Automatic machining system and method for spiral groove of spiral groove drill rod for coal mine

Abstract

The invention discloses an automatic machining system and method for a spiral groove of a spiral groove drill rod for a coal mine. The automatic machining system comprises an X01 module and an X02 module which are arranged in parallel, and the two ends of the X01 module and the two ends of the X02 module are each provided with a feeding module and a discharging module; the module X01 and the module X02 each comprise a screwing module, a spiral groove machining module and a shackle module which are sequentially arranged forwards in the transverse direction. The screwing module comprises a screwing device and a clamping device which are sequentially arranged forwards in the transverse direction. The shackle module comprises a clamping device and a shackle device which are sequentially arranged forwards in the transverse direction. The feeding module and the discharging module are the same in structure and are symmetrically arranged. Through the X01 module and the X02 module which are arranged in parallel, one system can meet the integrated functions of automatic feeding, input, screwing, pre-tightening, unscrewing, output and discharging of a plurality of drill rods of different specifications, the process action is accurate and in-place, connection is compact, and the technical problems that in the prior art, the machining efficiency of spiral groove drill rods is low, and stability is not high are solved.

Description

Technical Field

[0001] The invention belongs to the field of automated production of underground coal mine drilling tools, relates to spiral groove machining, and specifically relates to an automatic machining system and method for spiral grooves of drill pipes for coal mines. Background Art

[0002] In borehole construction such as gas drainage and water exploration and drainage in underground coal mines, drill pipes, as tools for transmitting power and torque, play a crucial role and are indispensable. At the same time, the rotation and movement of drill pipes can stir the collisions and abrasions between the slag, coal slag, water and other media in the hole and with the hole wall, making the slag and coal slag finer, which is conducive to discharging out of the hole and ensuring the drilling efficiency. Conventional external flat drill pipes are smooth rods, and their powder stirring and slag discharging functions are very weak, and it is extremely easy to cause sticking accidents in the hole. Therefore, drill pipes with spiral groove structures have emerged. In particular, integral wide-wing spiral groove drill pipes have been highly recognized and widely used by users due to their higher overall mechanical properties and strength and better powder stirring and slag discharging functions.

[0003] At present, the machining of drill pipe spiral grooves mainly adopts an artificial method. First, the drill pipes to be machined are taken from the material rack to be processed, and the drill pipes that have not been machined with spiral grooves are connected one by one by screwing. After the milling is completed, the processed spiral groove drill pipes need to be unscrewed and neatly placed in the finished product rack at the other end of the milling machine manually. In order to ensure the machining accuracy and quality and reduce the tool breakage phenomenon, the drill pipes need to be reliably and tightly connected without gaps, but the torque of screwing manually cannot be accurately guaranteed. And currently, the diameters of spiral groove drill pipes are mainly The lengths are mainly 600mm, 1000mm, 1500mm, and 3000mm. Therefore, the material taking and placing and screwing and unscrewing actions are frequent. Especially when milling the spiral grooves of 3000mm long drill pipes, due to their heavy weight and long length, multiple people need to cooperate to complete the screwing and unscrewing and material taking and placing work. The labor intensity of workers is high, the time consumption is long, the production efficiency is low, and it is very easy to have safety accidents such as abrasions, bruises, and injuries, with great potential safety hazards. Therefore, in order to meet the growing market demand, improve the machining efficiency, ensure the machining quality, reduce the labor intensity of personnel and ensure their personal safety, and keep up with the development direction and application pace of digitalization, automation, and intelligence in recent years, and considering the coaxiality error and warping of the incoming drill pipes, which cannot guarantee high-reliability and high-stability threaded quick connections, it is urgent to design an automated system and method that integrates automatic feeding, transmission, flexible screwing and unscrewing, and discharging of drill pipes of multiple specifications.

[0004] Therefore, in order to meet the growing market demand, improve the machining efficiency, ensure the machining quality, reduce the labor intensity of personnel and ensure their personal safety, and keep up with the development direction and application pace of digitalization, automation, and intelligence in recent years, and considering the coaxiality error and warping of the incoming drill pipes, which cannot guarantee high-reliability and high-stability threaded quick connections, it is urgent to design an automated system and method that integrates automatic feeding, transmission, flexible screwing and unscrewing, and discharging of drill pipes of multiple specifications. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an automatic processing system and method for spiral grooves of spiral drill pipes for coal mines, so as to solve the technical problems of low processing efficiency and low stability of spiral drill pipes in the existing technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve:

[0007] An automatic processing system for spiral grooves of spiral drill pipes for coal mines includes an X01 module and an X02 module arranged in parallel. Feeding modules and discharging modules are respectively arranged at both ends of the X01 module and the X02 module; both the X01 module and the X02 module include a threading module, a spiral groove processing module, and a unthreading module arranged in sequence forward along the transverse direction; the threading module includes a threading device and a clamping device arranged in sequence forward along the transverse direction; the unthreading module includes a clamping device and a unthreading device arranged in sequence forward along the transverse direction;

[0008] The feeding module and the discharging module have the same structure and are symmetrically arranged;

[0009] The threading module is used to realize the male-female thread threading connection process between blank drill pipes before spiral groove processing;

[0010] The unthreading module is used to realize the male-female thread unthreading separation process between spiral drill pipes after spiral groove processing is completed;

[0011] The spiral groove processing module includes two numerically controlled spiral milling machines with the same outer dimensions and performance arranged in parallel side by side along the transverse direction, which are used to process the spiral grooves of the drill pipes.

[0012] The present invention further includes the following technical features:

[0013] The threading device includes a base. A flexible module is arranged on one side of the top of the base. A servo motor is arranged on the top of the flexible module. An electric chuck is fixed on the output shaft of the servo motor; a return detection sensor is arranged on the servo motor.

[0014] The flexible module includes a pair of first guide rail modules arranged in parallel on the base. A first mounting plate, a second mounting plate, and a third mounting plate are sequentially arranged on the top of the first guide rail module. A pair of second guide rail modules distributed longitudinally are arranged in parallel on the top of the first mounting plate;

[0015] Flexible limit blocks are arranged on the side walls of the second mounting plate and the third mounting plate. The second mounting plate and the third mounting plate are connected by a plurality of flexible mounting column modules; a second cylinder is installed at the bottom of the first mounting plate, and the piston of the second cylinder is fixed to the top of the base; a plurality of limit columns are arranged on the top of the second mounting plate.

