Underground drill rig lower rod taking automatic control device and control method

Abstract

The invention relates to an automatic control device and a control method for taking down a rod of an underground drill rig, only one sensor and one proximity switch are used, and the use number of the sensors is greatly reduced. According to the method, two times of detection including preliminary detection and reinspection detection and redundancy detection calculation are adopted, the detection accuracy of the full-column parameters of the material box is effectively guaranteed, accurate parameters can be obtained only through 1-2 times of jacking of the jacking device, and compared with a traditional column-by-column and line-by-line rod searching method, the algorithm has the advantages that the rod searching speed is greatly increased, the production efficiency is improved, and the production cost is reduced. And redundancy detection calculation is adopted, so that the accuracy of rod searching parameters is effectively ensured, each part of the system is effectively ensured to move according to a corresponding control flow, the cooperative work among the mechanisms is perfect, and the stable operation of the system is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of underground drilling rig control in coal mines, and in particular to an automatic control device and method for taking out a rod from a tunnel drilling rig. Background Art

[0002] When a tunnel drill rig is drilling in a coal mine, there are two main processes involved: drilling and unloading. During the drilling process, the drill rod in the material box needs to be taken out and placed at the target position of the power head; in the unloading process, the drill rod needs to be retrieved from the target position of the power head and placed in the material box. To achieve this process, the rod retrieval system needs to transport the drill rod back and forth between the material box and the power head. There are two main rod retrieval systems, namely the upper rod retrieval system and the lower rod retrieval system. Compared with the upper rod retrieval system, the lower rod retrieval system has a more compact structure, occupies a smaller area, and can effectively reduce the overall height of the drilling rig. Therefore, it has been widely used in narrow coal mine tunnels.

[0003] At present, the automatic control device of the upper pole-taking system is usually composed of an upper pull rope sensor, a Z1 lifting sensor, an X-axis sensor, a proximity switch, a Z2 axis sensor, a control system, etc. However, due to the wide variety of sensors and the harsh working environment, frequent failures are likely to occur, thus affecting the reliability of the entire system. In contrast, the lower pole-taking system is more difficult to maintain due to its more compact space. Therefore, the lower pole-taking system has more stringent requirements on the number of sensors, and needs to achieve stable control of the system and facilitate maintenance. In addition, the upper pole-taking system needs to operate column by column and row by row when searching for the pole, which takes a long time and has low efficiency, seriously affecting production efficiency. Summary of the invention

[0004] In order to overcome at least one shortcoming in the prior art, the present application provides an automatic control device and method for taking out a rod from a tunnel drilling rig.

[0005] In a first aspect, a method for automatically controlling the removal of a rod from a tunnel drilling rig is provided, which is characterized in that it is used for controlling the removal of the rod and comprises:

[0006] Step S11, determine the number of full columns N in the material box according to the amplified displacement, and calculate the moving position parameter S=(N+1)*△S, where △S is the width dimension of each column of the material box;

[0007] Step S12, the jacking device lifts up the drill rod, the claw of the rod-taking manipulator moves to the S position, the jacking device falls, and the drill rod falls onto the claw of the rod-taking manipulator;

[0008] Step S13, when it is detected that there is a drill rod on the gripper of the rod-taking manipulator, the gripper is closed; after the jacking device falls to the lowest position, the gripper of the rod-taking manipulator moves to the transfer station on the crawler vehicle body, and the gripper opens;

[0009] Step S14, when it is detected that there is no drill rod on the gripper of the rod retrieval robot, return to step S12; if after the jacking device falls, it is detected that the time without a drill rod on the gripper of the rod retrieval robot exceeds the set value, the full column number is updated to N-1, and return to step S11 until the rod retrieval termination signal is received, or all the drill rods in the material box are taken out, and the rod retrieval operation is stopped.

[0010] In one embodiment, determining the number of full columns N in the bin according to the amplified displacement includes:

[0011] When the lifting device is at the lowest point, calculate the first full row number N ′ :

[0012]

[0013] Δa=2*(L 1 +L 2 +L 3 )

[0014]

[0015] Where L is the magnified displacement when the lifting device is at the lowest point, Δa is the displacement corresponding to one column in the material box, and L 1 is the first displacement segment, L 2 is the second displacement segment, L 3 is the third displacement segment; r 1 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the baffle, and b is the distance between adjacent baffles;

[0016] When the lifting device reaches the highest point, calculate the second full row number N * :

[0017]

[0018] Δa ′ =2*(L 1 ′ +L 2 ′ +L 3 ′ )

[0019]

[0020] Among them, L ′ is the magnified displacement when the lifting device is lifted to the highest point, Δa ′ L is the displacement of one column in the material box when the lifting device is lifted to the highest point. 1 ′is the first displacement segment, L 2 ′ is the second displacement segment, L 3 ′ is the third displacement segment; r 2 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the partition, b is the distance between adjacent partitions; H is the height of the drill pipe being lifted;

[0021] If the first full column number N ′ Equal to the second full column number N * , then determine the number of full columns N = N ′ =N * , if the first full column number N calculated twice in a row ′ Not equal to the second full column number N * , then manually check and handle the fault.

[0022] In a second aspect, a method for automatically controlling a rod taking-down of a tunnel drilling rig is provided, which is used for controlling the rod taking-up, and comprises:

[0023] Step S21, determining the number of full columns N in the material box according to the amplified displacement, and calculating the moving position parameter S=(N+1)*ΔS, where ΔS is the width dimension of each column of the material box;

[0024] Step S22, the jacking device jacks up the drill rod, and the rod taking manipulator moves into the material box. When it is detected that the claw of the rod taking manipulator is about to enter the material box, the jacking device falls, the claw of the rod taking manipulator moves to the S position, the claw opens, and the jacking device rises to jack up the drill rod;

[0025] Step S23, when it is detected that there is no drill rod on the gripper of the rod taking manipulator, the gripper of the rod taking manipulator moves to the transfer station;

[0026] Step S24, when it is detected that there is a drill rod on the gripper of the rod retrieval robot, return to step S22; if the measurement value of the displacement sensor changes suddenly, the number of full columns is updated to N+1, and return to step S21 until the rod collection termination signal is received, or all columns in the material box are full of drill rods, and the rod collection operation is stopped.

