A coal mine underground drill rod loading and unloading vehicle with relative position quick calibration function

Abstract

The application discloses a coal mine underground drill rod loading and unloading vehicle with a relative position quick calibration function, which comprises a tracked vehicle body, an oil tank assembly, a motor pump group, a control table, a drill rod box, a drill rod loading and unloading robot and a calibration mechanical arm, etc., the calibration mechanical arm is integrated at the end of the loading and unloading vehicle, the relative position between the drill rod vehicle and the automatic drilling machine can be quickly obtained, and the target guidance is provided for the drill rod loading and unloading robot; the drill rod loading and unloading robot completes the drill rod conveying between the drill rod box and the automatic drilling machine according to the target guidance. The drill rod loading and unloading vehicle can be automatically calibrated, the target position of the drill rod to be loaded or unloaded is continuously and timely obtained, and the drill rod loading and unloading robot is used to provide the drill rod automatic loading and unloading service for various types of coal mine underground automatic drilling machines.

Description

Technical Field

[0001] This invention belongs to the field of automated drilling construction in coal mines, and relates to a coal mine drill pipe loading and unloading vehicle with a rapid relative position calibration function. Background Technology

[0002] With the continuous development of drilling equipment and drilling technology, the level of automation in underground coal mine drilling is constantly improving. Various automated functions, such as automatic stabilization and angle adjustment, automatic hole positioning, and automatic drilling, are increasingly being applied in underground coal mines. Drill rod loading and unloading is one of the most labor-intensive tasks in the drilling process. Achieving automatic loading and unloading of drill rods, thus reducing the labor intensity of workers, is a crucial step in realizing the automation of drilling operations.

[0003] Drill pipe loading and unloading vehicles have become a hot research topic in the industry due to their large drill pipe capacity, high flexibility, and ability to provide drill pipe loading and unloading services for various types of automatic drilling rigs. Current technologies mostly employ tandem hydraulically driven manipulators and six-degree-of-freedom industrial robots as the actuators for drill pipe transport, achieving efficient transportation of drill pipes between the pipe magazine and the drilling rig. Because the drill pipe loading and unloading vehicle and the automatic drilling rig have independent walking mechanisms, their relative positions differ during each drilling operation, resulting in different target points for picking up and placing drill pipes on the automatic drilling rig. Furthermore, changes in the drilling rig's inclination and azimuth angles also alter the target points for drill pipe picking and placing. Therefore, accurately obtaining the target position for the drill pipe loading and unloading robot during the loading and unloading process is a crucial issue that must be addressed to achieve automated drill pipe loading and unloading.

[0004] Existing technologies employ machine vision solutions, which involve setting cooperative target markers on automated drilling rigs, acquiring images of the targets using cameras, and calculating the target location by analyzing image change data. This method is fast and effective, and is widely used in traditional factories. However, underground coal mines, especially in longwall and tunneling faces, require extensive gas control and exploratory drilling. The humid environment, severe dust pollution, and low light conditions at the working faces all affect the image capture quality of vision sensors, reducing location accuracy and limiting the application scenarios of drill pipe loading and unloading vehicles. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a coal mine underground drill pipe loading and unloading vehicle with a rapid relative position calibration function, which can be equipped with various types of automatic drilling rigs to automate the loading and unloading of drill pipes during the drilling process.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A coal mine underground drill pipe loading and unloading vehicle with rapid relative position calibration function includes a tracked vehicle body, an oil tank assembly, a motor pump unit, a control panel, a drill pipe box, a drill pipe loading and unloading robot, and a calibration robotic arm; The motor pump unit and oil tank are mounted on one end of the tracked vehicle body to provide power to each hydraulic actuator. The control panel has a built-in electromagnetic proportional multi-way valve and drill pipe loading / unloading controller to control the actuators according to the program. The drill pipe loading / unloading controller is connected to the automatic drilling rig controller via a cable to achieve real-time data transmission. The drill pipe box is located in the middle of the tracked vehicle body to store drill pipes. A drill pipe loading / unloading robot is installed next to the drill pipe box for gripping drill pipes. The calibration robotic arm includes a relative position rapid acquisition device, a probe, and an identification base connected in sequence. The relative position rapid acquisition device is fixed to the end of the tracked vehicle body, and the identification base is installed on the side of the automatic drilling rig's gripper.

[0008] The present invention also includes the following technical features: Specifically, the relative position rapid acquisition device is a UCU-type coal mine underground relative position rapid acquisition device, including a telescopic device, Hooke's hinge components at both ends of the telescopic device, and an explosion-proof and intrinsically safe main unit. The telescopic device includes: a cylinder and its cylinder rod, a magnetostrictive displacement sensor and a magnetic ring disposed in the cylinder and cylinder rod to measure the telescopic stroke of the cylinder rod, and a rotation sensing mechanism disposed on the cylinder to measure the rotation angle of the cylinder rod relative to the cylinder; one end of the cylinder is connected to a set of Hooke hinge assemblies through a connecting flange, and the other end of the cylinder rod is connected to another set of Hooke hinge assemblies through a connecting flange. The Hooke hinge assembly includes an upper fork-shaped lug, a lower fork-shaped lug, a cross shaft, and an optical encoder. The cross shaft is mounted between the upper and lower fork-shaped lugs via two sets of bearings, allowing the upper and lower fork-shaped lugs to rotate freely around their respective axes. Optical encoders are installed on the outer sides of the upper and lower fork-shaped lugs and between them and the cross shaft to acquire real-time angle data between the two lugs and the cross shaft. Flanges are provided at the upper end of the upper fork-shaped lug and the lower end of the lower fork-shaped lug to connect to the connecting flange of the telescopic device / the testing platform of the underground coal mine machinery equipment. The explosion-proof and intrinsically safe host includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0009] Specifically, the telescopic device has an outer cylinder surrounding the cylinder; one end of the cylindrical cylinder has a connecting flange for connection to Hooke's hinge assembly I; a magnetostrictive displacement sensor is installed inside the cylinder, with one end of the magnetostrictive displacement sensor extending into the cylinder rod; the outer surface of the cylinder rod is octagonal with a hollow structure, and a piston is installed at one end, which fits with the inner hole of the cylinder, allowing for free extension and retraction; a nylon ring is provided between the piston and the cylinder; a magnetic ring is installed at the end of the cylinder rod; the other end of the cylinder rod has a connecting flange for connection to Hooke's hinge assembly II; and a rotation sensing mechanism is installed at the other end of the cylinder.

