A coal mine underground intelligent drilling machine rod supplementing device and control method

Abstract

A coal mine underground intelligent drilling machine rod supplementing device and control method, including a mechanical arm, a drill rod conveying device, a drill rod bin and a mechanical hand, the drill rod conveying device is fixedly connected on the upper part of the drill rod bin, the mechanical arm is slidably connected on the drill rod conveying device, and the mechanical hand is hingedly arranged on the lower part of the mechanical arm; the mechanical arm includes a first arm, a second arm, a third arm and a fourth arm which are coaxially sleeved from outside to inside, the upper end of the first arm is connected with a sealing plate, and the upper end of the second arm is connected with the upper end of the fourth arm through a cover plate; the upper part of the cover plate is connected with an upper guide wheel, the upper guide wheel is wound with an upper steel wire rope, one end of the upper steel wire rope is connected with the lower part of the first arm, and the other end penetrates through the cover plate and is connected with the upper edge of the third arm; the lower end of the fourth arm is connected with a lower guide wheel, the lower guide wheel is wound with a lower steel wire rope, one end of the lower steel wire rope is connected with the upper edge of the third arm, and the other end penetrates through the cover plate and is connected with the top sealing plate of the first arm. Through the cooperation of the upper and lower guide wheels, the oil cylinder runs one stroke, the mechanical hand runs two strokes, the height of the mechanical arm is greatly reduced, and the applicability of the limited operation space is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent drilling technology in coal mine underground, and particularly relates to a rod supplementing device and control method of intelligent drilling rig in coal mine underground. BACKGROUND

[0002] The automatic rod feeding and discharging system of the intelligent drilling rig is the core that determines the working efficiency of the drilling rig. In order to facilitate the drilling of holes at various angles, the body of the intelligent drilling rig can rotate relative to the drilling rig platform, and the rod storage bin is not fixed relative to the body and generally has a large distance. Through the cooperation of the rod feeding and discharging mechanical arm and the rod supplementing mechanical arm in the rod supplementing device, the movement of the drill rod from the rod storage bin to the working position of the body is realized.

[0003] Although the existing rod supplementing device of the intelligent drilling rig can meet the rod feeding and discharging function, due to the limited height and width of the coal mine tunnel, the mechanical arm is generally placed on the side of the rod storage bin, which leads to a large overall width of the drilling rig and makes the drilling rig unable to be used in the underground transportation and working space. At the same time, the current rod supplementing device has the problems of low rod feeding and discharging efficiency and insufficient intelligence of the mechanical arm control logic, which affects the continuous construction time of the intelligent drilling rig and reduces the construction efficiency. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a rod supplementing device and control method of intelligent drilling rig in coal mine underground, which solves the applicability of the intelligent drilling rig in the limited working space in coal mine underground.

[0005] To achieve the above purpose, the technical scheme adopted by the present application includes:

[0006] A rod supplementing device of intelligent drilling rig in coal mine underground, comprising a mechanical arm, a drill rod conveying device, a drill rod storage bin and a mechanical hand, the drill rod conveying device is fixedly connected to the upper part of the drill rod storage bin, the mechanical arm is slidably connected to the drill rod conveying device, and the mechanical hand is hingedly connected to the lower part of the mechanical arm.

[0007] The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm which are coaxially sleeved from outside to inside, and spaces are left between the first arm, the second arm, the third arm and the fourth arm, the upper end of the first arm is connected with a sealing plate, and the sealing plate does not contact the second arm, the third arm and the fourth arm, the upper end of the second arm is connected with the upper end of the fourth arm through a cover plate, and the cover plate does not contact the first arm and the third arm, an upper guide wheel is connected to the upper part of the cover plate, an upper steel wire rope is wound around the upper guide wheel, one end of the upper steel wire rope is connected with the lower part of the first arm, and the other end of the upper steel wire rope passes through the cover plate and is connected with the upper edge of the third arm, a lower guide wheel is connected to the lower end of the fourth arm, a lower steel wire rope is wound around the lower guide wheel, one end of the lower steel wire rope is connected with the upper edge of the third arm, and the other end of the lower steel wire rope passes through the cover plate and is connected with the top sealing plate of the first arm, and the mechanical arm further comprises a first oil cylinder which is fixedly connected to the side wall of the first arm and has an axis parallel to the first arm, the power end of the first oil cylinder is fixedly connected with the lower end of the second arm, and the first oil cylinder is slidably connected to the drill rod conveying device.

