An automatic feeding system and automatic control method for drill pipes in a coal mine underground

Abstract

The application discloses a kind of automatic feeding system and automatic control method of drill pipe in coal mine, including movable car body platform, the car body platform middle part is provided with feeding mechanism along transverse distribution, the longitudinal front end of car body platform is provided with control module;The feeding structure includes material box support, the material box support includes a pair of first column and a pair of second column in car body platform along transverse sequentially arranged, first crossbeam is arranged between the first column and the second column;Horizontal distribution structure and vertical distribution structure are controlled by control module to realize the cooperative operation of each extraction only one drill pipe, and storage queuing structure has certain fault tolerance, ensure that each temporary storage station has a drill pipe, do not affect production rhythm, solve the problem that it is difficult to take out single drill pipe from numerous drill pipes each time, while not affecting the production rhythm of equipment.

Description

Technical Field

[0001] This invention belongs to the field of automatic drilling in coal mines, and relates to an automatic drill pipe feeding device, specifically an automatic drill pipe feeding system and automatic control method for underground coal mines. Background Technology

[0002] Drilling operations in coal mines are a crucial part of coal mining and exploration. Drill rods are commonly used tools to lower drill bits underground to obtain information about the ore layer structure and geological conditions. However, due to the harsh underground environment, confined working space, and inherent safety risks, traditional methods of manually loading and sorting drill rods present numerous problems.

[0003] Traditional underground drill pipe loading in coal mines relies primarily on manual operation. Drill pipes are typically stored in boxes on racks, requiring manual sorting to extract the individual pipes needed. For drill pipes shorter than 1.5 meters, one person can manage this, but for pipes longer than 1.5 meters, it becomes quite difficult, especially for longer and heavier pipes. A single drill rod can weigh up to 54 kg, requiring two or even three people to work together to sort and load them. This process is not only time-consuming and labor-intensive with low production efficiency, but it also easily leads to accidental injury to workers, posing a personal safety risk.

[0004] To reduce the labor intensity of workers and automate the sorting process, an automatic drill rod feeding device is needed. This device must be able to accommodate a large number of drill rods at once, no less than 200 rods; it must also be able to sort out only one drill rod at a time from the large batch; and it must have a certain tolerance for errors, meaning that drill rods often exhibit misalignment, displacement, or cross-placement, and the automatic feeding device must also be able to automatically sort and feed the drill rods. This device must be highly reliable, have good error tolerance, be inexpensive, and be highly practical; it should improve work efficiency, reduce risks, and improve working conditions.

[0005] The application of this automatic feeder for tracked drill pipes in coal mines will significantly improve the efficiency of underground drilling operations, reduce personal safety risks, improve working conditions, and bring huge economic and social benefits to coal mining and mineral exploration. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic feed system and automatic control method for drill rods in underground coal mines, so as to solve the technical problem of low feed rod sorting efficiency in the existing technology.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] An automatic drill pipe feeding system for underground coal mines includes a movable vehicle platform, a feeding mechanism distributed laterally in the middle of the vehicle platform, and a control module at the longitudinal front end of the vehicle platform.

[0009] The feeding structure includes a material box bracket, which includes a pair of first columns and a pair of second columns arranged in a transverse direction on the vehicle platform, and a first crossbeam between the first columns and the second columns; multiple first sensors are arranged on the transverse rear side of the first columns, and second sensors are arranged on the upper surface of the first crossbeam.

[0010] A horizontal material distribution structure is provided on the first crossbeam. The horizontal material distribution structure includes a first main shaft and a second main shaft arranged sequentially between the two first crossbeams in a transverse direction. First drive wheels are sleeved on both ends of the first main shaft, and first driven wheels are provided on both ends of the second main shaft. A first flexible transmission belt is provided on both the first drive wheels and the first driven wheels. A second magnetic gripping device is evenly installed on the first flexible transmission belt. One end of the first main shaft extends out of the first crossbeam and is connected to a first motor.

[0011] It also includes a first auxiliary control mechanism, which includes a beam moving reversing structure and a beam fixing reversing structure respectively disposed on the opposite surfaces of the two first beams;

[0012] The aforementioned beam movement reversing structure includes a beam movement reversing multi-stage hydraulic cylinder fixed on the side wall of the first beam, and the bottom of the beam movement reversing multi-stage hydraulic cylinder is sequentially provided with a beam movement reversing baffle and a beam movement reversing top plate.

[0013] The aforementioned beam fixed reversing structure includes a beam fixed reversing top plate and a beam fixed reversing baffle fixed on the side wall of the first beam;

[0014] A vertical material distribution structure is provided between the pair of first columns. The vertical material distribution structure includes a third main shaft and a fourth main shaft arranged vertically upward between the first columns. The third main shaft has second drive wheels sleeved at both ends, and the fourth main shaft has second driven wheels at both ends. A second flexible transmission belt is provided on both the second drive wheels and the second driven wheels. A second magnetic gripping structure is evenly installed on the second flexible transmission belt. One end of the third main shaft extends out of the first column and is connected to a second motor.

[0015] It also includes a second auxiliary control mechanism, which includes a column moving reversing structure and a column fixing reversing structure respectively installed on opposite surfaces on the two first columns;

[0016] The column moving and reversing structure includes a column moving and reversing multi-stage hydraulic cylinder fixed on the side wall of the first column, and the bottom of the column moving and reversing multi-stage hydraulic cylinder is provided with a column moving and reversing baffle and a column moving and reversing top plate in sequence.

