Grabbing manipulator positioning device and method for quickly assembling and disassembling drill

Abstract

The invention relates to a grabbing manipulator positioning device and method for quickly assembling and disassembling a drill, and belongs to the technical field of coal mine machinery design. The device comprises a drill rod transfer device, a drill rod box, a grabbing manipulator, a mounting frame, a driving motor, a PLC (Programmable Logic Controller), an induction block, a proximity switch sensor and the like. The sensing block is aligned with the corresponding device or the drill rod groove in position, and the proximity switch sensor is arranged below the driving motor. During working, the PLC controls the driving amount of the driving motor according to the signal change of the proximity switch sensor. The grabbing manipulator is driven to move, sensor signals are monitored, the driving amount of the driving motor is controlled according to the number of times, speed reduction and precise stopping are conducted when a target is approached, and drilling rod grabbing or releasing is completed. By means of the mode, rapid and accurate positioning can be achieved, the positioning speed and precision are improved, the drilling and unloading efficiency is improved, the operation stability is improved by adopting an intelligent control strategy, and the system flexibly adapts to different drill rod groove numbers and is high in universality and expandability.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine machinery design, and relates to a positioning device and method for a grasping manipulator of a quick-loading and unloading drill. Background Art

[0002] The application background of automatic drills in the coal mine field is closely related to the realistic challenges faced by China's coal mining and the requirements for technological upgrading. Soft coal seams are widely distributed in China (accounting for about 40% of the total coal output). Such coal seams have high gas content and low structural strength. The traditional manual or semi-mechanized drill pipe loading and unloading methods are inefficient under complex geological conditions, and are prone to safety accidents caused by drill pipe detachment, human misoperation, etc. With the increase of coal mining depth, the demand for kilometer-level deep hole construction in gas drainage, water exploration and drainage operations is becoming increasingly urgent. The time-consuming ratio of traditional manual drill pipe loading and unloading is as high as 30%-40%. High-intensity operations lead to operator fatigue and fluctuations in borehole quality. In addition, according to relevant regulations, the automation rate of coal mine drilling equipment is required to be ≥80%. The popularization of technologies such as fully hydraulic crawler drills and directional drills provides a hardware foundation for automation upgrading. For example, the ZDY15000LDK drill developed by Xi'an Research Institute of China National Coal Group has integrated eight automation functions such as automatic drill pipe loading and unloading and trajectory control, marking the entry of the industry technology iteration into a new stage.

[0003] For drills with automatic drill pipe loading and unloading, firstly, the grasping accuracy of the manipulator within ±1mm and the automatic centering technology of the power head increase the screw connection success rate to 99.5%, significantly reducing the risks of accidents such as coal and gas outbursts and mechanical injuries. Secondly, the continuous operation ability increases the single-shift drilling depth by 2-3 times, and the construction efficiency of directional long boreholes (≥1500m) is increased by 300%. At the same time, the intelligent monitoring system can predict more than 60% of equipment failures, and the maintenance cost is reduced by 30%. In addition, the automated process promotes the standardization of drill pipe interfaces and the upgrading of the supporting industrial chain, laying a foundation for the development of drills towards "unmanned and adaptive". For example, the full-automatic anchor support robot technology of CRCC has realized underground autonomous drilling operations. These breakthroughs not only support the safety goal of "fewer people, safer" in coal mines, but also provide key technical guarantees for deep resource exploitation and green mine construction, driving the industry to transform from labor-intensive to technology-intensive.

