A method for installing mining rails by robot

Abstract

The present invention relates to the field of intelligent control, specifically to a method for installing mining tracks by robots, which is applied to track installation robots, wherein the track installation robots are connected to a drilling and anchoring rig and a track gripper through a mechanical arm, and the track installation robots are connected to an installation platform through a lifting mechanism, and the installation method includes: installing a second distance measuring device and a first distance measuring device, finding a starting position through the second distance measuring device; monitoring the position of the drilling and anchoring rig through the first distance measuring device, and performing two drilling and anchoring operations, drilling two anchor rods each time through the drilling and anchoring operation; and starting to install the track after the two drilling and anchoring operations are completed. The method monitors the position of the drilling and anchoring rig by means of laser distance measurement, accurately controls and guides the drilling and anchoring rig to perform drilling and anchoring operations, and realizes automatic control of the track installation process, which greatly improves work efficiency.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, in particular to a method for installing a mining track by a robot. Background Art

[0002] With the rapid development of industrial mechanization today, it is very common to set up robots to assist work in mines. In order to reduce the occupation of ground space in mines, robots are usually suspended from the top of the mine. For this purpose, a track for the robot to move needs to be suspended from the top of the mine.

[0003] The existing technology has a relatively complicated process for track installation, including measuring the position, marking the position, operating the drilling and anchoring rig to drill and anchor at the marked position, etc. During the drilling and anchoring operation, it is necessary to check with the naked eye whether the position of the drilling and anchoring rig is aligned with the marked position each time, which seriously affects the work efficiency of the overall installation process. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for installing a mining track by a robot, which is applied to a track installation robot, wherein the track installation robot is connected to a drilling and anchoring rig and a track gripper through a mechanical arm, and the track installation robot is connected to an installation platform through a lifting mechanism, and is characterized in that it comprises the steps of:

[0005] S1. A second distance measuring device is arranged at the connection between the anchor drilling rig of the track installation robot and the track installation robot, and the second distance measuring device sends a detection in the direction of anchor drilling. When the distance value detected by the second distance measuring device changes beyond the set threshold, the installation platform is lifted to the installation height by the lifting mechanism, and the first distance measuring device is hung under the preset anchor rod that has been drilled. The first distance measuring device detects in the extension direction of the track installation operation. The track installation robot lifts the anchor drilling rig to a predetermined height by the mechanical arm so that the set position of the anchor drilling rig is detected by the first distance measuring device, and the next step is executed.

[0006] S2. Start the track installation robot to move forward in the working direction, and monitor the distance of the anchor drilling rig relative to the first distance measuring device through the first distance measuring device. When the distance measurement value monitored by the first distance measuring device reaches the first working distance, the track installation robot stops moving, and the anchor drilling rig performs the first drilling and anchoring operation to drill into the anchor rod. After the first drilling and anchoring operation is completed, the anchor drilling rig returns to the predetermined height and executes the next step.

[0007] S3. Start the track installation robot to move forward in the working direction. When the distance measurement value monitored by the first distance measuring device reaches the second working distance, the track robot stops moving, and the anchor drilling rig performs the second anchor drilling operation to drill into the anchor rod. After the second anchor drilling operation is completed, the anchor drilling rig returns to the predetermined height and executes the next step.

[0008] S4. Control the track gripper through the robotic arm to grab the track to the installation height to install the first track, and remove the first distance measuring device and hang it under the anchor rod at the end drilled in the first drilling and anchoring operation. After the installation of the first track is completed, the track gripper returns to the initial position and executes the next step.

[0009] S5. Start the track installation robot and move forward in the working direction. When the anchor drilling rig reaches the third working distance monitored by the first distance measuring device, the track installation robot stops moving, removes the first distance measuring device, and controls the track gripper through the robotic arm to grab the track to the installation height to install the second track. After the installation of the second track is completed, the track gripper returns to the initial position and executes the next step.

[0010] S6. When the installation of the track meets the set requirements, restore the anchor drilling rig to the initial position and stop. Otherwise, hang the first distance measuring device under the anchor rod at the end of the second anchor drilling operation and re-execute step S2.

[0011] Preferably, the first anchor drilling operation and the second anchor drilling operation both drill two anchor rods.

[0012] Preferably, in the first anchor drilling operation, after drilling the first anchor rod, the second anchor rod is drilled at a set distance along the forward direction of the operation; in the second anchor drilling operation, after drilling the first anchor rod, the second anchor rod is drilled at a set distance along the reverse direction of the forward direction of the operation.

[0013] Preferably, the set interval distances in the first drilling and anchoring operation and the second drilling and anchoring operation are both monitored or verified by a first distance measuring device.