[0008] Preferably, the first righting unit is arranged between the primary arm and the secondary arm, and the second righting unit is arranged between the secondary arm and the tertiary arm; the first righting unit comprises a lower outer righting block arranged on the lower side of the primary arm and connected with the primary arm, and an upper outer righting block arranged on the upper side of the primary arm and connected with the secondary arm.

[0009] Preferably, the second righting unit comprises a lower inner righting block arranged on the lower side of the secondary arm and connected with the secondary arm, and an upper inner righting block arranged on the upper side of the secondary arm and connected with the tertiary arm.

[0010] Preferably, the drill rod conveying device comprises a machine body arranged on the upper part of the side wall of the drill rod storage bin, two guide rails arranged on the machine body and parallel to the side wall of the drill rod storage bin, two racks arranged below the two guide rails, a gear arranged between the two racks and engaged with the two racks, a drag plate slidably arranged on the two guide rails, a motor arranged on the upper part of the drag plate, a power shaft of the motor coaxially connected with the gear from top to bottom, and a first oil cylinder fixedly connected with the side wall of the drag plate.

[0011] Preferably, the drill rod storage bin is composed of a fixed bin and a movable bin, and the bottom surfaces of the fixed bin and the movable bin are overlapped and can be pulled out, and the machine body is arranged on the side wall of the fixed bin.

[0012] Preferably, a guide groove is arranged on one side of the fixed bin at the connecting edge of the fixed bin and the movable bin, a guide block is arranged on the other side of the movable bin at the connecting edge of the fixed bin and the movable bin, and the two sides of the connecting edge of the fixed bin and the movable bin are connected by a second oil cylinder.

[0013] Preferably, a plurality of reversible partitions are evenly arranged in the opposite side walls of the fixed bin and the movable bin, and two adjacent reversible partitions on the fixed bin and the corresponding two adjacent reversible partitions on the movable bin form a space for placing a drill rod; a limiting plate is arranged on one side of the reversible partition perpendicular to the edge.

[0014] Preferably, a quick insertion plate is arranged on the connecting side of the machine body and the fixed bin, and a quick insertion groove matching the structure of the quick insertion plate is arranged on the side wall of the fixed bin.

[0015] Preferably, a plate-type force sensor is arranged between the bottom of the two adjacent reversible partitions; a first displacement sensor is arranged on the mechanical arm, and a second displacement sensor is arranged on the machine body.

[0016] A coal mine underground intelligent drilling machine rod supplementing control method based on the coal mine underground intelligent drilling machine rod supplementing device of the present application, and the specific control method is as follows:

[0017] Step 1: divide and label the positions of the drill rod storage bin by rows and columns;

[0018] Step 2: read the weight W supported by each plate-type force sensor;

[0019] Step 3, according to the weight of each drill pipe W1, the number of drill pipes in each column in the drill pipe bin is calculated as W / W1;

[0020] Step 4, the presence of drill pipes in the drill pipe bin position is calibrated;

[0021] Step 5, when the manipulator takes out the drill pipe from the drill pipe bin and places it in the main machine, the drill pipe is first grabbed from the position with the smaller sum of the unit place and the ten place; when the sum of the unit place and the ten place of the drill pipe bin position is the same, the position with the smaller number of ten places is preferentially selected;

[0022] Step 6, after the manipulator completes the grabbing of the drill pipe each time, the data of the plate-type force sensor is re-read from step 2, and the cycle is sequentially repeated.

[0023] Compared with the prior art, the advantages of the present application are:

[0024] (1) The coal mine underground intelligent drilling machine rod supplementing device of the present application realizes that the oil cylinder runs one stroke and the manipulator runs two strokes through the reasonable setting of the component structure and the cooperation of the upper and lower guide wheels, greatly reduces the height of the mechanical arm, and solves the problem that the height of the coal mine roadway drilling machine is limited and the long mechanical arm cannot be used.

[0025] (2) The coal mine underground intelligent drilling machine rod supplementing device of the present application realizes that the drill pipe bin can be telescopic, when drill pipes are added to the drill pipe bin from the outside of the drilling machine, the movable bin is extended and the drill pipe bin is in the maximum state, which facilitates the placement of the drill pipes. When the drill pipes are added, the movable bin is automatically retracted to arrange the drill pipes neatly, which reduces the difficulty of adding and removing drill pipes from the outside and improves the efficiency of adding and removing drill pipes. At the same time, the width of the drill pipe bin can be adjusted by adjusting the extension length of the movable bin, which solves the problem that the width of the drill pipe bin is fixed and can only adapt to one length of drill pipe.