[0017] The column-fixed reversing structure includes a column-fixed reversing top plate and a column-fixed reversing baffle fixed to the side wall of the first column;

[0018] A storage queuing structure is provided on the top of the pair of first columns. The storage queuing structure includes a pair of storage support frames respectively provided on the top of the first columns. Each storage support frame has a baffle at its end. A connecting rod is provided between the storage support frames. A storage inclined guide plate parallel to the storage support frame is provided on the connecting rod. The pair of storage support frames is provided with a pair of upper limit limit cylinders for queuing positions and a pair of lower limit limit cylinders for queuing positions. The upper limit limit cylinders for queuing positions and the lower limit limit cylinders for queuing positions divide the storage support frame into storage positions, queuing positions, and temporary storage positions.

[0019] A storage station sensor is installed at the top of the storage station, and a temporary storage station sensor is installed on the temporary storage station.

[0020] The first magnetic gripping mechanism or the second magnetic gripping mechanism includes a fixed housing disposed within the first flexible conveyor belt or the second flexible conveyor belt. A rotating main shaft is disposed inside the fixed housing. Rotary bearings are fitted at both ends of the rotating main shaft and extend out of the two end faces of the fixed housing respectively. A moving end rotating handle is disposed at one end of the rotating main shaft near the beam reversing mechanism or the column reversing mechanism, and a fixed end rotating handle is disposed at the other end of the rotating main shaft near the beam reversing mechanism or the column reversing mechanism. The moving end rotating handle and the fixed end rotating handle are at different angles. Two stator magnets are disposed at one end of the fixed housing near the beam reversing mechanism or the column reversing mechanism, and the polarities of the two stator magnets are opposite.

[0021] The control module is electrically connected to the first sensor, the second sensor, the storage station sensor, the temporary storage station sensor, the first motor, the second motor, the beam movement reversing multi-stage hydraulic cylinder, the column movement reversing multi-stage hydraulic cylinder, the queuing station upper limit limit cylinder, and the queuing station lower limit limit cylinder.

[0022] This invention also includes the following technical features:

[0023] The fixed housing includes a stator support frame, which has a stator cavity inside. The two axial end faces of the stator support frame have stator support holes that communicate with the stator cavity.

[0024] The rotating spindle includes a rotating spindle magnet support section disposed in the stator cavity and rotating spindle bearing sections disposed at both ends of the rotating spindle magnet support section. Each of the two rotating spindle bearing sections is provided with a rotating spindle connecting section. The rotating spindle connecting section is disposed in the stator support hole and its end extends out of the stator support hole. Multiple rotating spindle magnets are uniformly disposed inside the rotating spindle magnet support section.

[0025] A pair of symmetrical first spindle mounting holes and a pair of symmetrical second spindle mounting holes are sequentially opened along the transverse rearward direction on the first crossbeam. A first spindle is rotatably installed in the pair of first spindle mounting holes, and a second spindle is rotatably installed in the pair of second spindle mounting holes.

[0026] A pair of symmetrical third spindle mounting holes and a pair of symmetrical fourth spindle mounting holes are sequentially arranged vertically upwards on the first column. A third spindle is rotatably mounted in the pair of third spindle mounting holes, and a fourth spindle is rotatably mounted in the pair of fourth spindle mounting holes.

[0027] A rib is provided between the bottom of the storage support frame and the first column.

[0028] The vertical height of the aforementioned inclined guide plate is higher than the vertical height of the aforementioned storage support frame.

[0029] The spacing between adjacent first or second sensors is equal to the diameter of a drill rod.

[0030] The bottom of the vehicle platform is equipped with tracks.

[0031] An automatic control method for feeding drill pipes in underground coal mines, based on the aforementioned automatic drill pipe feeding system, specifically includes the following steps:

[0032] Step 1: Hoist a large number of drill rods into the drill rod hopper, where the drill rods are neatly arranged.

[0033] Step 2: In real time, determine whether the sensor at the temporary storage station detects the drill rod. If it does, the lower limit cylinder of the queuing station remains extended to prevent the drill rod from entering the storage station; otherwise, the lower limit cylinder of the queuing station retracts, and the drill rod enters the temporary storage station.

[0034] Step 3: In real time, determine whether the queuing station sensor detects the drill rod. If it does, the upper limit cylinder of the queuing station remains extended to prevent the drill rod from entering the queuing station; otherwise, the upper limit cylinder of the queuing station retracts and the drill rod enters the queuing station.

[0035] Step 4: In real time, determine whether the sensors at the storage station have detected the drill rod. If so, the vertical material distribution structure stops moving; otherwise, the vertical material distribution structure begins to grab the drill rod.

[0036] Step 5: In real time, determine whether all the first sensors have detected that there is no drill rod. If so, proceed to step 7; otherwise, proceed to step 6.

[0037] Step 6: When the first sensor detects the highest layer of drill rods, the data is transmitted to the control module. The control module controls the movement of the column moving and reversing multi-stage hydraulic cylinder, so that the column moving and reversing top plate is located at the layer below the highest layer of existing drill rods. When the moving end rotates the handle to the position of the column moving and reversing top plate, it rotates after contacting the column moving and reversing top plate, causing the rotating spindle to rotate. This causes the magnetic field of the magnetic gripping device to move, generating magnetism in the working area, gripping the drill rod from the drill rod hopper, separating a single drill rod, and moving through the second flexible composite transmission belt to transport the separated single drill rod to the top, where it contacts the storage inclined guide plate of the storage queuing structure. The separated single drill rod enters the storage station and slides down along the storage inclined guide plate to stop at the upper limit hydraulic cylinder of the queuing station.