[0004] Both the upper drill pipe and the unloading drill pipe require the cooperation of the main manipulator and the grasping manipulator. After the grasping manipulator grabs the drill pipe from the drill pipe box and places it into the drill pipe transfer device, the main manipulator then grabs the drill pipe from the drill pipe transfer device and transmits it to the power head. Therefore, the speed of grasping the drill pipe determines the efficiency of loading and unloading the drill pipe. The grasping manipulator needs to quickly and accurately position to each column of the drill pipe box to grab the drill pipe. In the prior art, a wire-pulling sensor is used to measure the position of the grasping manipulator, and the PLC program controls the start and stop of the driving motor of the grasping manipulator through the control quantity. In actual use, when the grasping manipulator quickly moves to a column of the drill pipe box, due to the inertia of the motor and the delay of the control signal, the positioning of the grasping manipulator cannot stop in place at one time and needs to move back and forth for positioning, resulting in low efficiency of loading and unloading the drill pipe. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a positioning device and method for a grasping manipulator for quickly loading and unloading drill pipes.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A positioning device and method for a grasping manipulator for quickly loading and unloading drill pipes, the device includes: a drill pipe transfer device, a drill pipe box, a grasping manipulator, a mounting frame, a driving motor, and a PLC controller. Among them,

[0008] The grasping manipulator is installed on the drill pipe box through the mounting frame and can move back and forth in the arrangement direction of several drill pipe slots of the drill pipe box through the driving motor; the PLC controller is used for the driving quantity of the driving motor and the grasping operation of the grasping manipulator. Among them,

[0009] The mounting frame is arranged on the side of the drill pipe box, and the grasping manipulator is slidably installed on the mounting frame through the driving motor. The length of the mounting frame covers the drill pipe transfer device and the drill pipe box. Among them, several induction blocks are arranged on the mounting frame, and a proximity switch sensor is arranged below the driving motor. The PLC controller is connected to the proximity switch sensor. When the proximity switch sensor passes above the induction block, the output signal of the proximity switch sensor changes, and the PLC controller controls the driving quantity of the driving motor according to the signal change of the proximity switch sensor to complete the quick positioning of the grasping manipulator to the drill pipe slot with the maximum driving quantity as the target.

[0010] Further, the induction blocks on the mounting frame include a drill pipe transfer device induction block and several drill pipe slot induction blocks. Among them, the drill pipe transfer device induction block is aligned with the position of the drill pipe transfer device, and each drill pipe slot induction block is aligned with the position of a drill pipe slot.

[0011] Further, the proximity switch sensor adopts an inductive proximity switch sensor, and a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit are arranged inside the inductive proximity switch sensor.

[0012] During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit remains in its initial state;

[0013] The initial state of the signal output circuit includes normally open or normally closed states. When the inductive proximity switch sensor enters above a certain induction block from a certain position, eddy current effects are generated due to electromagnetic induction between the metal surface of the induction block made of metal material and the magnetic field generated by the high-frequency oscillation coil, resulting in an increase in the energy loss of the high-frequency oscillation coil, and the oscillation frequency of the high-frequency oscillation coil decreases or even stops oscillating; the signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

[0014] Furthermore, the signal output circuit uses NPN / PNP type digital signals. In the normally open state, the signal output circuit outputs the digital signal "0" to the PLC controller; in the closed state, the signal output circuit outputs the digital signal "1" to the PLC controller.

[0015] Furthermore, the PLC controller determines whether the grasping manipulator is close to the target drill pipe groove according to the number of signal changes of the proximity switch sensor, and adjusts the driving amount of the driving motor according to the number of signal changes. Among them, in the PLC controller, the induction block corresponding to the drill pipe transfer device of the drill pipe transfer device is marked as 0, and the induction blocks corresponding to the drill pipe grooves in the drill pipe box are successively represented as 1, 2, 3,..., N according to the distance from the induction block of the drill pipe transfer device, where N represents the number of drill pipe grooves in the drill pipe box; when the grasping manipulator corresponds to the drill pipe transfer device, the proximity switch sensor is located on the left side of the induction block of the drill pipe transfer device and outputs the signal "0"; when the grasping manipulator corresponds to a certain drill pipe groove, the proximity switch sensor is located on the right side of the induction block of the drill pipe groove and outputs the signal "0", and a signal change of "0→1→0" is defined as one change.

