Modular large-capacity automatic rod bin system with automatic calibration function

Abstract

The present invention discloses a modular large-capacity automatic drill pipe bin system with an automatic calibration function, which includes a modular drill pipe bin, a controller, an electromagnetic proportional multi-way valve, and a remote controller; the modular drill pipe bin includes drill pipe bin I, drill pipe bin II, a rack guide rail assembly, a first displacement sensor, a robotic arm assembly, a gear drive assembly, a first proximity switch, a second displacement sensor, and a drill pipe in-place detection assembly; the controller can control the horizontal movement, vertical telescoping, and clamping or opening of the jaws of the robotic arm assembly through the electromagnetic proportional multi-way valve, and can also receive the instructions of the remote controller and the feedback information of the proximity switch and the displacement sensor. The automatic drill pipe bin system of the present invention adopts a modular design and can be quickly configured to meet the requirements of different drill pipe specifications, drill pipe bin capacities, and roadway heights required for operation by intelligent underground coal mine tunnel drilling rigs.

Description

Technical Field

[0001] The invention belongs to the field of gas control engineering in coal mines, and relates to a modular large-capacity automatic rod bin system with an automatic calibration function. Background Art

[0002] Coal is the energy pillar of our country and the "ballast stone" for energy security. The safe, green, and efficient exploitation of coal resources is related to national energy security and economic stability, and is related to the vital interests of 2.85 million coal industry practitioners. As an important part of the intelligent geological guarantee equipment for mine safety, the intelligent drill rig in coal mines has an automatic drilling function, which can greatly reduce the labor intensity of workers and reduce the occurrence of safety accidents, and has become a research hotspot in the industry.

[0003] The automation degree, capacity of the drill rod bin, and construction height of the drill rig are the core technical parameters of the intelligent drill rig. And these parameters are directly determined by the capacity of the rod bin and the operating height of the robotic arm in the automatic rod bin system. At present, common automatic drill rigs generally have problems such as only being able to adapt to one specification of drill rod, insufficient rod bin capacity, low modularity, and difficult sensor calibration. They cannot be quickly customized according to user needs, and the user learning cost is high, which affects the popularization and application of intelligent drill rigs.

[0004] To solve this problem, through painstaking research and design, and integrating the experience and achievements of long-term research in related fields, the inventor has developed a modular large-capacity automatic rod bin system with an automatic calibration function for intelligent drill rigs in coal mines, which meets the rapid modular integration requirements of intelligent drill rigs for different drill rod specifications, rod bin capacities, and roadway heights required for operation. Summary of the Invention

[0005] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a modular large-capacity automatic rod bin system with an automatic calibration function, which meets the rapid modular integration requirements of intelligent drill rigs for different drill rod specifications, rod bin capacities, and roadway heights required for operation.

[0006] To solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0007] A modular large-capacity automatic rod bin system with an automatic calibration function, comprising a modular rod bin, a controller, an electromagnetic proportional multi-way valve, and a remote controller;

[0008] The modular rod bin includes rod bin I, rod bin II, a rack guide rail assembly, a first displacement sensor, a robotic arm assembly, a gear drive assembly, a first proximity switch, a second displacement sensor, and a drill pipe in-place detection assembly; both rod bin I and rod bin II are U-shaped structures and can be detachably lapped along the length direction to form an extended U-shaped rod bin. Partition plates are provided on the inner walls of the side plates of rod bin I and rod bin II to divide the interior of the extended rod bin into multiple columns of equal width for placing drill pipes; first identification bolts are provided on the side plates between adjacent partition plates; the rack guide rail assembly is arranged horizontally on the outer walls of the side plates of rod bin I and rod bin II; the first displacement sensor is arranged beside rod bin II and is connected to the robotic arm assembly to detect the horizontal displacement of the robotic arm assembly; the robotic arm assembly can move along the rack guide rail assembly through the gear drive assembly thereon. The first proximity switch is arranged at the lower end of the gear drive assembly and is at the same height as the first identification bolt; the second displacement sensor is arranged on the robotic arm assembly to detect its vertical extension length; the drill pipe in-place detection assembly is arranged beside the jaws of the robotic arm assembly to detect the drill pipes in the rod bin.

[0009] The controller can control the horizontal movement, vertical telescoping, and jaw clamping or opening of the robotic arm assembly through an electromagnetic proportional multi-way valve, and can also receive commands from the remote control and feedback information from the proximity switch and displacement sensors.

[0010] The present invention further includes the following technical features:

[0011] Specifically, a plurality of equally spaced vertical partition plate mounting grooves are provided along the length direction on the inner walls of the side plates of rod bin I and rod bin II. The partition plates are installed in the partition plate mounting grooves through bolts. Each partition plate is parallel to each other and perpendicular to the side plates; the distances from the first identification bolt to the partition plates on both sides of it are equal.

[0012] Specifically, one end of the rack guide rail assembly on rod bin I is provided with a baffle to limit the sliding out of the robotic arm assembly, and the other end can be plugged and unplugged with one end of the rack guide rail assembly on rod bin II and is arranged along the same straight line. The other end of the rack guide rail assembly on rod bin II extends out of the end of rod bin II to facilitate the transfer of the drill pipe after the robotic arm assembly takes it out. A baffle is also provided at the other end of the rack guide rail assembly on rod bin II to limit the sliding out of the robotic arm assembly; the rack guide rail assembly includes a guide rail plate and a rack fixed on the guide rail plate, and the rack can mesh with the gear of the gear drive assembly.

