Intelligent auxiliary hoisting device and method for underground coal mine directional drilling machine

Abstract

This invention discloses an intelligent auxiliary hoisting device and method for directional drilling rigs in coal mines. The hoisting device includes a tracked vehicle body and an angle-adjusting column assembly, a controller, a folding boom assembly, a main unit, a handle, and a lifting device mounted on it. The tracked vehicle body includes a vehicle platform, tracks, stabilizing components, and a manual oil pump. The angle-adjusting column assembly includes a column base, a column, diagonal braces, and a multi-stage cylinder. The folding boom assembly includes a boom and a forearm. The main unit is installed at one end of the boom, and a wire rope extending from the main unit connects to the handle. A lifting device is connected to the lower end of the handle for hoisting the drilling tools. This invention can reduce the labor intensity of workers handling drilling tools and components during drilling site construction, improve construction safety, and enhance the electrification and automation level of the drilling tool and component hoisting device.

Description

Technical Field

[0001] This invention belongs to the field of automated drilling equipment for underground coal mines, and relates to an intelligent auxiliary hoisting device and method for directional drilling rigs in underground coal mines. Background Technology

[0002] Currently, the main drilling tools used in directional drilling include drill rods, screw motors, non-magnetic drill rods, measuring systems, and directional drill bits. Drill rods are typically 3 meters long, with main specifications of φ73 and φ89. The φ89 helical cable drill rod weighs approximately 65 kg. Among other drilling tools, the φ89 screw motor is the longest, reaching 4.6 meters, with a maximum weight of approximately 150 kg. Currently, during construction, 2-3 people are needed to lift the drill rod from the drill rod holder to the spindle position at the rear of the drilling rig's power head and screw it on. After tightening the water supply, drilling can begin. When retrieving the drill bit after drilling, manual labor is required to lift the drill rod back from the drilling rig to the drill rod holder. Furthermore, if an accident occurs during drilling, and the drill bit becomes stuck and cannot be retrieved using the drilling rig's own capabilities, milling and retrieval techniques are often necessary. However, the diameter of the milling drill rod is larger, and the weight of a single rod is comparable to the aforementioned drill bits. Furthermore, after an accident occurs inside the hole, it needs to be dealt with as quickly as possible to prevent further collapse and irreparable damage to the drill bit. Therefore, this involves the largest number of construction workers, the most strenuous labor, and compromised safety. In addition, the disassembly and replacement of directional drilling rig components are often done entirely manually or using electric hoists for handling and hoisting, resulting in high labor intensity and inadequate safety guarantees.

[0003] CN115450688 A discloses an intelligent auxiliary transportation device and control method for underground coal mines. This scheme mainly emphasizes a handling device and control method, but does not describe the hoisting of directional drilling tools, nor does it specify the operation method of the boom. The specific dimensions and application scenarios of the handling device are not described in detail. The hoisting method is a hydraulic robotic arm hoisting device, which is somewhat complex to operate. CN202310258200.6 discloses a screw motor handling device and method for underground drilling in coal mines. This scheme has a relatively complex handling and unloading structure and does not achieve remote control and automation. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent auxiliary hoisting device and method for directional drilling rigs in coal mines, solving the problems of high labor intensity, complex installation, large number of underground construction personnel, and inability to achieve automated control in existing directional drilling rigs.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An intelligent auxiliary lifting device for directional drilling rigs in coal mines includes a tracked vehicle body and an angle-adjusting column assembly, a controller, a folding boom assembly, a main unit, a handle, and a lifting tool mounted on it.

[0007] The tracked vehicle body includes a vehicle platform, tracks, stabilization components, and a manual oil pump. The stabilization components are mounted on the vehicle platform and include a telescopic boom, an upper screw, and a stabilizing chassis. The telescopic boom is located on the left and right sides of the tracked vehicle body and can extend and retract vertically. By adjusting the upper screw, the stabilizing chassis at the lower end of the telescopic boom can be driven to press down on the ground to ensure the stability and leveling of the tracked vehicle body. The manual oil pump can provide power to the angle adjustment column assembly to raise the angle adjustment column assembly.

[0008] The angle-adjusting column assembly includes a column base, a column, a diagonal brace, and a multi-stage cylinder. The column base is mounted on the vehicle platform and is hinged to the bottom of the column. A main shaft is welded to the top of the column and connected to the folding boom assembly. Ear I and ear II are provided on the side wall of the column. Ear I is hinged to the top of the diagonal brace, and the bottom of the diagonal brace is connected to the column base. Ear II is hinged to one end of the multi-stage cylinder, and the other end of the multi-stage cylinder is hinged to the vehicle platform. The diagonal brace and the multi-stage cylinder are located on the front and rear sides of the column.

[0009] The folding boom assembly includes a boom and a forearm. One end of the boom is connected to the column, and the other end of the boom is connected to the forearm via a pin. The main unit is installed at one end of the boom, and the wire rope inside the main unit extends out to connect to the handle. The lower end of the handle is connected to a lifting device for lifting the drilling tool.