[0026] (3) The coal mine underground intelligent drilling machine rod supplementing device of the present application realizes that when the drill pipes in the drill pipe bin are used up, it is not necessary to add drill pipes to the drill pipe bin one by one by manpower, the drill pipe conveying device is directly pulled out of the quick insertion slot, the connecting bolts between the fixed bin and the drilling machine platform are loosened, and the empty drill pipe bin can be lifted away from the drilling machine and hoisted into the spare drill pipe bin filled with drill pipes, which greatly shortens the auxiliary operation time and reduces the labor consumption.

[0027] (4) The coal mine underground intelligent drilling machine rod supplementing device of the present application realizes that through the cooperation of the reversible partition plate and the limiting plate, the gap between the adjacent partition plates of the drill pipe bin can be adjusted to meet the use requirements of two types of drill pipes.

[0028] (5) The coal mine underground intelligent drilling machine rod supplementing device, through the reasonable setting of the component structure, the load bearing of each column of drill rod bin is detected in real time through the plate type force sensor, the number of drill rods stored between each reversible partition is calculated according to the preset weight of each drill rod, and the real-time statistics of the number of stored rods of each column of drill rod bin is realized.

[0029] (6) The coal mine underground intelligent drilling machine rod supplementing device and control method, the mechanical hand automatically selects the drill rod with the smallest operation path, reduces the mechanical hand moving time, and greatly improves the whole drill rod feeding and pulling efficiency of the drilling machine.

[0030] (7) The coal mine underground intelligent drilling machine rod supplementing device and control method, the downstroke of the mechanical hand is calculated according to the target position when the mechanical hand grabs the drill rod, and the grabbing speed is nonlinearly controlled according to the stroke. The problem that the mechanical hand can only travel at a uniform slow speed when grabbing the drill rod at present is solved, the mechanical hand is touched to the drill rod by relying on the proximity switch, the running speed of the mechanical hand grabbing the drill rod is improved. At the same time, the mechanical hand slowly approaches the drill rod at the end of the stroke, reduces the impact of the mechanical hand and the drill rod, improves the service life of the parts in the mechanical hand and the mechanical arm, and reduces the failure rate. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the specific embodiments below, but do not constitute a limitation to the present application. In the drawings:

[0032] Figure 1 is a schematic diagram of the overall structure of the present application;

[0033] Figure 2 is a front view of the mechanical arm in the retracted state of the present application;

[0034] Figure 3 is a structure schematic diagram of the mechanical arm in the extended state of the present application;

[0035] Figure 4 is a structure schematic diagram of the drill rod conveying device of the present application;

[0036] Figure 5 is a structure schematic diagram of the drill rod bin of the present application;

[0037] Figure 6 is a flow chart of the order judgment of the drill rod grabbing of the present application;

[0038] Figure 7 is a schematic diagram of the bin position division label of the drill rod bin of the present application.

[0039] Figure 8 is a schematic diagram of the drill rod grabbing stroke of the mechanical hand of the present application.

[0040] Figure 9 Fig. 1 is a schematic diagram of the mechanical arm speed control of the present application.

[0041] In the figures, the various reference numbers represent:

[0042] 1 - mechanical arm, 2 - drill pipe conveying device, 3 - drill pipe storage, 4 - mechanical arm mounting seat, 5 - mechanical hand, 6 - rotary drive, 7 - first displacement sensor;

[0043] 101 - first arm, 102 - second arm, 103 - third arm, 104 - fourth arm, 105 - first oil cylinder, 106 - sealing plate, 107 - cover plate, 108 - upper guide wheel, 109 - lower guide wheel, 110 - lower outer centralizer, 111 - upper outer centralizer, 112 - lower inner centralizer, 113 - upper inner centralizer, 114 - upper steel wire rope, 115 - lower steel wire rope;

[0044] 201 - machine body, 202 - guide rail, 203 - gear, 204 - rack, 205 - drag plate, 206 - motor, 207 - second displacement sensor;

[0045] 301 - fixed bin, 302 - moving bin, 303 - second oil cylinder, 304 - guide block, 305 - plate type force sensor, 306 - quick insertion slot, 307 - second oil cylinder fixed lug seat, 308 - second oil cylinder moving lug seat, 309 - reversible partition, 310 - limit plate. DETAILED DESCRIPTION

[0046] The present application is not limited to the following specific embodiments, and any equivalent variations made on the basis of the technical solutions of the present application fall within the protection scope of the present application.