[0016] The loading module or the unloading module includes a double-cantilever truss device, two conveying devices, and two blank racks, and the two conveying devices and the two blank racks are both located below the cantilevers of the double-cantilever truss device, and the two blank racks are respectively located outside the two conveying devices.

[0017] The double-cantilever truss device includes a pair of columns, and an X-truss is jointly arranged at the tops of the pair of columns, and a truss manipulator device is movably arranged on the X-truss;

[0018] The truss manipulator device includes a Y device movably arranged on the X-truss, and a mechanical-magnetic composite gripper is movably arranged on the Y device.

[0019] The mechanical-magnetic composite gripper includes a Z device movably arranged on the X-truss, and a mechanical gripper, a double magnetic head assembly and a in-place detection sensor are arranged at the bottom of the Z device;

[0020] The double magnetic head assembly includes a pair of symmetric magnetic heads, and each magnetic head includes a fixed rod movably arranged at the bottom of the Z device, an electro-permanent magnet is arranged at the bottom of the fixed rod, and a drill rod presence sensor is arranged on the electro-permanent magnet; a elastic ring is sleeved on the fixed rod.

[0021] The conveying device includes a bracket with adjustable height, a transmission rack is fixedly arranged on the bracket, a pressing module is arranged on one side of the transmission rack, and multiple groups of opposed sensors are fixedly arranged at equal intervals on the transmission rack.

[0022] The transmission rack includes a U-shaped baffle arranged on the bracket, and multiple flexible V-shaped roller group modules are arranged at equal intervals on the U-shaped baffle; multiple groups of opposed sensors are arranged at equal intervals and in parallel on the U-shaped baffle;

[0023] Each flexible V-shaped roller group module includes a V-shaped roller arranged in the U-shaped baffle, and compression springs are arranged between the centers of both ends of the V-shaped roller and the two side walls inside the U-shaped baffle.

[0024] The pressing module includes a cross plate arranged on the transmission rack, a pair of guide rods are arranged on the cross plate, a frame is arranged at the tops of the pair of guide rods, a first cylinder is arranged on the cross plate between the pair of guide rods, a piston of the first cylinder is fixedly connected to the top of the frame, and a pair of cylindrical rollers are arranged in parallel at the top of the frame.

[0025] The flexible limit stop includes a stop block, a bolt, a locking nut and a first spring; an installation hole is jointly opened in the second mounting plate and the stop block, a first spring and a bolt are sequentially arranged from inside to outside in the installation hole; a locking nut is arranged on the bolt.

[0026] The flexible mounting column module includes a universal rod commonly arranged on a second mounting plate and a third mounting plate, the universal rod located between the second mounting plate and the third mounting plate is sleeved with a second spring and a locking nut, and the universal rod located on the top of the third mounting plate is sequentially provided with a third spring and a pressure cap.

[0027] The clamping device includes a bracket and a hydraulic cylinder arranged on the other side of the top of the base, and the top of the bracket and the hydraulic cylinder are jointly provided with an embracing slip; half of the embracing slip is arranged on the piston rod of the hydraulic cylinder, and the other half of the slip is arranged on the bracket; a limit switch is arranged on the outer wall of the slip located on the bracket.

[0028] In the screwing module, the initial installation distance between the screwing device and the clamping device is d1, and in the shackle module, the initial installation distance between the clamping device and the screwing device is d2, d1>d2.

[0029] An automatic processing method for processing spiral grooves of a spiral groove drill rod for coal mines, based on an automatic processing system for processing spiral grooves of a spiral groove drill rod for coal mines, specifically comprises the following steps:

[0030] Automatic loading of rough drill rods, automatic screwing and connection of rough drill rods, automatic milling of spiral grooves, automatic shackle separation of finished spiral groove drill rods and automatic unloading of finished spiral groove drill rods.

[0031] The automatic loading of the rough drill pipe, based on the loading module, specifically includes the following steps:

[0032] Step S01, the beam sensor on the conveying device detects whether there is a rough drill rod, if so, proceed to step S02, if not, the truss manipulator device does not move;

[0033] Step S02, the truss manipulator moves to the top of the blank rack, and then the mechanical-magnetic composite gripper descends to the specified position, and the drill rod sensor detects whether there is a drill rod. If there is, it goes to step S03, if not, it stops;

[0034] Step S03, the mechanical-magnetic composite gripper continues to descend, and the in-place detection sensor detects whether it is in place. If so, it has been magnetically attracted to the drill rod and rises to the specified position, and enters step S04. If not, it continues to descend and continue to detect;

[0035] Step S04, the truss manipulator device moves to the top of the conveying device, and the mechanical-magnetic composite gripper sequentially descends, releases the drill rod, and rises to the specified position.

[0036] The automatic screwing and connection of the rough drill pipe, based on the screwing module, specifically includes the following steps:

[0037] Step S11, the jaws of the electric chuck extend to clamp the male thread end of the blank drill pipe;

[0038] Step S12, the second cylinder pushes the male thread end clamped by the electric chuck towards the female thread end clamped by the clamping device. At the same time, the electric chuck rotates in reverse for threading. After a certain time, the electric chuck rotates forward to perform the threading action of the male and female threads;

[0039] Step S13, after tightening a certain number of turns and for a certain time, the jaws of the electric chuck retract to release the male thread end. At the same time, the second cylinder and the electric chuck return to their original positions, and the clamping device releases the female thread end of the blank drill pipe;

[0040] Step S14, after the limit switch detects the release signal of the chuck, the CNC milling machine automatically starts machining;

[0041] The automatic unthreading and separation of the finished spiral groove drill pipe, based on the unthreading module, includes the following steps:

[0042] Step S21, the clamping device clamps the male thread end of the finished spiral groove drill pipe;

[0043] Step S22, after the jaws of the electric chuck clamp the female thread end of the finished spiral groove drill pipe, it rotates in reverse to unthread. At the same time, the second cylinder pushes out, and the separated finished spiral groove drill pipe is pushed onto the conveying device in the blanking module;

[0044] Step S23, after the jaws of the electric chuck perform the retraction action for a certain time, the second cylinder and the electric chuck return to their original positions;

[0045] Step S24, the conveying device automatically starts, and the finished spiral groove drill pipe is sent to the transfer rack and stops, waiting for blanking.