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

[0011] Specifically, the handle is an intrinsically safe coaxial handle for mining to control the lifting of the drill pipe. The handle includes an expansion interface, a control handle interface, a display, an emergency stop button, buttons, and intrinsically safe sensors. The outer layer of the handle is coated with a flame-retardant and anti-static material for underground use. The expansion interface is used to connect to the remote control of the tracked vehicle. The control handle interface is used to communicate with the main board. The display shows the current status of the host. The buttons can select the function of the handle. The intrinsically safe sensors include an intrinsically safe force sensor and an intrinsically safe proximity switch. The intrinsically safe force sensor is used to measure the direction of movement and grip force of the handle, and the intrinsically safe proximity switch is used to detect whether a person is operating the handle.

[0012] Specifically, the control cabinet is an explosion-proof and intrinsically safe control cabinet, which includes an explosion-proof and intrinsically safe power supply, a PLC module, a servo driver, and a servo motor.

[0013] Specifically, the remote control can control the movement of the tracked vehicle body, and the buttons on the remote control can control the raising and lowering of the handle;

[0014] The PLC module includes an input interface, an output interface, a power interface, an analog interface, and a communication interface. It is used to collect information from the coaxial handle and sensors, and after logical judgment, outputs control commands to the main board for servo control via the communication module. The power interface uses 24V power supply, and the communication interface is an Ethernet port using the Ethercat communication protocol. The input interface is used to collect proximity switch I / O values, the output interface is used to output I / O values, and the analog interface is used to collect weighing sensor data and force sensor data.

[0015] Specifically, the servo driver includes a power input module, a control circuit input terminal, an I / O connector, and a communication connector, used to receive information from the PLC module to drive the servo motor; the power output module is powered by 380V AC; the control power input is 24V; the I / O connector is used to drive the motor; the servo motor is a coal mine explosion-proof servo motor, with a brake interface, an encoder, and motor terminals; the brake interface is connected to a 24V power supply for braking the motor; the motor terminals are connected to the motor power cable; the encoder is used to measure the motor parameters.

[0016] A transportation and construction method using the aforementioned intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines includes:

[0017] Step 1: When the tracked vehicle body moves on the slope, operate the manual oil pump to provide power to the multi-stage cylinder of the angle adjustment column assembly, adjust the angle adjustment column assembly angle, and raise the height of the folding boom assembly to complete the transportation on the slope;

[0018] Step 2: After arriving at the drilling site, operate the manual oil replenishment pump to extend the multi-stage cylinder and adjust the angle adjustment column assembly to 90°. Lock the one-way valve on the manual oil replenishment pump to maintain pressure.

[0019] Step 3: Connect the diagonal brace on the angle-adjusting column assembly to the column base to ensure the stability of the column;

[0020] Step 4: When the tracked vehicle body is on a level surface, extend the tracked vehicle body stabilizing component. After the telescopic arm extends, adjust the upper screw to drive the stabilizing chassis downward to press firmly into the ground and provide stable support. If the vehicle body is on an inclined slope, operate the lower adjusting screw to extend the stabilizing component and lift the vehicle body to a level position.

[0021] Step 5: Use the steel wire rope inside the control unit to lower the handle until it is within a range that can be manually operated;

[0022] Step 6: Adjust the position of the boom and forearm to the drill pipe placement position, and pull down the handle to a position where the drill string can be lifted;

[0023] Step 7: Clamp the drill string with the lifting device, and manually operate the handle to drive the drill string upward; when the intrinsically safe load cell on the main unit measures that the weight of the drill string is less than the maximum load, and at the same time detects that the force sensor of the handle has an upward strain and that someone is operating it, the heavy object is lifted.

[0024] Step 8: When the drill bit is lifted to the drilling height of the directional drilling rig, place it at the rear end of the drill head and select the suspension mode for the auxiliary lifting device in the operating handle.

[0025] Step 9: Insert the drill bit into the center hole at the rear end of the drill rig's power head, push the drill bit into the drill rig's through hole, and complete the drill bit lifting;

[0026] Step 10: After completing the drilling of one drill bit, repeat steps 5 through 9 until all drill bits are drilled.

[0027] A control method for an intelligent auxiliary hoisting device for a coal mine underground directional drilling rig, wherein in the following working condition: when directly hoisting heavy objects without assembly, manual operation is required: First, the intrinsically safe load cell is used to measure the weight of the object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving the signal, the PLC will issue an alarm and prohibit the device from lifting. If the weight does not exceed the rated weight, manual operation is then performed using a handle: The operator holds the handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it is necessary to determine whether the sensor is damaged and whether the hand is within the sensor's operating range. If the force sensor on the handle detects a gripping force, it is determined whether the gripping force is greater than the trigger value set in the handle. If the force is greater than the trigger value, the motor is controlled to rotate to complete the raising / lowering of the wire rope.

[0028] Specifically, during the entire lifting process, the encoder installed on the motor measures the motor speed in real time to calculate the position of the wire rope, compares it with the displacement information given by the control command, and makes continuous corrections to achieve precise control of the lifting position. Finally, it checks whether the load has been lifted into place. If it has, the lifting stops, the device maintains the load output, and keeps the load in the required position. The lifting operation continues until the load is unloaded and the handle returns to the zero position, completing one lifting process.