[0038] Step 7: When the second sensor detects the maximum number of drill rods, the data is transmitted to the control module. The control module controls the movement of the multi-stage hydraulic cylinder for the crossbeam movement and reversing, so that the top plate of the crossbeam movement and reversing is located at the next level below the current maximum number of drill rods. When the rotating handle of the moving end moves to the position of the top plate of the crossbeam movement and reversing, it rotates after contacting the top plate of the crossbeam movement and reversing, driving the rotating spindle to rotate, causing the magnetic field of the magnetic gripping device to move, generating magnetism in the working area, gripping the drill rod from the drill rod hopper, separating a single drill rod, and transporting the separated single drill rod to the position of the first column through the movement of the first flexible composite transmission belt.

[0039] Step 8: In real time, determine whether all second sensors are not detecting the drill rod. If so, the horizontal material distribution structure stops working, while the vertical material distribution structure continues to work.

[0040] Step 9: If all the first sensors fail to detect the drill rod, the vertical material distribution structure will stop working.

[0041] In step 6, if one sensor at the same height on the first column detects a drill rod while the other does not, then the drill rods in the vertical material distribution station are misaligned. The column is moved to the top plate, which is then moved to the position three layers below the highest existing drill rod layer. By grabbing the three layers of drill rods below the highest layer, the upper two layers of drill rods are moved.

[0042] In step 7, when one of the second sensors on the same column of the two first crossbeams detects the presence of a drill rod while the other detects the absence of a drill rod, the drill rods in the horizontal material distribution station are misaligned. The crossbeam is moved to the top plate, which is then moved to the position of the three columns below the existing row with the most drill rods. By grabbing the three columns below the row with the most drill rods, the upper two columns of drill rods are moved.

[0043] Compared with the prior art, the beneficial technical effects of this invention are:

[0044] (I) In this invention, the horizontal and vertical material distribution structures are controlled by the control module to work together, so that only one drill rod is extracted each time. The storage queuing structure has a certain fault tolerance, ensuring that there is a drill rod at each temporary storage station without affecting the production cycle. This solves the problem of not being able to extract only one drill rod from a large number of drill rods each time, while not affecting the production cycle of the equipment.

[0045] (II) In this invention, the placement of the drill rod is detected by the first sensor and the second sensor respectively, and the gripping position of the magnetic gripping structure is adjusted by the control module, which solves the problem of feeding failure caused by the drill rod being misplaced, misaligned or crossed in the material box.

[0046] (III) Through a compact structural design and a reasonable spatial layout, this invention achieves the advantages of small footprint and large drill pipe box capacity, which meets the requirements of limited space in underground coal mine roadways for equipment with a small footprint and large drill pipe box capacity.

[0047] (IV) In addition to the sensor system, all the actuators in this invention adopt a mechanical structure design, making the most of mechanical principles and structures to realize the various functions of the equipment. This not only reduces production costs, but also improves the reliability of the equipment by taking advantage of the good stability of the pure mechanical structure. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 This is a schematic diagram of the feeding structure in this invention;

[0050] Figure 3 This is a rear view schematic diagram of the material box support in this invention;

[0051] Figure 4This is a three-dimensional schematic diagram of the vertical material distribution structure in this invention;

[0052] Figure 5 This is a schematic diagram of the vertical material distribution structure in this invention;

[0053] Figure 6 This is a schematic diagram of the magnetic gripping structure in this invention;

[0054] Figure 7 for Figure 6 A schematic diagram of the structure of the fixed outer shell;

[0055] Figure 8 for Figure 6 Schematic diagram of the structure of the central rotary spindle;

[0056] Figure 9 This is a schematic diagram of the horizontal material distribution structure in this invention;

[0057] Figure 10 This is a three-dimensional schematic diagram of the vertical material distribution structure in this invention;

[0058] Figure 11 This is a schematic diagram of the warehouse queuing structure in this invention;

[0059] Figure 12 This is a schematic diagram showing the distribution of sensors in this invention.

[0060] The meanings of the labels in the diagram are: 1-vehicle platform, 2-tracks, 3-control module, 4-drill rod, 5-loading mechanism;

[0061] 41 - Drill pipe for storage station; 42 - Drill pipe for queuing station; 43 - Drill pipe for temporary storage station.

[0062] 51. Material bin support; 52. Horizontal material distribution structure; 53. Vertical material distribution structure; 54. Temporary storage queuing structure.

[0063] 511 - First column, 512 - First crossbeam, 513 - Second column;

[0064] 5111-Main spindle mounting hole on the column, 5112-Main spindle mounting hole on the lower column, 5121-Main spindle mounting hole at the front of the crossbeam, 5122-Main spindle mounting hole at the rear of the crossbeam;

[0065] 521-Second main shaft, 522-First driven pulley, 523-First flexible composite transmission belt, 524-First magnetic gripping device, 525-First main shaft, 526-First driving pulley, 527-First motor, 528-Crossbeam moving reversing structure, 529-Crossbeam fixed reversing structure.

