serial manipulator and the three-degree-of-freedom main unit. Both the six-axis serial manipulator and the three-degree-of-freedom main unit return to the calibration zero point, the release device closes, the rear gripper opens, and the power head returns to the calibration position.

[0080] Step A2: The explosion-proof remote control inputs the target hole parameters to the three-degree-of-freedom main unit;

[0081] Step A3: The three-degree-of-freedom host moves to the designated position according to the calculation results and feeds back the coordinate position to the controller;

[0082] Step A4: The explosion-proof remote control sends a lever extension command to the three-degree-of-freedom main unit and the six-axis serial robot arm;

[0083] Step A5: The three-degree-of-freedom main unit waits for the rod to be added, and the six-axis serial manipulator and its end drill rod grab the compliant component to remove the rod;

[0084] Step A6: The six-axis tandem robot arm grabs the drill pipe and places it into the set position of the clamp based on the coordinate values ​​fed back by the three-degree-of-freedom host.

[0085] Step A7: The gripper clamps the drill pipe and sends a message to the drill pipe gripper compliant component control gripper to release the gripper;

[0086] Step A8: The six-axis tandem robot moves to the designated safe position and sends information to the three-degree-of-freedom host;

[0087] Step A9: The power head rotates back to feed the pressure until the set value is reached;

[0088] Step A10: Determine that the upper clamping is complete by detecting a sudden change in pressure, and release the clamp.

[0089] Step A11: The power head rotates back to feed the pressure until the set value is reached;

[0090] Step A12: Determine that the upper buckle is complete by the sudden change in pressure. Release the buckle and complete the rod addition.

[0091] The rod unloading process of this method includes the following steps:

[0092] Step B1: Initialize the six-axis serial manipulator and simultaneously detect the status of the three-degree-of-freedom host machine, in the state of the drill rod to be unloaded when the active drill rod is separated from the drill rod, the front gripper clamps the drill rod and closes, and the rear gripper opens.

[0093] Step B2: The power head is fed to the calibrated position, and the upper and lower ends are fastened;

[0094] Step B3: The power head rotates to feed in, and after the pressure change indicates that the upper clamping is complete, the front clamp is released;

[0095] Step B4: Pull the power head to the calibrated position, clamp the front clamp, and release the front end buckle;

[0096] Step B5: The power head rotates to pull out the clips. After determining that the uncoupling is complete by the sudden change in pressure, the power head pulls out to the calibrated position.

[0097] Step B6: Clamp the rear clamp and remove the rear end buckle;

[0098] Step B7: The power head rotates and pulls back. After the pressure change determines that the unhooking is complete, the power head pulls back to the calibrated position and sends the current position coordinates to the main controller. At the same time, it sends a waiting bar unloading signal to the six-axis serial robot.

[0099] Step B8: The six-axis serial manipulator and the compliant gripper at its end clamp the drill pipe, the rear gripper releases, and the six-axis serial manipulator places the drill pipe at the set position in the pipe box. During this process, when the six-axis serial manipulator moves to the specified safe position, it sends information to the three-degree-of-freedom main machine.

[0100] Embodiment 3:

[0101] This embodiment provides an integrated drilling robot based on a six-axis manipulator for adding and removing drill pipes, including the drill pipe adding and removing system in Embodiment 1, as Figure 10 and Figure 11 shown, and further includes a crawler vehicle body 2 and a main controller 10; wherein, the drill pipe adding and removing system in Embodiment 1 is installed on the crawler vehicle body 2.