[0029] Specifically, in working condition two: when assembly is required after hoisting a heavy object, manual operation and suspension operation are required. The manual operation is the same as the manual operation process described in claim 4. The suspension operation includes: controlling the motor to output a counter-torque equal to the mass of the heavy object to keep the assembly heavy object in a suspended state; then holding the heavy object with both hands to apply driving force, and then judging whether the intrinsically safe load cell receives changes in the displacement and force of the heavy object; if changes in force and displacement are detected, controlling the motor to rotate to drive the wire rope to realize the slow rise or fall of the heavy object to complete the assembly of the component; finally, checking whether it is hoisted into place, after hoisting into place, the load is kept in the current position until the heavy object is unloaded, and the handle returns to the zero position to complete the hoisting work.

[0030] Specifically, in working condition three: when disassembling heavy objects and components before hoisting: First, the intrinsically safe load cell is used to measure the weight of the heavy object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving this information, the PLC will issue an alarm and prohibit the system from lifting. Then, the suspension mode is selected, and the motor outputs a counter-torque equal to the weight of the heavy object to keep the assembled heavy object in a suspended state. Components / drilling tools are then disassembled. The load is held with both hands to apply driving force, and the intrinsically safe load cell is checked for changes in displacement and force. If changes in force and displacement are detected, the motor is controlled to rotate. The steel wire rope is used to slowly lower the load. Once it reaches a position where manual operation is possible, it switches to manual operation. The operator holds the control handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it is necessary to determine if the sensor is damaged or if the hand is outside the sensor's operating range. If the force sensor does not detect hand grip, it is determined if it is damaged. If there is grip, it is determined if the grip is greater than the trigger value set in the handle. If it is greater than the trigger value, the motor is controlled to rotate to complete the rapid descent of the steel wire rope. After the load is hoisted into place, it remains in the current position until the load is unloaded. Then, the handle returns to the zero position, completing the hoisting operation.

[0031] Compared with the prior art, the present invention has the following technical effects:

[0032] This invention can reduce the labor intensity of workers in carrying drilling tools and components during drilling site construction, improve construction safety, and enhance the level of electrification and automation of drilling tool and component lifting devices. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the angle-adjusting column assembly of the present invention;

[0035] Figure 3 This is a schematic diagram of the folding boom assembly of the present invention;

[0036] Figure 4 This is a topology diagram of the control system and explosion-proof intrinsically safe control cabinet of the present invention;

[0037] Figure 5 This is a flowchart of the intelligent assisted hoisting control system of the present invention;

[0038] Figure 6 This is a flowchart of the intelligent assisted hoisting control system of the present invention;

[0039] Figure 7 This is a flowchart of the intelligent assisted hoisting control process of the present invention.

[0040] The meanings of the labels in the diagram are as follows:

[0041] 1. Tracked chassis; 2. Angle-adjusting column assembly; 3. Control cabinet; 4. Folding boom assembly; 5. Main unit; 6. Handle; 7. Lifting device; 21. Column base; 22. Column; 23. Diagonal brace; 24. Multi-stage cylinder; 41. Boom; 42. Arm. Detailed Implementation

[0042] 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.

[0043] Example 1:

[0044] This embodiment provides an intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines, such as... Figures 1 to 3 As shown, it includes a tracked vehicle body 1 and an adjustable column assembly 2, a control cabinet 3, a folding boom assembly 4, a main unit 5, a handle 6, and a lifting device 7 mounted on it.

[0045] The tracked vehicle body 1 includes a vehicle platform, tracks, stabilization components, and a manual oil pump. The stabilization components are mounted on the vehicle platform and include a telescopic boom, an upper screw, and a stabilizing chassis. The telescopic boom is located on the left and right sides of the tracked vehicle body and can extend and retract vertically. By adjusting the upper screw, the stabilizing chassis at the lower end of the telescopic boom can be driven to press down and compact the ground to stabilize and level the tracked vehicle body during construction. Specifically, the tracked vehicle body is electrically driven and has a battery plate at the bottom. The vehicle platform is used to install other components and has threaded holes for connection with other components via bolts. The manual oil pump provides power to the angle adjustment column assembly to raise the angle adjustment column assembly.

[0046] The angle-adjusting column assembly 2 includes a column base 21, a column 22, a diagonal brace 23, and a multi-stage cylinder 24. The column base 21 is mounted on the vehicle platform and is hinged to the bottom of the column 22. A main shaft is welded to the top of the column 22 to connect with the folding boom assembly 4. Ear seats I and II are provided on the side wall of the column 22. Ear seat I is hinged to the top of the diagonal brace 23, and the bottom of the diagonal brace 23 is connected to the column base 21. Ear seat II is hinged to one end of the multi-stage cylinder 24, and the other end of the multi-stage cylinder 24 is hinged to the vehicle platform. The diagonal brace 23 and the multi-stage cylinder 24 are located on the front and rear sides of the column 22.

[0047] The folding boom assembly 4 includes a boom 41 and a forearm 42. One end of the boom 41 is connected to the column 22, and the other end of the boom 41 is connected to the forearm 42 via a pin. The main unit 5 is installed at one end of the boom 41, and the wire rope 51 inside the main unit 5 extends out to connect to the handle 6. The lower end of the handle 6 is connected to a lifting device 7 for lifting the drilling tool. Specifically, the boom is installed on the column of the angle-adjusting column assembly, and the folding boom rotates around the column through rolling wheels and self-lubricating bearings. The boom and forearm are connected by a pin, with a self-lubricating bearing in between, allowing the forearm to rotate around the boom.