[0010] Specifically, the data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer; the explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data; the explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

[0011] Specifically, the rotary sensing mechanism includes an optical encoder I, a base plate, a housing, a torque transmission disk, gear I, an end cover, a bearing, gear II, gear III, a rotary shaft I, and a rotary shaft II. The inner hole of the torque transmission disk has a regular octagonal structure to allow clearance fit with the cylinder rod. The cylinder rod and the torque transmission disk can slide relative to each other along the axial direction and rotate together. Gear I is installed on the outer side of the torque transmission disk. Gear II and gear III are respectively installed between the base plate and the housing through the bearing and rotary shaft I and rotary shaft II, and mesh with gear I. The end cover is installed on the housing to press the bearing. One end of the rotary shaft I is machined with a circular hole, and the input shaft of the optical encoder I is installed in the circular hole and locked by a set screw, so that the rotary motion of the cylinder rod passes through the torque transmission disk, gear I, gear II, gear III, and rotary shaft I in sequence, and is thus monitored by the optical encoder I.

[0012] Specifically, the relative position rapid acquisition device is a RUPU type coal mine underground relative position rapid acquisition device, including a telescopic device, Hooke hinge assemblies at both ends of the telescopic device, a base assembly connected to one end of the Hooke hinge assembly, and an explosion-proof and intrinsically safe main unit. The telescopic device includes: a cylinder and its cylinder rod, a magnetostrictive displacement sensor and a magnetic ring disposed in the cylinder and cylinder rod to measure the telescopic stroke of the cylinder rod, a limiting pin disposed on the cylinder rod and cooperating with a guide groove on the side of the cylinder to measure the rotation angle of the cylinder rod relative to the cylinder; one end of the cylinder is connected to a set of Hooke hinge assemblies through a connecting flange, and the other end of the cylinder rod is connected to another set of Hooke hinge assemblies through a connecting flange. The Hooke hinge assembly includes an upper fork-shaped lug, a lower fork-shaped lug, a cross shaft, and an optical encoder. The cross shaft is mounted between the upper and lower fork-shaped lugs via two sets of bearings, allowing the upper and lower fork-shaped lugs to rotate freely around the two axes of the cross shaft. Optical encoders are installed on the outer sides of the upper and lower fork-shaped lugs and between them and the cross shaft to acquire the angle data of the two lugs relative to the cross shaft in real time. One of the Hooke hinge assemblies has flanges at the upper end of the upper fork-shaped lug and the lower end of the lower fork-shaped lug to be connected to the connecting flange of the test platform / telescopic device of the underground coal mine machinery equipment, respectively. The other Hooke hinge assembly has flanges at the upper end of the upper fork-shaped lug and the lower end of the lower fork-shaped lug to be connected to the connecting flange of the telescopic device and one end of the base assembly, respectively. The other end of the base assembly can be connected to another test platform. The base assembly and its internal optical encoder can transmit and detect the rotation angle of the device. The explosion-proof and intrinsically safe host includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0013] Specifically, the telescopic device has an outer cylinder surrounding the cylinder; one end of the cylindrical cylinder has a connecting flange for connection with Hooke's hinge assembly I; a magnetostrictive displacement sensor is installed inside the cylinder, with one end of the magnetostrictive displacement sensor extending into the cylinder rod; the outer surface of the cylinder rod is octagonal with a hollow structure, and a piston is installed at one end, which fits with the inner hole of the cylinder, allowing for free extension and retraction; a nylon ring is provided between the piston and the cylinder; a magnetic ring is installed at the end of the cylinder rod; and the other end of the cylinder rod has a connecting flange for connection with Hooke's hinge assembly II.

[0014] Specifically, the data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer; the explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data; the explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

[0015] Specifically, the base assembly includes a grating encoder, a base, a housing, a cover plate, bearing I, pinion I, a spring support, pinion II, a backlash-free spring, a main shaft I, bearing II, a large gear, a main shaft II, a coupling, a bearing pressure plate, a drive shaft, bearing III, and a connecting flange. The base can be fixed to the platform under test at the bottom, and the housing is installed on the top. A flange is provided on one side of the housing and a grating encoder is installed thereon. The input shaft of the grating encoder is connected to one end of the main shaft I so that they can rotate together. Bearings I are provided at both ends of the main shaft I. A coaxial pinion I and pinion II are set between the two bearings I. Pinion I is engaged with the main shaft I through a flat key and meshes with the large gear. Pinion II has a round hole inside, which can rotate freely around the main shaft I and mesh with the large gear. Spring supports are provided on the end faces of pinion I and pinion II. A backlash-eliminating spring is installed between the two spring supports. The spring force of the backlash-eliminating spring is greater than the resistance of the gear transmission. The large gear and the main shaft II transmit torque through a flat key. The main shaft II is fixed in the base by a set of bearings II. One end of the main shaft II is connected to the drive shaft through a coupling. The drive shaft is fixed in the housing by a set of bearings III. A bearing sleeve is provided between the two bearings III and is fixed in the housing by a cover plate and a bearing pressure plate. One end of the drive shaft is provided with a connecting flange and connected to the lower fork-shaped lug of the Hooke hinge assembly.

[0016] Specifically, the probe includes a probe body and a proximity switch. The probe body has a boss on its side and is fixed to the relative position quick acquisition device through a connecting flange. The identification base includes a base, identification bolts, proximity switch II, snap ring, return spring and probe. The identification base is installed on the side of the holder through the flange provided on the base. In use, the probe is inserted into the identification base and fixed to each other.

[0017] Specifically, the drill rod box includes a welded box body, partitions, and a pad; the inner side of the welded box body is regularly machined with grooves for installing partitions, and the grooves are evenly distributed with a spacing that ensures that after the partitions are installed, the distance between the two partitions is slightly greater than the diameter of the drill rod; a pad is also installed at the bottom of the welded box body to raise the bottom drill rod for easy gripping.

[0018] The method for obtaining the position of drill pipes in a coal mine underground drill pipe loading and unloading vehicle with the aforementioned relative position rapid calibration function includes the following methods for obtaining the position of drill pipes inside the drill pipe box: With the center point of the drill pipe loading and unloading robot base as the XYZ zero point of the coordinate system. O (0, 0, 0), the coordinates of the center point of the drill pipe box end are... The position of each drill rod inside the drill rod box is calculated using the following formula:

[0019] in:

[0020]

[0021]

[0022] In the formula, Indicates the first i Okay, number j The coordinates of the center gripping point of the drill pipe column; D represents the drill pipe diameter; W represents the width of each column in the pipe magazine; d represents the thickness of the partition plate. l 'h' represents the distance along the length of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes, and 'h' represents the distance along the height of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes.