[0066] 5281-Crossbeam moving and reversing top plate, 5282-Crossbeam moving and reversing baffle, 5283-Crossbeam moving and reversing multi-stage hydraulic cylinder;

[0067] 5291-Crossbeam fixed reversing top plate, 5292-Crossbeam fixed reversing baffle;

[0068] 531-Fourth main shaft, 532-Second driven wheel, 533-Second flexible composite transmission belt, 534-Second magnetic gripping device, 535-Third main shaft, 536-Second driving wheel, 537-Second motor, 538-Column moving reversing structure, 539-Column fixed reversing structure;

[0069] 5341-Rotating spindle-5342-Fixed housing, 5343-Rotating bearing, 5344-Moving end rotating handle, 5345-Fixed end rotating handle;

[0070] 53411-Rotary spindle connecting section, 53412-Rotary spindle bearing section, 43413-Rotary spindle magnet support section, 53414-Rotary spindle magnet;

[0071] 53421-Stator support frame, 53422-Stator support hole, 53424-Stator inner cavity, 53424-Stator magnet;

[0072] 5381-Column moving and reversing top plate, 5382-Column moving and reversing baffle, 5383-Column moving and reversing multi-stage hydraulic cylinder;

[0073] 5391-Column-fixed reversing top plate, 5392-Column-fixed reversing baffle;

[0074] 541-Storage support frame, 542-Storage inclined guide groove, 543-Storage baffle, 544-Lower limit cylinder of queuing station, 545-Upper limit cylinder of queuing station;

[0075] 61-First sensor, 62-Second sensor, 63-Warehouse workstation sensor, 64-Temporary warehouse workstation sensor, 65-Queue workstation sensor;

[0076] 71-Vertical material sorting station, 72-Horizontal material sorting station, 73-Storage station, 74-Queueing station, 75-Temporary storage station.

[0077] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0078] It should be noted that, unless otherwise specified, all components in this invention are those known in the art.

[0079] 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.

[0080] The present invention provides an automatic feed system for drill pipes in underground coal mines, including a movable vehicle platform 1, a feed mechanism 5 distributed laterally in the middle of the vehicle platform 1, and a control module 3 at the longitudinal front end of the vehicle platform 1.

[0081] The feeding structure 5 includes a material box bracket. The material box bracket 51 includes a pair of first columns 511 and a pair of second columns 513 arranged in a transverse direction on the vehicle platform 1. A first crossbeam 512 is arranged between the first columns 511 and the second columns 513. Multiple first sensors 61 are arranged on the transverse rear side of the first columns 511, and second sensors 62 are arranged on the upper surface of the first crossbeam 512.

[0082] A horizontal material distribution structure 52 is provided on the first crossbeam 512. The horizontal material distribution structure 52 includes a first main shaft 525 and a second main shaft 521 arranged sequentially between the two first crossbeams 512 in a transverse direction. The two ends of the first main shaft 525 are fitted with first drive wheels 526, and the two ends of the second main shaft 521 are fitted with first driven wheels 522. The first drive wheels 526 and the first driven wheels 522 are jointly provided with a first flexible transmission belt 523. Four second magnetic gripping devices 524 are evenly installed on the first flexible transmission belt 523. One end of the first main shaft 525 extends out of the first crossbeam 512 and is connected to a first motor 527.

[0083] It also includes a first auxiliary control mechanism, which includes a beam moving reversing structure 528 and a beam fixing reversing structure 529 respectively disposed on the opposite surfaces of the two first beams 512;

[0084] The beam moving and reversing structure 528 includes a beam moving and reversing multi-stage hydraulic cylinder 5283 fixed on the side wall of the first beam 512. The bottom of the beam moving and reversing multi-stage hydraulic cylinder 5283 is provided with a beam moving and reversing baffle 5282 and a beam moving and reversing top plate 5281 in sequence.

[0085] The beam fixed reversing structure 529 includes a beam fixed reversing top plate 5291 and a beam fixed reversing baffle 5292 fixed on the side wall of the first beam 512;

[0086] A vertical material distribution structure 53 is provided between a pair of first columns 511. The vertical material distribution structure 53 includes a third main shaft 535 and a fourth main shaft 531 arranged vertically upward between the first columns 511. The third main shaft 535 is fitted with second drive wheels 536 at both ends, and the fourth main shaft 531 is fitted with second driven wheels 532 at both ends. A second flexible transmission belt 533 is provided on both the second drive wheels 536 and the second driven wheels 532. Four second magnetic gripping structures 534 are evenly installed on the second flexible transmission belt 533. One end of the third main shaft 535 extends out of the first column 511 and is connected to a second motor 537.

[0087] It also includes a second auxiliary control mechanism, which includes a column moving reversing structure 538 and a column fixing reversing structure 539 respectively disposed on opposite surfaces of the two first columns 511;

[0088] The column moving and reversing structure 538 includes a column moving and reversing multi-stage hydraulic cylinder 5383 fixed on the side wall of the first column 511. The bottom of the column moving and reversing multi-stage hydraulic cylinder 5383 is provided with a column moving and reversing baffle 5382 and a column moving and reversing top plate 5381 in sequence.

[0089] The column-fixed reversing structure 539 includes a column-fixed reversing top plate 5391 and a column-fixed reversing baffle 5392 fixed on the side wall of the first column 511.

[0090] A storage queuing structure 54 is provided on the top of a pair of first columns 511. The storage queuing structure 54 includes a pair of storage support frames 541 respectively provided on the top of the first columns 511. Each storage support frame 541 is provided with a baffle 543 at its end. A connecting rod is provided between the storage support frames 541. A storage inclined guide plate 542 parallel to the storage support frame 541 is provided on the connecting rod. A pair of storage support frames 541 are provided with a pair of upper limit limit cylinders 545 and a pair of lower limit limit cylinders 544. The upper limit limit cylinders 545 and the lower limit limit cylinders 544 divide the storage support frame 541 into a storage station 73, a queuing station 74 and a temporary storage station 75.