[0048] like Figure 4 The control system and explosion-proof intrinsically safe control cabinet topology diagram shown are illustrated below. The entire electrical control system is composed of the following components:

[0049] The tracked vehicle remote control can control the movement of the tracked vehicle. The buttons on the remote control can control the raising and lowering of the coaxial handle, facilitating worker operation. The specific wiring method is to connect the cable from the tracked vehicle remote control to the expansion interface of the coaxial handle, communicating via RS485. Additionally, the tracks are equipped with a horn and lights, controlled via the horn and light buttons on the tracked vehicle remote control.

[0050] Handle 6 is an intrinsically safe coaxial handle for mining use, used to control the lifting of the drill pipe. Handle 6 includes an expansion interface, a control handle interface, a display, an emergency stop button, buttons, and intrinsically safe sensors. The outer layer of handle 6 is coated with a flame-retardant and anti-static material for underground use. The expansion interface is used to connect to a remote control; the control handle interface is used to communicate with the main board; the display shows the current status of the main unit 5; the buttons select the function of handle 6; the intrinsically safe sensors include an intrinsically safe force sensor and an intrinsically safe proximity switch. The intrinsically safe force sensor measures the direction of movement and grip force of the handle, and the intrinsically safe proximity switch detects whether a person is operating handle 6. More specifically, the expansion interface circuit is used to connect to the remote control on the tracked vehicle to control the raising and lowering of the coaxial handle. When the coaxial handle is in a high position, lowering the coaxial handle position facilitates manual operation. The control handle interface is used to communicate with the main board, transmitting the handle's commands to the main unit. After analysis by the PLC, commands are output to control the actuator's actions. The display shows the current status of the main unit, including the operating mode, speed, and object weight. The buttons are used to select the function of the coaxial handle, select the speed type, and the start method. Intrinsically safe load cells are used to measure the mass of lifting drilling tools, and intrinsically safe proximity switches are used to detect whether a person is operating the handle.

[0051] The PLC module consists of input interfaces, output interfaces, a power interface, an analog interface, and a communication interface. It is used to collect information from the coaxial handle and sensors, and after logical judgment, outputs control commands to the host computer via the communication module for servo control. The power interface uses 24V power, and the communication interface is an Ethernet port using the EtherCAT communication protocol. The input interface is used to collect proximity switch I / O values, the output interface is used to output I / O values, and the analog interface is used to collect data from the load cell and force sensor.

[0052] The motherboard serves as the connection module for the entire device, handling data conversion and communication. The motherboard is powered by an external 380V AC power supply module, providing 380V power to the servo driver. The control circuit operates on 24V DC, powered by an external 24V power supply to power the PLC. A 24-12V power module converts the intrinsically safe 24V power to 12V intrinsically safe power, supplying power to the intrinsically safe load cells and intrinsically safe proximity switches. The motherboard acquires sensor signals and coaxial handle signals. The intrinsically safe load cells are used in floating mode and also for preventing wire rope misalignment. Intrinsically safe proximity switches detect the wire rope position; intrinsically safe proximity switch 1 detects the wire rope for protection, intrinsically safe proximity switch 2 detects the highest limit position, and intrinsically safe proximity switch 3 detects the lowest limit position. Outputs include brake signal output and servo control I / O.

[0053] The servo driver includes a power input module, control circuit input terminals, I / O connectors, and communication connectors, used to receive information from the servo controller to drive the servo motor. The power output module is powered by 380V AC. The control power input is 24V. The I / O connectors are used to drive the motor.

[0054] The servo motor used is an explosion-proof servo motor for coal mines, equipped with a brake interface, encoder, and motor terminals. The brake interface connects to a 24V power supply for braking the motor. The motor terminals connect to the motor power cable. The encoder is used to measure the motor's parameters.

[0055] The area within the dashed box is an explosion-proof and intrinsically safe control cabinet, which includes a 127-24V explosion-proof and intrinsically safe power supply, PLC, mainboard, and servo driver. Cables for the coaxial handle, intrinsically safe sensors, and servo motor are connected using explosion-proof cables through the flared opening of the explosion-proof cabinet.

[0056] This device can lift and hoist drilling tools for directional drilling rigs in low-ceilinged tunnels, with a maximum lifting height of 3 meters and a lifting radius of 3 meters. Figure 1This is also a transportation diagram for the intelligent auxiliary hoisting device used in drilling rigs. The maximum transportation height is 1645mm, and the transportation length is 3825mm. This height and size meet the transportation height requirements of coal mine cages and ventilation doors. The transportation length also meets the cage's 3850mm dimension. Furthermore, after the hoisting device lowers the angle-adjusting column assembly and folds the folding boom assembly, the transportation width is only 1.24m, allowing passage through narrow underground tunnels and ventilation doors. This device can be used for drilling and transportation as a whole without disassembling any components.

[0057] Example 2:

[0058] This embodiment provides a transportation and construction method using an intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines, including:

[0059] Step 1: Adjust the auxiliary hoisting device to Figure 1 In this state, the remote control is used to move the tracked vehicle body. When the tracked vehicle body moves on a slope, the manual oil pump is operated to provide power to the multi-stage cylinder of the angle adjustment column assembly, adjust the angle of the angle adjustment column assembly, and raise the height of the folding boom assembly to complete the transportation on the slope.

[0060] Step 2: After arriving at the drilling site, operate the manual oil replenishment pump to extend the multi-stage cylinder and adjust the angle adjustment column assembly to 90°. Lock the one-way valve on the manual oil replenishment pump to maintain pressure.