[0023] Specifically, the methods for obtaining the location of the main unit for adding and removing drill pipes include: Using the center point of the drill pipe loading and unloading robot base as the coordinate system OXYZ origin O (0, 0, 0), the position of the calibrated robotic arm mounting base in the coordinate system is known during the design of the drill pipe loading and unloading vehicle. ( (i.e., the coordinate system of the mounting base for the relative position rapid acquisition device) O 1 X 1 Y 1 Z 1. The coordinate system is based on the center point of the base of the pole loading and unloading robot. OXYZ By translating along the X, Y, and Z directions respectively Obtain; specifically includes: S1. Based on the design drawings of the automatic drilling rig and drill pipe loading / unloading vehicle, calculate and obtain the coordinate information of the automatic drilling rig's main unit drill pipe loading / unloading position relative to the center of the end hinge of the calibrated robotic arm. The mounting base for the relative position rapid acquisition device in the coordinate system OXYZ coordinate information within (a ); S2, based on the measurement results of each sensor in the relative position rapid acquisition device of the calibrated robotic arm, calculate the automatic drilling rig main body drill rod loading and unloading position in the coordinate system of the relative position rapid acquisition device mounting base. coordinate information within The method to obtain it is as follows: Let A be a point at the end of the device, which is in the coordinate system , The coordinates in the figure are as follows: and ; In coordinate system The coordinates can be calculated using the following formula: (1) In the formula, express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 The direction cosine matrix; S3, calculate the loading and unloading position of the automatic drilling rig main unit drill rod in the coordinate system by coordinate system translation. OXYZ The location within is determined as follows:

[0024] S4, Position Verification: The control system compares the calculated drilling rig feed direction vector with the drilling rig tilt angle data obtained by the drilling rig tilt angle sensor. If the difference is within ±3°, the obtained position is determined to be accurate, and the drill rod loading / unloading robot arm will move the coordinate... This serves as the target point for completing the loading and unloading of drill pipe.

[0025] Compared with the prior art, the present invention has the following technical effects: This invention enables rapid and continuous acquisition of target locations: the drill pipe loading and unloading vehicle has the function of automatically acquiring drill pipe loading and unloading position information of the automatic drilling rig, and can continuously, accurately, and quickly acquire drill pipe loading and unloading position information during drilling operations. The accuracy of the acquired information is not affected by the harsh downhole environment.

[0026] This invention enables automatic verification of target position: the drill pipe loading and unloading vehicle achieves real-time communication with the automatic drilling rig control system, and automatically verifies the identification results by acquiring the drilling rig attitude parameters, ensuring the accuracy of the target position. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the drill pipe loading and unloading operation.

[0028] Figure 2 This describes the structure and working principle of the drill pipe loading and unloading vehicle.

[0029] Figure 3 This is a schematic diagram of the drill pipe box structure.

[0030] Figure 4 A simplified structural diagram of a device for rapidly acquiring relative positions underground in a coal mine.

[0031] Figure 5 This is a schematic diagram of the probe.

[0032] Figure 6 A schematic diagram for identifying the base.

[0033] Figure 7 A simplified structural diagram of a UCU-type underground relative position rapid acquisition device.

[0034] Figure 8 This is a schematic diagram of the Hooke's hinge assembly in the UCU / RUPU type device.

[0035] Figure 9 Three-view diagram of the Hooke hinge assembly in the UCU / RUPU type device.

[0036] Figure 10 This is a schematic diagram of the telescopic device in the UCU type device.

[0037] Figure 11 I is a magnified view of a portion of the telescopic device in the UCU type device.

[0038] Figure 12 II is a partial enlarged view of the telescopic device in the UCU type device.

[0039] Figure 13 This is a schematic diagram of the rotary sensing mechanism in a UCU-type device.

[0040] Figure 14 Two views of the rotary sensing mechanism in the UCU-type device.

[0041] Figure 15 This refers to the gear assembly in a UCU-type device.

[0042] Figure 16 These are two views of the gear assembly in the UCU-type device.

[0043] Figure 17 This is a simplified diagram of the motion mechanism of the UCU-type device.

[0044] Figure 18 A simplified structural diagram of a RUPU-type underground relative position rapid acquisition device.

[0045] Figure 19 This is a side view of the base assembly in the RUPU type device.

[0046] Figure 20 This is a top view of the base assembly in the RUPU type device.

[0047] Figure 21 This is a schematic diagram of the backlash-free gear pair in the RUPU type device.

[0048] Figure 22 This is a schematic diagram of the pinion structure in the RUPU type device.

[0049] Figure 23 This is a schematic diagram of the telescopic device in the RUPU type device.

[0050] Figure 24 This is a partial enlarged view of the telescopic device in the RUPU type device.

[0051] Figure 25 This is a simplified diagram of the motion mechanism in the RUPU type device.

[0052] The meanings of the labels in the diagram are as follows: 100. Tracked chassis; 200. Fuel tank assembly; 300. Motor pump unit; 400. Control panel; 500. Drill pipe box; 600. Drill pipe loading / unloading robot; 700. Calibrated robotic arm; 800. Automatic drilling rig; 900. Drill pipe loading / unloading vehicle; 501. Welded housing; 502. Partition plate; 503. Pad plate; 801. Clamp; 802. Centralizer; 803. Unlocker; 804. Feeding device; 901. Mounting block; 1-Hooke hinge assembly; 1.1-Lower fork-shaped lug; 1.2-Lug. 1.3-End cap, 1.4-Cross shaft, 1.5-Upper fork-shaped lug, 1.6-Raster encoder II, 1.7-Raster encoder III, 2-Telescopic device, 2.1-Cylinder, 2.2-Outer cylinder, 2.3-Rotation sensing mechanism, 2.3.1-Raster encoder I, 2.3.2-Base plate, 2.3.3-Housing, 2.3.4-Torque transmission disc, 2.3.5-Gear I, 2.3.6-End cap, 2.3.7-Bearing, 2.3.8-Gear II, 2.3.9-Gear III, 2. 3.10-Rotating shaft I, 2.3.11-Rotating shaft II, 2.4-Magnetostrictive displacement sensor, 2.5-Cylinder rod, 2.6-Magnetic ring, 2.7-Nylon ring, 2.8-Limit pin, 3-Hooke hinge II, 4-Explosion-proof and intrinsically safe main unit, 5-Base assembly, 5.1-Raster encoder, 5.2-Base, 5.3-Housing, 5.4-Cover plate, 5.5-Bearing I, 5.6-Pinary gear I, 5.6.1-Spring support, 5.7-Pinary gear II, 5.8-Backlash-eliminating spring, 5 5.9-Main shaft I, 5.10-Bearing II, 5.11-Large gear, 5.12-Main shaft II, 5.13-Coupling, 5.14-Bearing pressure plate, 5.15-Drive shaft, 5.16-Bearing III, 5.17-Connecting flange, 6-Identification base, 6.1-Base, 6.2-Identification bolt, 6.3-Proximity switch II, 6.4-Snap ring, 6.5-Reset spring, 6.6-Probe, 7-Probe, 7.1-Probe body, 7.2-Proximity switch I, 7.3-Boss. Detailed Implementation