[0013] Specifically, the robotic arm assembly includes a vertical lifting oil cylinder assembly, a welding cross beam, a mounting vertical rod, and a claw; both ends of the welding cross beam are respectively connected to the top of the lifting oil cylinder assembly and the top of the mounting vertical rod; a gear drive assembly is arranged on the lifting oil cylinder assembly and can be cooperatively installed with a rack guide rail assembly; a second displacement sensor is arranged at the connection between the welding cross beam and the lifting oil cylinder assembly to detect the extension length of the robotic arm assembly; the mounting vertical rod is located in bin I or bin II, and the claw is connected with a clamping oil cylinder and arranged at the lower end of the mounting vertical rod; a drill pipe in-place detection assembly is arranged at the lower end of the mounting vertical rod and adjacent to the claw.

[0014] Specifically, the lifting oil cylinder assembly includes an outer cylinder, an inner cylinder, and an oil cylinder; sliding key mounting grooves are arranged at different heights on the outer wall of the inner cylinder for mounting sliding keys, and sliding key grooves that can cooperate with the sliding keys are arranged on the inner wall of the outer cylinder; the cooperation between the sliding keys and the sliding key grooves can limit the rotation between the inner cylinder and the outer cylinder, and by installing the sliding keys in different sliding key mounting grooves, the extension stroke of the inner cylinder relative to the outer cylinder can be changed; the top of the inner cylinder is fixedly connected to the welding cross beam through a flange; the oil cylinder is installed inside the inner cylinder, the bottom of the cylinder barrel of the oil cylinder is fixed to the bottom of the outer cylinder through bolts, and the top of the cylinder rod of the oil cylinder is connected to the welding cross beam; a second displacement sensor is arranged between the welding cross beam and the cylinder barrel of the oil cylinder to detect the extension length of the robotic arm assembly, so as to obtain the position of the claw.

[0015] Specifically, the gear drive assembly includes a gear, a drive motor, a mounting block, an upper card slot, and a lower card slot; the mounting block is installed on the outer cylinder of the lifting oil cylinder assembly, the gear is arranged in the middle of the mounting block, the drive motor is arranged at the lower end of the mounting block to drive the gear to rotate, the upper card slot has an opening facing downwards and is arranged at the upper part of the mounting block, the lower card slot has an opening facing upwards and is arranged at the lower part of the mounting block, and the openings of the upper card slot and the lower card slot are opposite; the upper card slot and the lower card slot can respectively be stuck on the upper edge and the lower edge of the guide rail plate of the rack guide rail assembly.

[0016] Specifically, the drill pipe in-place detection assembly includes a housing, an identification rod, a second identification bolt, a second proximity switch, and a return spring; the identification rod is installed in the housing and the lower part of the identification rod extends out of the housing, and the identification rod can move vertically; the second identification bolt is installed at the top of the identification rod, the second proximity switch is arranged on one side of the second identification bolt, and by adjusting the screwing-out length of the second identification bolt, the corresponding timing of the second proximity switch when the bottom of the identification rod contacts the drill pipe can be changed; the return spring is arranged between the identification rod and the housing to enable the identification rod to reset after moving upwards.

[0017] Specifically, a clamping plate is arranged at the end of the side plate of bin I, and a width positioning block is arranged at the end of the side plate of bin II. The clamping plate can cooperate with the width positioning block to achieve precise horizontal positioning when bin I and bin II are connected.

[0018] A positioning platform is provided at the end of the bottom plate of the rod bin I, and a height positioning plate is provided at the end of the bottom plate of the rod bin II. The positioning platform can cooperate with the height positioning plate to achieve precise positioning in the height direction when the rod bin I and the rod bin II are connected.

[0019] Specifically, a sensor protection shell I is installed on the outer wall of the side plate of the rod bin I, and a sensor protection shell II is installed on the outer wall of the side plate of the rod bin II. The sensor protection shell I and the sensor protection shell II are plugged into each other; the sensor protection shell I and the sensor protection shell II are used to protect the pull rope of the first displacement sensor.

[0020] Specifically, the controller can control the lifting of the oil cylinder in the robotic arm assembly through the electromagnetic proportional multi-way valve to drive the vertical telescoping of the robotic arm assembly, control the rotation of the drive motor in the gear drive assembly to drive the horizontal movement of the robotic arm assembly, and control the telescoping of the clamping oil cylinder in the robotic arm assembly to drive the clamping or opening of the jaws; the controller can also receive the feedback information of the first proximity switch, the second proximity switch, the first displacement sensor, and the second displacement sensor; the remote controller can send control commands to the controller, and the control commands include the rod-taking command during automatic drilling, the drill pipe returning command during automatic drilling out, and the automatic calibration instruction; the screen of the remote controller can prompt the user to check the working status of the first displacement sensor, the working status of the first proximity switch, the position of the first identification bolt, the working status of the second displacement sensor, and the working status of the second proximity switch.