[0091] A storage station sensor 63 is installed at the top of the storage station 73, and a temporary storage station sensor 64 is installed on the temporary storage station 75.

[0092] The first magnetic gripping mechanism 534 or the second magnetic gripping mechanism 534 includes a fixed housing 5342 disposed within the first flexible conveyor belt 523 or the second flexible conveyor belt 533. A rotating spindle 5341 is disposed inside the fixed housing 5342. Rotary bearings 5343 are fitted at both ends of the rotating spindle 5341 and extend out of the two end faces of the fixed housing 5342 respectively. One end of the rotating spindle 5341 near the beam reversing mechanism 528 or the column reversing mechanism 538 is provided with… There is a movable end rotating handle 5344, and a fixed end rotating handle 5345 is provided on one end of the rotating main shaft 5341 near the crossbeam fixed reversing mechanism 529 or the column fixed reversing mechanism 539. The movable end rotating handle 5344 and the fixed end rotating handle 5345 are 180 degrees apart. Two stator magnets 53424 are provided on one end of the fixed housing 5342 near the crossbeam movable reversing mechanism 528 or the column movable reversing mechanism 538. The polarities of the two stator magnets 53424 are opposite.

[0093] The control module 3 is electrically connected to the first sensor 61, the second sensor 62, the storage station sensor 63, the temporary storage station sensor 64, the first motor 527, the second motor 537, the beam movement reversing multi-stage hydraulic cylinder 5283, the column movement reversing multi-stage hydraulic cylinder 5383, the queuing station upper limit limit hydraulic cylinder 545, and the queuing station lower limit limit hydraulic cylinder 544.

[0094] In the above technical solution, the horizontal and vertical material distribution structures are controlled by the control module to work together, so that only one drill rod is extracted each time. The storage queuing structure has a certain fault tolerance, ensuring that there is a drill rod at each temporary storage station, without affecting the production cycle. This solves the problem of not being able to extract only a single drill rod from a large number of drill rods each time, while not affecting the production cycle of the equipment.

[0095] The placement of the drill rod is detected by the first and second sensors respectively, and the gripping position of the magnetic gripping structure is adjusted by the control module, which solves the problem of feeding failure caused by the drill rod being misplaced, misaligned, or crossing in the material box.

[0096] Through its compact structural design and reasonable spatial layout, it achieves the advantages of small footprint and large drill pipe box capacity, meeting the requirements of limited space in underground coal mine roadways for equipment with a small footprint and large drill pipe box capacity.

[0097] Specifically, the fixed housing 5342 includes a stator support frame 53421, a stator inner cavity 53423 is provided inside the stator support frame 53421, and stator support holes 53422 communicating with the stator inner cavity 53423 are provided on both axial end faces of the stator support frame 53421.

[0098] Specifically, the rotating spindle 5341 includes a rotating spindle magnet support section 53413 disposed in the stator inner cavity 53423 and rotating spindle bearing sections 53412 disposed at both ends of the rotating spindle magnet support section 53413. Each of the two rotating spindle bearing sections 53412 is provided with a rotating spindle connecting section 53411. The rotating spindle connecting section 53411 is disposed in the stator support hole 53422 and its end extends out of the stator support hole 53422. Multiple rotating spindle magnets 53414 are uniformly disposed inside the rotating spindle magnet support section 53413.

[0099] Specifically, a pair of symmetrical first spindle mounting holes 5121 and a pair of symmetrical second spindle mounting holes 5122 are sequentially opened along the horizontal rearward direction on a pair of first crossbeams. A first spindle 525 is rotatably installed in the pair of first spindle mounting holes 5121, and a second spindle 521 is rotatably installed in the pair of second spindle mounting holes 5122.

[0100] Specifically, a pair of first columns 511 are vertically arranged with a pair of symmetrical third spindle mounting holes 5112 and a pair of symmetrical fourth spindle mounting holes 5111. A third spindle 535 is rotatably installed in the pair of third spindle mounting holes 5112, and a fourth spindle 531 is rotatably installed in the pair of fourth spindle mounting holes 5111.

[0101] Specifically, a rib is provided between the bottom of the storage support frame 541 and the first column 511.

[0102] Specifically, the vertical height of the storage inclined guide plate 542 is higher than the vertical height of the storage support frame 541.

[0103] Specifically, the distance between adjacent first sensors 61 or second sensors 62 is the diameter of a drill rod.

[0104] Specifically, tracks 2 are installed at the bottom of the vehicle platform 1.

[0105] An automatic control method for feeding drill pipes in underground coal mines, based on an automatic drill pipe feeding system in underground coal mines, specifically includes the following steps:

[0106] Step 1: Hoist a large number of drill rods 4 into the drill rod material box, and arrange the drill rods 4 neatly in the drill rod material box;

[0107] Step 2: In real time, determine whether the temporary storage station sensor 64 detects the drill rod. If it does, the lower limit cylinder 544 of the queuing station remains extended to prevent the drill rod 42 of the queuing station from entering the storage station 73; otherwise, the lower limit cylinder 544 of the queuing station retracts and the drill rod 42 of the queuing station enters the temporary storage station 75.