[0027] In one embodiment, determining the number of full columns N in the bin according to the amplified displacement includes:

[0028] When the lifting device is at the lowest point, calculate the first full row number N ′ :

[0029]

[0030] Δa=2*(L 1 +L 2 +L 3)

[0031]

[0032] Where L is the magnified displacement when the lifting device is at the lowest point, Δa is the displacement corresponding to one column in the material box, and L 1 is the first displacement segment, L 2 is the second displacement segment, L 3 is the third displacement segment; r 1 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the baffle, and b is the distance between adjacent baffles;

[0033] When the lifting device reaches the highest point, calculate the second full row number N * :

[0034]

[0035] Δa ′ =2*(L 1 ′ +L 2 ′ +L 3 ′ )

[0036]

[0037] Among them, L ′ is the magnified displacement when the lifting device is lifted to the highest point, Δa ′ L is the displacement of one column in the material box when the lifting device is lifted to the highest point. 1 ′ is the first displacement segment, L 2 ′ is the second displacement segment, L 3 ′ is the third displacement segment; r 2 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the partition, b is the distance between adjacent partitions; H is the height to which the drill pipe is lifted;

[0038] If the first full column number N ′ Equal to the second full column number N * , then determine the number of full columns N = N ′ =N * , if the first full column number N calculated twice in a row ′ Not equal to the second full column number N * , then manually check and handle the fault.

[0039] In a third aspect, an automatic control device for taking out a rod from a tunnel drilling rig is provided, comprising: a crawler body, on which a rod taking manipulator, a jacking device, and a material box are arranged, and on which a displacement detection device, a pulley displacement amplification device, and a control unit are arranged;

[0040] The rod taking manipulator is arranged below the material box and is mounted on the crawler vehicle body through a translation control device to realize the sliding of the rod taking manipulator on the crawler vehicle body to transport the drill rod into the material box or take away the drill rod in the material box;

[0041] The lifting device is arranged below the material box and is used to lift the drill rod in the material box;

[0042] The displacement detection device comprises a multi-station full-column detection rope, which is arranged in the material box. When the jacking device jacks up the drill rod in the material box, the multi-station full-column detection rope is displaced;

[0043] The pulley displacement amplifying device is used to amplify the displacement and measure the amplified displacement;

[0044] The control unit is used to determine the number of full columns in the material box according to the amplified displacement, and control the rod taking manipulator to transport the drill rods into the material box or take away the drill rods in the material box according to the number of full columns in the material box.

[0045] In one embodiment, the displacement detection device also includes a detection rope positioning component arranged on the partition of the material box, and the detection rope positioning component includes an upper positioning component and a lower positioning component; one end of the multi-station full-row detection rope is fixed to the material box through a detection rope end fixing block, and the other end passes through the middle of the upper positioning component and the lower positioning component, and is connected to the pulley displacement amplification device.

[0046] In one embodiment, the pulley displacement amplification device includes a pulley group and a displacement sensor, the pulley group includes a reversing fixed pulley, a large movable pulley, a small movable pulley, a large fixed pulley, and a small fixed pulley; one end of the pull rope of the displacement sensor passes through the large fixed pulley, the large movable pulley, the small fixed pulley and the small movable pulley, and then is connected to the fixed beam at the end of the pull rope.

[0047] In one embodiment, the pulley displacement amplification device also includes a rebound device, which includes a rebound spring, a movable pulley spring support shaft, and a fixed pulley spring support shaft; the two ends of the rebound spring are respectively connected to the movable pulley spring support shaft and the fixed pulley spring support shaft; a large movable pulley, a small movable pulley, a large fixed pulley, and a small fixed pulley are arranged between the movable pulley spring support shaft and the fixed pulley spring support shaft, and the rebound spring has a pre-tensioning force, so that the multi-station full-row detection rope and the pull rope of the displacement sensor can be in a straight state when the material box is in an empty warehouse, a half warehouse, or a full warehouse.

[0048] In one embodiment, the rod retrieval robot includes a gripper and a proximity switch, and the gripper includes a positioning gripper, a movable gripper, and a gripper gripping cylinder; the movable gripper approaches or moves away from the positioning gripper under the action of the gripper gripping cylinder to achieve the opening and closing of the gripper; the proximity switch is installed in the groove of the gripper to detect whether there is a drill rod on the gripper.

[0049] In one embodiment, the control unit is used to implement the above-mentioned automatic control method for lowering and removing the rod of the tunnel drilling rig.

[0050] Compared with the prior art, the present invention has the following beneficial effects: the tunnel drilling rig rod removal automatic control device and control method of the present invention only uses 1 sensor + 1 proximity switch. The present invention can obtain the preliminary detection of the full column parameter N of the material box by dropping the jacking device to the lowest point. ′ In order to ensure the reliability of the system, a redundant design is carried out. By lifting the jacking device to the highest position, the full warehouse parameter N can be obtained for re-testing. * , using preliminary detection and re-testing, and redundant detection calculation, effectively ensures the detection accuracy of the full column parameter N of the material box, and only needs 1-2 jacking of the jacking device to obtain accurate parameters. Compared with the traditional column-by-row and row-by-column rod-finding method, this algorithm greatly improves the rod-finding speed and production efficiency, and uses redundant detection calculation to effectively ensure the accuracy of the rod-finding parameters, and effectively ensures that all components of the system move according to the corresponding control process, so that the coordinated operation between various mechanisms is perfect, and the stable operation of the system is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present application may be better understood by referring to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification. In the drawings:

[0052] Figure 1 The schematic diagram of the structure of the automatic control device for taking out the rod from the tunnel drilling rig is shown;

[0053] Figure 2 A schematic structural diagram of a displacement detection device is shown;

[0054] Figure 3 The schematic diagram of the structure of the pulley displacement amplification device is shown;

[0055] Figure 4 The schematic diagram of the structure of the rod taking manipulator and the translation control device is shown;

[0056] Figure 5 A schematic diagram showing the jacking device at its lowest point;

[0057] Figure 6 A schematic diagram showing the lifting device when it is lifted to the highest point.