[0021] Compared with the prior art, the present invention has the following technical effects:

[0022] The present invention can be quickly integrated into the automatic drill pipe loading and unloading system of intelligent coal mine underground drills, realize the full-automatic taking and placing of drill pipes in the rod bin, and can quickly change the rod bin capacity, working height, and stored drill pipe specifications by configuring different modules, meeting the personalized needs of users, improving the modular level of intelligent drills, and reducing the R & D and manufacturing costs.

[0023] The present invention can realize the automatic calibration of the horizontal and vertical positions of the drill pipes in the rod bin, thereby completing the precise calibration of the drill pipe positions fully automatically, and can also realize the monitoring of the working status of the displacement sensor and the proximity switch. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the modular rod bin structure of the present invention.

[0026] Figure 3 It is a schematic diagram of the rod bin I and the rack guide rail assembly of the present invention.

[0027] Figure 4 It is a schematic diagram of the rod bin II and the rack guide rail assembly of the present invention.

[0028] Figure 5 This is a schematic installation structure diagram of the robotic arm assembly, gear drive assembly, first proximity switch, second displacement sensor, and drill pipe in-place detection assembly of the present invention.

[0029] Figure 6 This is a schematic internal structure diagram of the drill pipe in-place detection assembly of the present invention.

[0030] Meanings of the reference numerals:

[0031] 1. Modular rod bin, 2. Controller, 3. Electro-hydraulic proportional multi-way valve, 4. Remote controller; 11. Rod bin I, 12. Rod bin II, 13. Rack guide assembly, 14. First displacement sensor, 15. Robotic arm assembly, 16. Gear drive assembly, 17. First proximity switch, 18. Second displacement sensor, 19. Drill pipe in-place detection assembly; 111. Partition board, 112. First identification bolt, 113. Clamping plate, 121. Width positioning block, 122. Height positioning plate; 131. Guide rail plate, 132. Rack, 133. Baffle; 141. Sensor protection shell I, 142. Sensor protection shell II; 151. Lifting oil cylinder assembly, 152. Welding cross beam, 153. Installation vertical rod, 154. Claw, 155. Clamping oil cylinder; 161. Gear, 162. Driving motor, 163. Installation block, 164. Upper card slot, 165. Lower card slot; 191. Shell, 192. Identification rod, 193. Second identification bolt, 194. Second proximity switch, 195. Return spring. Detailed implementation manners

[0032] 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, and any equivalent transformation based on the technical solution of this application falls within the protection scope of the present invention.

[0033] Embodiment:

[0034] A modular large-capacity automatic rod bin system with an automatic calibration function includes a modular rod bin 1, a controller 2, an electro-hydraulic proportional multi-way valve 3, and a remote controller 4.

[0035] The modular rod bin 1 includes a rod bin I 11, a rod bin II 12, a rack guide assembly 13, a first displacement sensor 14, a robotic arm assembly 15, a gear drive assembly 16, a first proximity switch 17, a second displacement sensor 18, and a drill pipe in-place detection assembly 19; the rod bin I 11 and the rod bin II 12 are used for storing drill pipes, the robotic arm assembly 15 can move along the length direction and the vertical direction of the rod bin I 11 and the rod bin II 12, and accurately take out the drill pipe from the rod bin and send it to the end of the rod bin under the control of the controller 2; both the rod bin I 11 and the rod bin II 12 are U-shaped structures and the two can be detachably lapped along the length direction to form a U-shaped lengthened rod bin, and partition plates 111 are provided on the inner walls of the side plates of the rod bin I 11 and the rod bin II 12 to divide the interior of the lengthened rod bin into multiple columns with equal widths for placing drill pipes; first identification bolts 112 are provided on the side plates between adjacent partition plates 111; the rack guide assembly 13 is arranged on the outer walls of the side plates of the rod bin I 11 and the rod bin II 12 along the horizontal direction; the first displacement sensor 14 is arranged beside the rod bin II 12 and is connected to the robotic arm assembly 15 to detect the horizontal displacement of the robotic arm assembly 15; the robotic arm assembly 15 can move along the rack guide assembly 13 through the gear drive assembly 16 thereon, and the first proximity switch 17 is arranged at the lower end of the gear drive assembly 16 and is at the same height as the first identification bolt 112; the second displacement sensor 18 is arranged on the robotic arm assembly 15 to detect its vertical extension length; the drill pipe in-place detection assembly 19 is arranged beside the jaws 154 of the robotic arm assembly 15 to detect the drill pipes in the rod bin.

[0036] The controller 2 can control the horizontal movement, vertical telescoping, and clamping or opening of the jaws 154 of the robotic arm assembly 15 through the electro-hydraulic proportional multi-way valve 3, and can also receive the instructions of the remote controller 4 and the feedback information of the proximity switch and the displacement sensor. Specifically, in this embodiment, the controller 2 is an explosion-proof and intrinsically safe controller, the electro-hydraulic proportional multi-way valve 3 is an explosion-proof electro-hydraulic proportional multi-way valve, and the remote controller 4 is an intrinsically safe remote controller.