[0047] It should be noted that the directional terms mentioned herein, such as "inner cavity", "inner periphery", "inner wall" and "outer side", are consistent with the specific directions on the paper of the attached drawings or the corresponding directions of the space shown in the drawings; all components and devices in the present application, unless otherwise specified, all use components and devices known in the prior art.

[0048] Example 1

[0049] The present embodiment discloses a coal mine underground intelligent drilling machine rod supplementing device, which comprises a mechanical arm 1, a drill pipe conveying device 2, a drill pipe storage 3 and a mechanical hand 5. The drill pipe conveying device 2 is fixedly connected to the upper part of the drill pipe storage 3. The mechanical arm 1 is slidably connected to the drill pipe conveying device 2. The mechanical hand 5 is hingedly arranged at the lower part of the mechanical arm 1.

[0050] The function is: adjusting the position of the mechanical hand 5 through the mechanical arm 1 and the drill pipe conveying device 2, the drill pipe conveying device 2 is used for adjusting the transverse position of the mechanical hand 5, the mechanical arm is used for adjusting the longitudinal position of the mechanical hand, the drill pipe is clamped through the mechanical hand 5 and into the drill pipe warehouse 3, so as to realize the function of the drill rig rod supplement;

[0051] The mechanical arm 1 comprises a first arm 101, a second arm 102, a third arm 103 and a fourth arm 104 which are coaxially sleeved from outside to inside, and spaces are left between the first arm 101, the second arm 102, the third arm 103 and the fourth arm 104, the upper end of the first arm 101 is connected with a sealing plate 106, and the sealing plate 106 is not in contact with the second arm 102, the third arm 103 and the fourth arm 104, the upper end of the second arm 102 is connected with the upper end of the fourth arm 104 through a cover plate 107, and the cover plate 107 is not in contact with the first arm 101 and the third arm 103, an upper guide wheel 108 is connected with the upper part of the cover plate 107, an upper steel wire rope 114 is wound around the upper guide wheel 108, one end of the upper steel wire rope 114 is connected with the lower part of the first arm 101, and the other end of the upper steel wire rope 114 passes through the cover plate 107 and is connected with the upper edge of the third arm 103, a lower guide wheel 109 is connected with the lower end of the fourth arm 104, a lower steel wire rope 115 is wound around the lower guide wheel 109, one end of the lower steel wire rope 115 is connected with the upper edge of the third arm 103, and the other end of the lower steel wire rope 115 passes through the cover plate 107 and is connected with the top sealing plate 106 of the first arm 101, the mechanical arm 1 further comprises a first oil cylinder 105 which is fixed on the side wall of the first arm 101 and has an axis parallel to the first arm 101, the power end of the first oil cylinder 105 is fixed with the lower end of the second arm 102, and the first oil cylinder 105 is slidably connected on the drill pipe conveying device 2;

[0052] The function is: when the mechanical hand 5 goes down, the oil cylinder 105 pushes the second arm 102 to go down, the second arm 102 transmits the downward pressure to the lower guide wheel 109, and the lower guide wheel 109 pulls the third arm 103 to go down through the lower steel wire rope 115; when the mechanical hand 5 goes up, the oil cylinder 105 pushes the second arm 102 to go up, the second arm 102 transmits the upward force to the upper guide wheel 108, and the upper guide wheel 108 pulls the third arm 103 to go up through the upper steel wire rope 114. Through the cooperation of the upper and lower guide wheels, the oil cylinder 105 walks one time of stroke, the mechanical hand 5 walks two times of stroke, the height of the mechanical arm 1 is greatly reduced, the problem that the height of the coal mine roadway drilling rig is limited and the long mechanical arm cannot be used is solved.

[0053] The mechanical hand 5 disclosed in the embodiment is hinged on the lower part of the mechanical arm 1 through the rotary drive 6, so as to facilitate the adjustment of the rotation angle of the mechanical hand; the first displacement sensor 7 is arranged on the mechanical arm 1, so as to monitor and record the position of the mechanical hand 5 in real time.