[0058] Reference numerals:

[0059] 1—tracked vehicle body, 2—rod-taking manipulator, 3—lifting device, 4—material box, 5—pulley displacement amplification device, 6—displacement detection device, 7—safety cover, 8—transfer station;

[0060] 21—positioning mechanical claw, 22—movable mechanical claw, 23—claw grasping cylinder, 24—guide rail, 25—proximity switch, 26—intrinsically safe explosion-proof stepping motor, 27—rack;

[0061] 501-rebound spring, 502-fixed pulley fixing frame, 503-large fixed pulley, 504-large fixed pulley center axis, 505-small fixed pulley, 506-small fixed pulley center axis, 507-fixed beam at the end of the pull rope, 508-movable pulley fixing frame, 509-small movable pulley, 510-small movable pulley center axis, 511-large movable pulley, 512-large movable pulley center axis, 513-movable pulley traction hole, 514-change 515—reversing fixed pulley, 516—reversing fixed pulley center axis, 517—displacement sensor, 518—pull rope, 519—movable pulley spring support shaft, 520—movable pulley spring support groove, 521—large movable pulley spacer, 522—small movable pulley spacer, 523—small fixed pulley spacer, 524—large fixed pulley spacer, 525—fixed pulley spring support shaft, 526—fixed pulley spring support groove;

[0062] 61—multi-station full-row detection rope, 62—lower positioning component, 63—upper positioning component, 64—detection rope end fixing block, 611—detection rope center tensile wire, 612—detection rope wear-resistant layer, 621—lower positioning wheel, 622—angular contact bearing, 623—lower positioning center shaft, 624—detection rope lower limit groove, 631—detection rope upper limit groove. DETAILED DESCRIPTION

[0063] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions can be made in the process of developing any such actual embodiments in order to achieve the specific goals of the developer, and these decisions may vary from embodiment to embodiment.

[0064] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure closely related to the scheme according to the present application is shown in the drawings, while other details that are not closely related to the present application are omitted.

[0065] It should be understood that the present application is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. In this article, where feasible, the embodiments can be combined with each other, features between different embodiments can be replaced or borrowed, and one or more features can be omitted in one embodiment.

[0066] The tunnel drilling rig is mainly used to realize the drilling operation of the coal seam hole, the through-layer hole and the rock hole in the coal mine, and realize the automatic drilling operation in a small space. The tunnel drilling rig mainly includes: hydraulic system, tunnel drilling rig rod taking system, transporter system, drilling rig host, host manipulator, crawler vehicle platform and control center. The drilling rig host is installed at the front end of the crawler vehicle platform to realize the drilling operation; the host manipulator is installed on the side of the drilling rig host to realize the reciprocating rod taking and collecting operation between the transporter and the drilling rig host; the transporter system and the tunnel drilling rig rod taking system are installed in the middle of the crawler vehicle platform in sequence, and the transporter is directly behind the drilling rig host, mainly realizing the reciprocating rod taking and unloading operation between the tunnel drilling rig rod taking system and the host manipulator; the tunnel drilling rig rod taking system is located directly behind the transporter, mainly realizing the reciprocating rod taking and collecting operation between the rod bin and the transporter. A control center is installed behind the rod taking system of the tunnel drilling rig, which mainly controls the actions of the various execution systems of the drilling rig system and the rod taking and collecting operations of the automatic rod taking control device of the tunnel drilling rig. A hydraulic system is installed at the rear of the crawler body, which mainly provides hydraulic power for the entire tunnel drilling rig.

[0067] Automatic rod retrieval operation of tunnel drilling rig: The rod retrieval system of the tunnel drilling rig first searches for the rods, determines the row of the drill rods, then takes the drill rods out of the rod box and puts them into the transporter. The transporter moves the drill rods from the rod bin to the main machine position, and the main machine manipulator then delivers the drill rods in the transporter to the main machine of the drilling rig. The main machine of the drilling rig automatically receives the rods and drills automatically to realize automatic drilling operations.

[0068] The automatic rod collection operation of the tunnel drilling rig is just the opposite of the rod retrieval operation. First, the tunnel drilling rig's lower rod retrieval system searches for rods, determines the distribution of drill rods in the material box, and determines the values ​​of column X and row Y. Then the drilling rig host performs automatic rod retraction and automatic rod unloading operations. The host manipulator then transports the drill rods to the transporter, which moves the drill rods from the host position to the rod bin position. The tunnel drilling rig's lower rod retrieval system takes out the drill rods from the transporter and puts them back into the rod box to achieve automatic rod collection.

[0069] The rod-taking device of the tunnel drilling rig mainly includes the hardware system and the software system. The hardware system is mainly a sensing unit that realizes the automatic material taking action, provides a data basis for the software system, and is also the main body of the rod taking operation; the software system is mainly an automatic control method, which is based on various data sensed by the automatic control device, and processes data through the automatic control method to quickly obtain the drill rod column parameters of the material box, so as to realize the rapid rod-finding operation of the rod-taking; the automatic control method can realize the control of the action flow of the rod-taking, control the order of the operations of each execution action, and ensure the smooth completion of the rod-finding, rod-taking, and rod-collecting operations.