[0053] This invention, drawing upon extensive experience and achievements in related fields, has developed a coal mine underground drill pipe loading and unloading vehicle with rapid relative position calibration capabilities through dedicated research and design. The system utilizes a built-in calibration robotic arm to accurately acquire the target position for drill pipe loading and unloading on automatic drilling rigs. Furthermore, a drill pipe loading and unloading robot, in conjunction with the automatic drilling rig's gripper, unlatcher, and power head, enables automated loading and unloading of drill pipes. This vehicle can be integrated with various types of automatic drilling rigs to automate the drilling process.

[0054] 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. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0055] Example 1: like Figures 1 to 25 As shown, this embodiment provides a coal mine underground drill pipe loading and unloading vehicle with a rapid relative position calibration function, including a tracked vehicle body 100, an oil tank assembly 200, a motor pump unit 300, a control panel 400, a drill pipe box 500, a drill pipe loading and unloading robot 600, and a calibration robotic arm 700. The motor pump unit 300 and the oil tank assembly 200 are located at one end of the tracked vehicle body 100 to provide power to each hydraulic actuator. The control panel 400 has a built-in electromagnetic proportional multi-way valve and a drill pipe loading and unloading controller to control the actuators according to the program. The drill pipe loading and unloading controller is connected to the automatic drilling rig controller via a cable to achieve real-time data transmission. The drill pipe box 500 is located in the middle of the tracked vehicle body 100 to store drill pipes. A drill pipe loading and unloading robot 600 is installed next to the drill pipe box 500. The robot has a chuck at its end to grasp the drill pipes. The calibration robotic arm 700 includes a relative position rapid acquisition device, a probe 7 and an identification base 6 connected in sequence. The relative position rapid acquisition device is fixed at the end of the tracked vehicle body 100, and the identification base 6 is installed on the side of the gripper 801 of the automatic drilling rig 800.

[0056] In this embodiment, the relative position rapid acquisition device is a UCU-type coal mine underground relative position rapid acquisition device, including a telescopic device 2, a Hooke hinge assembly 1 provided at both ends of the telescopic device 2, and an explosion-proof and intrinsically safe host 4. The telescopic device 2 includes: a cylinder 2.1 and a cylinder rod 2.5; a magnetostrictive displacement sensor 2.4 and a magnetic ring 2.6 disposed in the cylinder 2.1 and the cylinder rod 2.5 to measure the telescopic stroke of the cylinder rod 2.5; and a rotation sensing mechanism 2.3 disposed on the cylinder 2.1 to measure the rotation angle of the cylinder rod 2.5 relative to the cylinder 2.1; one end of the cylinder 2.1 is connected to a set of Hooke hinge assemblies 1 via a connecting flange, and the other end of the cylinder rod 2.5 is connected to another set of Hooke hinge assemblies 1 via a connecting flange; The Hooke hinge assembly 1 includes an upper fork-shaped lug 1.4, a lower fork-shaped lug 1.1, a cross shaft 1.3, and an optical encoder. The cross shaft 1.3 is mounted between the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 via two sets of bearings. The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 can rotate freely around the two axes of the cross shaft 1.3, respectively. Optical encoders, specifically optical encoder II 1.5 and optical encoder III 1.6, are installed on the outer sides of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 and between them and the cross shaft 1.3, respectively, to acquire the angle data of the two lugs relative to the cross shaft 1.3 in real time. Flanges are provided at the upper end of the upper fork-shaped lug 1.4 and the lower end of the lower fork-shaped lug 1.1, respectively, to be connected to the connecting flange of the telescopic device 2 / the test platform of the underground coal mine machinery equipment using bolts. Lug end caps 1.2 are provided on the side plates of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1.

[0057] The explosion-proof and intrinsically safe host 4 includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0058] The telescopic device 2 has an outer cylinder 2.2 surrounding its cylinder 2.1. One end of the cylindrical cylinder 2.1 has a connecting flange for connection to the Hooke's hinge assembly I. A magnetostrictive displacement sensor 2.4 is threadedly installed inside the cylinder 2.1, with one end extending into the cylinder rod 2.5. The cylinder rod 2.5 is made of cold-drawn octagonal steel tubing, with an octagonal outer surface and a hollow structure. A piston is installed at one end, engaging with the inner bore of the cylinder 2.1, allowing for free extension and retraction. The piston and cylinder... A nylon ring 2.7 is provided between 2.1 to reduce friction and prevent component wear; a magnetic ring 2.6 is bolted to the end of the cylinder rod 2.5 on the side with the larger diameter. The magnetic ring 2.6 and the magnetostrictive displacement sensor 2.4 together measure the extension stroke of the cylinder rod 2.5; the other end of the cylinder rod 2.5 is provided with a connecting flange and is bolted to the Hooke hinge assembly II3; a rotation sensing mechanism 2.3 is installed at the other end of the cylinder barrel 2.1 to measure the rotation angle of the cylinder rod 2.5 relative to the cylinder barrel 2.1.

[0059] The data acquisition unit is used to collect digital and analog signals from the sensors and convert these signals into digital signals according to a certain sampling rate, which are then transmitted to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit. The relative positional parameters between the two platforms are displayed on the screen for easy viewing by relevant personnel and can also be transmitted to other systems.