[0102] The crawler vehicle body 2 includes a crawler vehicle body platform 31, a traveling crawler assembly 32, a mine intrinsically safe biaxial inclination sensor 33, a hoisting sling 34, a console valve group 35, a pressure transmitter assembly 36 and a junction box assembly 37; the traveling crawler assembly 32 is arranged on the left and right sides of the crawler vehicle body platform 31; the mine intrinsically safe biaxial inclination sensor 33 is arranged on the crawler vehicle body platform 31 and together with the control part of the crawler vehicle body 2 forms a self-leveling and self-stabilizing system to realize the automatic positioning and automatic stabilization of the crawler vehicle body 2. A stable crawler vehicle body platform 31 is a prerequisite for the drill rig to work, enabling the three-degree-of-freedom main machine 1 installed on the crawler platform to work stably and accurately according to the set requirements; the hoisting sling 34 is welded to the side of the crawler vehicle body platform 31 to meet the hoisting during the assembly or transportation of the drill rig; the console valve group 35 is connected to the vehicle body platform by bolts, applies a valve combination, and is controlled by an explosion-proof remote control to realize the control of each action of the drill rig and the linkage function between the actuators. The protective cover wraps the 4 sets of control valves to ensure the neatness and beauty of the drill rig and prevent misoperation. When performing maintenance, debugging or when a fault occurs in the control system, the solenoid valve handle needs to be installed first and then manual operation is carried out; the pressure transmitter assembly 36 is used to detect the working pressures of the main pump, auxiliary pump, feed, pulling, forward rotation, reverse rotation and return oil of the drill rig in real time, and at the same time display them on the pressure gauge assembly 3 and the explosion-proof remote control interface, facilitating the construction operators to observe. The junction box assembly 37 is screwed to the crawler vehicle body platform 31 for connecting the main controller 10 and the pressure transmitter assembly 36.

[0103] The main controller 10 is installed on the bracket behind the crawler vehicle body platform 31 and is connected to the crawler vehicle body platform 31 by bolts, and can control the self-leveling, self-stabilization and automatic drill pipe adding and removing of the crawler vehicle body 2, automatically adjust the hole-opening posture and automatically drill.

[0104] Specifically, the main controller 10 is bolted to the tracked vehicle platform 31; the bracket and main controller 10 can be removed during transportation to reduce the length of the tracked vehicle platform 31; the controller is the control center of the drilling rig and the integrated processing center for operating commands, receiving and processing various signals emitted by the sensor group, and packaging the information to be displayed according to the communication protocol before transmitting it to the outside through the wireless network transceiver module; the controller also receives and processes the control signals received by the wireless network transceiver module, and controls the current values ​​of various explosion-proof electric control valve groups 4, hydraulic valve groups 4, sensor system, digital valves and explosion-proof servo motors 47 of the control panel valve group 35 through the program, thereby controlling the switching and valve opening of the proportional solenoid valve, the rotation speed and rotation direction of the digital valve and the explosion-proof servo motor 47, so as to achieve the purpose of controlling the tracked vehicle 2 to self-level, self-stabilize, automatically add and unload drill rods, automatically adjust the opening posture and automatically drill.

[0105] This embodiment of the integrated drilling robot for adding and unloading drill rods based on a six-axis manipulator also includes an oil tank assembly 6, a cooler assembly 7, a mine explosion-proof emergency stop button 8, a motor pump unit 9, a main controller 10, and an explosion-proof remote controller. The main controller 10 and the explosion-proof remote controller are connected via a wireless network module.

[0106] The oil tank assembly 6 is screwed to the tracked vehicle platform 31. It includes a return oil filter, an air filter, a wireless network module for communicating with an explosion-proof remote control, an intrinsically safe temperature transmitter for mining, an intrinsically safe level sensor, a self-sealing suction oil filter, and a high-pressure oil filter. It can transmit the oil temperature and oil level in the tank to the main controller 10 in real time. The self-sealing suction oil filter does not require the hydraulic oil to be discharged. The oil circuit is automatically sealed, and the filter element can be directly pulled out for replacement.

[0107] The cooler assembly 7 is connected to the oil tank assembly 6 and includes the cooler mounting housing, handle, cooler core and connector. The cooler core is fixed in the housing, and the housing is connected to the oil tank assembly 6 by screws for easy maintenance and replacement. The cooler assembly 7 connects to the system multi-way valve return oil and gearbox return oil to cool the hydraulic return oil and keep the oil temperature within the normal operating range, thereby reducing the aging and wear of hydraulic components.

[0108] The mine explosion-proof emergency stop button 8 can be used to stop the drilling rig from working by pressing this button quickly in case of an emergency, thus providing protection.