[0070] The present application provides an automatic control device for taking out a rod from a tunnel drilling rig. Figure 1 The schematic diagram of the structure of the automatic control device for taking out the rod from the tunnel drilling rig is shown in FIG. Figure 1 The device includes: a crawler body 1, on which a rod-taking manipulator 2, a lifting device 3, and a material box 4 are arranged, and the material box 4 is provided with a displacement detection device 6, a pulley displacement amplification device 5, and a control unit.

[0071] The rod taking manipulator 2 is arranged below the material box 4 and is installed on the crawler vehicle body 1 through a translation control device to realize the sliding of the rod taking manipulator 2 on the crawler vehicle body 1 to transport the drill rod into the material box 4 or take away the drill rod in the material box 4;

[0072] The lifting device 3 is arranged below the material box 4 and is used to lift the drill rod in the material box 4;

[0073] The displacement detection device 6 comprises a multi-station full-column detection rope 61, which is arranged in the material box 4. When the jacking device 3 jacks up the drill rod in the material box 4, the multi-station full-column detection rope 61 is displaced;

[0074] The pulley displacement amplifying device 5 is used to amplify the displacement and measure the amplified displacement;

[0075] The control unit is used to determine the number of full columns in the material box 4 according to the amplified displacement, and control the rod taking manipulator 2 to transport the drill rods into the material box 4 or take away the drill rods in the material box 4 according to the number of full columns in the material box 4. Here, the specific implementation of the control unit refers to the subsequent embodiments.

[0076] In this embodiment, a plurality of partitions are arranged in the material box 4, which divide the material box 4 into a plurality of columns. Each column is used to store drill rods. The column of the material box 4 close to the rear end of the tracked vehicle body 1 is the first column, and the number of columns increases successively toward the front end of the tracked vehicle body 1.

[0077] Furthermore, a safety cover plate 7 is also provided on the top of the material box 4. A transfer station 8 is provided outside the material box 4 near the front end of the crawler vehicle body 1.

[0078] In one embodiment, Figure 2 FIG. 1 shows a schematic diagram of the structure of a displacement detection device, see FIG. Figure 2 The displacement detection device 6 also includes a detection rope positioning component arranged on the partition of the material box 4, and the detection rope positioning component includes an upper positioning component 63 and a lower positioning component 62; one end of the multi-station full-row detection rope 61 is fixed to the material box 4 through a detection rope end fixing block 64, and the other end passes through the middle of the upper positioning component 63 and the lower positioning component 62, and is connected to the pulley displacement amplification device 5.

[0079] The detection rope end fixing block 64 is fixedly installed to the rear end top of the material box 4, and the end of the multi-station full column detection rope 61 is fixedly installed on the detection rope end fixing block 64 to ensure that one end of the multi-station full column detection rope 61 is fixed; the up and down movement of the multi-station full column detection rope 61 at each column partition of the material box 4 is restricted, wherein the upward movement of the multi-station full column detection rope 61 is restricted by the upper positioning component 63, and the downward movement of the multi-station full column detection rope 61 is restricted by the lower positioning component 62; and at the position where the drill rods are placed in each column of the material box 4, the multi-station full column detection rope 61 is fixedly installed on the detection rope end fixing block 64 to ensure that one end of the multi-station full column detection rope 61 is fixed; The measuring rope 61 can move upward or downward, and the material box 4 places drill rods in this row. When the placement height of the drill rods in this row is lower than or equal to the multi-station full-row detection rope 61, the displacement detection device 6 detects that the height position of the row is 0. When the placement height of the drill rods in this row is higher than the multi-station full-row detection rope 61, the drill rods in this row will drive the multi-station full-row detection rope 61 to move upward together. The height of the drill rods in this row exceeding the multi-station full-row detection rope 61 can be detected by the displacement detection device 6, thereby realizing the detection of whether the drill rods in this row are full.

[0080] Specifically, the multi-station full-row detection rope 61 includes a central tensile wire 611 of the detection rope, and the outside of the central tensile wire 611 of the detection rope is wrapped with a wear-resistant layer 612 of the detection rope; the central tensile wire 611 of the detection rope has very strong strength and good tensile resistance. When subjected to a large tensile force, the central tensile wire 611 of the detection rope can still remain unchanged, thereby ensuring the accuracy of the detection displacement; the outer layer of the central tensile wire 611 of the detection rope is evenly arranged with a wear-resistant layer 612 of the detection rope, which is used to protect the central tensile wire 611 of the detection rope and prevent the drill rod from wearing the multi-station full-row detection rope 61.

[0081] Specifically, the upper positioning component 63 and the lower positioning component 62 are always used in pairs and are fixedly installed at the partition position of the material box 4. Among them, the lower positioning component 62 includes a lower positioning wheel 621, an angular contact bearing 622, a lower positioning center shaft 623, and a detection rope lower limit groove 624. The lower positioning center shaft 623 is fixedly installed at each column of the partition of the material box 4. Angular contact bearings 622 are installed on both sides of the lower positioning center shaft 623, and a lower positioning wheel 621 is installed outside the angular contact bearing 622. The lower positioning wheel 621 can rotate freely around the lower positioning center shaft 623. A detection rope lower limit groove 624 is provided at the center position of the outer ring of the lower positioning wheel 621. The upper positioning component 63 has the same structure as the lower positioning component 62. An upper limit groove 631 for the detection rope is provided at the center of the outer ring of the upper positioning wheel. There is a gap of less than 0.5 mm between the upper positioning component 63 and the lower positioning component 62. The upper limit groove 631 for the detection rope and the lower limit groove 624 for the detection rope are combined into a circle, and the diameter is 1-2 mm larger than the multi-station full-row detection rope 61.