[0054] Specifically, the first centralizing unit is arranged between the first arm 101 and the second arm 102, and the second centralizing unit is arranged between the second arm 102 and the third arm 103;

[0055] The first and second righting units cooperate to limit the radial direction between adjacent walls, thereby improving the stability of the mechanical arm 1.

[0056] The first righting unit includes a lower outer righting block 110 connected to the primary arm 101 and a upper outer righting block 111 connected to the secondary arm 102.

[0057] The drill rod conveying device 2 includes a body 201 connected to the upper portion of the side wall of the drill rod storage 3. The body 201 is provided with two guide rails 202 parallel to the side wall of the drill rod storage 3. The lower portion of each guide rail 202 is provided with a rack 204. The two racks 204 are provided with a gear 203 engaged therewith. The device further includes a drag plate 205 slidingly arranged on the two guide rails 202. The upper portion of the drag plate 205 is provided with a motor 206. The power shaft of the motor 206 passes through the drag plate 205 and is coaxially connected to the gear 203. The side wall of the drag plate 205 is fixedly connected to the first oil cylinder 105.

[0058] The body 201 bears the entire drill rod conveying device 2 and fixes the drill rod conveying device 2 to the side wall of the drill rod storage 3. The motor 206 rotates the gear 203 in the forward / reverse direction and converts the rotational force into a linear force in the axial direction of the rack 204, thereby adjusting the lateral position of the drag plate 205, the mechanical arm 1 and the manipulator 5.

[0059] The first oil cylinder 105 is fixedly connected to the drag plate 205 through the mechanical arm mounting seat 4.

[0060] The body 201 is provided with a second displacement sensor 207 to monitor and record the position of the drag plate 205 in real time.

[0061] The drill rod storage 3 is composed of a fixed storage 301 and a movable storage 302. The bottom surface of the fixed storage 301 overlaps the bottom surface of the movable storage 302 and can be pulled out. The body 201 is connected to the side wall of the fixed storage 301. The side of the fixed storage 301 at the connecting edge of the fixed storage 301 and the movable storage 302 is provided with a guide groove. The side of the movable storage 302 at the connecting edge of the fixed storage 301 and the movable storage 302 is provided with a guide block 304 slidingly arranged in the guide groove. The other side of the connecting edge of the fixed storage 301 and the movable storage 302 is connected through a second oil cylinder 303.

[0062] The function is that the second oil cylinder 303 drives the moving bin 302 to extend / retract under the cooperation of the guide block 304 and the guide groove, the drill pipe bin 3 is in the maximum state, and the drill pipe is convenient to put in; when the drill pipe is added, the moving bin 302 is automatically retracted, the drill pipe is arranged neatly, the difficulty of adding / removing the drill pipe from the outside is reduced, and the efficiency of adding / removing the drill pipe is improved; meanwhile, the length of the drill pipe bin 3 can be adjusted by adjusting the extension length of the moving bin 302, so that the drill pipe of various lengths can be accommodated.

[0063] The second oil cylinder 303 disclosed in the embodiment is connected to the fixed bin 301 and the moving bin 302 through the second oil cylinder fixed lug 307 and the second oil cylinder moving lug 308 respectively.

[0064] The relative side walls of the fixed bin 301 and the moving bin 302 are uniformly provided with a plurality of reversible partitions 309, the adjacent two reversible partitions 309 on the fixed bin 301 and the corresponding adjacent two reversible partitions 309 on the moving bin 302 form a space for placing the drill pipe; the reversible partition 309 is vertically connected with a limiting plate 310 on one side;

[0065] The function is that when the drill pipe bin 3 loads the drill pipe with an outer diameter of 89, one end of the limiting table 310 is connected to the drill pipe bin 3 through a bolt, when the drill pipe with an outer diameter of 73 is loaded, the bolt is disassembled, the reversible partition 309 is turned over, the limiting table end is connected to the drill pipe bin 3, and after the limiting table 310 is exposed, the available gap between the adjacent two reversible partitions 309 is reduced, so that the drill pipe bin 3 meets the use requirements of the drill pipe with diameters of 73 mm and 89 mm.