[0109] The motor-pump unit 9 is the power source of the drilling rig, including an explosion-proof motor, pump I, and pump II. Pumps I and II are connected in series. To make full and reasonable use of space, the motor adopts an internal shaft type and is directly connected to pump I through a spline. It is vertically screwed to the tracked vehicle platform 31 through the pump base. The motor-pump unit 9 is embedded in the tracked vehicle platform 31. This installation method greatly increases the compactness of the drilling rig.

[0110] The explosion-proof remote controller is connected to the main controller 10 and includes a PLC module, a wireless transceiver module II, an LCD screen, and an operation panel. The operation panel, LCD screen, and wireless transceiver module II are each connected to the PLC module. The PLC module receives commands from the operation panel, packages the commands according to the communication protocol, and transmits them to the wireless transceiver module II. The wireless transceiver module II receives signals from the wireless transceiver module and transmits them to the PLC module for processing. The LCD screen displays the motion status of the tracked vehicle 2 and the drilling robot, hydraulic system pressure, drilling depth, drill rod rotation speed, oil temperature, drilling azimuth and adjustment angle, drill rod diameter, and relevant warning information. The operation panel includes left and right track movement control handles, self-leveling and self-stabilizing start / stop buttons, a one-button drilling button, individual action buttons for each actuator, function selection buttons, and a digital input keyboard. The throttle curve of the left and right track control handles has been optimized to enhance the controllability of the track movement speed.

[0111] In this embodiment, the drilling robot can achieve automatic control. The stability and reliability of the sensor group are key factors determining the system's overall stability and reliability. The sensor group includes a displacement sensor installed inside the stabilizing cylinder (i.e., the lower hydraulic cylinder) to detect the cylinder's extension length; a pressure transmitter connected to the hydraulic lines to detect oil pressure; a dual-axis tilt sensor installed on the tracked platform to detect its tilt angle; and a rope sensor installed on the three-degree-of-freedom main unit 1 to detect the displacement of the feed cylinder 18, translation cylinder 20, and lifting cylinder 27; and sensors installed on... The sensor group includes an angle adjustment device (i.e., a variable amplitude stabilization device 16), a multi-turn absolute encoder 25 for detecting the tilt angle of the main unit, a speed sensor installed at the rear end of the power head 17 for detecting the rotation speed of the power head 17, a temperature sensor installed on the oil tank for detecting the oil temperature and the oil level sensor in the oil tank, and a proximity sensor installed at the end of the gripper for detecting whether the gripper is close to the drill pipe. These sensors transmit data to the main control station via a CAN bus. The sensor group also includes an absolute encoder 25 installed inside the explosion-proof servo motor 47 for feedback and an intelligent working condition recognition module.

[0112] The calibration work includes zeroing the robot, zeroing the three-DOF main unit 1 (zeroing the tilting device main unit tilting multi-turn absolute encoder 25, zeroing the initial position of the lifting cylinder 27, and zeroing the initial position of the translation cylinder 20), and calibrating the positions of the displacement rope sensor of the feed cylinder 18 (positions Z1, Z2, Z3, and Z4). (Position Z1: the foremost point of the power head 17, the minimum stroke of the feed cylinder 18, used for upper and lower rear end coupling during drilling; Position Z2: the upper front end coupling during automatic drilling (the thread between the middle drill rod and the borehole drill rod) and the uncoupling of the front end coupling during automatic drilling; Position Z3: the position of the upper and lower rear end coupling during automatic drilling and the uncoupling of the rear end coupling during automatic drilling; Position Z4: the rearmost point of the power head 17, the maximum stroke of the feed cylinder 18, the position for waiting for rod addition, and avoiding the drill rod when adding rod.)

[0113] Example 4:

[0114] This embodiment provides a control method for an integrated drilling robot based on a six-axis manipulator for adding and unloading drill rods, including the drilling process and the drill take-off process;

[0115] The drilling process includes the following steps:

[0116] Step a1: Initialize the six-axis serial manipulator and the three-degree-of-freedom host. Both the six-axis serial manipulator and the three-degree-of-freedom host return to the calibration zero point. The unlatcher closes, the rear gripper opens, and the power head returns to the calibration position Z4.