[0082] In one embodiment, Figure 3 The schematic diagram of the structure of the pulley displacement amplification device is shown in FIG. Figure 3 The pulley displacement amplification device includes a pulley group and a displacement sensor 517. The pulley group includes a reversing fixed pulley 515, a large movable pulley 511, a small movable pulley 509, a large fixed pulley 503, and a small fixed pulley 505. One end of the pull rope 518 of the displacement sensor 517 passes through the large fixed pulley 503, the large movable pulley 511, the small fixed pulley 505 and the small movable pulley 509, and is connected to the fixed beam 507 at the end of the pull rope.

[0083] In this embodiment, the fixed pulley fixing frame 502 is fixedly mounted on the flat surface of the crawler vehicle body 1 platform, and the fixed pulley fixing frame 502 is sequentially mounted with a large fixed pulley center axis 504 and a small fixed pulley center axis 506 from bottom to top, the large fixed pulley center axis 504 is mounted with a large fixed pulley 503 on the outer diameter, and large fixed pulley spacer rings 524 are mounted on both sides, the small fixed pulley center axis 506 is mounted with a small fixed pulley 505 on the outer diameter, and small fixed pulley spacer rings 523 are mounted on both sides, and a pull rope end fixing beam 507 is mounted on the top of the fixed pulley fixing frame 502; the movable pulley fixing frame 508 is sequentially mounted with a small movable pulley center axis from bottom to top 510, a large movable pulley central axis 512, a large movable pulley 511 is installed on the outer diameter of the large movable pulley central axis 512, large movable pulley spacer rings 521 are installed on both sides, a small movable pulley 509 is installed on the outer diameter of the small movable pulley central axis 510, small fixed pulley spacer rings 522 are installed on both sides, a movable pulley traction hole 513 is arranged on the top of the movable pulley fixing frame 508, one end of the pull rope 518 of the displacement sensor is installed on the displacement sensor 517, and the other end is installed on the fixed beam 507 at the end of the pull rope, and passes through the large fixed pulley 503, the large movable pulley 511, the small fixed pulley 505, and the small movable pulley 509 in sequence.

[0084] The reversing fixed pulley fixed mounting frame 514 is fixedly mounted on the front end of the material box 4, the reversing fixed pulley center axis 516 is fixedly mounted on the reversing fixed pulley fixed mounting frame 514, and a reversing fixed pulley 515 is mounted on the outer diameter of the reversing fixed pulley center axis 516, and the reversing fixed pulley 515 can rotate freely around the reversing fixed pulley center axis 516.

[0085] Furthermore, the pulley displacement amplification device 5 also includes a rebound device, which includes a rebound spring 501, a movable pulley spring support shaft 519, and a fixed pulley spring support shaft 525; the two ends of the rebound spring 501 are respectively connected to the movable pulley spring support shaft 519 and the fixed pulley spring support shaft 525; a large movable pulley 511, a small movable pulley 509, a large fixed pulley 503, and a small fixed pulley 505 are arranged between the movable pulley spring support shaft 519 and the fixed pulley spring support shaft 525, and the rebound spring 501 has a pre-tension, so that the multi-station full-row detection rope 61 and the pull rope 518 of the displacement sensor 517 can be in a straight state when the material box 4 is in an empty warehouse, a half warehouse, or a full warehouse.

[0086] In this embodiment, a fixed pulley spring support shaft 525 is provided on both sides of the fixed pulley fixing frame 502, and a fixed pulley spring support groove 526 is provided on the fixed pulley spring support shaft 525; a movable pulley spring support shaft 519 is provided on both sides of the movable pulley fixing frame 508, and a movable pulley spring support groove 520 is provided on the movable pulley spring support shaft 519; one end of the rebound spring 501 is connected to the movable pulley spring support groove 520, and the other end is connected to the fixed pulley spring support groove 526.

[0087] The pulley displacement amplifying device 5 and the displacement detecting device 6 are both in the same plane to ensure that the multi-station full-row detection rope 61 and the displacement sensor 517 pull rope move in the same plane.

[0088] In one embodiment, Figure 4 The schematic diagram of the structure of the rod taking manipulator 2 and the translation control device is shown in FIG. Figure 4 The rod-taking manipulator 2 includes a gripper and a proximity switch 25. The gripper includes a positioning manipulator gripper 21, a movable manipulator gripper 22, and a gripper gripping oil cylinder 23. The movable manipulator gripper 22 moves closer to or farther from the positioning manipulator gripper 21 under the action of the gripper gripping oil cylinder 23 to realize the opening and closing of the gripper. Here, the proximity switch 25 is installed in the groove of the gripper, and the proximity switch 25 is used to detect whether there is a drill rod on the gripper.

[0089] Further, see Figure 4The translation control device mainly includes an intrinsically safe explosion-proof servo motor 26, a rack 27, and a guide rail 24. The intrinsically safe explosion-proof servo motor 26 is installed at the rear end of the tracked vehicle body 1, the guide rail 24 is installed inside the tracked vehicle body 1, the rod taking manipulator 2 is installed on the guide rail 24, and a rack mechanism is installed at the end of the rod taking manipulator 2. Through the coordination of the gear and rack, the rotational motion of the intrinsically safe explosion-proof servo motor 26 is converted into the forward and backward movement of the rod taking manipulator 2 on the guide rail 24.

[0090] The embodiment of the present application also provides an automatic control method for rod retrieval from a tunnel drilling rig, including rod retrieval control and rod collection control. During the rod retrieval control and rod collection control, it is necessary to first perform an automatic rod search operation, that is, to detect the storage status of the drill rods in the current material box, and determine which column of drill rods in the current material box is full, so as to guide the rod bin manipulator to select the correct column for rod retrieval or rod collection operations.

[0091] In one embodiment, when taking out the rods, preparation work needs to be done first. The placement of the drill rods in the material box is manually checked. The drill rods are required to be placed in order from the back to the front. The drill rods are placed neatly. The proximity switch in the gripper of the rod taking manipulator detects that there are no drill rods. The rod bin manipulator opens, and the rod taking manipulator moves to the transfer station outside the material box, and the jacking device falls to the lowest position. The rod taking control includes:

[0092] Step S11, determine the number of full columns N in the material box according to the amplified displacement, and calculate the moving position parameter S=(N+1)*ΔS, where ΔS is the width dimension of each column of the material box.