[0066] The connecting side of the fuselage 201 and the fixed bin 301 is provided with a quick plug plate, and the side wall of the fixed bin 301 is provided with a quick plug groove 306 matched with the structure of the quick plug plate; at present, the capacity of the drill pipe bin 3 of the intelligent drilling machine is generally within 100 meters considering the weight and space factors, and the construction drilling depth often exceeds the capacity of the drill pipe bin 3, when the drill pipe in the drill pipe bin 3 is used up, the drill pipe often needs to be added to the drill pipe bin 3 by manpower twice or more times, and the same manpower is also needed when the drill pipe is unloaded from the drill pipe bin 3. When the drill pipe bin 3 is completely empty, the drill pipe transportation device 2 can be directly taken out of the quick plug slot, the connecting bolt between the fixed bin 301 and the drilling machine platform is loosened, the empty drill pipe bin 3 is lifted away from the drilling machine, the drill pipe bin 3 full of drill pipe is hoisted in, and the auxiliary operation time is greatly shortened, and the manpower consumption is reduced.

[0067] In this embodiment, a plate-type force sensor 305 is provided at the bottom between two adjacent reversible partitions 309. The drill rod is placed on the plate-type force sensor 305, and the control system reads the load-bearing weight in real time through the plate-type force sensor 305. Based on the preset weight of each drill rod, the system calculates the number of drill rods stored in each reversible partition 309, realizing real-time statistics of the number of drill rods stored in each column of the drill rod chamber 3. This overcomes the problem that current intelligent drilling rigs can only set a fixed number of drill rods in the control system in the initial state and cannot read the actual number of drill rods in the drill rod chamber 3 in real time according to changes in the situation.

[0068] Example 2

[0069] This embodiment discloses the rod replenishment process of a rod replenishment device for an intelligent drilling rig in a coal mine, as described in Embodiment 1:

[0070] Step 1, as follows Figure 7 As shown, the control system divides the drill pipe compartment into rows and columns and labels them, with the upper left corner compartment of the drill pipe compartment as the starting compartment label 11;

[0071] Step 2: Read the weight W borne by the plate force sensor 305;

[0072] Step 3: Convert the force value of the plate force sensor 305, and calculate the number of drill rods in each column in the drill rod chamber as W / W1 based on the preset drill rod weight W1.

[0073] Step 4: Calibrate whether there is drill pipe in the drill pipe chamber.

[0074] Step 5: When the robotic arm retrieves drill rods from the drill rod magazine and places them onto the main unit, it first grabs the drill rod from the magazine with the smaller sum of the units and tens digits of its label. When the sum of the units and tens digits of the drill rod magazine labels is the same, it prioritizes selecting the magazine with the smaller tens digit quantity. This allows the robotic arm to automatically select the drill rod with the shortest running path, reducing the robotic arm's movement time. When unloading drill rods, the opposite judgment method is used, significantly improving the overall efficiency of loading and unloading drill rods for the drilling rig.

[0075] Step 6: After each drill rod gripping operation, the robotic arm re-reads the data from the plate-type force sensor, starting from Step 2, and repeats this cycle. If someone manually places a drill rod into the rod holder or adjusts its position during the process, the re-read data can be calculated based on the changed situation, enabling dynamic adjustment of the drill rod gripping sequence.

[0076] Example 3

[0077] This embodiment discloses the rod replenishment control process of a rod replenishment device for an intelligent drilling rig in a coal mine, as described in Embodiment 1:

[0078] The mechanical hand calculates the mechanical hand stroke and rotation angle according to the pre-judged target drill rod position when grabbing the drill rod, and controls the grabbing speed in a non-linear manner according to the stroke, adopts a larger speed at the beginning of the stroke, slows down at the end of the stroke, and slows down to zero when reaching the target drill rod.

[0079] As shown in Figure 8 , the running action of the mechanical hand is divided into horizontal movement, vertical movement and rotation, and the three actions are simultaneously completed when reaching the target position. The initial position M of the mechanical hand 5 is L3 away from the position where the mechanical hand reaches the bottom of the rod bin, the diameter of the drill rod is D, and according to step 5, the horizontal stroke of the mechanical hand can be determined as L1, the downward stroke of the mechanical hand L2=L3-(W / W1-1)xD, and the rotation angle of the mechanical hand .

[0080] The vertical direction action control is:

[0081] The speed curve of the mechanical hand 5 downwardly grabbing the drill rod is divided into a high-speed area and a deceleration area as shown in Figure 9 , the rod cavity area of the oil cylinder 105 is S 大 , the required oil volume for the mechanical hand 5 to vertically walk to the target position is , the valve port flow area is S, the maximum flow area S max is a constant value, the non-linear deceleration time of the deceleration area is t 减 , t 减 can be set according to actual needs, the required oil volume of the deceleration area is , and a is a constant.