[0060] The rotary sensing mechanism 2.3 includes a grating encoder I 2.3.1, a base plate 2.3.2, a housing 2.3.3, a torque transmission disk 2.3.4, a gear I 2.3.5, an end cover 2.3.6, a bearing 2.3.7, a gear II 2.3.8, a gear III 2.3.9, a rotary shaft I 2.3.10, and a rotary shaft II 2.3.11. The inner hole of the torque transmission disk 2.3.4 has a regular octagonal structure to allow clearance fit with the cylinder rod 2.5. The cylinder rod 2.5 and the torque transmission disk 2.3.4 can slide relative to each other along the axial direction and rotate together. Gear I 2.3.5 is bolted to the outside of the torque transmission disk 2.3.4. Gears II 2.3.8 and III 2.3.9 are respectively connected to... Bearing 2.3.7 and rotating shafts I 2.3.10 and II 2.3.11 are installed between base plate 2.3.2 and housing 2.3.3 and mesh with gear I 2.3.5; end cover 2.3.6 is installed on housing 2.3.3 to press bearing 2.3.7; one end of rotating shaft I 2.3.10 is machined with a round hole, the input shaft of grating encoder I 2.3.1 is installed in the round hole and locked by set screw, so that the rotational movement of cylinder rod 2.5 passes sequentially through transmission disk 2.3.4, gear I 2.3.5, gear II 2.3.8, gear III 2.3.9 and rotating shaft I 2.3.10, and is thus monitored by grating encoder I 2.3.1.

[0061] In another embodiment, the relative position rapid acquisition device is a RUPU type coal mine underground relative position rapid acquisition device, including a telescopic device 2, a Hooke hinge assembly 1 disposed at both ends of the telescopic device 2, a base assembly 5 connected to one end of the Hooke hinge assembly 1, and an explosion-proof and intrinsically safe host 4.

[0062] The telescopic device 2 includes: a cylinder 2.1 and its cylinder rod 2.5; a magnetostrictive displacement sensor 2.4 and a magnetic ring 2.6 installed in the cylinder 2.1 and cylinder rod 2.5 to measure the telescopic stroke of the cylinder rod 2.5; a limiting pin 2.8 installed on the cylinder rod 2.5 and cooperating with a guide groove on the side of the cylinder 2.1 to measure the rotation angle of the cylinder rod 2.5 relative to the cylinder 2.1; the limiting pin and the guide groove are fitted together with a clearance fit, allowing the cylinder rod to extend and retract freely along the cylinder, but not to rotate relative to it; one end of the cylinder 2.1 is connected to a set of Hooke hinge assemblies 1 through a connecting flange, and the other end of the cylinder rod 2.5 is connected to another set of Hooke hinge assemblies 1 through a connecting flange; an outer cylinder 2.2 is welded to the outside of the cylinder to improve its structural strength; the outer cylinder has process holes machined at the positions corresponding to the limiting pins to facilitate the disassembly and maintenance of the limiting pins; during normal operation, a dust filter joint is installed at the process holes to prevent dust from entering the telescopic device; the other end of the cylinder rod is provided with a connecting flange and is connected to the end flange of the Hooke hinge II by bolts.

[0063] The Hooke hinge assembly 1 includes an upper fork-shaped lug 1.4, a lower fork-shaped lug 1.1, a cross shaft 1.3, and an optical encoder. The cross shaft 1.3 is mounted between the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 via two sets of bearings. The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 can rotate freely around the two axes of the cross shaft 1.3, respectively. Two optical encoders, namely optical encoder II 1.5 and optical encoder III 1.6, are installed on the outer sides of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 and between them and the cross shaft 1.3, respectively, to acquire the angular data of the two lugs relative to the cross shaft 1.3 in real time. One of the Hooke hinges... The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 of the hinge assembly 1 are respectively provided with flanges to be connected to the connecting flange of the test platform / telescopic device 2 of the underground coal mine machinery equipment by bolts. The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 of the other Hooke hinge assembly 1 are respectively provided with flanges to be connected to the connecting flange of the telescopic device 2 and one end of the base assembly 5. The other end of the base assembly 5 can be connected to another test platform. The base assembly 5 and its internal grating encoder 5.1 can transmit and detect the rotation angle of the device. The side plates of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 are provided with lug end caps 1.2.

[0064] The explosion-proof and intrinsically safe host 4 includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0065] The telescopic device 2 has an outer cylinder 2.2 around its cylinder 2.1. One end of the cylindrical cylinder 2.1 is equipped with a connecting flange for connection to the Hooke hinge assembly I. A magnetostrictive displacement sensor 2.4 is threadedly installed inside the cylinder 2.1, with one end of the magnetostrictive displacement sensor 2.4 extending into the cylinder rod 2.5. The cylinder rod 2.5 is made of cold-drawn regular octagonal steel tube with a regular octagonal outer surface and a hollow structure. A piston is installed at one end and fits into the inner hole of the cylinder 2.1, allowing for free extension and retraction. A nylon ring 2.7 is provided between the piston and the cylinder 2.1 to reduce friction and prevent wear of components. A magnetic ring 2.6 is bolted to the end of the cylinder rod 2.5 on the side with the larger diameter. The magnetic ring and the magnetostrictive displacement sensor together measure the extension and retraction stroke of the cylinder rod. The other end of the cylinder rod 2.5 is equipped with a connecting flange and is bolted to the Hooke hinge assembly II3.

[0066] The data acquisition unit is used to collect digital and analog signals from the sensors and convert these signals into digital signals according to a certain sampling rate, which are then transmitted to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit. The relative positional parameters between the two platforms are displayed on the screen for easy viewing by relevant personnel and can also be transmitted to other systems.