[0093] Step S12, the jacking device lifts up the drill rod, the claw of the rod-taking manipulator moves to the S position, the jacking device falls, and the drill rod falls onto the claw of the rod-taking manipulator;

[0094] Step S13, when it is detected that there is a drill rod on the gripper of the rod-taking manipulator, the gripper is closed; after the jacking device falls to the lowest position, the gripper of the rod-taking manipulator moves to the transfer station on the crawler vehicle body, and the gripper opens;

[0095] Step S14, when it is detected that there is no drill rod on the gripper of the rod retrieval robot, return to step S12; if after the jacking device falls, it is detected that there is no drill rod on the gripper of the rod retrieval robot for a time that exceeds the set value, which can be set to 5s here, the full column number is updated to N-1, and return to step S11 until the rod retrieval termination signal is received, or all the drill rods in the material box are taken out, and the rod retrieval operation is stopped.

[0096] In one embodiment, the finishing control includes:

[0097] Step S21, determining the number of full columns N in the material box according to the amplified displacement, and calculating the moving position parameter S=(N+1)*ΔS, where ΔS is the width dimension of each column of the material box;

[0098] Step S22, the jacking device jacks up the drill rod, and the rod taking manipulator moves into the material box. When it is detected that the claw of the rod taking manipulator is about to enter the material box, the jacking device falls, the claw of the rod taking manipulator moves to the S position, the claw opens, and the jacking device rises to jack up the drill rod;

[0099] Step S23, when it is detected that there is no drill rod on the gripper of the rod taking manipulator, the gripper of the rod taking manipulator moves to the transfer station;

[0100] Step S24, when it is detected that there is a drill rod on the gripper of the rod retrieval robot, return to step S22; if the measurement value of the displacement sensor changes suddenly, the number of full columns is updated to N+1, and return to step S21 until the rod collection termination signal is received, or all columns in the material box are full of drill rods, and the rod collection operation is stopped.

[0101] Specifically, the number of full columns N in the material box is determined according to the amplified displacement, including:

[0102] When the lifting device is at the lowest point, Figure 5 The schematic diagram shows the lifting device at the lowest point, and the first full row number N is calculated. ′ :

[0103]

[0104] Δa=2*(L 1 +L 2 +L 3 )

[0105]

[0106] Where L is the amplified displacement when the lifting device is at the lowest point, that is, the reading of the displacement sensor, Δa is the displacement corresponding to one column in the material box, and L 1 is the first displacement segment, L 2 is the second displacement segment, L 3 is the third displacement segment; r 1 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the baffle, and b is the distance between adjacent baffles;

[0107] When the lifting device reaches the highest point, Figure 6 The schematic diagram shows the lifting device when it is lifted to the highest point, and the second full row number N is calculated. * :

[0108]

[0109] Δa ′ =2*(L 1 ′+L 2 ′ +L 3 ′ )

[0110]

[0111] Among them, L ′ Δa is the amplified displacement when the lifting device is lifted to the highest point, that is, the reading of the displacement sensor. ′ L is the displacement of one column in the material box when the lifting device is lifted to the highest point. 1 ′ is the first displacement segment, L 2 ′ is the second displacement segment, L 3 ′ is the third displacement segment; r 1 is the radius of the upper positioning wheel, r 2 is the radius of the drill pipe cross section, a is the thickness of the partition, b is the distance between adjacent partitions; H is the height of the drill pipe being lifted;

[0112] If the first full column number N ′ Equal to the second full column number N * , then determine the number of full columns N = N ′ =N * , if the first full column number N calculated twice in a row ′ Not equal to the second full column number N * , then manually check and handle the fault.

[0113] It should be noted that the amplified displacement is obtained by reading the displacement sensor. Before using the displacement sensor, the following initial value calibration of the displacement sensor is required:

[0114] When there is no drill rod in the material box, read the displacement sensor reading L0 and calculate the initial value deviation ΔM:

[0115] ΔM=|L0-LM|

[0116] Among them, LM is the initial standard value, LM = 4M (a + b),

[0117] M is the total number of material box rows, a is the thickness of the partition, and b is the distance between adjacent partitions.

[0118] When ΔM≤10mm, the displacement sensor is normal.

[0119] When ΔM>10mm, the zero point of the displacement sensor has drifted, and the initial value needs to be recalibrated. The calibration steps are as follows:

[0120] There is no drill rod in the material box and the pull rope of the displacement sensor and the multi-station full-row detection rope are both in a taut state. The sensor reading L0 is modified to the initial standard value LM, and the zero point calibration is completed.

[0121] The initial value calibration does not need to be performed every time. It is only when the rod-taking robot cannot move to the specified column position, causing the rod-taking robot to fail to take or collect the rods, that the initial value calibration is required manually. Or when the material bin is empty, the calibration is performed when the initial value deviation ΔM is manually detected to be out of tolerance.

[0122] In this embodiment, when the lifting device is lifted to the highest point, the amplified displacement L ′ The method for determining is: the jacking device is lifted to the highest position, driving the drill rod in the material box to move to the highest position, and recording the displacement sensor reading LL1 at this time. The jacking device should fall to the lowest point and then rise to the highest point again, and record the displacement sensor reading LL2 at this time again. The difference between the two recorded rope sensor readings LL1 and LL2 should be within ±2mm. The average of the two readings is taken as the final automatic rod search column number detection result, L ′ =(LL1+LL2) / 2. If the difference is greater than ±2mm, two more automatic rod-finding column number tests should be performed. The measurement result with the largest error should be discarded, and the average of the remaining three measurement results should be taken as the final automatic rod-finding column number test result.