[0014] Preferably, the lengths of the first track and the second track are both 2400 mm, the measuring value of the first working distance is 1600 mm, the measuring value of the second working distance is 4800 mm, the measuring value of the third working distance is 4000 mm, and the set spacing distance between the two anchor rods in the first drilling and anchoring operation and the second drilling and anchoring operation is 800 mm.

[0015] Preferably, the first distance measuring device and the second distance measuring device are both laser distance measuring devices.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the position of the anchor drilling rig is located and guided by the first distance measuring device, and the drilling and anchoring operation can be closely connected with the track installation operation in the track installation process through the cyclic operation process in the method of the present invention, and the work process only needs to move forward in a straight line in the operation direction without reversing, which significantly improves the work efficiency of the track installation operation. And under the action of the second distance measuring device, the position of the disconnected operation can be found at any time from the disconnected operation process, and the track installation operation can be continued.

[0017] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the process of the present invention;

[0019] Figure 2 This is a schematic diagram of the effect of step S3 of the present invention;

[0020] Figure 3 This is a schematic diagram of the effect of continuing the cycle operation in step S6 of the present invention;

[0021] Figure numerals: 1, first distance measuring device; 2, second distance measuring device; 3, anchor drilling rig; 401, anchor rod No. 1; 402, anchor rod No. 2; 403, anchor rod No. 3; 404, anchor rod No. 4; 501, first track; 502, second track. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 3 The present invention provides a method for installing a mining track by a robot, which is applied to a track installation robot, wherein the track installation robot is connected to a drilling and anchoring rig and a track gripper through a mechanical arm, and is connected to an installation platform through a lifting mechanism, comprising the steps of:

[0024] S1. A second distance measuring device is provided at the connection between the anchor drilling rig of the track installation robot and the track installation robot. The second distance measuring device sends a detection in the direction of the anchor drilling. When the distance value detected by the second distance measuring device changes beyond the set threshold, the installation platform is lifted to the installation height by the lifting mechanism, and the first distance measuring device is hung under the drilled anchor. The set threshold of the second distance measuring device is used to filter the irregular surface of the top wall in the mine. The first distance measuring device detects in the extension direction of the track installation operation. The track installation robot lifts the anchor drilling rig to a predetermined height through the mechanical arm so that the set position of the anchor drilling rig is detected by the first distance measuring device. The predetermined height of the anchor drilling rig should be at a height where the top of the anchor drilling rig is lower than the height of the drilled anchor relative to the ground, so that the anchor drilling rig remains at the predetermined height and does not interfere with the drilled anchor when it moves with the track installation robot. The first distance measuring device and the second distance measuring device can be radar distance measuring devices or ultrasonic distance measuring devices. In this embodiment, the first distance measuring device and the second distance measuring device both use laser distance measuring devices.

[0025] The method of the present invention determines the starting position by the second distance measuring device and determines the drilling and anchoring position by the first distance measuring device. When the method starts to perform the track installation operation, an anchor rod must be drilled as the starting point, that is, a drilled anchor rod is preset. When the track installation robot moves along the working direction, when the second distance measuring device has a distance measurement change exceeding the threshold, it means that the drilled anchor rod is detected by the second distance measuring device. Based on the position of the second distance measuring device set on the track installation robot, the position of the drilling and anchoring rig, the installation platform and the track gripper relative to the drilled anchor rod can be directly obtained. At this time, the installation platform is lifted by the lifting mechanism and the operator hangs the first distance measuring device under the drilled anchor rod, and the drilling and anchoring rig is lifted by the mechanical arm so that the specific part of the drilling and anchoring rig is detected by the first distance measuring device, thereby controlling the drilling and anchoring position of the drilling and anchoring rig. In this embodiment, the specific part of the drilling and anchoring rig is the middle position of the guard plate of the drilling and anchoring rig close to the first distance measuring device. After preparation, execute the next step.