[0037] The controller 2 can control the lifting of the oil cylinder in the robotic arm assembly 15 through the electro-hydraulic proportional multi-way valve 3 to drive the vertical telescoping of the robotic arm assembly 15, control the rotation of the drive motor 162 in the gear drive assembly 16 to drive the horizontal movement of the robotic arm assembly 15, and control the telescoping of the clamping oil cylinder 155 in the robotic arm assembly 15 to drive the clamping or opening of the jaws 154; the controller 2 can also receive the feedback information of the first proximity switch 17, the second proximity switch 194, the first displacement sensor 14, and the second displacement sensor 18; the remote controller 4 can send control commands to the controller 2, and the control commands include the rod-taking command during automatic drilling, the drill pipe returning command during automatic drill lifting, and the automatic calibration instruction; the screen of the remote controller 4 can prompt the user to check the working status of the first displacement sensor 14, the working status of the first proximity switch 17, the position of the first identification bolt 112, the working status of the second displacement sensor 18, and the working status of the second proximity switch 194.

[0038] The inner walls of the side plates of the rod bin I11 and the rod bin II12 are provided with a plurality of vertically spaced partition mounting grooves along the length direction. The partition 111 is installed in the partition mounting groove by bolts. Each partition 111 is parallel to each other and perpendicular to the side plate; the first identification bolt 112 is equidistant from the partition 111 on both sides of it.

[0039] One end of the rack guide assembly 13 on the rod bin I11 is provided with a baffle 133 to limit the sliding out of the robotic arm assembly 15. The other end can be plugged and unplugged with one end of the rack guide assembly 13 on the rod bin II12 and is arranged along the same straight line. The other end of the rack guide assembly 13 on the rod bin II12 extends out of the end of the rod bin II12 to facilitate the transfer after the robotic arm assembly 15 takes out the drill pipe. The other end of the rack guide assembly 13 on the rod bin II12 is also provided with a baffle 133 to limit the sliding out of the robotic arm assembly 15; the rack guide assembly 13 includes a guide rail plate 131 and a rack 132 fixed on the guide rail plate 131. The rack 132 can mesh with the gear 161 of the gear drive assembly 16.

[0040] The robotic arm assembly 15 includes a vertical lifting oil cylinder assembly 151, a welding cross beam 152, a mounting vertical rod 153 and a claw 154; both ends of the welding cross beam 152 are respectively connected to the top of the lifting oil cylinder assembly 151 and the top of the mounting vertical rod 153; the gear drive assembly 16 is arranged on the lifting oil cylinder assembly 151 and can be installed in cooperation with the rack guide assembly 13; the second displacement sensor 18 is arranged at the connection between the welding cross beam 152 and the lifting oil cylinder assembly 151 to detect the extending length of the robotic arm assembly 15; the mounting vertical rod 153 is located inside the rod bin I11 or the rod bin II12. The claw 154 is connected with a clamping oil cylinder 155 and is arranged at the lower end of the mounting vertical rod 153; the drill pipe in-place detection assembly 19 is arranged at the lower end of the mounting vertical rod 153 and adjacent to the claw 154. More specifically, the welding cross beam 152 is connected to the top of the mounting vertical rod 153 through a flange. The claw 154 completes the clamping and releasing movements under the drive of the clamping oil cylinder 155.

[0041] The lifting oil cylinder assembly 151 includes an outer cylinder, an inner cylinder and an oil cylinder; the outer wall of the inner cylinder is provided with sliding key mounting grooves at different heights to install sliding keys. The inner wall of the outer cylinder is provided with sliding key grooves that can cooperate with the sliding keys; the cooperation of the sliding keys and the sliding key grooves can limit the rotation between the inner cylinder and the outer cylinder. By installing the sliding keys in different sliding key mounting grooves, the extending stroke of the inner cylinder relative to the outer cylinder can be changed; the top of the inner cylinder is fixedly connected to the welding cross beam 152 through a flange; an oil cylinder is installed inside the inner cylinder. The bottom of the cylinder barrel of the oil cylinder is fixed to the bottom of the outer cylinder through bolts, and the top of the cylinder rod of the oil cylinder is connected to the welding cross beam 152; the second displacement sensor 18 is arranged between the welding cross beam 152 and the cylinder barrel of the oil cylinder to detect the extending length of the robotic arm assembly 15, and thus obtain the position of the claw 154.

[0042] The gear drive assembly 16 includes a gear 161, a drive motor 162, a mounting block 163, an upper card slot 164 and a lower card slot 165; the mounting block 163 is mounted on the outer cylinder of the lifting cylinder assembly 151, the gear 161 is arranged in the middle of the mounting block 163, the drive motor 162 is arranged at the lower end of the mounting block 163 to drive the gear 161 to rotate, the upper card slot 164 has an opening facing downwards and is arranged at the upper part of the mounting block 163, the lower card slot 165 has an opening facing upwards and is arranged at the lower part of the mounting block 163, and the openings of the upper card slot 164 and the lower card slot 165 face each other; the upper card slot 164 and the lower card slot 165 can be respectively stuck on the upper edge and the lower edge of the guide rail plate 131 of the rack guide assembly 13.