[0067] The base assembly 5 includes a grating encoder 5.1, a base 5.2, a housing 5.3, a cover plate 5.4, a bearing I 5.5, a pinion I 5.6, a spring support 5.6.1, a pinion II 5.7, a backlash-eliminating spring 5.8, a main shaft I 5.9, a bearing II 5.10, a large gear 5.11, a main shaft II 5.12, a coupling 5.13, a bearing pressure plate 5.14, a drive shaft 5.15, a bearing III 5.16, and a connecting flange 5.17; The base 5.2 is fixed to the platform under test by bottom bolts, and the upper part is equipped with the housing 5.3. A flange is provided on one side of the housing 5.3, and a grating encoder 5.1 is installed by bolts. The input shaft of the grating encoder 5.1 is connected to one end of the main shaft I5.9 and fixed together with set screws, allowing them to rotate together to acquire rotational data. Bearings I5.5 are provided at both ends of the main shaft I5.9, and coaxial pinions I5.6 and II5.7 are positioned between the two bearings I5.5. Pinion I5.6 engages with the main shaft I5.9 via a flat key and meshes with the large gear 5.11. Pinion II5.7 has a circular hole inside, allowing it to rotate freely around the main shaft I5.9 and mesh with the large gear 5.11. Both pinions I5.6 and II5.7 have end faces with... Spring support 5.6.1, with a backlash-free spring 5.8 installed between the two spring supports 5.6.1; the spring force of the backlash-free spring 5.8 is greater than the resistance of the gear transmission; the large gear 5.11 and the main shaft II 5.12 transmit torque via a flat key; the main shaft II 5.12 is fixed in the base 5.2 via a set of bearings II 5.10; one end of the main shaft II 5.12 is connected to the drive shaft 5.15 via a coupling 5.13, and the drive shaft 5.15 is fixed in the housing 5.3 via a set of bearings III 5.16; a bearing sleeve is provided between the two bearings III 5.16, and is fixed in the housing 5.3 via a cover plate 5.4 and a bearing pressure plate 5.14; one end of the drive shaft 5.15 is provided with a connecting flange 5.17, and is connected to the lower fork-shaped lug 1.1 of the Hooke hinge assembly 1 with bolts.

[0068] The probe 7 includes a probe body 7.1 and a proximity switch 7.2. The probe body has a boss 7.3 on its side and is fixed to the relative position quick acquisition device through a connecting flange. The identification base 6 includes a base 6.1, an identification bolt 6.2, a proximity switch 6.3, a retaining ring 6.4, a return spring 6.5, and a probe 6.6. The identification base 6 is mounted on the side of the holder through the flange provided on the base 6. In use, the probe 7 is inserted into the identification base 6 and the two are fixed together by bolts.

[0069] The drill rod box 500 includes a welded box body 501, a partition plate 502, and a pad plate 503. The inner side of the welded box body 501 is regularly machined with grooves for installing the partition plates 502. The grooves are evenly distributed and the spacing is such that after the partition plates 502 are installed, the distance between the two partition plates 502 is slightly larger than the diameter of the drill rod. The bottom of the welded box body 501 is also bolted with a pad plate 503 to raise the bottom of the drill rod in the rod compartment for easy gripping.

[0070] Example 2: This embodiment provides a method for obtaining the position of drill pipes using a coal mine drill pipe loading and unloading vehicle with a rapid relative position calibration function. Before drilling, the automatic drilling rig and drill pipe loading and unloading vehicle are moved to the drilling site, leveled, and stabilized. A communication cable is connected between the automatic drilling rig and the drill pipe loading and unloading vehicle. The probe of the calibration robotic arm is inserted into the identification base, and the two are fixed together with bolts. Methods for obtaining the position of the drill pipe inside the drill pipe box include: A mounting block is welded to the upper part of the tracked chassis of the drill pipe trolley. This mounting block is used to precisely position the drill pipe box on the tracked chassis. The two precision-machined surfaces of the mounting block are at constant positions relative to the base of the drill pipe loading / unloading robot, and mate with the positioning plane at the bottom of the drill pipe box to achieve precise positioning of the drill pipe box relative to the drill pipe loading / unloading robot. The center point of the drill pipe loading / unloading robot base is taken as the XYZ zero point of the coordinate system. O (0, 0, 0), the coordinates of the center point of the drill pipe box end are... The position of each drill pipe in the drill pipe box is calculated using the following formula:

[0071] in:

[0072]

[0073]

[0074] In the formula, Indicates the first i Okay, number j The coordinates of the center gripping point of the drill pipe column; D represents the drill pipe diameter; W represents the width of each column in the pipe magazine; d represents the thickness of the partition plate. l 'h' represents the distance along the length of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes, and 'h' represents the distance along the height of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes.

[0075] Methods for obtaining the location of the main unit for adding and removing drill pipes include: Using the center point of the drill pipe loading and unloading robot base as the coordinate system OXYZ origin O(0, 0, 0), the position of the calibrated robotic arm mounting base in the coordinate system is known during the design of the drill pipe loading and unloading vehicle. ( (i.e., the coordinate system of the mounting base for the relative position rapid acquisition device) O 1 X 1 Y 1 Z 1. The coordinate system can be based on the center point of the base of the pole loading and unloading robot. OXYZ By translating along the X, Y, and Z directions respectively According to the rapid relative position acquisition methods in the RUPU-type and UCU-type underground relative position acquisition devices, the specific methods for obtaining the position of the main unit loading and unloading drill pipe include: S1. Based on the design drawings of the automatic drilling rig and drill pipe loading / unloading vehicle, calculate and obtain the coordinate information of the automatic drilling rig's main unit drill pipe loading / unloading position relative to the center of the end hinge of the calibrated robotic arm. The mounting base for the relative position rapid acquisition device in the coordinate system OXYZ coordinate information within (a ); S2, based on the measurement results of each sensor in the relative position rapid acquisition device of the calibrated robotic arm, calculate the automatic drilling rig main body drill rod loading and unloading position in the coordinate system of the relative position rapid acquisition device mounting base. coordinate information within The method to obtain it is as follows: Let A be a point at the end of the device, which is in the coordinate system , The coordinates in the figure are as follows: and ; In coordinate system The coordinates can be calculated using the following formula: (1) In the formula, express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

[0076] S3, calculate the loading and unloading position of the automatic drilling rig main unit drill rod in the coordinate system by coordinate system translation. OXYZ The location within is determined as follows:

[0077] S4, Position Verification: The control system compares the calculated drilling rig feed direction vector with the drilling rig tilt angle data obtained by the drilling rig tilt angle sensor. If the difference is within ±3°, the obtained position is determined to be accurate, and the drill rod loading / unloading robot arm will move the coordinate... This serves as the target point for completing the loading and unloading of drill pipe.

[0078] During drilling operations, the automatic drilling rig sends drill rod loading / unloading instructions to the drill rod loading / unloading vehicle based on the drilling progress. The vehicle then automatically loads and unloads the drill rods according to these instructions. To prevent vibrations from the drilling rig from altering the target position of the drill rods, the automatic drilling rig must be in either a drill rod unloading or loading standby state each time it receives a drill rod loading / unloading instruction. In the drill rod unloading standby state, the drill rod to be unloaded is held in the uncoupler and completely disengaged from the drill rods in the hole and the active drill rod of the power head, with the power head retracted to the far end of the machine. In the drill rod loading standby state, the drill rods in the hole are held in the clamp, and the power head retracted to the far end of the machine.