[0123] Compared with the prior art, this application has the following technical effects:

[0124] 1. The space in the underground tunnel of coal mine is small, which requires the equipment to be compact in width and height and the sensor layout to be reasonable. This application has the advantages of small footprint and convenient maintenance through compact rope detection design and reasonable space layout.

[0125] 2. The existing material taking system has a large number of sensors, generally requiring 6 sensors + 1 proximity switch. The large number of sensors and unreasonable layout, the harsh underground environment of the coal mine, and the high sensor failure rate cause many equipment accidents. This application only uses 1 sensor + 1 proximity switch, which greatly reduces the number of sensors used. At the same time, the sensor is protected by a design to keep it away from the water return and slag return position at the orifice, and an external protective device is added to ensure that the service life of the sensor is increased and the equipment failure rate is reduced.

[0126] 3. In view of the problem that the automatic rod search operation of the existing material taking control system needs to search for rods row by row, resulting in long rod search time and low work efficiency, this application proposes a convenient and efficient automatic rod search algorithm. By dropping the jacking device to the lowest point, the initial detection parameter N of the full column of the material box can be obtained. ′ In order to ensure the reliability of the system, a redundant design is carried out. By lifting the jacking device to the highest position, the full warehouse parameter N can be obtained for re-testing. *, using preliminary detection and re-testing twice, and redundant detection and calculation, effectively ensure the detection accuracy of the full row parameter N of the material box, and only need 1-2 times of jacking of the jacking device to obtain accurate parameters. Compared with the traditional method of searching for rods row by row and column by column, this algorithm greatly improves the speed of searching for rods and improves production efficiency, and uses redundant detection and calculation to effectively ensure the accuracy of the rod searching parameters.

[0127] 4. A method combining displacement detection and displacement amplification detection is adopted to cleverly convert the full column information of the material box into a displacement signal, and the displacement signal is proportionally amplified through a pulley group, and the displacement signal is amplified by 4 times, which effectively ensures the accuracy of the signal; at the same time, the displacement detection device is also very sophisticated. By restricting the up and down movement of the multi-station full column detection rope at the separation position of each column of the material box, and releasing the free movement of the rod position of each column of the material box, a multi-station full column detection rope can obtain full warehouse signals of multiple columns at one time, effectively reducing the number of sensors and improving the stability of the system.

[0128] 5. This application proposes a control method for automatic rod search, automatic rod retrieval, and automatic rod collection, which effectively ensures that all components of the system move according to the corresponding control process, makes the coordination between various mechanisms perfect, and ensures the stable operation of the system.

[0129] In summary, the present application effectively solves the technical problems in the prior art such as high failure rate due to large number of sensors, difficulty in maintenance and replacement due to complex control system structure, low efficiency due to long time spent on automatic pole search, and poor overall stability and reliability of the control system.

[0130] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic control method for taking out a rod from a tunnel drilling rig, characterized in that: For rod take-off control, including: Step S11, determine the number of full columns N in the material box according to the amplified displacement, and calculate the moving position parameter S=(N+1)*△S, where △S is the width dimension of each column of the material box; Step S12, the jacking device lifts up the drill rod, the claw of the rod-taking manipulator moves to the S position, the jacking device falls, and the drill rod falls onto the claw of the rod-taking manipulator; Step S13, when it is detected that there is a drill rod on the gripper of the rod-taking manipulator, the gripper is closed; after the jacking device falls to the lowest position, the gripper of the rod-taking manipulator moves to the transfer station on the crawler vehicle body, and the gripper opens; Step S14, when it is detected that there is no drill rod on the gripper of the rod retrieval robot, return to step S12; if after the jacking device falls, it is detected that the time without a drill rod on the gripper of the rod retrieval robot exceeds the set value, the full column number is updated to N-1, and return to step S11 until the rod retrieval termination signal is received, or all the drill rods in the material box are taken out, and the rod retrieval operation is stopped.

2. The method according to claim 1, characterized in that The method of determining the number of full rows N in the material box according to the amplified displacement comprises: When the lifting device is at the lowest point, calculate the first full row number N ′ : Δa=2*(L1+L2+L3) Wherein, L is the magnified displacement when the lifting device is at the lowest point, Δa is the displacement corresponding to one column in the material box, L1 is the first displacement section, L2 is the second displacement section, and L3 is the third displacement section; r1 is the radius of the upper positioning wheel, r2 is the radius of the drill pipe cross section, a is the thickness of the partition, and b is the distance between adjacent partitions; When the lifting device reaches the highest point, calculate the second full row number N * : <h2 style=";text-align:left;direction:ltr">Δa<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> =2*(L1<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> +L3<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> ) Among them, L ′ is the magnified displacement when the lifting device is lifted to the highest point, Δa ′ L1 is the displacement of one column in the material box when the lifting device is lifted to the highest point. ′ is the first displacement segment, L2 ′ For the second displacement segment, L3 ′ is the third displacement section; r1 is the radius of the upper positioning wheel, r2 is the radius of the drill pipe cross section, a is the thickness of the partition, b is the distance between adjacent partitions; H is the height of the drill pipe being lifted; If the first full column number N ′ Equal to the second full column number N * , then determine the number of full columns N = N ′ =N * , if the first full column number N calculated twice in a row ′ Not equal to the second full column number N * , then manually check and handle the fault.