[0043] The drill pipe in-place detection assembly 19 includes a housing 191, an identification rod 192, a second identification bolt 193, a second proximity switch 194 and a return spring 195; the identification rod 192 is installed in the housing 191 and the lower part of the identification rod 192 extends out of the housing 191, and the identification rod 192 can move vertically; the second identification bolt 193 is installed at the top of the identification rod 192, the second proximity switch 194 is arranged on one side of the second identification bolt 193, and by adjusting the screwing-out length of the second identification bolt 193, the corresponding timing of the second proximity switch 194 when the bottom of the identification rod 192 contacts the drill pipe can be changed; the return spring 195 is arranged between the identification rod 192 and the housing 191 so that the identification rod 192 can be reset after moving upwards.

[0044] A clamping plate 113 is provided at the end of the side plate of the rod bin I 11, and a width positioning block 121 is provided at the end of the side plate of the rod bin II 12. The clamping plate 113 can cooperate with the width positioning block 121 to achieve precise horizontal positioning when the rod bin I 11 and the rod bin II 12 are connected;

[0045] A positioning table is provided at the end of the bottom plate of the rod bin I 11, and a height positioning plate 122 is provided at the end of the bottom plate of the rod bin II 12. The positioning table can cooperate with the positioning plate to achieve precise height positioning when the rod bin I 11 and the rod bin II 12 are connected.

[0046] A sensor protection shell I 141 is installed on the outer wall of the side plate of the rod bin I 11, and a sensor protection shell II 142 is installed on the outer wall of the side plate of the rod bin II 12. The sensor protection shell I 141 and the sensor protection shell II 142 are inserted into each other; the sensor protection shell I 141 and the sensor protection shell II 142 are used to protect the pull rope of the first displacement sensor 14 and can prevent foreign objects from touching the pull rope and affecting the sensor reading.

[0047] The rod taking process of the modular large-capacity automatic rod bin system with an automatic calibration function of the present invention:

[0048] The user sends a control command for fully automatic drilling to the intelligent drill rig via the remote controller. When it is necessary to take out a drill pipe from the rod bin, the explosion-proof and intrinsically safe controller energizes the electromagnets of the explosion-proof electromagnetic proportional multi-way valve in sequence according to a pre-set program. First, it controls the oil cylinder in the robotic arm assembly to extend, lifting the robotic arm to the highest position; then it controls the drive motor to rotate to drive the robotic arm assembly to move horizontally. At this time, the rope end of the first displacement sensor will move together with the robotic arm assembly, and the relative position of the robotic arm assembly and the rod bin in the horizontal direction is detected in real time. When it is detected that the robotic arm assembly moves to the position corresponding to the program-set column, the controller controls the robotic arm assembly to stop horizontal movement, completing the horizontal rod searching of the robotic arm assembly. The oil cylinder in the robotic arm assembly retracts, controlling the robotic arm to quickly descend. The second displacement sensor detects the position of the oil cylinder lever in the robotic arm assembly in the vertical direction in real time. When it moves to 100 mm above the target point, the movement speed is changed, and it slowly approaches the drill pipe in the rod bin. The drill pipe contacts the end of the identification rod in the drill pipe in-place detection assembly and moves upward, compressing the return spring. The second identification bolt installed at the end of the identification rod slowly rises and enters the identification range of the second proximity switch. The second proximity switch sends the information of the drill pipe in place to the explosion-proof and intrinsically safe controller, and the controller controls the robotic arm assembly to stop descending, completing the height-direction rod searching of the robotic arm; then, the clamping oil cylinder extends, driving the jaws to clamp the drill pipe, and the robotic arm assembly is lifted to the maximum position and moves horizontally to the end of the drill pipe bin, completing an automatic rod-taking operation.

[0049] The process of putting back the drill pipe of the modular large-capacity automatic rod bin system with an automatic calibration function in the present invention:

[0050] The user sends a control command for fully automatic drill lifting to the intelligent drill rig via the remote controller. When it is necessary to take out a drill pipe from the rod bin, the robotic arm assembly starts from the first column of the rod bin, explores the actual number of drill pipes in each column of the rod bin, and fills the rod bin column by column starting from the first column. The explosion-proof and intrinsically safe controller energizes the electromagnets of the explosion-proof electromagnetic proportional multi-way valve in sequence according to a pre-set program. First, it controls the oil cylinder in the robotic arm assembly to extend, lifting the robotic arm to the highest position; then it controls the drive motor to rotate to drive the robotic arm assembly to move horizontally. At this time, the rope end of the second displacement sensor will move together with the robotic arm, and the relative position of the robotic arm and the rod bin in the horizontal direction is detected in real time. When it is detected that the robotic arm assembly moves to the position of the first column of the rod bin, the controller controls the robotic arm to stop horizontal movement. The oil cylinder in the robotic arm assembly retracts, controlling the robotic arm to slowly descend, exploring whether there is a drill pipe in the first column and the position of the drill pipe. The second displacement sensor detects the position of the robotic arm in the vertical direction in real time. The drill pipe in-place detection assembly detects the position of the drill pipe in this column and records the layer N where the drill pipe is located. The robotic arm assembly stacks the drill pipes on the N+1 layer until this column is filled. After the first column is filled, the robotic arm assembly goes to the second column to explore and fills the second column, and so on until all the drill pipes in the holes are stacked in the rod bin in an orderly manner.