[0061] Step 3: Connect the diagonal brace on the angle-adjusting column assembly to the column base to ensure the stability of the column;

[0062] Step 4: When the tracked vehicle body is on a level surface, extend the tracked vehicle body stabilizing component. After the telescopic arm extends, adjust the upper screw to drive the stabilizing chassis downward to press firmly into the ground and provide stable support. If the vehicle body is on an inclined slope, operate the lower adjustment handle to extend the stabilizing component and lift the vehicle body to a level position.

[0063] Step 5: Use the steel wire rope inside the control unit to lower the handle until it is within a range that can be manually operated;

[0064] Step 6: Adjust the position of the boom and forearm to the drill pipe placement position, and pull down the handle to a position where the drill string can be lifted;

[0065] Step 7: Clamp the drill string with the lifting device, and manually operate the handle to drive the drill string upward; when the intrinsically safe load cell on the main unit measures that the weight of the drill string is less than the maximum load, and at the same time detects that the force sensor of the handle has an upward strain and that someone is operating it, the heavy object is lifted.

[0066] Step 8: When the drill bit is lifted to the drilling height of the directional drilling rig, place it at the rear end of the drill head and select the suspension mode for the auxiliary lifting device in the operating handle.

[0067] Step 9: Insert the drill bit into the center hole at the rear end of the drill rig's power head, and push the drill bit into the drill rig's through hole to complete the drill bit lifting;

[0068] Step 10: After completing the drilling of one drill bit, repeat steps 5 through 9 until all drill bits are drilled.

[0069] After drilling is completed, the dismantling of the drill string begins. The first few steps are the same as the hoisting, except that after the drill string is unscrewed, it is pulled out of the drilling rig's through-hole. The hoisting device is then placed in levitation mode, and the drill string is lifted using the hoisting equipment, detaching it from the drilling rig and placing it in levitation mode. Once the drill string is stable, it is manually lowered. When it is almost at the drill string stacking position, the mode is switched to manual mode, and the coaxial handle is used to return the drill string to its stacking position.

[0070] After the overall construction is completed, operate the lead screw of the stabilizing component to retract the stabilizing component, and then retract the stabilizing component. Next, operate the coaxial handle to fold the articulated arm assembly under the action of the rolling bearing. After folding and securing, remove the pin of the diagonal brace, and then operate the one-way valve on the manual oil pump to allow the angle adjustment device to slowly lower into transport mode under its own weight. Finally, operate the remote control device to hoist the drilling tools for the next drilling site.

[0071] Example 3:

[0072] This embodiment provides a control method for an intelligent auxiliary hoisting device used in underground directional drilling rigs in coal mines. The height area is divided into upper mechanical limit, zero point, soft upper limit, upper deceleration point, lower deceleration point, soft lower limit, and lower mechanical limit according to the hoisting position. The upper and lower mechanical limits are determined by upper and lower limit proximity switches. The zero point, soft upper limit, upper deceleration point, lower deceleration point, and soft lower limit are set by the user through options on the coaxial handle. The positions of these five points are fed back to the controller via an encoder connected to an explosion-proof servo motor for control.

[0073] At the beginning, the encoder in the hoisting device determines whether the zero point of the coaxial handle is within reach of the human hand. If it is out of reach, the operator moves the coaxial handle downwards using the control handle button on the remote control until it reaches a position within reach of the human hand.

[0074] When lifting heavy objects, the load cell first measures the weight of the object. If the object exceeds the system's maximum lifting capacity, the device will not lift the object to ensure lifting safety.

[0075] The coaxial handle control method is divided into two modes: manual and floating. Manual mode is for position control of the servo motor, while floating mode is for torque control of the servo motor.

[0076] In manual mode, the operator holds the coaxial handle. If the intrinsically safe proximity switch detects the hand movement, it is activated. If no hand movement is detected, the switch remains stationary to ensure lifting safety. After the intrinsically safe proximity switch is activated, it detects a slight change in tension or compression in the intrinsically safe force sensor inside the coaxial handle. The handle senses the direction and magnitude of the operator's force and adjusts its speed and direction accordingly. The magnitude of the force determines the lifting speed of the equipment. Then, the PLC controller's communication section sends displacement control commands to the driver via the EtherCAT protocol. The driver drives the servo motor to control the wire rope, which in turn moves the drill bit to follow the operator's hand movement, raising and lowering it.

[0077] In suspension mode, torque control eliminates the need for a coaxial handle for load movement. The operator can directly guide the load up and down to achieve precise positioning within its effective stroke. In suspension mode, the weight of the lifted object is measured, and the PLC controller's communication unit sends the same torque to the driver via the EtherCAT protocol, suspending the object. The operator then guides the object; when it contacts the force sensor above the load cell, the sensor measures the change in load weight to detect the operator's intention, and the belt slowly moves the object upwards. The controller connects to the servo motor driver, receiving motor position signals from the motor encoder to form a closed loop, ensuring the positioning accuracy of the entire system.

[0078] If the upper or lower limit position is reached during the lifting process, proximity switch 2 or 3 is triggered. The proximity switch sends an input / output I / O signal to the PLC. After detection, the PLC outputs an I / O control signal to the driver to control the servo motor to stop working.