[0016] Furthermore, let the target drill pipe groove be n. When moving from the drill pipe transfer device to the position of the target drill pipe groove n, during the first n signal change processes, the PLC controller continuously controls the driving motor with the maximum driving amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)-th signal changes from "0→1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor and immediately stops driving when the signal changes from "1→0". The grasping manipulator accurately stops in the target drill pipe groove, and then the PLC controller drives the grasping manipulator to grasp the drill pipe.

[0017] Further, when the grasping manipulator returns to the drill pipe transfer device from the target drill pipe slot n, during the previous n changes, the PLC controller continuously controls the driving motor with the maximum driving amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)th signal changes from "0 → 1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor and stops driving immediately when the signal changes from "1 → 0", and the grasping manipulator accurately stops within the drill pipe transfer device.

[0018] On the other hand, a positioning method for the grasping manipulator of a quick-loading and unloading drill is also proposed, and this method includes the following steps:

[0019] S1. Drive the grasping manipulator to move along the mounting frame through the driving motor, and an inductive proximity switch sensor is arranged below it. The PLC controller real-time monitors the digital quantity signal output by the sensor;

[0020] S2. Define the induction block of the drill pipe transfer device as the reference position, and the induction blocks of the drill pipe slots are sequentially marked as 1 to N according to the distance from the reference position, where N is the total number of drill pipe slots;

[0021] S3. When the grasping manipulator moves from the reference position to the target drill pipe slot n, the PLC counts the complete change times of the sensor signal from "0 → 1 → 0", and maintains the maximum driving amount of the driving motor during the previous n changes;

[0022] S4. When it is detected that the (n + 1)th signal jumps from "0 → 1", the PLC immediately reduces the driving amount and starts the deceleration program, and stops driving until the signal returns to "0", so that the grasping manipulator accurately stops above the target drill pipe slot;

[0023] S5. Complete the grasping or releasing of the drill pipe.

[0024] The beneficial effects of the present invention are as follows:

[0025] The present invention adopts the cooperation mode of the proximity switch sensor and the induction block. When the proximity switch sensor passes above the induction block, the output signal changes, and the PLC controller accurately controls the driving amount of the driving motor according to the signal change. This positioning method can quickly and accurately determine the position of the grasping manipulator, avoids the positioning inaccuracy problem caused by inertia and delay, realizes the fast and accurate positioning of the target drill pipe slot, greatly improves the positioning speed and accuracy of the grasping manipulator, and further improves the efficiency of the entire drill loading and unloading process.

[0026] The PLC controller of the present invention determines whether the grasping manipulator is approaching the target drill pipe slot according to the number of signal changes of the proximity switch sensor, and adjusts the driving amount of the driving motor accordingly. During the process of approaching the target drill pipe slot, the PLC controller continuously controls the driving motor with the maximum driving amount, so that the grasping manipulator moves at the fastest speed. When approaching the target position, the driving amount is gradually reduced, and finally accurate stopping is achieved. This intelligent control strategy not only ensures the high efficiency of the grasping manipulator during movement, but also ensures smooth and accurate stopping at the target position, effectively avoiding equipment vibration and impact caused by emergency stopping and other operations, improving the stability and reliability of the operation of the entire device, and extending the service life of the equipment.

[0027] The present invention aligns the induction block of the drill pipe transfer device with the position of the drill pipe transfer device, aligns each drill pipe slot induction block with a drill pipe slot, and marks the induction blocks by numbering, so that the system can flexibly adapt to drill pipe boxes with different numbers of drill pipe slots. Regardless of how the number of drill pipe slots in the drill pipe box changes, the PLC controller can accurately control the movement and positioning of the grasping manipulator according to the number of the induction block and the number of signal changes, realizing the universality and scalability of the system, and reducing the cost and difficulty brought by equipment upgrading or transformation.