[0108] Step 3: In real time, determine whether the queuing station sensor 65 detects the drill rod. If it does, the upper limit cylinder 545 of the queuing station remains extended to prevent the drill rod 41 of the storage station from entering the queuing station 74; otherwise, the upper limit cylinder 545 of the queuing station retracts and the drill rod 41 of the storage station enters the queuing station 74.

[0109] Step 4: In real time, determine whether the storage station sensor 63 has detected the drill rod. If it has, the vertical material distribution structure 53 stops moving; otherwise, the vertical material distribution structure 53 starts to grab the drill rod.

[0110] Step 5: In real time, determine whether all the first sensors 61 have detected that there is no drill rod. If so, proceed to step 7; otherwise, proceed to step 6.

[0111] Step 6: When the first sensor 61 detects the highest layer of drill rods, the data is transmitted to the control module 3. The control module 3 controls the column moving and reversing multi-stage hydraulic cylinder 5383 to move, so that the column moving and reversing top plate 5381 is located at the next layer below the highest layer of existing drill rods. When the moving end rotating handle 5344 moves to the position of the column moving and reversing top plate 5381, it rotates 180 degrees after contacting the column moving and reversing top plate 5381, driving the rotating spindle 5341 to rotate, causing the magnetic field of the magnetic gripping device 534 to move, generating magnetism in the working area, gripping the drill rod from the drill rod hopper, separating a single drill rod, and moving through the second flexible composite transmission belt 533 to transport the separated single drill rod to the top, contacting the storage inclined guide plate 542 of the storage queuing structure 54. The separated single drill rod enters the storage station 73, slides down along the storage inclined guide plate 542 to stop at the upper limit hydraulic cylinder 545 of the queuing station;

[0112] Step 7: When the second sensor 62 detects the maximum number of drill rods, the data is transmitted to the control module 3. The control module 3 controls the movement of the crossbeam moving and reversing multi-stage hydraulic cylinder 5283, so that the crossbeam moving and reversing top plate 5281 is located at the next level below the current maximum number of drill rods. When the moving end rotating handle 5344 moves to the position of the crossbeam moving and reversing top plate 5281, it rotates 180 degrees after contacting the crossbeam moving and reversing top plate 5281, driving the rotating spindle 5341 to rotate, causing the magnetic field of the magnetic gripping device 534 to move, generating magnetism in the working area, gripping the drill rod from the drill rod hopper, separating a single drill rod, and conveying the separated single drill rod to the position of the first column 511 through the movement of the first flexible composite transmission belt 533.

[0113] Step 9: In real time, determine whether all second sensors 62 are not detecting the drill rod. If so, the horizontal material distribution structure 52 stops working, and the vertical material distribution structure 53 continues to work.

[0114] Step 10: If all first sensors 61 fail to detect the drill rod, the vertical material distribution structure 53 will stop working.

[0115] Specifically, in step 6, if one of the first sensors 61 at the same height on the first column 511 detects a drill rod while the other detects no drill rod, then the drill rods in the vertical material distribution station 71 are misaligned. The column is moved to the top plate 5381, which is then moved to the position three layers below the highest existing drill rod layer. By grabbing the three layers of drill rods below the highest layer, the upper two layers of drill rods are moved.

[0116] Specifically, in step 7, when one of the second sensors 61 on the same column of the two first crossbeams detects the presence of a drill rod and the other detects the absence of a drill rod, the drill rods in the horizontal material distribution station 72 are misaligned. The crossbeam is moved to the top plate 5281, which is then moved to the position of the three columns below the existing maximum number of drill rods. By grabbing the three columns below the maximum number of drill rods, the upper two columns of drill rods are moved.

[0117] Specifically, in step 6, if one of the first sensors 61 at the same height on the first column 511 detects a drill rod while the other detects no drill rod, then the drill rods in the vertical material distribution station 71 are misaligned. The column is moved to the top plate 5381, which is then moved to the position three layers below the highest existing drill rod layer. By grabbing the three layers of drill rods below the highest layer, the upper two layers of drill rods are moved.

[0118] Specifically, in step 7, when one of the second sensors 61 on the same column of the two first crossbeams detects the presence of a drill rod and the other detects the absence of a drill rod, the drill rods in the horizontal material distribution station 72 are misaligned. The crossbeam is moved to the top plate 5281, which is then moved to the position of the three columns below the existing maximum number of drill rods. By grabbing the three columns below the maximum number of drill rods, the upper two columns of drill rods are moved.