[0079] Each time the drill pipe loading and unloading vehicle receives an order to add or remove drill pipes, it will first re-acquire the location of the target point for loading or unloading drill pipes.

[0080] Example 3: This embodiment provides a method for rapidly acquiring relative positions in a UCU-type underground relative position rapid acquisition device for coal mines. The UCU-type underground relative position rapid acquisition device can be used in underground coal mines to rapidly acquire the relative positions between two spatial planes; it includes the following steps: First, fix the end flange of Hooke hinge assembly I to one of the planes, namely plane A, and use pins to achieve precise fixation of the installation position; fix the end flange of Hooke hinge assembly II to the other plane, namely plane B, and similarly achieve precise fixation using pins; then, connect the cables of each grating encoder and magnetostrictive displacement sensor to the explosion-proof and intrinsically safe host; the data acquisition unit in the explosion-proof and intrinsically safe host collects the data of each sensor in real time according to a certain sampling rate, and calculates the relative positional relationship between the two planes.

[0081] The data collected by the data acquisition unit from various sensors includes: The rotation angle of the cylinder rod relative to the cylinder barrel measured by the grating encoder I The two grating encoders on the Hooke hinge assembly I measure the rotation angles in two directions, respectively. and The telescopic length of the telescopic device measured by a magnetostrictive displacement sensor The two grating encoders on the Hooke hinge assembly II measured the rotation angles in two directions, respectively. and As shown in Table 1 below.

[0082] Table 1 Sensor Data Acquisition

[0083] Calculating the relative positional relationship between the two planes includes: establishing coordinate systems at each joint from the end flange position of Hooke hinge assembly I (plane A) to the end flange position of Hooke hinge assembly II (plane B), in sequence. arrive ; set up Let be a point on plane B at the end of the device. It is known that this point is located at... O 6 X 6 Y 6 Z In the case of a 6-coordinate system, In plane coordinate system A The coordinates are calculated using the following formula: (1-1) In the formula, In coordinate system , The coordinates in the figure are as follows: and , express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

[0084] Direction cosine matrix The following coordinate transformations were used to obtain the following: Based on the structural characteristics of the device O 6 X 6 Y 6 Z 6 coordinate system O 1 X 1 Y 1 Z The coordinate system is obtained by moving and rotating it according to the following steps: coordinate system O 1 X 1 Y 1 Z 1. Transform into a coordinate system O 2 X 2 Y 2 Z 2, along Z 1 move ; coordinate system O 2 X 2 Y 2Z 2. Transform to coordinate system O 3 X 3 Y 3 Z 3, along X 2 rotations , around Y 2 rotations ; coordinate system O 3 X 3 Y 3 Z 3. Transform to coordinate system O 4 X 4 Y 4 Z 4, along Z 3 moves , around Z 3 rotations ; coordinate system O 4 X 4 Y 4 Z 4. Transform to coordinate system O 5 X 5 Y 5 Z 5. Along X 4 rotations , around Y 4 rotations ; coordinate system O 5 X 5 Y 5 Z 5. Transform to coordinate system O 6 X 6 Y 6 Z 6. Along Z 5 moves ; Figure 17 Here is a simplified diagram of the motion of the device mechanism, where The distance between the mounting plane and the rotation center of the Hooke hinge assembly I. The distance between the rotation center of the Hooke hinge assembly I and the connecting flange of the expansion joint is given. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange of the expansion joint is [distance missing]. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange at the end of the device is [distance missing]. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its x-axis. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its y-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its x-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its y-axis. Let be the angle by which the base assembly rotates about the z-axis.

[0085] The calculation process of the coordinate system transformation matrix of the mechanism: S1, coordinate system O 1 X 1 Y 1 Z 1→ O 2 X 2 Y 2 Z 2: Along Z 1 move The transformation matrix is: (1-2) S2, coordinate system O 2 X 2 Y 2 Z 2→ O 3 X 3 Y 3 Z 3: Along X 2 rotations The transformation matrix is: (1-3) Around Y 2 rotations The transformation matrix is: (1-4) The combined transformation matrix is: (1-5) S3, coordinate system O 3 X 3 Y 3 Z 3→ O 4 X 4 Y 4 Z 4: Along Z 3 moves , around Z 1 rotation The transformation matrix is: (1-6) S4, coordinate system O 4 X 4 Y 4 Z 4→ O 5 X 5 Y 5 Z 5: Then go aroundX 4-axis rotation The transformation matrix is: (1-7) along Y 4 rotations The transformation matrix is: (1-8) The combined transformation matrix is: (1-9) S5, coordinate system O 5 X 5 Y 5 Z 5→ O 6 X 6 Y 6 Z 6: Along Z 5 moves The transformation matrix is: (1-10) Total transformation matrix: If you want to obtain the transformation matrix from the coordinate system O 1 X 1 Y 1 Z 1 to O 6 X 6 Y 6 Z 6 Total transformation matrix Multiply the transformation matrices of each step: (1-11) A known point is on the known plane to be detected. O 6 X 6 Y 6 Z Given the position in a 6-coordinate system, the coordinates of the point can be quickly determined using formulas (1-1) and (1-11). O 1 X 1 Y 1 Z The position in the coordinate system is used to quickly determine the position and orientation of the plane.

[0086] Example 4: This embodiment provides a method for rapidly acquiring relative positions in a RUPU-type underground relative position rapid acquisition device for coal mines. The RUPU-type underground relative position rapid acquisition device can be used in underground coal mines to rapidly acquire the relative positions between two spatial planes; it includes the following steps: First, the base assembly is installed on one of the planes, namely plane A, and the installation position is precisely fixed by pins; the end flange of the Hooke hinge assembly II is fixed to the other plane, namely plane B, also precisely fixed by pins; then, the cables of each grating encoder and magnetostrictive displacement sensor are connected to the explosion-proof and intrinsically safe host; the data acquisition unit in the explosion-proof and intrinsically safe host will collect the data of each sensor in real time according to a certain sampling rate and calculate the relative positional relationship between the two platforms.