[0046] The automatic blanking, based on the blanking module, specifically includes the following steps:

[0047] Step S31, the opposed sensors on the conveying device detect whether there is a finished spiral groove drill pipe. If so, it enters Step S32. If not, the truss manipulator device does not move;

[0048] Step S32, the truss manipulator device in the blanking module moves above the conveying device in the blanking module. After the mechanical-magnetic composite gripper descends to the specified position, the drill pipe presence sensor detects whether there is a drill pipe. If so, it enters Step S33. If not, it stops;

[0049] Step S33, the mechanical-magnetic composite gripper continues to descend, and the in-place detection sensor detects whether it is in place. If so, it means that the finished spiral groove drill pipe has been magnetically adsorbed, then it rises to the specified position and enters Step S34. If not, it continues to descend and continues to detect;

[0050] Step S34: The truss manipulator device moves above the finished product rack, and the mechanical-magnetic composite gripper sequentially executes descending, releasing the drill pipe, and ascending to the designated position, then stops.

[0051] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0052] (Ⅰ) Through the parallelly arranged X01 module and X02 module, the present invention enables a system to satisfy the integrated functions of automatic feeding, input, screwing and pre-tightening, unscrewing, output, and discharging of drill pipes of multiple different specifications. The process actions are accurate and in place, and the connection is compact, solving the technical problems of low processing efficiency and low stability of spiral groove drill pipes in the prior art.

[0053] (Ⅱ) By setting up the feeding module and the discharging module in the present invention, a set of loading and unloading truss systems can simultaneously meet the loading and unloading requirements of two numerically controlled spiral milling machines for processing the spiral grooves of drill pipes. The structure is compact, the degree of automation is high, and the floor area is greatly reduced, reducing the construction cost;

[0054] (Ⅲ) By setting up the screwing module and the unscrewing module in the present invention, the synchronous operation of screwing the blank drill pipes at both ends of the numerically controlled spiral milling machine and unscrewing the finished spiral groove drill pipes is realized, reducing the shutdown frequency and standby time of the numerically controlled spiral milling machine, and thus improving the production efficiency. Description of the Drawings

[0055] Figure 1 is a schematic diagram of the overall system module of the present invention;

[0056] Figure 2 is Figure 1 the structural diagram of the double-cantilever truss device in

[0057] Figure 3 is Figure 1 the structural diagram of the conveying device in

[0058] Figure 4 is Figure 3 the schematic diagram of the V-type roller group module in

[0059] Figure 5 is Figure 1 the structural diagrams of the screwing device 1 and the clamping device 2 in

[0060] Figure 6 is the flow chart of a loading and unloading method for processing spiral grooves of spiral groove drill pipes for coal mines in the present invention;

[0061] Figure 7 is the schematic diagram of the synchronous operation method of screwing the blank drill pipes and unscrewing the finished spiral groove drill pipes in the present invention.

[0062] The meanings of the reference numerals in the figure are as follows: 1 - threading device, 2 - clamping device, 3 - shackle releasing device, 4 - double cantilever truss device, 5 - conveying device, 6 - rack;

[0063] 11 - electric chuck, 12 - servo motor, 13 - flexible module, 14 - base, 15 - home position detection sensor;

[0064] 131 - first guide rail module, 132 - first mounting plate, 133 - second guide rail module, 134 - flexible limit stop, 135 - flexible mounting post module, 136 - second mounting plate, 137 - third mounting plate, 138 - second cylinder, 139 - limit post module;

[0065] 1341 - stop block, 1342 - bolt, 1343 - lock nut, 1344 - first spring;

[0066] 1351 - universal rod, 1352 - second spring, 1353 - lock sleeve, 1354 - third spring, 1355 - compression cap;

[0067] 21 - bracket, 22 - hydraulic cylinder, 23 - jaw, 24 - limit switch;

[0068] 41 - X truss, 42 - truss manipulator device, 43 - column;

[0069] 421 - Y device, 422 - mechanical - magnetic adsorption composite gripper;

[0070] 4221 - mechanical gripper, 4222 - double magnetic adsorption head assembly, 4223 - drill pipe presence sensor, 4224 - Z device;

[0071] 42221 - electro - permanent magnet, 42222 - elastic ring, 42223 - fixed rod group, 42224 - drill pipe presence sensor;

[0072] 51 - bracket, 52 - transfer rack, 53 - pressing module, 54 - opposed sensor;

[0073] 521 - U - shaped baffle, 522 - flexible V - shaped roller group module;

[0074] 5221 - V - shaped roller, 5222 - compression spring;

[0075] 531 - frame, 532 - cylindrical roller, 533 - guide rod, 534 - first cylinder.

[0076] The specific content of the present invention will be further explained in detail below in conjunction with embodiments. Specific embodiments

[0077] It should be noted that all components in the present invention, without special instructions, are components known in the art.

[0078] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent transformations made on the basis of the technical solutions of this application fall within the protection scope of the present invention.

[0079] The present invention provides an automatic processing system for spiral grooves of drill pipes for coal mines, including an X01 module and an X02 module arranged in parallel. Feeding modules and discharging modules are respectively arranged at both ends of the X01 module and the X02 module; both the X01 module and the X02 module include a thread-tightening module, a spiral groove processing module, and a thread-removing module arranged in sequence forward along the transverse direction; the thread-tightening module includes a thread-tightening device 1 and a clamping device 2 arranged in sequence forward along the transverse direction; the thread-removing module includes a clamping device 2 and a thread-removing device 3 arranged in sequence forward along the transverse direction.

[0080] The feeding module and the discharging module have the same structure and are symmetrically arranged.

[0081] The thread-tightening module is used to realize the male-female thread tightening connection process between the blank drill pipes before spiral groove processing.

[0082] The thread-removing module is used to realize the male-female thread removing and disengaging process between the spiral groove drill pipes after spiral groove processing is completed.

[0083] The spiral groove processing module includes two numerically controlled spiral milling machines with the same external dimensions and performance arranged in parallel side by side along the transverse direction, which are used to process the spiral grooves of the drill pipes.