[0117] Step a2: The explosion-proof remote control inputs the target hole parameters to the three-degree-of-freedom main unit;

[0118] Step a3: The three-degree-of-freedom host moves to the designated position according to the calculation results and feeds back the coordinate position to the controller;

[0119] Step a4: The explosion-proof remote control sends a lever extension command to the three-degree-of-freedom main unit and the six-axis serial manipulator;

[0120] Step a5: The three-degree-of-freedom main unit waits for the rod to be added. The six-axis serial manipulator and its end drill rod grab the compliant component to pick up the rod. The six-axis serial manipulator and its end drill rod grab the compliant component according to the stacking program written according to the distance between the drill rods and the arrangement of the drill rods.

[0121] Step a6: The six-axis serial manipulator uses a trajectory planning algorithm to plan the motion trajectory based on the coordinate values ​​fed back by the three-degree-of-freedom host to grab the drill rod and place it into the set position of the gripper.

[0122] Step a7: The gripper clamps the drill pipe and sends a message to the drill pipe gripping compliant component control gripper to release it. At the same time, the gripper control program calls the passive compliant control program to avoid impact damage to the six-axis serial manipulator and its end drill pipe gripping compliant component when the gripper clamps the drill pipe during the drill pipe loading and unloading operation.

[0123] Step a8: The six-axis tandem robot moves to the designated safe position according to the motion trajectory planned by the trajectory planning algorithm, and sends information to the three-degree-of-freedom host;

[0124] Step a9: The power head rotates back to feed the pressure until the set value is reached;

[0125] Step a10: Determine that the upper clamping is complete by the sudden change in pressure, and release the clamp;

[0126] Step a11: The power head rotates back to feed the pressure until the set value is reached;

[0127] Step a12: Determine that the buckling is complete by checking for sudden pressure changes, and release the buckle.

[0128] Step a13: Fully automatic adaptive drilling: Drilling with set parameters or setting gears, and automatically increasing or decreasing feed pressure and rotation pressure according to the drilling parameters;

[0129] Step a14: When the power head is detected to have reached the calibrated position Z1, the three-degree-of-freedom main unit stops operating, the uncoupling device clamps, and the rear end buckle is released;

[0130] Step a15: After the uncoupling is completed by judging the sudden change in pressure, determine whether the number of drill rods has reached the required design hole depth. If so, stop the operation. If the design hole depth has not been reached, return to step a4 to start the next cycle.

[0131] The drilling process includes the following steps:

[0132] Step b1: Initialize the six-axis serial manipulator and simultaneously detect the status of the three-degree-of-freedom host machine, in the state of the drill rod to be unloaded when the active drill rod is separated from the drill rod, the front gripper clamps the drill rod and closes, and the rear gripper opens.

[0133] Step b2: The power head is fed to the calibrated position Z1, and the upper and lower ends are fastened;

[0134] Step b3: The power head rotates to feed in, and after the pressure change indicates that the upper clamping is complete, the front clamp is released;

[0135] Step b4: Pull the power head up to the calibrated position Z2, clamp the front clamp, and release the front end buckle;

[0136] Step b5: The power head rotates to pull out. After determining that the uncoupling is complete by the sudden change in pressure, the power head pulls out to the calibrated position Z3.

[0137] Step b6: Clamp the rear clamp and remove the rear end buckle;

[0138] Step b7: The power head rotates and pulls back. After the pressure change determines that the unhooking is complete, the power head pulls back to the calibrated position Z4 and sends the current position coordinates to the main controller. At the same time, it sends a waiting bar unloading signal to the six-axis serial robot.

[0139] Step b8: The six-axis serial manipulator and its end drill rod grip the compliant component and clamp the drill rod. After the gripper is released, the six-axis serial manipulator places the drill rod into the rod box at the set position according to the motion trajectory planned by the trajectory planning algorithm. During this process, when the six-axis serial manipulator moves to the designated safe position, it sends information to the three-degree-of-freedom host.

[0140] Step b9: Determine if the required number of drill rods has been reached. If drilling is completed, stop the operation. If drilling is not completed, return to step b1 for the next cycle.