3. An automatic control method for taking out a rod from a tunnel drilling rig, characterized in that: For finishing control, including: Step S21, determining the number of full columns N in the material box according to the amplified displacement, and calculating the moving position parameter S=(N+1)*ΔS, where ΔS is the width dimension of each column of the material box; Step S22, the jacking device jacks up the drill rod, and the rod taking manipulator moves into the material box. When it is detected that the claw of the rod taking manipulator is about to enter the material box, the jacking device falls, the claw of the rod taking manipulator moves to the S position, the claw opens, and the jacking device rises to jack up the drill rod; Step S23, when it is detected that there is no drill rod on the gripper of the rod taking manipulator, the gripper of the rod taking manipulator moves to the transfer station; Step S24, when it is detected that there is a drill rod on the gripper of the rod retrieval robot, return to step S22; if the measurement value of the displacement sensor changes suddenly, the number of full columns is updated to N+1, and return to step S21 until the rod collection termination signal is received, or all columns in the material box are full of drill rods, and the rod collection operation is stopped.

4. The method according to claim 3, characterized in that The method of determining the number of full rows N in the material box according to the amplified displacement comprises: When the lifting device is at the lowest point, calculate the first full row number N ′ : Δa=2*(L1+L2+L3) Wherein, L is the magnified displacement when the lifting device is at the lowest point, Δa is the displacement corresponding to one column in the material box, L1 is the first displacement section, L2 is the second displacement section, and L3 is the third displacement section; r1 is the radius of the upper positioning wheel, r2 is the radius of the drill pipe cross section, a is the thickness of the partition, and b is the distance between adjacent partitions; When the lifting device reaches the highest point, calculate the second full row number N * : <h2 style=";text-align:left;direction:ltr">Δa<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> =2*(L1<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> +L2<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> +L3<h2 style=";text-align:left;direction:ltr"> ′ <h2 style=";text-align:left;direction:ltr"> ) Among them, L ′ is the magnified displacement when the lifting device is lifted to the highest point, Δa ′ L1 is the displacement of one column in the material box when the lifting device is lifted to the highest point. ′ is the first displacement segment, L2 ′ For the second displacement segment, L3 ′ is the third displacement section; r1 is the radius of the upper positioning wheel, r2 is the radius of the drill pipe cross section, a is the thickness of the partition, b is the distance between adjacent partitions; H is the height of the drill pipe being lifted; If the first full column number N ′ Equal to the second full column number N * , then determine the number of full columns N = N ′ =N * , if the first full column number N calculated twice in a row ′ Not equal to the second full column number N * , then manually check and handle the fault.

5. An automatic control device for taking out a rod from a tunnel drilling rig, characterized in that: include: A crawler vehicle body (1), wherein the crawler vehicle body (1) is provided with a rod taking manipulator (2), a lifting device (3), and a material box (4), and the material box (4) is provided with a displacement detection device (6), a pulley displacement amplification device (5), and a control unit; The rod taking manipulator (2) is arranged below the material box (4) and is installed on the crawler vehicle body (1) through a translation control device to achieve the sliding of the rod taking manipulator (2) on the crawler vehicle body (1) to transport the drill rod into the material box (4) or take out the drill rod in the material box (4); The lifting device (3) is arranged below the material box (4) and is used to lift the drill rod in the material box (4); The displacement detection device (6) comprises a multi-station full-row detection rope (61), wherein the multi-station full-row detection rope (61) is arranged in the material box (4), and when the jacking device (3) jacks up the drill rod in the material box (4), the multi-station full-row detection rope (61) is displaced; The pulley displacement amplifying device (5) is used to amplify the displacement and measure the amplified displacement; The control unit is used to determine the number of full rows in the material box (4) according to the amplified displacement, and to control the rod-taking manipulator (2) to transport the drill rods into the material box (4) or take away the drill rods in the material box (4) according to the number of full rows in the material box (4).

6. The device according to claim 5, characterized in that The displacement detection device (6) also includes a detection rope positioning component arranged on the partition of the material box (4), and the detection rope positioning component includes an upper positioning component (63) and a lower positioning component (62); one end of the multi-station full-row detection rope (61) is fixed to the material box (4) through a detection rope end fixing block (64), and the other end passes through the middle of the upper positioning component (63) and the lower positioning component (62), and is connected to the pulley displacement amplification device (5).

7. The device according to claim 5, characterized in that The pulley displacement amplification device (5) comprises a pulley block and a displacement sensor (517), wherein the pulley block comprises a reversing fixed pulley (515), a large movable pulley (511), a small movable pulley (509), a large fixed pulley (503), and a small fixed pulley (505); one end of a pull rope (518) of the displacement sensor (517) passes through the large fixed pulley (503), the large movable pulley (511), the small fixed pulley (505), and the small movable pulley (509), and then is connected to the fixed crossbeam (507) at the end of the pull rope.

8. The device according to claim 7, characterized in that The pulley displacement amplification device (5) also includes a rebound device, which includes a rebound spring (501), a movable pulley spring support shaft (519), and a fixed pulley spring support shaft (525); the two ends of the rebound spring (501) are respectively connected to the movable pulley spring support shaft (519) and the fixed pulley spring support shaft (525); the large movable pulley (511), the small movable pulley (509), the large fixed pulley (503), and the small fixed pulley (505) are arranged between the movable pulley spring support shaft (519) and the fixed pulley spring support shaft (525), and the rebound spring (501) has a pre-tensioning force, so that the multi-station full-row detection rope (61) and the pull rope (518) of the displacement sensor (517) can be in a straight state when the material box (4) is in an empty warehouse, a half warehouse, or a full warehouse.

9. The device according to claim 5, characterized in that The rod-taking manipulator (2) comprises a gripper and a proximity switch (25), wherein the gripper comprises a positioning manipulator gripper (21), a movable manipulator gripper (22), and a gripper gripping cylinder (23); the movable manipulator gripper (22) moves closer to or farther away from the positioning manipulator gripper (21) under the action of the gripper gripping cylinder (23) to achieve the opening and closing of the gripper; the proximity switch (25) is installed in a groove of the gripper and is used to detect whether there is a drill rod on the gripper.

10. The device according to claim 5, characterized in that The control unit is used to implement the automatic control method for taking out the rod of the tunnel drilling rig as described in any one of claims 1 to 4.

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