[0084] In the above technical solution, through the X01 module and the X02 module arranged in parallel, an integrated function of automatic feeding, input, thread tightening and pre-tightening, thread loosening, output and discharging of multiple drill pipes with different specifications can be achieved by one system, and the process actions are accurate and in place, and the connection is compact; by setting the feeding module and the discharging module, the feeding and discharging requirements of the drill pipe spiral groove processing of two numerically controlled spiral milling machines can be simultaneously met by a set of loading and unloading truss systems, with a compact structure, high automation degree, greatly reduced floor area, and reduced construction cost; by setting the thread-tightening module and the thread-removing module, synchronous operation of thread tightening of the blank drill pipes at both ends of the numerically controlled spiral milling machine and thread removing of the finished spiral groove drill pipes is realized, reducing the shutdown frequency and standby time of the numerically controlled spiral milling machine, and thus improving production efficiency.

[0085] In addition, the central axes of the thread-tightening device 1, the clamping device 2, and the thread-removing device 3 are at the same height as the central axis of the numerically controlled spiral milling machine and the conveying center of the conveying device 5.

[0086] The present invention further includes the following technical features:

[0087] The button screwing device 1 includes a base 14. On one side of the top of the base 14, a flexible module 13 is provided. On the top of the flexible module 13, a servo motor 12 is provided. An electric chuck 11 is fixed on the output shaft of the servo motor 12. A return detection sensor 15 is provided on the servo motor 12.

[0088] In the above technical solution, the electric chuck 11 is a central through-hole type clamping mechanism for clamping / loosening the rough drill pipe. The servo motor 12 is used to control the forward / reverse rotation of the electric chuck 11 to realize the button screwing / unscrewing action. The servo motor 12 is used to drive the forward and reverse rotation and clamping function of the electric chuck 11.

[0089] The flexible module 13 includes a pair of first guide rail modules 131 arranged in parallel on the base 14. On the top of the first guide rail module 131, a first mounting plate 132, a second mounting plate 136 and a third mounting plate 137 are sequentially arranged. On the top of the first mounting plate 132, a pair of second guide rail modules 133 distributed longitudinally are arranged in parallel.

[0090] Flexible limit blocks 134 are arranged on the side walls of the second mounting plate 136 and the third mounting plate 137. The second mounting plate 136 and the third mounting plate 137 are connected by a plurality of flexible mounting column modules 135. A second cylinder 138 is installed at the bottom of the first mounting plate 132. The piston of the second cylinder 138 is fixed to the top of the base 14. A plurality of limit columns 139 are arranged on the top of the second mounting plate 136.

[0091] In the above technical solution, the forward and backward movements of the button screwing device 1 can be realized through the second cylinder 138, that is, the forward button screwing and the retraction and reset after the button screwing is completed. Among them, a plurality of limit column modules 139 are also arranged on the upper surface of the second mounting plate 136. By adjusting the height of the upper ends of the limit column modules 139, the limiting and straightening effects on the third mounting plate 137 are achieved. Among them, the flexible mounting column module 135 has a certain universal micro-swing function.

[0092] The loading module or the unloading module includes a double-cantilever truss device 4, two conveying devices 5, and two blank racks 6 for storing blanks. The two conveying devices 5 and the two blank racks 6 are both located below the cantilevers of the double-cantilever truss device 4. The two blank racks 6 are respectively located outside the two conveying devices 5.

[0093] In the above technical solution, the double-cantilever truss device 4 in the unloading module and the loading module can realize the grasping and loading of the blank drill pipes required for the spiral groove machining of the drill pipes of two CNC spiral milling machines and the unloading and storage of the finished spiral groove drill pipes by the same double-cantilever truss device 4. On the premise of improving the loading and unloading efficiency of the drill pipes, the floor area is effectively saved and the cost is saved.

[0094] See Figure 1 and Figure 2, the function of the double-cantilever truss device 4 is to grasp the blank drill pipe from the blank rack according to the rules and place it on the conveying device 5 (or grasp the finished spiral groove drill pipe from the conveying device 5 and place it on the finished spiral groove drill pipe rack as required).

[0095] The double-cantilever truss device 4 includes a pair of columns 43. At the top of the pair of columns 43, an X truss 41 is jointly provided. A truss manipulator device 42 is movably provided on the X truss 41;

[0096] The truss manipulator device 42 includes a Y device 421 movably provided on the X truss 41. A mechanical-magnetic composite gripper 422 is movably provided on the Y device 421.

[0097] In the above technical solution, the double-cantilever truss device 4 is used to suck and place the blank drill pipe from the blank rack on the conveying device 5 according to the rules or suck the finished spiral groove drill pipe from the conveying device 5 and place it on the finished spiral groove drill pipe rack as required.

[0098] See Figure 1 , the loading and unloading scheduling method of the double-cantilever truss device 4 is as follows: Set the initial positions of the truss manipulator device 42 in the loading module and the unloading module to be both at the middle position O of the double-cantilever truss 4. The loading positions and unloading positions of the two numerical control spiral milling machines corresponding to the loading module and the unloading module are position A and position B and position C and position D respectively. Whether there is a blank drill pipe at position A and position B can be represented as A1 and A0 and B1 and B0 respectively. Whether there is a blank drill pipe at position C and position D can be represented as C1 and C0 and D1 and D0 respectively:

[0099] (1) When there is no blank drill pipe at position A but there is one at position B in the loading module, or there is no blank drill pipe at both position A and position B, the truss manipulator device 42 moves from position O to position A for loading, and automatically resets to position O after the loading is completed, which can be expressed as follows:

[0100]

[0101] (2) When there is a blank drill pipe at position A but no blank drill pipe at position B in the loading module, the truss manipulator device 42 moves from position O to position B for loading, and automatically resets to position O after the loading is completed, which can be expressed as follows:

[0102]

[0103] (3) When there is a finished spiral groove drill pipe at position C but no one at position D in the unloading module, or there are finished spiral groove drill pipes at both position C and position D, the truss manipulator device 42 moves from position O to position C for unloading, and automatically resets to position O after the unloading is completed, which can be expressed as follows:

[0104]

[0105] (4) When there is no finished spiral groove drill pipe at position C and there is a finished spiral groove drill pipe at position D in the blanking module, the truss manipulator device 42 moves from position O to position D for blanking, and automatically resets to position O after blanking, which can be expressed as follows:

[0106]

[0107] The mechanical-magnetic composite gripper 422 includes a Z device 4224 movably arranged on the X truss 41. A mechanical gripper 4221, a double magnetic head assembly 4222, and a position detection sensor 4223 are arranged at the bottom of the Z device 4224;

[0108] The double magnetic head assembly 4222 includes a pair of symmetric magnetic heads. Each magnetic head includes a fixed rod 42223 movably arranged at the bottom of the Z device 4224. An electro-permanent magnet 42221 is arranged at the bottom of the fixed rod 42223, and a drill pipe presence sensor 42224 is arranged on the electro-permanent magnet 42221; A spring coil 42222 is sleeved on the fixed rod 42223.