[0028] Other advantages, objectives and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the following specification. Brief Description of the Drawings

[0029] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail preferably with reference to the accompanying drawings, where:

[0030] Figure 1 is a schematic structural diagram of the positioning device of the grasping manipulator for quick loading and unloading of drills according to an embodiment of the present invention;

[0031] Figure 2 is a schematic cross-sectional view of the positioning device of the grasping manipulator for quick loading and unloading of drills according to an embodiment of the present invention;

[0032] Figure 3 is a partially enlarged schematic cross-sectional view of the positioning device of the grasping manipulator for quick loading and unloading of drills according to an embodiment of the present invention.

[0033] Reference Numerals: 1 - drill pipe; 2 - drill pipe box; 3 - grasping manipulator; 4 - mounting bracket; 5 - driving motor; 6 - drill pipe transfer device; 21 - drill pipe slot; 41 - induction block; 51 - proximity switch sensor. Detailed Description of the Embodiment

[0034] The following describes the implementation manners of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0035] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as limitations on the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, and do not represent the dimensions of actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0036] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as limitations on the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0037] Please refer to Figures 1 to 3 , which is a positioning device and method for a grasping manipulator of a quick-release drill.

[0038] In this embodiment, Figure 1An existing structural diagram of the operation of an automatic drilling rig is shown. The processes of loading and unloading the drill pipe of the automatic drilling rig are realized by the collaborative operation of the manipulator and the drill pipe transfer device 6. In the drill pipe loading process, first, the gripping manipulator 3 grabs the drill pipe 1 from the drill pipe box 2 and places it into the drill pipe transfer device 6; subsequently, the drill pipe transfer device 6 moves to the gripping position of the main manipulator to the right. The main manipulator takes out the drill pipe 1 from the drill pipe transfer device 6 and sends the drill pipe 1 to the front end of the power head through a flipping action; the power head completes the thread connection of the drill pipe 1 through rotation and advancement, and starts the drilling operation. The drill pipe unloading process is executed reversely: after the power head reversely retreats and disconnects the thread connection, the main manipulator grabs the removed drill pipe 1 and puts it back into the drill pipe transfer device 6; the drill pipe transfer device 6 moves to the vicinity of the drill pipe box 2 to the left, and the gripping manipulator 3 intervenes again, takes out the drill pipe 1 from the drill pipe transfer device 6 and returns it to the drill pipe box 2, completing the recovery of the drill pipe 1. Through the precise gripping of the main manipulator, the directional transportation of the drill pipe transfer device 6, and the automatic docking of the power head, the efficient cycle of the loading and unloading of the drill pipe 1 is realized, significantly reducing the need for manual intervention and ensuring the safety and continuity of the coal mine drilling operation.

[0039] However, both the drill pipe loading and unloading require the cooperation of the main manipulator and the gripping manipulator 3. After the gripping manipulator 3 grabs the drill pipe 1 from the drill pipe box 2 and places it into the drill pipe transfer device 6, the main manipulator then grabs the drill pipe 1 from the drill pipe transfer device 6 and transmits it to the power head. Therefore, the speed of grabbing the drill pipe 1 determines the efficiency of drill pipe loading and unloading. The gripping manipulator 3 needs to quickly and accurately position to each column of the drill pipe box 2 to grab the drill pipe 1. The existing technology uses a wire-pulling sensor to measure the position of the gripping manipulator 3, and the PLC program controls the start and stop of the gripping manipulator 3 and the driving motor 5 through control quantities. In actual use, when the gripping manipulator 3 quickly moves to a column of the drill pipe box 2, due to the inertia of the motor and the delay of the control signal, the positioning of the gripping manipulator 3 cannot stop in place at one time and needs to move back and forth for positioning, resulting in low efficiency of drill pipe loading and unloading.