[0082] The walking time in the high-speed area is , , wherein q is the maximum flow when the solenoid valve is fully opened, and the opening of the main valve core of the solenoid valve is proportional to the control current.

[0083] The control current of the solenoid valve opening degree is I, the minimum value of I is I min , the maximum value is I max , I min is 0.2 to 1 times of I max , the mechanical hand 5 runs in the high-speed area for a time, the solenoid valve is inputted with a control current I max , , after the execution of the time is completed, the solenoid valve is inputted with a current for a time t 减 , the current size of the time t 减 is , and b is a current value and cylinder cross-section conversion constant.

[0084] The horizontal direction action control is:

[0085] The required flow q of the motor 203 for driving a unit distance is 马达The amount of oil required for the robotic arm 5 to move horizontally to the target position is: q 马达 The amount of oil required in the deceleration zone c is a constant.

[0086] Set the valve opening cross-sectional area In the high-speed area The current supplied to the horizontally moving solenoid valve within a certain time period d is a constant.

[0087] Required oil volume in the deceleration zone e is a constant.

[0088] Input t to the solenoid valve controlling the motor 减 Current over time, t 减 Magnitude of current over time f is the conversion constant between the current value and the cross-section of the motor oil inlet.

[0089] The cornering motion control is as follows:

[0090] robotic arm in high-speed zone 高 Continuous rotation, entering the deceleration zone t 减 The rotation angle is completed beforehand. The amount of oil required for the rotary drive 6 to rotate by angle α is Q. 转 Set the valve port opening cross-sectional area In the high-speed area The current supplied to the solenoid valve that controls the rotation angle within a certain time period g is a constant.

[0091] This invention overcomes the current problem that robotic arms can only move at a constant, slow speed when grasping drill rods, relying on proximity switches to determine the grasping position. It improves the vertical gripping speed of the robotic arm. Simultaneously, the robotic arm slowly approaches the drill rod at the end of its stroke, reducing the impact between the robotic arm and the drill rod, increasing the lifespan of components in the robotic arm and robot, and lowering the failure rate.

[0092] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0093] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0094] Moreover, various embodiments disclosed herein can also be combined to form combinations which are likewise inventive without departing from the scope of the present disclosure.

Claims

1. A coal mine underground intelligent drilling rig rod supplementing device, characterized in that, The mechanical arm (1), the drill pipe conveying device (2), the drill pipe bin (3) and the mechanical hand (5), the drill pipe bin (3) upper fixedly connected drill pipe conveying device (2), mechanical arm (1) slidingly connected in drill pipe conveying device (2), mechanical hand (5) hinge in the lower part of mechanical arm (1); The mechanical arm (1) includes a first arm (101), a second arm (102), a third arm (103) and a fourth arm (104) which are coaxially sleeved from outside to inside, and spaces are left between the first arm (101), the second arm (102), the third arm (103) and the fourth arm (104), the upper end of the first arm (101) is connected with a sealing plate (106), and the sealing plate (106) is not in contact with the second arm (102), the third arm (103) and the fourth arm (104), the upper end of the second arm (102) is connected with the upper end of the fourth arm (104) through a cover plate (107), and the cover plate (107) is not in contact with the first arm (101) and the third arm (103); The upper part of the cover plate (107) is connected with an upper guide roller (108), the upper guide roller (108) is wound with an upper steel wire rope (114), one end of the upper steel wire rope (114) is connected with the lower part of the first arm (101), and the other end passes through the cover plate (107) and is connected with the upper edge of the third arm (103); The lower end of the fourth arm (104) is connected with a lower guide roller (109), the lower guide roller (109) is wound with a lower steel wire rope (115), one end of the lower steel wire rope (115) is connected with the upper edge of the third arm (103), and the other end passes through the cover plate (107) and is connected with the top sealing plate (106) of the first arm (101); The mechanical arm (1) further includes a first oil cylinder (105) fixedly connected with the side wall of the first arm (101) and having an axis parallel to the first arm (101), the power end of the first oil cylinder (105) is fixed with the lower end of the second arm (102), and the first oil cylinder (105) is slidingly connected with the drill pipe conveying device (2); The drill pipe bin (3) is formed by splicing a fixed bin (301) and a movable bin (302), and the bottom surface of the fixed bin (301) and the bottom surface of the movable bin (302) are overlapped and can be pulled out; a plurality of reversible partitions (309) are evenly arranged in the opposite side walls of the fixed bin (301) and the movable bin (302), and the adjacent two reversible partitions (309) on the fixed bin (301) and the corresponding adjacent two reversible partitions (309) on the movable bin (302) form a space for placing drill pipes; a plate type force sensor (305) is arranged at the bottom between the adjacent two reversible partitions (309).