[0026] S2. Start the track installation robot to move in the working direction, monitor the distance of the anchor drilling rig relative to the first distance measuring device through the first distance measuring device, and when the distance measurement value monitored by the first distance measuring device reaches the first working distance, the track installation robot stops moving. The first distance measuring device can be connected to the processing core in the track installation robot through a wireless network to achieve the automatic stop of the track installation robot when the judgment requirement is met, or when the distance measurement value of the first distance measuring device reaches the set standard, an alarm is issued and the staff stops manually. The anchor drilling rig performs the first anchor drilling operation to drill into the anchor rod. The number of anchor rods drilled is selected according to the actual hanging method of the track, such as an anchor rod connected to a connector by a chain, and the connector connects two adjacent sections of the track together. In this embodiment, two anchor rods are connected to the same connector by a chain, and then the two adjacent sections of the track are connected together by this connector. This connection method can provide additional stress to the track in its extension direction, making the track more stable and less likely to shake. Therefore, two anchor rods need to be drilled in each anchor drilling operation, and two anchors are a group. The number of anchor rods drilled in the first anchor drilling operation in this step is two, and the spacing between the two anchor rods depends on the situation. In this embodiment, the set spacing between the two anchor rods is 800mm. The length of the track installed in this embodiment is 2400mm. Combined with the set spacing between the two anchor rods, it can be known through simple calculation that the spacing between two adjacent groups of anchor rods should be 1600mm. Therefore, the first operating distance monitored by the first distance measuring device is 1600mm, wherein the spacing between the two anchor rods is also monitored and controlled by the first distance measuring device, or the drilling and anchoring operation action of the drilling and anchoring rig is set by a program and the spacing between the two drilling and anchoring in this operation action is verified by the first distance measuring device. After the first drilling and anchoring operation is completed, the drilling and anchoring rig returns to the preset height and executes the next step.

[0027] S3. Start the track installation robot to move in the working direction. When the first anchor drilling rig reaches the second working distance, the track robot stops moving, and the anchor drilling rig performs the second anchor drilling operation to drill into the anchor rod. Since two anchor rods are drilled into each anchor drilling operation, the robotic arm that controls the position of the anchor drilling rig will have two working states. In this embodiment, the two anchor rods in the first anchor drilling operation are drilled into the anchor rods from the proximal end to the distal end along the working direction. After the first anchor drilling operation is completed, the robotic arm will remain in the state of drilling into the distal anchor rod. Therefore, the drilling and anchoring sequence of the second anchor drilling operation is to drill into the anchor rods from the distal end to the proximal end along the working direction. Figure 2-Figure 3According to the drilling order of the anchor rods, the anchor rods drilled in the first drilling and anchoring operation are marked as anchor rod No. 1 and anchor rod No. 2, and the anchor rods drilled in the second drilling and anchoring operation are anchor rod No. 3 and anchor rod No. 4. This drilling and anchoring sequence effectively utilizes the mechanical state of the drilling and anchoring rig after the first drilling and anchoring operation is completed, so as to reduce the workflow of the mechanical arm and improve the work efficiency of the drilling and anchoring operation of this method. Based on the different processes of the first drilling and anchoring operation and the second drilling and anchoring operation in this embodiment, the first operating distance and the second operating distance are also different. After calculation, it can be known that the second operating distance is 4800mm. Similarly, the set spacing distance of the two anchor rods drilled in the second drilling and anchoring operation is also monitored, controlled or verified by the first distance measuring device. After the second drilling and anchoring operation is completed, the next step is executed.

[0028] S4. The track gripper is controlled by a mechanical arm to grab the track to the installation height, and the staff on the installation platform installs the first track. After the first track is installed, the chain connecting the first track and the anchor rod that has been drilled will block the distance measurement effect of the first distance measuring device. Therefore, the first distance measuring device needs to be removed and hung under the anchor rod at the end drilled in the first drilling and anchoring operation to monitor the position determination of the drilling and anchoring rig in subsequent operations. Based on the drilling and anchoring sequence of the first drilling and anchoring operation in this embodiment, the anchor rod for hanging the first distance measuring device is the second anchor rod drilled in the first drilling and anchoring operation. After the track installation is completed, the track gripper returns to its initial position and executes the next step.

[0029] S5. Start the track installation robot to move in the working direction. When the first distance measuring device monitors that the anchor drilling rig reaches the third working distance, the track installation robot stops moving, removes the first distance measuring device, and controls the track gripper through the mechanical arm to grab the track to the installation height to install the second track. The specific third working distance is 4000mm. The position of the first distance measuring device after movement and the anchor drilling rig after completing the second drilling and anchoring operation is 1600mm. Combined with the length of the track of 2400m, the track installation robot travels 4000mm, which is exactly equal to the length of the track, making it easier for the staff on the installation platform to connect the first track with the second track. After the second track is installed, the track gripper returns to its initial position and executes the next step.

[0030] S6. When the track installation meets the set requirements, the anchor drilling machine is retracted to the initial position and stopped. The set requirements include that the track installation process has been completed, or the track to be installed has been used up, the track installation robot is low on power, the working time of the day has ended, etc., which makes the track installation process unsustainable. If the track installation workflow is to be continued in a loop, the first distance measuring device is hung on the anchor rod at the end that has been drilled in the second anchor drilling operation.