[0040] Based on this, this embodiment proposes a positioning device for the gripping manipulator for quickly loading and unloading the drill pipe, as Figure 1 shown, which at least includes: a drill pipe transfer device 6, a drill pipe box 2, a gripping manipulator 3, a mounting frame 4, a driving motor 5, and a PLC controller. Among them, the gripping manipulator 3 is installed on the drill pipe box 2 through the mounting frame 4 and can move back and forth in the arrangement direction of a plurality of drill pipe slots 21 of the drill pipe box 2 through the driving motor 5; the PLC controller is used for the driving quantity of the driving motor 5 and the gripping operation of the gripping manipulator 3. Among them, the mounting frame 4 is arranged on the side of the drill pipe box 2, the gripping manipulator 3 is slidably installed on the mounting frame 4 through the driving motor 5, and the length of the mounting frame 4 covers the drill pipe transfer device 6 and the drill pipe box 2. Among them, as Figure 2 and Figure 3As shown in the figure, several induction blocks 6 are arranged on the mounting bracket 4, including an induction block for the drill pipe transfer device and several induction blocks for the drill pipe grooves. Among them, the induction block for the drill pipe transfer device is aligned with the position of the drill pipe transfer device 6, and each induction block for the drill pipe groove is aligned with the position of a drill pipe groove 21; a proximity switch sensor 51 is arranged below the drive motor 5, and the PLC controller is connected to the proximity switch sensor 51. When the proximity switch sensor 51 passes above the induction block 6, the output signal of the proximity switch sensor 51 changes. The PLC controller controls the driving amount of the drive motor 5 according to the signal change of the proximity switch sensor 51, and completes the rapid positioning of the gripping manipulator 3 to the drill pipe groove 21 with the maximum driving amount as the target.

[0041] The proximity switch sensor 51 adopts an inductive proximity switch sensor 51, and a high-frequency oscillation coil, a signal processing circuit and a signal output circuit are arranged inside the inductive proximity switch sensor 51.

[0042] During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit maintains the initial state. The initial state of the signal output circuit includes a normally open or normally closed state. In this embodiment, the signal output circuit maintains a normally open state.

[0043] When the inductive proximity switch sensor 51 enters above a certain induction block 6 from a certain position, the metal surface of the induction block 6 made of metal material and the magnetic field generated by the high-frequency oscillation coil generate an eddy current effect due to electromagnetic induction, resulting in an increase in the energy loss of the high-frequency oscillation coil, and the oscillation frequency of the high-frequency oscillation coil decreases or even stops oscillating; the signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

[0044] In this embodiment, the vertical distance between the end face of the proximity switch sensor 51 and the surface of the induction block 6 can be set to 2 - 10 mm, and in this embodiment, it is set to 4 - 8 mm.

[0045] In this embodiment, when the inductive proximity switch sensor 51 is adopted, the material of the induction block 6 needs to be a metal material, such as iron, copper, aluminum, etc.

[0046] Specifically, the signal output circuit adopts an NPN / PNP type digital quantity signal. In the normally open state, the signal output circuit outputs a digital quantity signal "0" to the PLC controller; in the closed state, the signal output circuit outputs a digital quantity signal "1" to the PLC controller.

[0047] In this embodiment, the PLC controller determines whether the gripping manipulator 3 is close to the target drill pipe groove according to the number of signal changes of the proximity switch sensor 51, and adjusts the driving amount of the drive motor 5 according to the number of signal changes.