Claims

1. A six-axis tandem robotic arm compliant drill pipe loading and unloading system, characterized in that, The system includes a three-degree-of-freedom main unit, a rod box, a six-axis tandem manipulator located between the three-degree-of-freedom main unit and the rod box, and a drill rod gripping compliant component at the end of the six-axis tandem manipulator. The three-degree-of-freedom main unit includes a feed body, a release mechanism and front and rear grippers, a power head, feed cylinders, a slide plate, translation cylinders, a translation clamping plate, a feed displacement sensor assembly, a translation displacement sensor assembly, and a luffing stabilization device. The luffing stabilization device is mounted on the tracked vehicle platform via a lifting cylinder, and its slewing support is connected to one side of the feed body. The translation of the translation cylinder, the lifting of the luffing stabilization device by the lifting cylinder, and the rotation of the slewing support enable adjustment of the three degrees of freedom of the main unit. The rod box includes a box support, a drill rod limit frame, a stop bar, a pad, a front compartment door, a baffle assembly, and... The rear compartment door; the rod box has multiple layers and rows of space to accommodate drill rods, and can adapt to drill rods of different diameters by adjusting the side pads and the bottom drill rod limiting frame; the six-axis serial manipulator includes a base, an arm, and a servo motor; the arm's rotation angle range on the base is -180° to +180°, and the servo motor can control the sequential or synchronous movement of the arm to realize the change of the end position, used to grab the drill rod from the rod box to the drill rod placement position of the three-degree-of-freedom host; the drill rod gripping compliant component includes an n-shaped frame, a first hydraulic cylinder mounted on the n-shaped frame, a flexible component and a gear and rack assembly located below the first hydraulic cylinder, and a gripper, and also includes an elastic component, a proximity switch, a magnet, and a magnetic switch assembly; the first hydraulic cylinder can drive the gear and rack assembly to drive the gripper to open and close to grip the drill rod. The three-degree-of-freedom main unit's unlatcher, front clamp, and rear clamp are screwed onto the mounting plate of the feed machine body and cooperate with the power head to achieve automatic loading and unloading of drill rods. The power head and the slide are connected by a pin, and the slide is connected to the cylinder of the feed cylinder and moves with the cylinder. The power head and the slide slide slide on the feed machine body as the feed cylinder extends and retracts, realizing the drilling rig's lowering and raising. One end of the feed cylinder is connected to the front end of the feed machine body, and the other end is fixed to the rear end of the feed machine body; the feed displacement... One end of the sensor assembly is fixed to the feed machine body, and the other end is fixed to the slide plate, which detects and provides feedback on the stroke position of the feed cylinder in real time; one end of the translation cylinder is hinged to the front end of the feed machine body, and the other end is hinged to the rear end of the feed machine body. The cylinder barrel is connected to the translation plate. The extension and retraction of the translation cylinder drives the feed machine body to move back and forth, adjusting the distance between the feed machine body and the borehole opening; one end of the translation displacement sensor assembly is fixed to the feed machine body, and the other end is fixed to the translation plate, which detects and provides feedback on the translation amount of the translation cylinder. The variable amplitude stabilizing device includes a column cylinder slide rail assembly, a slewing bearing, an encoder, a lifting cylinder, a lifting displacement sensor assembly, a column lower stabilizing assembly, and a rotary upper stabilizing assembly. The column cylinder slide rail assembly is mounted on the two column lower stabilizing components. A rotary support is installed on the front wall of the column cylinder slide rail assembly. The rotary support is connected to the feed machine body through an L-shaped support plate. The rotary support's rotating turbine can drive the L-shaped support plate and the feed machine body to rotate. The rotary support contains a brake, which can hydraulically brake and lock the rotary turbine. The encoder is connected to the brake through a mounting base. The encoder's inner shaft is connected to the L-shaped support plate through a transmission shaft, realizing the direct measurement of the drilling inclination angle. The lower end of the lifting cylinder is screwed to the tracked vehicle platform, and the upper end of the lifting cylinder is screwed to the rear wall of the column cylinder slide rail assembly. The extension and retraction of the lifting cylinder causes the feed machine body to move along the column cylinder, thereby realizing the adjustment of the drilling rig's opening height. One end of the lifting displacement sensor assembly is screwed onto the column cylinder slide rail assembly, and the other end is screwed onto the tracked vehicle platform, used to detect and provide feedback on the displacement of the lifting cylinder. The rod box's support frame includes a square base and four side plates at the four corners. The square base includes two parallel side beams and two parallel end beams. Each side beam has two vertical side plates to enclose the drill rods. There are two parallel drill rod limiting frames, each vertically connected between the two side beams. The drill rod limiting frames have equally spaced arc-shaped grooves to stack the drill rods, ensuring they are stacked at a fixed interval. The drill rods are placed perpendicular to the drilling rod limiting frames. A stop bar is detachably installed between two opposite side plates and parallel to the drill rod limiting frames to prevent the entire drill rod from being inserted into the side beam. Vibration during transport can cause drill rods to fall off. When the drilling rig is working, the stop bar is removed and placed into the two sets of support through holes behind the box bracket. The pad is screwed onto the side plate. By adjusting the thickness of the pad and replacing the drill rod limit frame, it can accommodate drill rods of different diameters and adapt to different types of hand grippers. The front and rear compartment doors are parallel to each other and are respectively located between the two side plates above the two end beams. The front compartment door is screwed together with the baffle assembly and then screwed onto the two parallel side plates. It is removed from the box bracket when the drilling rig is working to limit the axial movement of the drill rods in the drill rod box when the drilling rig moves. The first hydraulic cylinder for gripping the compliant component of the drill rod passes through and is installed on the top plate of the n-shaped frame. A flexible component is installed at the lower end of the first hydraulic cylinder. The lower part of the intermediate shaft of the flexible component is connected to a gear and rack assembly. The gear and rack assembly includes a rack, a mounting shaft, and a gear. The rack is connected to the intermediate shaft of the flexible component, and the gear is sleeved on the mounting shaft, which is located between the two side plates of the n-shaped frame. Two grippers are also provided on the mounting shaft so that the grippers can be opened and closed by the first hydraulic cylinder pushing the gear and rack assembly. A magnetic switch assembly and a magnet are installed between the two grippers below the n-shaped frame. The hydraulic cylinder in the magnetic switch assembly can control whether the magnet is magnetic. An elastic component is connected between the upper end of the magnet and the outside of the side wall of the n-shaped frame.