[0051] The implementation process of the sensor automatic calibration function of the modular large-capacity automatic rod bin system with automatic calibration function in the present invention:

[0052] When recalibrating the rod bin, it is necessary to fill the first column of the rod bin with drill pipes and empty the drill pipes in other columns; then trigger the one-key automatic calibration function of the rod bin through the remote control;

[0053] After the rod bin system receives the automatic calibration instruction, the explosion-proof and intrinsically safe controller will send a control instruction to the solenoid valve to lift the robotic arm assembly to the highest position, and the program will automatically record the reading of the second displacement sensor as the maximum working height data of the robotic arm assembly. Then control the driving motor to rotate, drive the robotic arm assembly to move to the rightmost end of the rack guide rail assembly and contact the baffle, so that the pump pressure of the drill rig reaches the pump cut-off pressure. At this time, the program will automatically record the reading of the first displacement sensor as the starting position of the robotic arm assembly in the horizontal direction, that is, the "0" position. Then control the driving motor to rotate in the reverse direction, drive the robotic arm assembly to move to the left. When the first proximity switch recognizes the first identification bolt, the robotic arm stops moving and records the reading of the first displacement sensor at the current position as the position parameter of the first column of the rod bin in the horizontal direction, that is, the horizontal "1" position. Then control the robotic arm assembly to continue moving to the left. When the first proximity switch recognizes the first identification bolt of the next column, the robotic arm stops moving and records the reading of the first displacement sensor at the current position as the position parameter of the second column of the rod bin in the horizontal direction, that is, the horizontal "2" position. In this way, the rod bin system will complete the calibration work of the horizontal displacement sensors of the remaining columns in turn.

[0054] After the horizontal calibration is completed, the rod bin system will automatically enter the automatic calibration program in the vertical direction. The robotic arm assembly first moves to the position of the first column of the rod bin, that is, the horizontal "1" position. The robotic arm slowly descends. When the drill pipe in-place detection component detects the first layer of drill pipes, record the reading of the second displacement sensor at the current position as the position parameter of the first layer of the first column of the rod bin in the vertical direction, that is, the vertical "1" position. Then the claw clamps the drill pipe and places the first layer of drill pipes on the second column. The robotic arm returns to the first column and slowly descends again. When the drill pipe in-place detection component detects the second layer of drill pipes, record the reading of the second displacement sensor at the current position as the position parameter of the second layer of the first column of the rod bin in the vertical direction, that is, the vertical "2" position. Repeat the above operations to complete the precise calibration of the vertical positions of all drill pipes in the first column. After the calibration of the first column is completed, the second column is just filled with drill pipes, and the rod bin system will repeat the operations of the first column to complete the precise calibration of the vertical directions of the drill pipes in each column of the rod bin in turn.

[0055] The implementation process of the automatic monitoring function of the sensor working state of the modular large-capacity automatic rod bin system with automatic calibration function in the present invention:

[0056] Working state monitoring process of the first displacement sensor and the first proximity switch:

[0057] When the robotic arm assembly goes to a certain position in the rod bin to pick up and place drill pipes, the system will automatically calculate the horizontal distance between the current position and the target position, and the number of the first identification bolts that the first proximity switch should identify during the movement process. When the data of the first displacement sensor shows that the robotic arm assembly has reached the target position, but the number of the first identification bolts actually identified by the first proximity switch is different from the calculated value, it indicates that the first displacement sensor and the first proximity switch may be abnormal. At this time, the system will trigger the automatic detection program of the sensor working state, control the robotic arm assembly to move to the rightmost end of the rod bin. When the pressure sensor of the drilling rig system detects the maximum pressure of the system, it means that the robotic arm assembly has moved to the rightmost end position. If the value of the displacement sensor at this time is different from the calibrated value, it indicates that the first displacement sensor is working abnormally, and the remote control screen will prompt the user to check the working state of the first displacement sensor. When the value of the first displacement sensor is the same as the calibrated value, it indicates that the working state of the first proximity switch is abnormal. The remote control screen will prompt the user to check the working state of the first proximity switch or whether the position of the first identification bolt is appropriate.

[0058] Working state monitoring process of the second displacement sensor and the second proximity switch:

[0059] Whenever the robotic arm is lifted to the highest position, the system will compare whether the data of the second displacement sensor is the same as the calibrated value. If they are different, it indicates that the second displacement sensor is working abnormally, and the remote control screen will prompt the user to check the working state of the second displacement sensor. When the robotic arm assembly slowly descends to pick up the drill pipe in the rod bin, if the data of the second displacement sensor shows that the robotic arm has exceeded the position where the drill pipe should be, and the second proximity switch still does not detect that the drill pipe is in place, and at this time the pressure of the pump station driving the robotic arm to descend continues to rise and is higher than the set value, it indicates that the second proximity switch is working abnormally, and the remote control screen will prompt the user to check the working state of the second proximity switch.