[0079] If the wire rope becomes tangled during the lifting process, it will trigger the wire rope limit proximity switch 1. The proximity switch will send input / output I / O signals to the PLC. After detection, the PLC will output an I / O control signal to the driver to stop the servo motor from working.

[0080] If the operator presses the emergency stop button, the emergency stop procedure will be initiated immediately. The PLC control output will cut off the motor power supply, and simultaneously the motor brakes will be activated to stop the motor from operating.

[0081] like Figures 5 to 7 As shown, the following three operating conditions are included:

[0082] Scenario 1: Direct hoisting of heavy objects without assembly, requiring only manual operation: First, power on the system, providing 380V AC power to the main system, powering the servo driver and explosion-proof servo motor. Power the 24V intrinsically safe input via a 127-24V intrinsically safe power supply, and power the 24V intrinsically safe output to the PLC and brake interface via terminal wires on the main board. The software system checks if the circuit prompts are normal. If normal, check if the set zero point is within the operator's operating range. The zero point is set via the options on the coaxial handle. For example, setting the zero point 1.5m from the folding arm allows normal personnel to operate the coaxial handle. Proceed directly to the next step. If the zero point is set 0.5m from the folding arm, the operator cannot reach the coaxial handle. In this case, the hoisting control button on the external tracked vehicle remote control is needed to lower the coaxial handle until it is accessible. The remote control and coaxial handle communicate via RS485. During hoisting, the intrinsically safe load cell is first used to measure the weight of the object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving this information, the PLC will issue an alarm and prohibit the device from lifting. If the weight does not exceed the rated weight, manual operation is performed using a handle: the operator holds the handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it is necessary to determine whether the sensor is damaged and whether the hand is within the sensor's operating range. If the force sensor on the handle detects a grip, it is determined whether the grip force is greater than the trigger value set in the handle. If it is greater than the trigger value, the displacement control command is sent to the servo driver through the servo communication interface via the PLC's communication module. The servo driver controls the motor to rotate and complete the raising / lowering of the wire rope. During the raising / lowering process, if the mechanical limit protection proximity switches 2 and 3 or the wire rope protection proximity switch 1 is triggered, the PLC will collect the IO value of the proximity switch and output an alarm signal. The IO control controller servo motor will stop working until the alarm is cleared.

[0083] Throughout the lifting process, an encoder mounted on the motor measures the motor speed in real time to calculate the position of the wire rope. This information is compared with the displacement information given by the control commands, and continuous adjustments are made to achieve precise control of the lifting position. Finally, the lifting operation is checked to ensure the load is in the correct position. If the load is in the correct position, the lifting stops, and the device maintains the load output to keep the load in the desired position. The lifting operation continues until the load is unloaded, at which point the handle returns to the zero position, completing one lifting cycle. If the emergency stop button is pressed at any point during the lifting process, the brakes are activated, and the lifting operation stops.

[0084] Scenario 2: Assembly after hoisting a heavy object: Manual and levitation operations are required. Manual operation is the same as described above. Levitation operation includes: controlling the motor output to provide a counter-torque equal to the weight of the object to keep it suspended; then, holding the object with both hands to apply driving force, and checking if the intrinsically safe load cell receives any slight changes in displacement or force. If changes in force and displacement are detected, the PLC's communication module sends control commands to the servo driver via the servo communication interface. The servo driver controls the motor to rotate, driving the wire rope to slowly raise or lower the object to complete the assembly. During the raising / lowering process, the up / down or wire rope tangling sensors are continuously monitored for triggering. If triggered, the PLC receives signals from intrinsically safe proximity switches 1, 2, and 3, outputs an alarm signal, and the motor stops working until the alarm signal is cleared. Finally, check if the object is properly hoisted. Once properly hoisted, the load remains in its current position until the object is unloaded, at which point the handle returns to the zero position, completing the hoisting operation.

[0085] Operating Condition 3: When disassembling heavy objects and components before hoisting: First, power on the system, providing 380V AC power to the main system, powering the servo driver and explosion-proof servo motor, and supplying power to the 24V intrinsically safe input via a 127-24V intrinsically safe power supply. The 24V intrinsically safe output power is supplied to the PLC and brake interface via terminal wires on the main board. The software system checks if the circuit prompts are normal. After confirming that it is normal, check if the set zero point is within the operator's operating range. The zero point is set through the options on the coaxial handle. For example, setting the zero point at a distance of 1.5m from the folding arm allows normal personnel to operate the coaxial handle. Proceed directly to the next step. If the zero point is set at a distance of 0.5m from the folding arm, the operator cannot reach the coaxial handle. In this case, the hoisting control button on the external tracked vehicle remote control needs to be used to lower the coaxial handle until it is within reach. The remote control and the coaxial handle communicate via RS485. During hoisting, the intrinsically safe load cell is first used to measure the weight of the object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving this information, the PLC will issue an alarm and prohibit the system from lifting. Then, the suspension mode is selected. The torque control command is sent to the servo driver via the servo communication interface through the PLC's communication module. The servo driver controls the motor to output a counter-torque equal to the weight of the object, keeping the assembled object in a suspended state. Component / drilling tool disassembly is then performed. The load is held by both hands and driven. The intrinsically safe load cell is checked for changes in displacement and force. If changes in force and displacement are detected, the control command is sent to the servo driver via the servo communication interface through the PLC's communication module. The servo driver controls the motor to rotate, driving the wire rope to slowly lower the load. Once the load has descended to a certain depth, manual operation can be performed. The operation is then switched to manual mode. The operator holds the handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it's necessary to determine if the sensor is damaged or if the hand is outside the sensor's operating range. If the force sensor does not detect hand grip, it's also necessary to determine if it's damaged. If grip is detected, it's necessary to determine if the grip is greater than the trigger value set on the handle. If it is, the displacement control command is sent to the servo driver via the PLC's communication module and servo communication interface. The servo driver then controls the motor to rotate, completing the rapid descent of the wire rope. During the descent, if the mechanical limit protection proximity switches 2 and 3, or the wire rope protection proximity switch 1, are triggered, the PLC collects the proximity switch's IO value and outputs an alarm signal. The IO control quantity controller stops the servo motor until the alarm is cleared. Finally, it's checked whether the load is in place. After placement, the load remains in its current position until the load is unloaded, at which point the handle returns to the zero position, completing the lifting operation. If the emergency stop button is pressed at any time during the lifting process, the brakes are activated, stopping the lifting.