[0031] Based on the function of the second distance measuring device of the present method, when it is necessary to continue the track installation process at the end of the track where the installation is interrupted, the second distance measuring device detects along the installed track, and when a distance measurement value change exceeding the set threshold occurs, it indicates that the position of the second distance measuring device is located at the end of the installed track. Based on the fact that the connector connecting the two adjacent tracks in the present method is pulled by the chain of the two anchor rods, and two anchor rods are drilled in each drilling and anchoring operation, the end of the installed track is located in the middle of the two anchor rods, that is, when the second distance measuring device moves along the extension direction of the track with the track installation robot, when the second distance measuring device detects a distance measurement value change exceeding the set threshold, the position of the second distance measuring device is located between the last anchor rod drilled and the end of the installed track, and at this time, restarting the track robot can continue the installation according to step S1.

[0032] The structure of the track installation robot in this embodiment can refer to the patent document with application number 202322880734.0.

[0033] On the basis of the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in the present invention can be implemented in combination with existing electrical technology, information technology, software technology and general protocols. They are not within the scope of protection required by the present invention and will not be described in detail in this application.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered as exemplary and non-restrictive in all respects.

Claims

1. A method for installing a mining track by a robot, applied to a track installation robot, wherein the track installation robot is connected to a drilling and anchoring rig and a track gripper via a mechanical arm, and the track installation robot is connected to an installation platform via a lifting mechanism, characterized in that: Includes steps: S1. A second distance measuring device is provided at the connection between the anchor drilling rig of the track installation robot and the track installation robot, and the second distance measuring device sends a detection in the direction of anchor drilling. When the distance value detected by the second distance measuring device changes beyond a set threshold, the installation platform is lifted to the installation height by the lifting mechanism, and the first distance measuring device is hung under the preset anchor rod that has been drilled. The first distance measuring device detects in the extension direction of the track installation operation. The track installation robot lifts the anchor drilling rig to a predetermined height by the mechanical arm so that the set position of the anchor drilling rig is detected by the first distance measuring device, and the next step is executed; S2. Start the track installation robot to move forward in the working direction, monitor the distance of the anchor drilling rig relative to the first distance measuring device through the first distance measuring device, when the distance value monitored by the first distance measuring device reaches the first working distance, the track installation robot stops moving, and the anchor drilling rig performs the first anchor drilling operation to drill into the anchor rod. After the first anchor drilling operation is completed, the anchor drilling rig returns to a predetermined height and executes the next step; S3. Start the track installation robot to move forward in the working direction. When the ranging value monitored by the first ranging device reaches the second working distance, the track robot stops moving, and the anchor drilling rig performs the second anchor drilling operation to drill into the anchor rod. After the second anchor drilling operation is completed, the anchor drilling rig returns to the predetermined height and executes the next step. S4. Control the rail gripper by the robot arm to grab the rail to the installation height to install the first rail, and remove the first distance measuring device and hang it under the anchor rod drilled at the end of the first drilling and anchoring operation. After the first rail installation is completed, the rail gripper returns to the initial position and executes the next step; S5. Start the track installation robot to move forward in the working direction. When the anchor drilling rig reaches the third working distance through the first distance measuring device, the track installation robot stops moving, removes the first distance measuring device, controls the track gripper through the mechanical arm to grab the track to the installation height to install the second track. After the second track is installed, the track gripper returns to the initial position and executes the next step; S6. When the installation of the track meets the set requirements, restore the anchor drilling rig to the initial position and stop. Otherwise, hang the first distance measuring device under the anchor rod at the end of the second anchor drilling operation and re-execute step S2.

2. The method for installing a mining track by a robot according to claim 1, characterized in that: The first anchor drilling operation and the second anchor drilling operation both drill two anchor rods.

3. The method for installing a mining track by a robot according to claim 2, characterized in that: In the first anchor drilling operation, after drilling the first anchor rod, the second anchor rod is drilled at a set distance along the forward direction of the operation. In the second anchor drilling operation, after drilling the first anchor rod, the second anchor rod is drilled at a set distance along the reverse direction of the forward direction of the operation.

4. The method for installing a mining track by a robot according to claim 3, characterized in that: The set interval distances in the first drilling and anchoring operation and the second drilling and anchoring operation are both monitored or verified by the first distance measuring device.

5. The method for installing a mining track by a robot according to claim 4, characterized in that: The lengths of the first track and the second track are both 2400mm, the measuring value of the first working distance is 1600mm, the measuring value of the second working distance is 4800mm, the measuring value of the third working distance is 4000mm, and the set spacing distance between the two anchor rods in the first drilling and anchoring operation and the second drilling and anchoring operation is 800mm.

6. The method for installing mining rails by a robot according to claim 1, characterized in that: The first distance measuring device and the second distance measuring device are both laser distance measuring devices.

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