2. The intelligent rod-replacing device for underground coal drilling rig according to claim 1, characterized in that, A first centralizing unit is arranged between the first arm (101) and the second arm (102), and a second centralizing unit is arranged between the second arm (102) and the third arm (103).

3. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 2, characterized in that, The first centralizing unit includes a lower side outer centralizing block (110) arranged between the first arm (101) and the second arm (102) and connected with the first arm (101), and an upper side outer centralizing block (111) arranged between the first arm (101) and the second arm (102) and connected with the second arm (102). The second righting unit comprises a lower inner righting block (112) arranged between the secondary arm (102) and the tertiary arm (103) and connected to the secondary arm (102) on the lower side, and further comprises an upper inner righting block (113) arranged between the secondary arm (102) and the tertiary arm (103) and connected to the tertiary arm (103) on the upper side.

4. The intelligent rod-replacing device for underground coal mine drilling rig according to any one of claims 1-3, characterized in that, The drill rod conveying device (2) comprises a machine body (201) arranged on the upper part of the side wall of the drill rod bin (3), two guide rails (202) parallel to the side wall of the drill rod bin (3) are arranged on the machine body (201), a rack (204) is arranged below each of the two guide rails (202), a gear (203) is arranged between the two racks (204) and engaged with the racks (204), a drag plate (205) is slidably arranged on the two guide rails (202), a motor (206) is arranged on the upper part of the drag plate (205), the power shaft of the motor (206) passes through the drag plate (205) from top to bottom and is coaxially connected with the gear (203), and the side wall of the drag plate (205) is fixedly connected with the first oil cylinder (105).

5. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 4, characterized in that, The machine body (201) is arranged on the side wall of the fixed bin (301).

6. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 5, characterized in that, A guide groove is arranged on one side of the fixed bin (301) at the connecting edge of the fixed bin (301) and the movable bin (302), and a guide block (304) slidably arranged in the guide groove is arranged on the other side of the movable bin (302) at the connecting edge of the fixed bin (301) and the movable bin (302). The other side of the connecting edge of the fixed bin (301) and the movable bin (302) is connected by the second oil cylinder (303).

7. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 5, characterized in that, A limiting plate (310) is arranged on one side of the perpendicular edge of the reversible partition plate (309).

8. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 5, characterized in that, A quick insertion plate is arranged on the connecting side of the machine body (201) and the fixed bin (301), and a quick insertion groove (306) matching the structure of the quick insertion plate is arranged on the side wall of the fixed bin (301).

9. The intelligent rod make-up device for underground coal mine drilling rig as claimed in claim 6, characterized in that, A first displacement sensor (7) is arranged on the mechanical arm (1), and a second displacement sensor (207) is arranged on the machine body (201).

10. A coal mine underground intelligent drilling rig rod replacement control method, characterized in that, The specific control method of the coal mine underground intelligent drilling machine rod supplementing device based on claim 9 is as follows: Step 1: The bin positions of the drill rod bin (3) are divided and labeled according to rows and columns. Step 2: The weight W supported by each plate type force sensor (305) is read. Step 3: According to the weight W1 of each drill rod, the number of drill rods in each column in the drill rod bin (3) is calculated as W / W1. Step 4: Whether there is a drill rod in the bin position of the drill rod bin (3) is calibrated. Step 5: When the mechanical hand (5) takes out the drill rod from the drill rod bin (3) and places it on the main machine, the drill rod is first grabbed from the bin position with the smallest sum of the unit place and the ten place; when the sum of the unit place and the ten place of the bin position is the same, the bin position with the smaller number of ten places is preferentially selected. Step 6: After the mechanical hand (5) completes the grabbing of the drill rod each time, the data of the plate type force sensor (305) is read again from step 2, and the cycle is repeated.

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