2. The six-axis tandem robotic arm compliant drill pipe loading and unloading system as described in claim 1, characterized in that, The column stabilizing assembly consists of two parallel components, including a lower column and a lower hydraulic cylinder located below it. The piston rod of the lower hydraulic cylinder is equipped with a displacement sensor. There are two rotating upper stabilizing components, both of which are parallel to the lower stabilizing component of the column. The rotating upper stabilizing component is connected to the lower stabilizing component of the column through its lower rotating sleeve. The rotating upper stabilizing component includes an upper column and an upper hydraulic cylinder inside it. A limit pin is provided at the lower end of the rotating upper stabilizing component. During transportation, the rotating upper stabilizing component is fixed to the tracked vehicle platform by the limit pin, so that the upper stabilizing component is retracted and consistent with the width of the vehicle body. When the drilling rig is in a stable state during construction, pull out the limit pin and rotate both of the upper rotary stabilizing components outward by 90° to the outside of the vehicle body, i.e., to the sides of the lower column stabilizing component, to increase the stabilization distance and improve the stabilization reliability. During transportation, the piston rod of the upper hydraulic cylinder of the upper rotary stabilizing component extends upward and the piston rod of the lower hydraulic cylinder of the lower column stabilizing component extends downward respectively to stabilize the drilling rig.

3. The six-axis tandem robotic arm compliant drill pipe loading and unloading system as described in claim 1, characterized in that, The arm of the six-axis serial manipulator can rotate horizontally around the base, which has a zero reference. The arm includes a shoulder, upper arm, forearm, and wrist connected in sequence. The lower end of the shoulder is connected to the base, and the upper end of the shoulder is connected to one end of the upper arm through a shoulder joint controlled by a servo motor. The other end of the upper arm is connected to one end of the forearm through an elbow joint controlled by a servo motor. The other end of the forearm is connected to the upper part of the wrist through a wrist joint controlled by a servo motor. The lower end of the wrist is connected to a drill rod to grasp a compliant component.