[0048] Specifically, under normal circumstances, the movement process of the grasping manipulator 3 is from the drill pipe transfer device 6 to the target drill pipe slot or from the target drill pipe slot to the drill pipe transfer device 6. In the PLC controller, the drill pipe transfer device induction block corresponding to the drill pipe transfer device 6 is marked as 0, and the drill pipe slot induction blocks corresponding to the drill pipe slots 21 in the drill pipe box 2 are sequentially represented as 1, 2, 3, …, N according to the distance from the drill pipe transfer device induction block, where N represents the number of drill pipe slots 21 in the drill pipe box 2. When the grasping manipulator 3 corresponds to the drill pipe transfer device 6, the proximity switch sensor 51 is located on the left side of the drill pipe transfer device induction block, and the output signal is "0". When the grasping manipulator 3 corresponds to a certain drill pipe slot 21, the proximity switch sensor 51 is located on the right side of the drill pipe slot induction block, and the output signal is "0". Define the signal change "0→1→0" as one change. Thus, assuming the target drill pipe slot is n, when moving from the drill pipe transfer device 6 to the position of the target drill pipe slot n, during the first n change processes, the PLC controller continuously controls the driving motor 5 with the maximum driving amount, so that the grasping manipulator 3 moves at the fastest speed. When the (n + 1)-th signal changes from "0→1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor 5, and immediately stops driving when the signal changes from "1→0", and the grasping manipulator 3 accurately stops in the target drill pipe slot. Then, the PLC controller drives the grasping manipulator 3 to grasp the drill pipe. Correspondingly, when the grasping manipulator 3 returns from the target drill pipe slot n to the drill pipe transfer device 6, during the first n change processes, the PLC controller continuously controls the driving motor 5 with the maximum driving amount, so that the grasping manipulator 3 moves at the fastest speed. When the (n + 1)-th signal changes from "0→1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor 5, and immediately stops driving when the signal changes from "1→0", and the grasping manipulator 3 accurately stops in the drill pipe transfer device 6.

[0049] For example, assume that currently it is necessary to move from the drill pipe transfer device 6 to the third drill pipe slot. Then the proximity switch sensor 51 needs to pass through the drill pipe transfer device induction block corresponding to the drill pipe transfer device 6, the induction block of the first drill pipe slot, the induction block of the second drill pipe slot, and the induction block of the third drill pipe slot. Among them, since the proximity switch sensor 51 is initially on the left side of the drill pipe transfer device 6, it has experienced 3 signal changes when it reaches the left side of the induction block of the third drill pipe slot. When its 4th time changes from "0→1", it means that it is passing through the induction block of the third drill pipe slot, that is, the corresponding position of the third drill pipe slot. At this time, the PLC controller immediately controls the grasping manipulator 3 to decelerate, and the deceleration distance is the width of the induction block of the third drill pipe slot. When it breaks away from the induction block of the third drill pipe slot, the grasping manipulator 3 just decelerates to 0, realizing the precise and fast positioning control of the grasping manipulator 3.

[0050] This embodiment also provides a positioning method for the grasping manipulator of the quick-change drill implemented according to the aforementioned positioning device of the grasping manipulator of the quick-change drill, which includes:

[0051] S1. Drive the grasping manipulator to move along the mounting frame through a driving motor, and an inductive proximity switch sensor is arranged below it. The PLC controller monitors the digital quantity signal output by the sensor in real time;

[0052] S2. Define the induction block of the drill pipe transfer device as the reference position, and the induction blocks of the drill pipe grooves are sequentially marked as 1 to N according to the distance from the reference position, where N is the total number of drill pipe grooves;

[0053] S3. When the grasping manipulator moves from the reference position to the target drill pipe groove n, the PLC counts the complete change times of the sensor signal from "0→1→0", and maintains the maximum driving amount of the driving motor during the first n change periods;

[0054] S4. When it is detected that the (n + 1)th signal jumps from "0→1", the PLC immediately reduces the driving amount and starts the deceleration program, and stops driving until the signal returns to "0", so that the grasping manipulator accurately stops above the target drill pipe groove;

[0055] S5. Complete the grasping or releasing of the drill pipe.