Claims

1. An intelligent auxiliary hoisting device for directional drilling rigs in coal mines, characterized in that, Includes a tracked vehicle body (1) and an adjustable column assembly (2), a control cabinet (3), a folding boom assembly (4), a main unit (5), a handle (6), and a lifting device (7) mounted on it; The tracked vehicle body (1) includes a vehicle body platform, tracks, stabilization components and a manual oil pump; the stabilization components are installed on the vehicle body platform and include a telescopic arm, an upper screw and a stabilizing chassis. The telescopic arm is located on the left and right sides of the tracked vehicle body and can extend and retract vertically. By adjusting the upper screw, the stabilizing chassis at the lower end of the telescopic arm is driven to press down on the ground to ensure the stability and leveling of the tracked vehicle body; the manual oil pump can provide power to the angle adjustment column assembly to raise the angle adjustment column assembly; The angle-adjusting column assembly (2) includes a column base (21), a column (22), a diagonal brace (23), and a multi-stage cylinder (24). The column base (21) is mounted on the vehicle platform, and the column base (21) is hinged to the bottom end of the column (22). A main shaft is welded to the top end of the column (22) and connected to the folding boom assembly (4). Ear seat I and ear seat II are provided on the side wall of the column (22). Ear seat I is hinged to the top end of the diagonal brace (23), and the bottom end of the diagonal brace (23) is connected to the column base (21). Ear seat II is hinged to one end of the multi-stage cylinder (24), and the other end of the multi-stage cylinder (24) is hinged to the vehicle platform. The diagonal brace (23) and the multi-stage cylinder (24) are located on the front and rear sides of the column (22). The folding boom assembly (4) includes a boom (41) and a forearm (42). One end of the boom (41) is connected to the column (22), and the other end of the boom (41) is connected to the forearm (42) via a pin. The main unit (5) is installed at one end of the boom (41), and the wire rope (51) inside the main unit (5) extends out to connect to the handle (6). The lower end of the handle (6) is connected to a lifting device (7) to lift the drilling tool.

2. The intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 1, characterized in that, The handle (6) is an intrinsically safe coaxial handle for mining to control the lifting of the drill rod. The handle (6) includes an expansion interface, a control handle interface, a display, an emergency stop button, a button, and an intrinsically safe sensor. The outer layer of the handle (6) is coated with a flame-retardant and anti-static material for use underground. The expansion interface is used to connect to the remote control of the tracked vehicle. The control handle interface is used to communicate with the main board. The display can show the current status of the host (5). The button can select the function of the handle (6). The intrinsically safe sensor includes an intrinsically safe force sensor and an intrinsically safe proximity switch. Intrinsically safe force sensors are used for movement direction and grip force, while intrinsically safe proximity switches are used to detect whether a person's hand is operating the handle (6).

3. The intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 2, characterized in that, The control cabinet (3) is an explosion-proof and intrinsically safe control cabinet, which includes an explosion-proof and intrinsically safe power supply, a PLC module, a servo driver and a servo motor.

4. The intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 3, characterized in that, The remote control can control the movement of the tracked vehicle body (1), and the buttons on the remote control can control the lifting and lowering of the handle (6); The PLC module includes an input interface, an output interface, a power interface, an analog interface, and a communication interface. It is used to collect information from the coaxial handle and sensors, and after logical judgment, outputs control commands to the main board for servo control via the communication module. The power interface uses 24V power supply, and the communication interface is an Ethernet port using the Ethercat communication protocol. The input interface is used to collect proximity switch I / O values, the output interface is used to output I / O values, and the analog interface is used to collect weighing sensor data.

5. The intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 4, characterized in that, The servo driver includes a power input module, a control circuit input terminal, an I / O connector, and a communication connector, which are used to receive information from the PLC module to drive the servo motor to work. The power output module is powered by 380V AC; the control power input is 24V; the I / O connector is used to drive the motor; the servo motor is a coal mine explosion-proof servo motor, which has a brake interface, an encoder, and motor terminals; the brake interface is connected to a 24V power supply for braking the motor; the motor terminals are connected to the motor power cable; the encoder is used to measure the motor parameters.