4. The six-axis tandem robotic arm compliant drill pipe loading and unloading system as described in claim 1, characterized in that, The flexible component includes a connecting housing, a spring, a wedge, a spherical bearing, an upper housing, a slider, a lower housing, an elastic element, a connecting disc, and an intermediate shaft; The connecting housing and the upper housing, as well as the upper housing and the lower housing, are all connected by bolts. A spring is installed between the top protrusion on the inner wall of the connecting housing and the upper end of the wedge. The wedge is installed in the groove of the upper housing, and the lower end of the wedge contacts the inclined surface of one end of the slider. The slider is installed on the upper surface of the lower housing. A spherical bearing is installed inside the slider. The outer ring of the spherical bearing is fixed to the slider, and the inner ring is fitted to one end of the intermediate shaft. The other end of the intermediate shaft is connected to the gear rack assembly. An elastic element is fixed between the connecting plate and the upper surface of the lower housing by screws. The connecting plate is connected between the intermediate shaft and the elastic element, allowing the intermediate shaft to swing and twist around the slider.

5. A method for loading and unloading drill pipes using a six-axis tandem manipulator compliant loading and unloading system as described in any one of claims 1 to 4, characterized in that, The rod-addition process of this method includes the following steps: Step A1: Initialize the six-axis serial manipulator and the three-degree-of-freedom main unit. Both the six-axis serial manipulator and the three-degree-of-freedom main unit return to the calibration zero point, the release device closes, the rear gripper opens, and the power head returns to the calibration position. Step A2: The explosion-proof remote control inputs the target hole parameters to the three-degree-of-freedom main unit; Step A3: The three-degree-of-freedom host moves to the designated position according to the calculation results and feeds back the coordinate position to the controller; Step A4: The explosion-proof remote control sends a lever extension command to the three-degree-of-freedom main unit and the six-axis serial robot arm; Step A5: The three-degree-of-freedom main unit waits for the rod to be added, and the six-axis serial manipulator and its end drill rod grab the compliant component to remove the rod; Step A6: The six-axis tandem robot arm grabs the drill pipe and places it into the set position of the clamp based on the coordinate values ​​fed back by the three-degree-of-freedom host. Step A7: The gripper clamps the drill pipe and sends a message to the drill pipe gripper compliant component control gripper to release the gripper; Step A8: The six-axis tandem robot moves to the designated safe position and sends information to the three-degree-of-freedom host; Step A9: The power head rotates back to feed the pressure until the set value is reached; Step A10: Determine that the upper clamping is complete by detecting a sudden change in pressure, and release the clamp. Step A11: The power head rotates back to feed the pressure until the set value is reached; Step A12: Determine that the upper buckle is complete by the sudden change in pressure. Release the buckle and complete the rod addition.

6. A method for loading and unloading drill pipes using a six-axis tandem manipulator compliant loading and unloading system as described in any one of claims 1 to 4, characterized in that, The rod unloading process of this method includes the following steps: Step B1: Initialize the six-axis serial manipulator and simultaneously detect the status of the three-degree-of-freedom host machine, in the state of the drill rod to be unloaded when the active drill rod is separated from the drill rod, the front gripper clamps the drill rod and closes, and the rear gripper opens. Step B2: The power head is fed to the calibrated position, and the upper and lower ends are fastened; Step B3: The power head rotates to feed in, and after the pressure change indicates that the upper clamping is complete, the front clamp is released; Step B4: Pull the power head to the calibrated position, clamp the front clamp, and release the front end buckle; Step B5: The power head rotates to pull out the clips. After determining that the uncoupling is complete by the sudden change in pressure, the power head pulls out to the calibrated position. Step B6: Clamp the rear clamp and remove the rear end buckle; Step B7: The power head rotates and pulls back. After the pressure change determines that the unhooking is complete, the power head pulls back to the calibrated position and sends the current position coordinates to the main controller. At the same time, it sends a waiting bar unloading signal to the six-axis serial robot. Step B8: The six-axis tandem robot and its end effector grip the compliant component and clamp the drill rod. After the gripper is released, the six-axis tandem robot places the drill rod into the rod box at the set position. During this process, when the six-axis tandem robot moves to the designated safe position, it sends information to the three-degree-of-freedom host.

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