[0056] To sum up, in the prior art, the grasping manipulator uses a wire-pulling sensor to measure the position. Due to the inertia of the motor and the delay of the control signal, the positioning is inaccurate, and it is necessary to move back and forth for adjustment, which seriously affects the efficiency of drilling and unloading. In this embodiment, the proximity switch sensor is used in cooperation with the induction block. When the proximity switch sensor passes above the induction block, the output signal changes, and the PLC controller accurately controls the driving amount of the driving motor according to the signal change. This positioning method can quickly and accurately determine the position of the grasping manipulator, avoid the positioning inaccuracy caused by inertia and delay, realize the fast and accurate positioning of the target drill pipe groove, greatly improve the positioning speed and accuracy of the grasping manipulator, and thus improve the efficiency of the entire drilling and unloading process.

[0057] The PLC controller of this embodiment determines whether the grasping manipulator is close to the target drill pipe groove according to the number of signal changes of the proximity switch sensor, and adjusts the driving amount of the driving motor accordingly. During the process of approaching the target drill pipe groove, the PLC controller continuously controls the driving motor with the maximum driving amount to make the grasping manipulator move at the fastest speed. When approaching the target position, the driving amount is gradually reduced, and finally accurate stopping is achieved. This intelligent control strategy not only ensures the high efficiency of the grasping manipulator during the movement process, but also ensures that it can stop stably and accurately at the target position, effectively avoiding equipment vibration and impact caused by emergency stopping and other operations, improving the stability and reliability of the operation of the entire device, and extending the service life of the equipment.

[0058] By aligning the sensing block of the drill pipe transfer device with the position of the drill pipe transfer device, each drill pipe slot sensing block is aligned with the position of a drill pipe slot, and the sensing blocks are marked by numbering, enabling the system to flexibly adapt to drill pipe boxes with different numbers of drill pipe slots. Regardless of how the number of drill pipe slots in the drill pipe box changes, the PLC controller can accurately control the movement and positioning of the grasping manipulator based on the number of the sensing blocks and the number of signal changes, achieving the versatility and scalability of the system and reducing the costs and difficulties brought about by equipment upgrades or modifications.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A positioning device and method for a grasping manipulator of a quick-loading and unloading drill, characterized in that: The device includes: a drill pipe transfer device, a drill pipe box, a grasping manipulator, a mounting frame, a driving motor, and a PLC controller. Among them, the grasping manipulator is installed on the drill pipe box through the mounting frame and can move back and forth in the arrangement direction of several drill pipe grooves of the drill pipe box by means of the driving motor; the PLC controller is used for the driving amount of the driving motor and the grasping operation of the grasping manipulator. Among them, the mounting frame is arranged on the side of the drill pipe box, and the grasping manipulator is slidably installed on the mounting frame by the driving motor. The length of the mounting frame covers the drill pipe transfer device and the drill pipe box. Among them, several induction blocks are arranged on the mounting frame, and a proximity switch sensor is arranged below the driving motor. The PLC controller is connected to the proximity switch sensor. When the proximity switch sensor passes above the induction block, the output signal of the proximity switch sensor changes. The PLC controller controls the driving amount of the driving motor according to the signal change of the proximity switch sensor to complete the rapid positioning of the grasping manipulator to the drill pipe groove with the maximum driving amount as the target.

2. The positioning device of the grasping manipulator for the quick loading and unloading drill according to claim 1, characterized in that: The induction blocks on the mounting frame include a drill pipe transfer device induction block and several drill pipe groove induction blocks. Among them, the drill pipe transfer device induction block is aligned with the position of the drill pipe transfer device, and each drill pipe groove induction block is aligned with the position of a drill pipe groove.

3. The positioning device of the grasping manipulator for a quick loading and unloading drill according to claim 2, characterized in that: The proximity switch sensor adopts an inductive proximity switch sensor, and a high-frequency oscillation coil, a signal processing circuit, and a signal output circuit are arranged inside the inductive proximity switch sensor. During the working process, the high-frequency oscillation coil continuously oscillates, and the signal output circuit remains in the initial state; the initial state of the signal output circuit includes a normally open or normally closed state. When the inductive proximity switch sensor enters above a certain induction block from a certain position, the metal surface of the induction block made of metal material and the magnetic field generated by the high-frequency oscillation coil generate an eddy current effect due to electromagnetic induction, resulting in an increase in the energy loss of the high-frequency oscillation coil, and the oscillation frequency of the high-frequency oscillation coil decreases or even stops oscillating; the signal processing circuit detects the change in the oscillation frequency of the high-frequency oscillation coil and triggers the state flip of the signal output circuit.