[0109] The conveying device 5 includes a bracket 51 with adjustable height. A transmission rack 52 is fixedly arranged on the bracket 51. A pressing module 53 is arranged on one side of the transmission rack 52, and multiple groups of opposed sensors 54 are fixedly arranged at equal intervals on the transmission rack 52.

[0110] In the above technical solution, the conveying device 5 is used to convey the blank drill pipe to the screwing module or output the finished spiral groove drill pipe to the rack.

[0111] The transmission rack 52 includes a U-shaped baffle 521 arranged on the bracket 51. Multiple flexible V-shaped roller group modules 522 are arranged at equal intervals on the U-shaped baffle 521; Multiple groups of opposed sensors 54 are arranged at equal intervals and in parallel on the U-shaped baffle 521;

[0112] Each flexible V-shaped roller group module 522 includes a V-shaped roller 5221 arranged inside the U-shaped baffle 521. Compression springs 5222 are arranged between the centers at both ends of the V-shaped roller 5221 and the two side walls inside the U-shaped baffle 521.

[0113] In the above technical solution, when the blank drill pipe / finished spiral groove drill pipe with a large coaxiality error is transmitted on the conveying device 5, by compressing multiple compression springs 5222, the attitude of the drill pipe is longitudinally adjusted, and reliable transmission is realized, so that it will not get stuck on the conveying device 5; The conveying device 5 drives the chain equipped with multiple groups of flexible V-shaped roller group modules 522 through a servo motor to realize the conveying of the drill pipe; Multiple groups of opposed sensors 54 are used to detect blank drill pipes / finished spiral groove drill pipes of different length specifications.

[0114] The pressing-down module 53 includes a cross plate arranged on the transmission rack 52. A pair of guide rods 533 are arranged on the cross plate. A frame 531 is arranged at the top of the pair of guide rods 533. A first cylinder 534 is arranged on the cross plate between the pair of guide rods 533. The piston of the first cylinder 534 is fixedly connected to the top of the frame 531. A pair of cylindrical rollers 532 are arranged in parallel at the top of the frame 531.

[0115] In the above technical solution, the piston of the first cylinder 534 is in the extended state under normal conditions. When multiple pairs of light sensors 54 detect the drill pipe, the piston of the first cylinder 534 retracts, driving the frame 531 to press down along a pair of guide rods 533 with a function of straightening and guiding, driving a pair of cylindrical roller groups 532 to contact the top end of the drill pipe and rotate therewith, so that the drill pipe is smoothly transmitted along the transmission direction.

[0116] The flexible limit stop 134 includes a stop 1341, a bolt 1342, a lock nut 1343 and a first spring 1344; the second mounting plate 136 and the stop 1341 are jointly provided with a mounting hole, and the first spring 1344 and the bolt 1342 are sequentially arranged in the mounting hole from the inside to the outside; a lock nut 1343 is arranged on the bolt 1342.

[0117] In the above technical solution, the flexible limit stop 134 realizes the flexible limit function for the second mounting plate 136 by compressing the first spring 1344 by rotating the bolt 1342 forward / backward.

[0118] The flexible mounting post module 135 includes a universal rod 1351 jointly arranged on the second mounting plate 136 and the third mounting plate 137. A second spring 1352 and a lock nut sleeve 1353 are sleeved on the universal rod 1351 between the second mounting plate 136 and the third mounting plate 137. A third spring 1354 and a compression cap 1355 are sequentially arranged on the universal rod 1351 at the top of the third mounting plate 137.

[0119] In the above technical solution, by adjusting the compression amounts of the second spring 1352 and the third spring 1354 by the lock nut sleeve 1353 and the compression cap 1355, the universal swing and floating of the third mounting plate 137 and the components thereon are realized.

[0120] The clamping device 2 includes a bracket 21 and a hydraulic cylinder 22 arranged on the other side of the top of the base 14. A pair of clamping jaws 23 are jointly arranged at the top of the bracket 21 and the hydraulic cylinder 22; half of the pair of clamping jaws 23 is arranged on the piston rod of the hydraulic cylinder 22, and the other half of the clamping jaw 23 is arranged on the bracket 21; a limit switch 24 is arranged on the outer wall of the clamping jaw 23 on the bracket 21.

[0121] In the above technical solution, when the piston rod of the hydraulic cylinder 22 is pushed out, the slip catches the drill pipe, and when it retracts, the slip releases the drill pipe; when the piston rod of the hydraulic cylinder 22 is pushed out / retracted in the vertical direction, the limit switch 24 acts synchronously, indicating that the drill pipe has been clamped / released, and then transmits a signal to the CNC spiral milling machine to achieve an interlock function, that is, when the CNC spiral milling machine receives that the slip 23 is in the open state, it can start processing, otherwise, it stops and does not move, avoiding damage caused by the pulling / pushing of the clamping device 2 when the spindle of the CNC milling machine moves horizontally.

[0122] In the make-up module, the initial installation distance between the make-up device 1 and the clamping device 2 is d1. In the unmake-up module, the initial installation distance between the clamping device 2 and the make-up device 1 is d2, and d1 > d2.

[0123] In the above technical solution, refer to Figure 1 、 Figure 5 and Figure 7 . The unmake-up device 3 and the make-up device 1 have the same structure and function, but the difference is that they are installed back to back so as to respectively realize the functions of make-up tightening and unmake-up separation in the make-up module and the unmake-up module, and a second cylinder 138 is set, and the pushing directions after installation are the same, effectively completing the functions of make-up tightening and unmake-up separation;

[0124] In summary, when the drill pipe blank / spiral groove drill pipe body has a certain bend, or there is a certain deviation in the coaxiality between the rod body and the joint, the lateral and longitudinal displacement adjustments can be carried out through the first guide rail module 131 and the second guide rail module 133, and the universal swing of the flexible mounting column module 135. The three act synchronously and automatically adjust, and finally realize the flexible make-up or unmake-up of the male and female threads between the blank drill pipe / spiral groove drill pipe.