[0060] In the modular large-capacity automatic rod bin system with an automatic calibration function of the present invention, the modular implementation of the rapid configuration of the rod bin capacity and the rapid matching process of the drill pipe specifications:

[0061] The rod bins I and II have the same drill rod capacity, and the precise positioning of the two rod bins in the horizontal and vertical directions can be achieved through the cooperation of the clamping plate and the width positioning block, as well as the cooperation of the positioning table and the height positioning plate. When the planned drilling depth of the drill rig is relatively deep and the roadway size at the drill rig operation site can meet the requirements, the drill rig can be equipped with two rod bins simultaneously. When the planned drilling depth of the drill rig is relatively shallow, or the roadway size at the drill rig operation site cannot meet the requirements, the drill rig can remove rod bin I, or only install one rod bin II separately during factory production. At this time, the baffle of rod bin I needs to be removed and installed at the rightmost end of the guide rail plate of rod bin II. After the robotic arm assembly moves to contact the baffle and cannot move further, the control program will automatically identify that the drill rig is only equipped with one rod bin. Since all sensors and power units of the rod bin system are set on rod bin II and the robotic arm assembly, when disassembling one of the rod bins, there is no need to disassemble any hoses, nor to recalibrate the sensors, which is very convenient. In addition, the specification of the drill rods that the rod bin can store is determined by the distance between the two partitions. Since the partitions are fixed by screwing, different thickness partitions can be replaced during use to change the specification of the drill rods that the rod bin can store.

[0062] In the modular large-capacity automatic rod bin system with an automatic calibration function of the present invention, the process of modularity meeting the usage requirements of different roadway heights: When the rod bin system is working, the top of the robotic arm assembly is the highest position of the system. When the operating height of the system is too high and the roadway conditions cannot meet the usage requirements, the operating height of the rod bin system can be reduced by replacing the installation vertical rod with a shorter length and installing the limit sliding key into the sliding key installation groove located at the upper end of the inner cylinder at the same time. The length of the installation vertical rod and the installation position of the sliding key can be customized according to the user's usage conditions. To ensure that the robotic arm can take out the drill rods from the rod bin and facilitate the horizontal movement of the drill rods, when changing the installation position of the sliding key, the corresponding length of the installation vertical rod needs to be replaced synchronously.

[0063] In the modular large-capacity automatic rod bin system with an automatic calibration function of the present invention, the process of the modular control program quickly adapting to different hardware configurations of the rod bin:

[0064] When designing the control program, selecting sensors, and designing the sensor protection device, the requirements of different hardware configurations of the rod bin are fully considered. The range of the first displacement sensor can meet the simultaneous operation of the two rod bins; and the sensor protection shell I and the sensor protection shell II can be quickly plugged and separated, facilitating the rapid configuration of the number of rod bins. No matter what specification of partition is replaced, the first identification bolt is equidistant from the two side partitions, and one-key calibration of the rod bin system can be completed. The range of the second displacement sensor can also meet the usage requirements of different installation positions of the sliding key, providing accurate data for the relative position of the clamping jaw and the drill rod in the vertical direction.

Claims

1. A modular large-capacity automatic rod bin system with an automatic calibration function, characterized in that, It includes a modular rod bin, a controller, an electromagnetic proportional multi-way valve, and a remote controller; The modular rod bin includes a rod bin I, a rod bin II, a rack guide rail assembly, a first displacement sensor, a robotic arm assembly, a gear drive assembly, a first proximity switch, a second displacement sensor, and a drill pipe in-place detection assembly; both the rod bin I and the rod bin II are U-shaped structures and can be detachably lapped along the length direction to form an extended U-shaped rod bin. Partition plates are provided on the inner walls of the side plates of the rod bin I and the rod bin II to divide the interior of the extended rod bin into multiple columns of equal width for placing drill pipes; first identification bolts are provided on the side plates between adjacent partition plates; the rack guide rail assembly is arranged horizontally on the outer walls of the side plates of the rod bin I and the rod bin II; the first displacement sensor is arranged beside the rod bin II and is connected to the robotic arm assembly to detect the horizontal displacement of the robotic arm assembly; the robotic arm assembly can move along the rack guide rail assembly through the gear drive assembly thereon, the first proximity switch is arranged at the lower end of the gear drive assembly and is at the same height as the first identification bolt; the second displacement sensor is arranged on the robotic arm assembly to detect its vertical extension length; the drill pipe in-place detection assembly is arranged beside the jaws of the robotic arm assembly to detect the drill pipes in the rod bin; The controller can control the horizontal movement, vertical telescoping, and jaw clamping or opening of the robotic arm assembly through the electromagnetic proportional multi-way valve, and can also receive the instructions from the remote controller and the feedback information from the proximity switch and the displacement sensor; One end of the rack guide rail assembly on the rod bin I is provided with a baffle to limit the sliding out of the robotic arm assembly, and the other end can be plugged and unplugged with one end of the rack guide rail assembly on the rod bin II and is arranged along the same straight line. The other end of the rack guide rail assembly on the rod bin II extends out of the end of the rod bin II to facilitate the transfer of the drill pipe after the robotic arm assembly takes it out. A baffle is also provided at the other end of the rack guide rail assembly on the rod bin II to limit the sliding out of the robotic arm assembly; the rack guide rail assembly includes a guide rail plate and a rack fixed on the guide rail plate, and the rack can mesh with the gear of the gear drive assembly; The robotic arm assembly includes a vertical lifting oil cylinder assembly, a welding cross beam, a mounting vertical rod, and jaws; both ends of the welding cross beam are respectively connected to the top of the lifting oil cylinder assembly and the top of the mounting vertical rod; the gear drive assembly is arranged on the lifting oil cylinder assembly and can be cooperatively installed with the rack guide rail assembly; the second displacement sensor is arranged at the connection between the welding cross beam and the lifting oil cylinder assembly to detect the extension length of the robotic arm assembly; the mounting vertical rod is located inside the rod bin I or the rod bin II, and the jaws are connected with a clamping oil cylinder and are arranged at the lower end of the mounting vertical rod; the drill pipe in-place detection assembly is arranged at the lower end of the mounting vertical rod and is adjacent to the jaws.

2. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 1, characterized in that, Vertical partition mounting grooves at equal intervals are provided on the inner walls of the side plates of the rod bin I and the rod bin II along the length direction, and the partition plates are installed in the partition mounting grooves through bolts. Each partition plate is parallel to each other and perpendicular to the side plates; the distances from the first identification bolt to the partition plates on both sides of it are equal.

3. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 1, characterized in that, The lifting oil cylinder assembly includes an outer cylinder, an inner cylinder and an oil cylinder; sliding key mounting grooves are provided at different heights on the outer wall of the inner cylinder for mounting sliding keys, and sliding key grooves that can cooperate with the sliding keys are provided on the inner wall of the outer cylinder; the cooperation between the sliding keys and the sliding key grooves can limit the rotation between the inner cylinder and the outer cylinder, and the extended stroke of the inner cylinder relative to the outer cylinder can be changed by installing the sliding keys in different sliding key mounting grooves; the top of the inner cylinder is fixedly connected to the welding cross beam through a flange; the oil cylinder is installed inside the inner cylinder, the bottom of the cylinder barrel of the oil cylinder is fixed to the bottom of the outer cylinder through bolts, and the top of the cylinder rod of the oil cylinder is connected to the welding cross beam; a second displacement sensor is arranged between the welding cross beam and the cylinder barrel of the oil cylinder to detect the extended length of the robotic arm assembly, and thus obtain the position of the claw.

4. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 3, characterized in that, The gear drive assembly includes a gear, a drive motor, a mounting block, an upper card slot and a lower card slot; the mounting block is installed on the outer cylinder of the lifting oil cylinder assembly, the gear is arranged in the middle of the mounting block, the drive motor is arranged at the lower end of the mounting block to drive the gear to rotate, the upper card slot has an opening facing downwards and is arranged at the upper part of the mounting block, the lower card slot has an opening facing upwards and is arranged at the lower part of the mounting block, and the openings of the upper card slot and the lower card slot face each other; the upper card slot and the lower card slot can respectively be stuck on the upper edge and the lower edge of the guide rail plate of the rack and guide rail assembly.

5. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 4, characterized in that, The drill pipe in-place detection assembly includes a housing, an identification rod, a second identification bolt, a second proximity switch and a return spring; the identification rod is installed inside the housing and the lower part of the identification rod extends outside the housing, and the identification rod can move vertically; the second identification bolt is installed at the top of the identification rod, the second proximity switch is arranged on one side of the second identification bolt, and by adjusting the screwing-out length of the second identification bolt, the corresponding timing of the second proximity switch when the bottom of the identification rod contacts the drill pipe can be changed; the return spring is arranged between the identification rod and the housing so that the identification rod can be reset after moving upwards.

6. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 1, characterized in that, A clamping plate is provided at the end of the side plate of the rod bin I, and a width positioning block is provided at the end of the side plate of the rod bin II. The clamping plate can cooperate with the width positioning block to achieve precise horizontal positioning when the rod bin I and the rod bin II are connected; A positioning table is provided at the end of the bottom plate of the rod bin I, and a height positioning plate is provided at the end of the bottom plate of the rod bin II. The positioning table can cooperate with the height positioning plate to achieve precise height positioning when the rod bin I and the rod bin II are connected.

7. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 1, characterized in that, A sensor protection shell I is installed on the outer wall of the side plate of the rod bin I, and a sensor protection shell II is installed on the outer wall of the side plate of the rod bin II. The sensor protection shell I and the sensor protection shell II are plugged together; the sensor protection shell I and the sensor protection shell II are used to protect the pull rope of the first displacement sensor.

8. The modular large-capacity automatic rod bin system with an automatic calibration function according to claim 5, characterized in that, The controller can control the lifting of the oil cylinder in the robotic arm assembly through an electromagnetic proportional multi-way valve to drive the vertical telescoping of the robotic arm assembly, control the rotation of the drive motor in the gear drive assembly to drive the horizontal movement of the robotic arm assembly, and control the telescoping of the clamping oil cylinder in the robotic arm assembly to drive the clamping jaws to clamp or open; the controller can also receive the feedback information from the first proximity switch, the second proximity switch, the first displacement sensor, and the second displacement sensor; the remote controller can send control commands to the controller, and the control commands include the rod-taking command during automatic drilling, the drill pipe returning command during automatic drill lifting, and the automatic calibration instruction; the screen of the remote controller can prompt the user to check the working status of the first displacement sensor, the working status of the first proximity switch, the position of the first identification bolt, the working status of the second displacement sensor, and the working status of the second proximity switch.

Images