4. The positioning device of the grasping manipulator for a quick loading and unloading drill according to claim 3, characterized in that: The signal output circuit adopts an NPN / PNP type digital quantity signal. In the normally open state, the signal output circuit outputs a digital quantity signal "0" to the PLC controller; in the closed state, the signal output circuit outputs a digital quantity signal "1" to the PLC controller.

5. The positioning device of the grasping manipulator for a quick loading and unloading drill according to claim 4, characterized in that: The PLC controller determines whether the grasping manipulator is close to the target drill pipe groove according to the number of signal changes of the proximity switch sensor and adjusts the driving amount of the driving motor according to the number of signal changes. Among them, in the PLC controller, the drill pipe transfer device induction block corresponding to the drill pipe transfer device is marked as 0, and the drill pipe groove induction blocks corresponding to the drill pipe grooves in the drill pipe box are successively represented as 1, 2, 3,..., N according to the distance from the drill pipe transfer device induction block, where N represents the number of drill pipe grooves in the drill pipe box; when the grasping manipulator corresponds to the drill pipe transfer device, the proximity switch sensor is located on the left side of the drill pipe transfer device induction block and the output signal is "0"; when the grasping manipulator corresponds to a certain drill pipe groove, the proximity switch sensor is located on the right side of the drill pipe groove induction block and the output signal is "0". It is defined that a signal change of "0→1→0" is one change.

6. The positioning device of the grasping manipulator for a quick loading and unloading drill according to claim 5, characterized in that: Let the target drill pipe slot be n. When the grasping manipulator moves from the drill pipe transfer device to the position of the target drill pipe slot n, during the first n change processes, the PLC controller continuously controls the driving motor with the maximum driving amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)-th signal changes from "0 → 1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor and stops driving immediately when the signal changes from "1 → 0". The grasping manipulator accurately stops in the target drill pipe slot, and then the PLC controller drives the grasping manipulator to grasp the drill pipe.

7. The positioning device of the grasping manipulator of a quick-disassembly drill according to claim 6, characterized in that: When the grasping manipulator returns from the target drill pipe slot n to the drill pipe transfer device, during the first n change processes, the PLC controller continuously controls the driving motor with the maximum driving amount, so that the grasping manipulator moves at the fastest speed. When the (n + 1)-th signal changes from "0 → 1", after receiving the signal "1", the PLC controller immediately gradually reduces the driving amount of the driving motor and stops driving immediately when the signal changes from "1 → 0". The grasping manipulator accurately stops in the drill pipe transfer device.

8. A positioning method for a grasping manipulator of a quick-disassembly drill, characterized in that: The method includes the following steps: S1. Drive the grasping manipulator to move along the mounting frame through the driving motor, and an inductive proximity switch sensor is arranged below it. The PLC controller monitors the digital quantity signal output by the sensor in real time. S2. Define the induction block of the drill pipe transfer device as the reference position, and the induction blocks of the drill pipe slots are sequentially marked as 1 to N according to the distance from the reference position, where N is the total number of drill pipe slots. S3. When the grasping manipulator moves from the reference position to the target drill pipe slot n, the PLC counts the complete change times of the sensor signal from "0 → 1 → 0", and maintains the maximum driving amount of the driving motor during the first n change periods. S4. When it is detected that the (n + 1)-th signal jumps from "0 → 1", the PLC immediately reduces the driving amount and starts the deceleration program, and stops driving until the signal returns to "0", so that the grasping manipulator accurately stops above the target drill pipe slot. S5. Complete the grasping or releasing of the drill pipe.

Images