[0125] The present invention also provides an automatic processing method for machining the spiral groove of a coal mine spiral groove drill pipe, which is based on the automatic processing system for machining the spiral groove of a coal mine spiral groove drill pipe, and specifically includes the following steps:

[0126] Automatic loading of the blank drill pipe, automatic make-up connection of the blank drill pipe, automatic milling of the spiral groove, automatic unmake-up separation of the finished spiral groove drill pipe, and automatic unloading of the finished spiral groove drill pipe.

[0127] Automatic loading of the blank drill pipe, based on the loading module, specifically includes the following steps:

[0128] Step S01, the opposed sensor 54 on the conveying device 5 detects whether there is a blank drill pipe. If so, it enters step S02. If not, the truss manipulator device 42 does not act;

[0129] Step S02: The truss manipulator device 42 moves above the blank rod rack. Then, after the mechanical-magnetic composite gripper 422 descends to the specified position, the drill rod presence sensor 4223 detects whether there is a drill rod. If there is, proceed to Step S03; if not, stop.

[0130] Step S03: The mechanical-magnetic composite gripper 422 continues to descend. The in-place detection sensor 4223 detects whether it is in place. If so, it has magnetically attracted the drill rod and rises to the specified position, then proceeds to Step S04. If not, it continues to descend and continues to detect.

[0131] Step S04: The truss manipulator device 42 moves above the conveying device 5, and the mechanical-magnetic composite gripper 422 sequentially performs descending, releasing the drill rod, and rising to the specified position.

[0132] In the above technical solution, the specified position is given manually. Note to avoid rising too high, which increases the movement cycle of the mechanical-magnetic composite gripper 422, and also avoid being too low, which may cause the blank drill rod to not be placed on the conveying device 5.

[0133] The automatic screwing connection of the blank drill rod is based on the screwing module and specifically includes the following steps:

[0134] Step S11: The jaws of the electric chuck 11 extend to clamp the male end of the blank drill rod.

[0135] Step S12: The second cylinder 138 pushes the male end clamped by the electric chuck 11 towards the female end clamped by the clamping device 2. At the same time, the electric chuck 11 rotates in reverse for button alignment. After a certain time, the electric chuck 11 rotates forward to perform the male-female button screwing action.

[0136] Step S13: After screwing a certain number of turns and for a certain time, the jaws of the electric chuck 11 retract to release the male end. At the same time, the second cylinder 138 and the electric chuck 11 return to their original positions, and the clamping device 2 releases the female end of the blank drill rod.

[0137] Step S14: After the limit switch 24 detects the release signal of the slip 23, the CNC milling machine automatically starts processing.

[0138] The automatic unscrewing and separation of the finished spiral groove drill rod is based on the unscrewing module and includes the following steps:

[0139] Step S21: The clamping device 2 clamps the male end of the finished spiral groove drill rod.

[0140] Step S22: After the jaws of the electric chuck 11 clamp the female end of the finished spiral groove drill rod, it rotates in reverse to unscrew the button. At the same time, the second cylinder 138 pushes out, and the separated finished spiral groove drill rod is pushed onto the conveying device 5 in the blanking module.

[0141] Step S23, after the jaws of the electric chuck 11 perform a retraction action for a certain period of time, the second cylinder 138 and the electric chuck 11 return to their original positions;

[0142] Step S24, the conveying device 5 automatically starts, sends the finished spiral groove drill pipe to the transfer rack 52 and stops, waiting for blanking.

[0143] Automatic blanking, based on the blanking module, specifically includes the following steps:

[0144] Step S31, the opposed sensors 54 on the conveying device 5 detect whether there is a finished spiral groove drill pipe. If so, it enters Step S32. If not, the truss manipulator device 42 does not move;

[0145] Step S32, the truss manipulator device 42 in the blanking module moves above the conveying device 5 in the blanking module. After the mechanical-magnetic composite gripper 422 descends to a specified position, the drill pipe presence sensor 4223 detects whether there is a drill pipe. If so, it enters Step S33. If not, it stops;

[0146] Step S33, the mechanical-magnetic composite gripper 422 continues to descend. The in-place detection sensor 4223 detects whether it is in place. If so, it means that the finished spiral groove drill pipe has been magnetically adsorbed, rises to a specified position, and enters Step S34. If not, it continues to descend and continues to detect;

[0147] Step S34, the truss manipulator device 42 moves above the finished product rack. The mechanical-magnetic composite gripper 422 sequentially performs descending, releasing the drill pipe, and rising to a specified position, and then stops.

[0148] Participate Figure 1 And 7 , the present invention also provides a synchronous operation method for screwing the blank drill pipe and unscrewing the finished spiral groove drill pipe, based on the automatic processing system for spiral groove machining of coal mine spiral groove drill pipes. Specifically: for the batch milling machining of spiral grooves of spiral groove drill pipes with lengths of 600mm, 1000mm, 1500mm, and 3000mm with a large market demand, when the female thread end face of the blank drill pipe in the screwing module is between the screwing chuck and the clamping device, and at the same time the male-female thread joint surface of the finished spiral groove drill pipe in the unscrewing module is also exactly between the clamping device and the unscrewing chuck, that is, exactly an integer multiple L of the length of the processed drill pipe, the synchronous operation of screwing and unscrewing can be achieved, thereby greatly reducing the shutdown frequency of the CNC milling machine and improving the overall production efficiency. Specifically, the following formula needs to be satisfied:

[0149] L = L 公 + 2 * L 夹 + L 铣床 + L 母 = n * L imax

[0150] Wherein:

[0151] n is an integer greater than or equal to 3, with the unit of "root";

[0152] L imax ={600mm, 1000mm, 1500mm, 3000mm};

[0153] L 夹 is the width of the clamping device, with the unit of mm;

[0154] L 母 is the length of the blank drill pipe exposed outside after being clamped by the clamping device at the screwing module end, with the unit of mm;

[0155] L 公 is the length of the finished spiral groove drill pipe exposed outside after being clamped by the clamping device at the unscrewing module end, with the unit of mm;

[0156] L 铣床 is the length of the guide rail of the bed of the CNC spiral milling machine, with the unit of mm;

[0157] L 拧 is the length of the screwing guide rail of the screwing chuck at the screwing module end, with the unit of mm;

[0158] L 卸 is the length of the unscrewing guide rail of the unscrewing chuck at the unscrewing module end, with the unit of mm;