Claims

1. An automatic drill pipe feeding system for underground coal mines, characterized in that, It includes a movable vehicle platform (1), a loading mechanism (5) distributed laterally is provided in the middle of the vehicle platform (1), and a control module (3) is provided at the longitudinal front end of the vehicle platform (1). The feeding mechanism (5) includes a material box bracket. The material box bracket (51) includes a pair of first columns (511) and a pair of second columns (513) arranged in a transverse direction on the vehicle platform (1). A first crossbeam (512) is provided between the first columns (511) and the second columns (513). Multiple first sensors (61) are provided on the transverse rear side of the first column (511), and second sensors (62) are provided on the upper surface of the first crossbeam (512). A horizontal material distribution structure (52) is provided on the first crossbeam (512). The horizontal material distribution structure (52) includes a first main shaft (525) and a second main shaft (521) arranged sequentially between the two first crossbeams (512) in a transverse direction. The first main shaft (525) is fitted with a first driving wheel (526) at both ends, and the second main shaft (521) is fitted with a first driven wheel (522) at both ends. A first flexible composite transmission belt (523) is provided on both the first driving wheel (526) and the first driven wheel (522). Four first magnetic gripping devices (524) are evenly installed on the first flexible composite transmission belt (523). One end of the first main shaft (525) extends out of the first crossbeam (512) and is connected to a first motor (527). It also includes a first auxiliary control mechanism, which includes a beam moving reversing structure (528) and a beam fixing reversing structure (529) respectively disposed on the opposite surfaces of the two first beams (512). The beam moving and reversing structure (528) includes a beam moving and reversing multi-stage hydraulic cylinder (5283) fixed on the side wall of the first beam (512). The bottom of the beam moving and reversing multi-stage hydraulic cylinder (5283) is provided with a beam moving and reversing baffle (5282) and a beam moving and reversing top plate (5281). The beam fixed reversing structure (529) includes a beam fixed reversing top plate (5291) and a beam fixed reversing baffle (5292) fixed on the side wall of the first beam (512). A vertical material distribution structure (53) is provided between a pair of first columns (511). The vertical material distribution structure (53) includes a third main shaft (535) and a fourth main shaft (531) arranged vertically upward between the first columns (511). The third main shaft (535) is fitted with second driving wheels (536) at both ends. The fourth main shaft (531) is fitted with second driven wheels (532) at both ends. The second driving wheels (536) and the second driven wheels (532) are jointly provided with a second flexible composite transmission belt (533). Four second magnetic gripping structures (534) are evenly installed on the second flexible composite transmission belt (533). One end of the third main shaft (535) extends out of the first column (511) and is connected to a second motor (537). It also includes a second auxiliary control mechanism, which includes a column moving reversing structure (538) and a column fixing reversing structure (539) respectively disposed on opposite surfaces of the two first columns (511). The column moving reversing structure (538) includes a column moving reversing multi-stage hydraulic cylinder (5383) fixed on the side wall of the first column (511). The bottom of the column moving reversing multi-stage hydraulic cylinder (5383) is provided with a column moving reversing baffle (5382) and a column moving reversing top plate (5381). The column-fixed reversing structure (539) includes a column-fixed reversing top plate (5391) and a column-fixed reversing baffle (5392) fixed on the side wall of the first column (511). A storage queuing structure (54) is provided on the top of the pair of first columns (511). The storage queuing structure (54) includes a pair of storage support frames (541) respectively provided on the top of the first columns (511). Each storage support frame (541) is provided with a baffle (543) at its end. A connecting rod is provided between the storage support frames (541). A storage inclined guide plate (542) parallel to the storage support frame (541) is provided on the connecting rod. The pair of storage support frames (541) is provided with a pair of upper limit limit cylinders (545) and a pair of lower limit limit cylinders (544). The upper limit limit cylinders (545) and the lower limit limit cylinders (544) divide the storage support frame (541) into storage positions (73), queuing positions (74) and temporary storage positions (75). A storage station sensor (63) is installed at the top of the storage station (73), and a temporary storage station sensor (64) is installed on the temporary storage station (75). The first magnetic gripping device (524) or the second magnetic gripping device (534) includes a fixed housing (5342) disposed within the first flexible composite transmission belt (523) or the second flexible composite transmission belt (533). A rotating spindle (5341) is disposed inside the fixed housing (5342). Rotary bearings (5343) are sleeved at both ends of the rotating spindle (5341) and extend out of the two end faces of the fixed housing (5342). The rotating spindle (5341) is located near the beam reversing mechanism (528) or the column reversing mechanism (538). One end is provided with a movable end rotating handle (5344), and the rotating main shaft (5341) is provided with a fixed end rotating handle (5345) at one end near the crossbeam fixed reversing mechanism (529) or the column fixed reversing mechanism (539). The movable end rotating handle (5344) and the fixed end rotating handle (5345) are 180 degrees apart. The fixed housing (5342) is provided with two stator magnets (53424) at one end near the crossbeam movable reversing mechanism (528) or the column movable reversing mechanism (538). The polarities of the two stator magnets (53424) are opposite. The control module (3) is electrically connected to the first sensor (61), the second sensor (62), the storage station sensor (63), the temporary storage station sensor (64), the first motor (527), the second motor (537), the beam moving and reversing multi-stage hydraulic cylinder (5283), the column moving and reversing multi-stage hydraulic cylinder (5383), the queuing station upper limit limit hydraulic cylinder (545), and the queuing station lower limit limit hydraulic cylinder (544).

2. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, The fixed housing (5342) includes a stator support frame (53421), the stator support frame (53421) has a stator inner cavity (53423) inside, and the two axial end faces of the stator support frame (53421) have stator support holes (53422) that communicate with the stator inner cavity (53423).

3. The automatic drill pipe feeding system in underground coal mines as described in claim 2, characterized in that, The rotating spindle (5341) includes a rotating spindle magnet support section (53413) disposed in the stator inner cavity (53423) and rotating spindle bearing sections (53412) disposed at both ends of the rotating spindle magnet support section (53413). Each of the two rotating spindle bearing sections (53412) is provided with a rotating spindle connecting section (53411). The rotating spindle connecting section (53411) is disposed in the stator support hole (53422) and its end extends out of the stator support hole (53422). A plurality of rotating spindle magnets (53414) are uniformly disposed inside the rotating spindle magnet support section (53413).

4. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, A pair of symmetrical first spindle mounting holes (5121) and a pair of symmetrical second spindle mounting holes (5122) are sequentially opened on the first crossbeam along the transverse direction. A first spindle (525) is rotatably installed in the pair of first spindle mounting holes (5121), and a second spindle (521) is rotatably installed in the pair of second spindle mounting holes (5122).

5. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, A pair of first columns (511) are arranged vertically upwards with a pair of symmetrical third spindle mounting holes (5112) and a pair of symmetrical fourth spindle mounting holes (5111). A third spindle (535) is rotatably installed in the pair of third spindle mounting holes (5112), and a fourth spindle (531) is rotatably installed in the pair of fourth spindle mounting holes (5111).

6. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, A rib is provided between the bottom of the storage support frame (541) and the first column (511).

7. The automatic drill pipe feeding system for underground coal mines as described in claim 1, characterized in that, The vertical height of the storage inclined guide plate (542) is higher than the vertical height of the storage support frame (541).

8. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, The distance between adjacent first sensors (61) or second sensors (62) is the diameter of a drill rod.

9. The automatic drill pipe feeding system in underground coal mines as described in claim 1, characterized in that, The bottom of the vehicle platform (1) is provided with tracks (2).

10. An automatic control method for feeding drill pipes in underground coal mines, characterized in that, The automatic drill pipe feeding system for underground coal mines according to any one of claims 1 to 9 specifically includes the following steps: Step 1: Hoist a large number of drill rods (4) into the drill rod material box, and arrange the drill rods (4) neatly in the drill rod material box; Step 2: In real time, determine whether the temporary storage station sensor (64) detects the drill rod. If it does, the lower limit cylinder 544 of the queuing station remains extended to prevent the drill rod (42) of the queuing station from entering the storage station (73); otherwise, the lower limit cylinder (544) of the queuing station retracts and the drill rod (42) of the queuing station enters the temporary storage station (75). Step 3: In real time, determine whether the queuing station sensor (65) detects the drill rod. If it does, the upper limit cylinder (545) of the queuing station remains extended to prevent the drill rod (41) of the storage station from entering the queuing station (74); otherwise, the upper limit cylinder (545) of the queuing station retracts and the drill rod (41) of the storage station enters the queuing station (74). Step 4: In real time, determine whether the storage station sensor (63) has detected the drill rod. If it has, the vertical material distribution structure (53) stops moving; otherwise, the vertical material distribution structure (53) starts to grab the drill rod. Step 5: In real time, determine whether all the first sensors (61) have detected that there is no drill rod. If so, proceed to step 7; otherwise, proceed to step 6. Step 6: When the first sensor (61) detects the highest level of the drill rod, the data is transmitted to the control module (3). The control module (3) controls the column movement reversing multi-stage hydraulic cylinder (5383) to move, so that the column movement reversing top plate (5381) is located at the next level below the highest level of the existing drill rod. When the moving end rotating handle (5344) moves to the position of the column movement reversing top plate (5381), it contacts the column movement reversing top plate (5381) and rotates 180 degrees, driving the rotating spindle ( 5341) Rotation causes the magnetic gripping device (534) to move its magnetic field, generating magnetism in the working area. It then grips the drill rod from the drill rod hopper, separates a single drill rod, and moves through the second flexible composite transmission belt (533) to transport the separated single drill rod to the top. The single drill rod then contacts the storage inclined guide plate (542) of the storage queuing structure (54). The separated single drill rod enters the storage station (73) and slides down along the storage inclined guide plate (542) to stop at the upper limit cylinder (545) of the queuing station. Step 7: When the second sensor (62) detects the maximum number of drill rods, the data is transmitted to the control module (3). The control module (3) controls the movement of the crossbeam moving and reversing multi-stage hydraulic cylinder (5283), so that the crossbeam moving and reversing top plate (5281) is located at the next level below the current maximum number of drill rods. When the moving end rotating handle (5344) moves to the position of the crossbeam moving and reversing top plate (5281), it rotates 180 degrees after contacting the crossbeam moving and reversing top plate (5281), driving the rotating spindle (5341) to rotate, causing the magnetic field of the magnetic gripping device (534) to move, generating magnetism in the working area, gripping the drill rod from the drill rod hopper, separating a single drill rod, and conveying the separated single drill rod to the position of the first column (511) through the movement of the first flexible composite transmission belt (533). Step 8: In real time, determine whether all the second sensors (62) have failed to detect the drill rod. If so, the horizontal material distribution structure (52) stops working, while the vertical material distribution structure (53) continues to work. Step 9: If all the first sensors (61) fail to detect the drill rod, the vertical material distribution structure (53) will stop working.

11. The automatic control method for feeding drill pipes in underground coal mines as described in claim 10, characterized in that, In step 6, if one of the first sensors (61) at the same height on the first column (511) detects a drill rod and the other detects no drill rod, then the drill rod in the vertical material distribution station (71) is misaligned. The column is moved to the top plate (5381) to the position three layers below the highest existing drill rod. By grabbing the three layers of drill rods below the highest drill rod, the upper two layers of drill rods are moved.

12. The automatic control method for feeding drill pipes in underground coal mines as described in claim 10, characterized in that, In step 7, when one of the second sensors (61) on the same column of the two first crossbeams detects the presence of a drill rod and the other detects the absence of a drill rod, the drill rods in the horizontal material distribution station (72) are misaligned. The crossbeam is moved to the top plate (5281) to the position of the three columns below the existing drill rod with the most columns. By grabbing the three columns below the drill rod with the most columns, the upper two columns of drill rods are moved.

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