6. A transportation and construction method using the intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 5, characterized in that, include: Step 1: When the tracked vehicle body moves on the slope, operate the manual oil pump to provide power to the multi-stage cylinder of the angle adjustment column assembly, adjust the angle adjustment column assembly angle, and raise the height of the folding boom assembly to complete the transportation on the slope; Step 2: After arriving at the drilling site, operate the manual oil replenishment pump to extend the multi-stage cylinder and adjust the angle adjustment column assembly to 90°. Lock the one-way valve on the manual oil replenishment pump to maintain pressure. Step 3: Connect the diagonal brace on the angle-adjusting column assembly to the column base to ensure the stability of the column; Step 4: When the tracked vehicle body is on a level surface, extend the tracked vehicle body stabilizing component. After the telescopic arm extends, adjust the upper screw to drive the stabilizing chassis downward to press firmly into the ground and provide stable support. If the vehicle body is on an inclined slope, operate the lower adjusting screw to extend the stabilizing component and lift the vehicle body to a level position. Step 5: Use the steel wire rope inside the control unit to lower the handle to a position where it can be manually operated. Step 6: Adjust the position of the boom and forearm to the drill pipe placement position, and pull down the handle to a position where the drill string can be lifted; Step 7: Clamp the drill string with the lifting device, and manually operate the handle to drive the drill string upward; when the intrinsically safe load cell on the main unit measures that the weight of the drill string is less than the maximum load, and at the same time detects that the force sensor of the handle has an upward strain and that someone is operating it, the heavy object is lifted. Step 8: When the drill bit is lifted to the drilling height of the directional drilling rig, place it at the rear end of the drill head and select the suspension mode for the auxiliary lifting device in the operating handle. Step 9: Insert the drill bit into the center hole at the rear end of the drill rig's power head, and push the drill bit into the drill rig's through hole to complete the drill bit lifting; Step 10: After completing the drilling of one drill bit, repeat steps 5 through 9 until all drill bits are drilled.

7. A control method for an intelligent auxiliary hoisting device for a coal mine underground directional drilling rig as described in claim 5, characterized in that, Operating Condition 1: When directly hoisting heavy objects without assembly, manual operation is sufficient: First, use an intrinsically safe load cell to measure the weight of the object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving the signal, the PLC will sound an alarm and prohibit the device from lifting. If the weight does not exceed the rated weight, manual operation can be performed using the handle: The operator holds the operating handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it is necessary to determine whether the sensor is damaged and whether the hand is within the sensor's operating range. If the force sensor on the handle detects a gripping force, it is determined whether the gripping force is greater than the trigger value set in the handle. If it is greater than the trigger value, the motor is controlled to rotate to complete the raising / lowering of the wire rope.

8. The control method for the intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 7, characterized in that, Throughout the lifting process, the encoder installed on the motor measures the motor speed in real time and calculates the position of the wire rope. It compares this information with the displacement information given by the control command and makes continuous corrections to achieve precise control of the lifting position. Finally, it checks whether the load has been lifted into place. If it has, the lifting stops, and the device maintains the load output to keep the load in the required position. The lifting operation continues until the load is unloaded and the handle returns to the zero position, completing one lifting cycle.

9. The control method for the intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 7, characterized in that, Working Condition 2: When assembly is required after hoisting a heavy object: manual operation and suspension operation are required. The manual operation is the same as the manual operation process described in claim 7. The suspension operation is specifically as follows: control the motor to output a counter-torque equal to the mass of the heavy object to keep the assembly heavy object in a suspended state; then hold the heavy object with both hands to apply driving force, and then determine whether the intrinsically safe load cell receives changes in the displacement and force of the heavy object; if changes in force and displacement are detected, control the motor to rotate and drive the wire rope to realize the slow rise or fall of the heavy object to complete the assembly of the component; finally, check whether it is hoisted into place. After hoisting into place, the load is kept in the current position until the heavy object is unloaded, and then the handle returns to the zero position to complete the hoisting work.

10. The control method for the intelligent auxiliary hoisting device for underground directional drilling rigs in coal mines as described in claim 7, characterized in that, Operating Condition 3: When disassembling heavy objects and components before hoisting: First, use an intrinsically safe load cell to measure the weight of the heavy object. If the weight exceeds the rated lifting weight of the device, signal + and signal - are input to the PLC. Upon receiving this information, the PLC will issue an alarm and prohibit the system from lifting. Then, select the suspension mode and control the motor to output a counter-torque equal to the weight of the heavy object to keep the assembled heavy object in a suspended state. Disassemble the components / drilling tools. Hold the heavy object with both hands and apply driving force. Determine whether the intrinsically safe load cell receives changes in displacement and force. If changes in force and displacement are detected, control the motor to rotate and drive the load. The wire rope allows the load to descend slowly. Once it reaches a position where manual operation is possible, it switches to manual control. The operator holds the control handle. If the intrinsically safe proximity switch on the handle does not detect a hand, it is necessary to determine if the sensor is damaged or if the hand is outside the sensor's operating range. If the force sensor does not detect hand grip, it is determined if it is damaged. If grip is detected, it is determined if the grip is greater than the trigger value set in the handle. If it is greater than the trigger value, the motor is controlled to rotate to complete the rapid descent of the wire rope. After the load is hoisted into place, it remains in its current position until the load is unloaded, at which point the handle returns to the zero position, completing the hoisting operation.

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