[0159] Usually, the length of L 铣床 needs to be designed according to 3 times the length of the longest drill pipe, that is, to meet the synchronous screwing and unscrewing function of 3 longest drill pipes in series. However, for the following two requirements, it is necessary to set and optimize according to the length dimension L 铣床 of the guide rail of the bed of the CNC spiral milling machine or the length L 拧 of the screwing guide rail of the screwing chuck and the length L 卸 of the unscrewing guide rail of the unscrewing chuck. The specific method is as follows:

[0160] (1) If it is necessary to connect more drill pipes in series, first, it is necessary to consider increasing the length of the guide rail of the bed of the CNC spiral milling machine or adding a support device to prevent damage to the drill pipe or equipment during design. Secondly, adjust the length L 拧 of the screwing guide rail of the screwing chuck and the length L 卸 of the unscrewing guide rail of the unscrewing chuck to meet the length requirements of L 母 and L 公 ;

[0161] (2) If the length of the drill pipe product has a certain allowable length deviation from the length of a certain specification of drill pipe in L imax , it is also possible to optimize the length L 拧 of the screwing guide rail of the screwing chuck and the length L of the unscrewing guide rail of the unscrewing chuck卸 , or set the push rod stroke of the second cylinder 138, thereby realizing the function of synchronously screwing on and off the drill pipe during the milling process of the drill pipe spiral groove.

Claims

1. An automatic processing system for spiral grooves of spiral drill pipes used in coal mines, characterized in that, It includes an X01 module and an X02 module arranged in parallel. Feeding modules and discharging modules are respectively arranged at both ends of the X01 module and the X02 module; both the X01 module and the X02 module include a button screwing module, a spiral groove machining module, and a button unscrewing module arranged in sequence forward along the transverse direction; the button screwing module includes a button screwing device (1) and a clamping device (2) arranged in sequence forward along the transverse direction; the button unscrewing module includes a clamping device (2) and a button unscrewing device (3) arranged in sequence forward along the transverse direction; The feeding module and the discharging module have the same structure and are symmetrically arranged; The button screwing module is used to realize the male-female thread screwing connection process between the blank drill pipes before spiral groove machining; The button unscrewing module is used to realize the male-female thread unscrewing and separating process between the spiral groove drill pipes after spiral groove machining is completed; The spiral groove machining module includes two numerically controlled spiral milling machines with the same external dimensions and performance arranged side by side and in parallel along the transverse direction, which are used to machine the spiral grooves of the drill pipes.

2. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 1, wherein, The button screwing device (1) includes a base (14). A flexible module (13) is arranged on one side of the top of the base (14). A servo motor (12) is arranged on the top of the flexible module (13). An electric chuck (11) is fixed on the output shaft of the servo motor (12); a return detection sensor (15) is arranged on the servo motor (12).

3. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 2, characterized in that The flexible module (13) includes a pair of first guide rail modules (131) arranged in parallel on the base (14). A first mounting plate (132), a second mounting plate (136), and a third mounting plate (137) are sequentially arranged on the top of the first guide rail module (131). A pair of second guide rail modules (133) distributed longitudinally are arranged in parallel on the top of the first mounting plate (132); Flexible limit blocks (134) are arranged on the side walls of the second mounting plate (136) and the third mounting plate (137). The second mounting plate (136) and the third mounting plate (137) are connected by a plurality of flexible mounting column modules (135); a second cylinder (138) is installed at the bottom of the first mounting plate (132). The piston of the second cylinder (138) is fixed to the top of the base (14); a plurality of limit columns (139) are arranged on the top of the second mounting plate (136).

4. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 3, characterized in that, The feeding module or the discharging module includes a double-cantilever truss device (4), two conveying devices (5), and two blank racks (6) for storing blanks. Both of the two conveying devices (5) and the two blank racks (6) are located below the cantilevers of the double-cantilever truss device (4), and the two blank racks (6) are respectively located outside the two conveying devices (5).

5. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 4, characterized in that The double-cantilever truss device (4) includes a pair of columns (43). An X truss (41) is jointly arranged on the tops of the pair of columns (43). A truss manipulator device (42) is movably arranged on the X truss (41); The truss manipulator device (42) includes a Y device (421) movably arranged on the X truss (41). A mechanical-magnetic composite gripper (422) is movably arranged on the Y device (421).

6. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 5, characterized in that The mechanical-magnetic composite gripper (422) includes a Z device (4224) movably arranged on the X truss (41). A mechanical gripper (4221), a double magnetic head assembly (4222), and a position detection sensor (4223) are arranged at the bottom of the Z device (4224). The double magnetic head assembly (4222) includes a pair of symmetric magnetic heads. Each magnetic head includes a fixed rod (42223) movably arranged at the bottom of the Z device (4224). An electro-permanent magnet (42221) is arranged at the bottom of the fixed rod (42223). A drill rod presence sensor (42224) is arranged on the electro-permanent magnet (42221). A elastic ring (42222) is sleeved on the fixed rod (42223).

7. The automatic machining system for spiral grooves of the drill pipe for coal mines according to claim 6, characterized in that, The conveying device 5 includes a bracket (51) with adjustable height. A transmission frame (52) is fixedly arranged on the bracket (51). A pressing module (53) is arranged on one side of the transmission frame (52). Multiple groups of opposed sensors (54) are fixedly arranged at equal intervals on the transmission frame (52).

8. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 7, wherein, The transmission frame (52) includes a U-shaped baffle (521) arranged on the bracket (51). Multiple flexible V-shaped roller group modules (522) are arranged at equal intervals on the U-shaped baffle (521). Multiple groups of the opposed sensors (54) are arranged at equal intervals and in parallel on the U-shaped baffle (521). Each flexible V-shaped roller group module (522) includes a V-shaped roller (5221) arranged in the U-shaped baffle (521). Compression springs (5222) are arranged between the centers at both ends of the V-shaped roller (5221) and the two side walls inside the U-shaped baffle (521).

9. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 6, characterized in that, The pressing module (53) includes a cross plate arranged on the transmission frame (52). A pair of guide rods (533) are arranged on the cross plate. A frame (531) is arranged at the top of the pair of guide rods (533). A first cylinder (534) is arranged on the cross plate between the pair of guide rods (533). The piston of the first cylinder (534) is fixedly connected to the top of the frame (531). A pair of cylindrical rollers (532) are arranged in parallel at the top of the frame (531).

10. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 9, wherein The flexible limit stop (134) includes a stop block (1341), a bolt (1342), a lock nut (1343), and a first spring (1344). The second mounting plate (136) and the stop block (1341) are jointly provided with a mounting hole. The first spring (1344) and the bolt (1342) are arranged in sequence from the inside to the outside in the mounting hole. The lock nut (1343) is arranged on the bolt (1342).

11. The automatic machining system for the spiral groove of the drill pipe for coal mines according to claim 9, wherein, The flexible mounting column module (135) includes a universal rod (1351) which is jointly arranged on a second mounting plate (136) and a third mounting plate (137); a second spring (1352) and a locking screw sleeve (1353) are sleeved on the universal rod (1351) located between the second mounting plate (136) and the third mounting plate (137); and a third spring (1354) and a pressure cap (1355) are sequentially arranged on the universal rod (1351) located at the top of the third mounting plate (137).

12. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 6, wherein, The clamping device 2 comprises a bracket (21) and a hydraulic cylinder (22) arranged on the other side of the top of the base (14); the tops of the bracket (21) and the hydraulic cylinder (22) are jointly provided with a pair of clasping slips (23); one half of the pair of clasping slips (23) is arranged on the piston rod of the hydraulic cylinder (22), and the other half of the slips (23) is arranged on the bracket (21); and a limit switch (24) is arranged on the outer wall of the slips (23) located on the bracket (21).

13. The automatic processing system for the spiral groove of the drill pipe for coal mines according to claim 1, wherein, In the screwing module, the initial installation distance between the screwing device (1) and the clamping device (2) is d1, and in the detaching module, the initial installation distance between the clamping device (2) and the screwing device (1) is d2, d1>d2.

14. An automatic processing method for machining spiral grooves of a spiral groove drill pipe for coal mines, characterized in that, Based on the automatic processing system for processing spiral grooves of spiral groove drill rods for coal mines according to any one of claims 6 to 13, specifically The following steps are involved: Automatic loading of rough drill rods, automatic screwing and connection of rough drill rods, automatic milling of spiral grooves, automatic shackle separation of finished spiral groove drill rods and automatic unloading of finished spiral groove drill rods.

15. The automatic processing method for machining the spiral groove of the screw drill rod for coal mines according to claim 14, characterized in that, The automatic loading of the rough drill pipe, based on the loading module, specifically includes the following steps: Step S01, the beam sensor (54) on the conveying device (5) detects whether there is a rough drill rod, if so, then proceed to step S02, if not, then the truss manipulator device (42) does not move; Step S02, the truss manipulator device (42) moves to the top of the blank rack, and then the mechanical-magnetic composite gripper (422) descends to the specified position, and the drill rod sensor (4223) detects whether there is a drill rod. If there is, the process proceeds to step S03, and if not, the process stops; Step S03, the mechanical-magnetic composite gripper (422) continues to descend, and the in-place detection sensor (4223) detects whether it is in place. If so, it has been magnetically attracted to the drill rod and rises to the specified position, and enters step S04. If not, it continues to descend and continues to detect; Step S04, the truss manipulator device (42) moves to the top of the conveying device (5), and the mechanical-magnetic composite gripper (422) sequentially descends, releases the drill rod, and ascends to the specified position.

16. The automatic processing method for machining the spiral groove of the screw drill pipe for coal mines as described in claim 14, characterized in that, The automatic screwing and connection of the rough drill pipe, based on the screwing module, specifically includes the following steps: Step S11, the claws of the electric chuck (11) extend to clamp the male end of the rough drill rod; Step S12, the second cylinder (138) pushes the male thread end clamped by the electric chuck (11) towards the female thread end clamped by the clamping device (2). Meanwhile, the electric chuck (11) rotates reversely for thread mating. After a certain period of time, the electric chuck (11) rotates forward to perform the thread screwing action for the male and female threads; Step S13, after screwing a certain number of turns and for a certain period of time, the jaws of the electric chuck (11) retract to release the male thread end. Meanwhile, the second cylinder (138) and the electric chuck (11) return to their original positions and the clamping device (2) releases the female thread end of the blank drill pipe; Step S14, after the limit switch (24) detects the release signal of the slip (23), the CNC milling machine automatically starts machining.

17. The automatic processing method for machining the spiral groove of the screw drill rod for coal mines as described in claim 14, characterized in that, The automatic thread unscrewing and separation of the finished spiral groove drill pipe, based on the thread unscrewing module, includes the following steps: Step S21, the clamping device (2) clamps the male thread end of the finished spiral groove drill pipe; Step S22, after the jaws of the electric chuck (11) clamp the female thread end of the finished spiral groove drill pipe, it rotates reversely to unscrew the thread. Meanwhile, the second cylinder (138) pushes out to push the separated finished spiral groove drill pipe onto the conveying device (5) in the blanking module; Step S23, after the jaws of the electric chuck (11) perform the retracting action for a certain period of time, the second cylinder (138) and the electric chuck (11) return to their original positions; Step S24, the conveying device (5) automatically starts and sends the finished spiral groove drill pipe to the transfer rack (52) and stops, waiting for blanking.

18. The automatic processing method for spiral groove machining of the spiral groove drill pipe for coal mines according to claim 14, characterized in that, The automatic blanking, based on the blanking module, specifically includes the following steps: Step S31, the opposed sensors (54) on the conveying device (5) detect whether there is a finished spiral groove drill pipe. If so, it proceeds to Step S32. If not, the truss manipulator device (42) does not act; Step S32, the truss manipulator device (42) in the blanking module moves above the conveying device (5) in the blanking module. After the mechanical-magnetic adsorption composite gripper (422) descends to the specified position, the drill pipe presence sensor (4223) detects whether there is a drill pipe. If so, it proceeds to Step S33. If not, it stops; Step S33, the mechanical-magnetic adsorption composite gripper (422) continues to descend. The in-place detection sensor (4223) detects whether it is in place. If so, it means that the finished spiral groove drill pipe has been magnetically adsorbed, and it rises to the specified position and proceeds to Step S34. If not, it continues to descend and continues to detect; Step S34, the truss manipulator device (42) moves above the finished product rack. The mechanical-magnetic adsorption composite gripper (422) sequentially performs descending, releasing the drill pipe, and rising to the specified position and stops.

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