[0087] The data collected by the data acquisition unit from various sensors includes: Rotation angle of the base assembly revolute joint measured by the grating encoder The two grating encoders on the Hooke hinge assembly I measure the rotation angles in two directions, respectively. and The telescopic length of the telescopic device measured by a magnetostrictive displacement sensor The two grating encoders on the Hooke hinge assembly II measured the rotation angles in two directions, respectively. and As shown in Table 2: Table 2 Sensor Data Acquisition

[0088] Calculating the relative positional relationship between the two planes includes: establishing coordinate systems at each joint from the mounting position of the base assembly (plane A) to the end flange position of the Hooke hinge assembly II (plane B), in sequence. arrive ; Let be a point on plane B at the end of the device. It is known that this point is located at... O 6 X 6 Y 6 Z In the case of a 6-coordinate system, In plane coordinate system A The coordinates are calculated using the following formula: (2-1) In the formula, In coordinate system , The coordinates in the figure are as follows: and ; express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

[0089] Direction cosine matrix It can be obtained through the following coordinate transformations: Based on the structural characteristics of the device O 6 X 6 Y 6 Z The 6-coordinate system can be used to... O 1 X 1 Y 1 Z The coordinate system is obtained by moving and rotating it according to the following steps; coordinate system O 1 X 1 Y 1 Z 1. Transform into a coordinate system O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation ; coordinate system O 2 X 2 Y 2 Z 2. Transform to coordinate system O 3 X 3 Y 3 Z 3, along X 2 rotations , around Y 2 rotations ; coordinate system O 3 X 3 Y 3 Z 3. Transform to coordinate system O 4 X 4 Y 4 Z 4, along Z 3 moves ; coordinate system O 4 X 4 Y 4 Z 4. Transform to coordinate system O 5 X 5 Y 5 Z 5. Along X 4 rotations , around Y 4 rotations ; coordinate system O 5 X 5Y 5 Z 5. Transform to coordinate system O 6 X 6 Y 6 Z 6. Along Z 5 moves ; Figure 25 Here is a simplified diagram of the motion of the device mechanism, where The distance between the mounting plane and the rotation center of the Hooke hinge assembly I. The distance between the rotation center of the Hooke hinge assembly I and the connecting flange of the expansion joint is given. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange of the expansion joint is [distance missing]. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange at the end of the device is [distance missing]. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its x-axis. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its y-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its x-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its y-axis. Let be the angle by which the base assembly rotates about the z-axis.

[0090] Calculation process of coordinate system transformation matrix: S1, coordinate system O 1 X 1 Y 1 Z 1→ O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation The transformation matrix is: (2-2) S2, coordinate system O 2 X 2 Y 2 Z 2→ O 3 X 3 Y 3 Z 3, along X 2 rotations The transformation matrix is: (2-3) Around Y 2 rotations The transformation matrix is: (2-4) The combined transformation matrix is: (2-5) S3, coordinate system O 3 X 3 Y 3 Z 3→ O 4 X 4 Y 4 Z 4, along Z 3 moves The transformation matrix is: (2-6) S4, coordinate system O 4 X 4 Y 4 Z 4→ O 5 X 5 Y 5 Z 5, then go around X 4-axis rotation The transformation matrix is: (2-7) along Y 4 rotations The transformation matrix is: (2-8) The combined transformation matrix is: (2-9) S5, coordinate system O 5 X 5 Y 5 Z 5→ O 6 X 6 Y 6 Z 6. Along Z 5 moves The transformation matrix is: (2-10) Total transformation matrix: To obtain from the coordinate system O 1 X 1 Y 1 Z 1 to O 6 X 6 Y 6 Z 6 Total transformation matrix Multiply the transformation matrices of each step. (2-11) A known point is on the known plane to be detected. O 6 X 6 Y 6 Z Given the position in a 6-coordinate system, the coordinates of the point can be quickly determined using formulas (2-1) and (2-11). O 1 X 1 Y 1 Z The position in the coordinate system is used to quickly determine the position and orientation of the plane.

[0091] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0092] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0093] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A coal mine underground drill pipe loading and unloading vehicle with a rapid relative position calibration function, characterized in that, It includes a tracked vehicle body (100), a fuel tank assembly (200), a motor pump unit (300), a control panel (400), a drill pipe box (500), a drill pipe loading and unloading robot (600), and a calibration robotic arm (700). The motor pump unit (300) and oil tank assembly (200) are located at one end of the tracked vehicle body (100) to provide power to each hydraulic actuator; the control panel (400) has a built-in electromagnetic proportional multi-way valve and drill pipe loading and unloading controller to control the actuators according to the program; the drill pipe loading and unloading controller is connected to the automatic drilling rig controller by a cable to realize real-time data transmission; the drill pipe box (500) is located in the middle of the tracked vehicle body (100) to store drill pipes; a drill pipe loading and unloading robot (600) is installed next to the drill pipe box (500) for gripping drill pipes; the calibration robotic arm (700) includes a relative position rapid acquisition device, a probe (7) and an identification base (6) connected in sequence. The relative position rapid acquisition device is fixed at the end of the tracked vehicle body (100), and the identification base (6) is installed on the side of the gripper (801) of the automatic drilling rig (800).

2. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 1, characterized in that, The relative position rapid acquisition device is a UCU type coal mine underground relative position rapid acquisition device, including a telescopic device (2), a Hooke hinge assembly (1) set at both ends of the telescopic device (2), and an explosion-proof and intrinsically safe host (4). The telescopic device (2) includes: a cylinder (2.1) and its cylinder rod (2.5), a magnetostrictive displacement sensor (2.4) and a magnetic ring (2.6) disposed in the cylinder (2.1) and the cylinder rod (2.5) to measure the telescopic stroke of the cylinder rod (2.5), and a rotation sensing mechanism (2.3) disposed on the cylinder (2.1) to measure the rotation angle of the cylinder rod (2.5) relative to the cylinder (2.1); one end of the cylinder (2.1) is connected to a set of Hooke hinge assemblies (1) through a connecting flange, and the other end of the cylinder rod (2.5) is connected to another set of Hooke hinge assemblies (1) through a connecting flange; The Hooke hinge assembly (1) includes an upper fork-shaped lug (1.4), a lower fork-shaped lug (1.1), a cross shaft (1.3), and a grating encoder. The cross shaft (1.3) is installed between the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) via two sets of bearings. The upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) can rotate freely around the two axes of the cross shaft (1.3). A grating encoder is installed on the outer side of the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) and between the cross shaft (1.3) to obtain the angle data of the two lugs relative to the cross shaft (1.3) in real time. Flanges are provided at the upper end of the upper fork-shaped lug (1.4) and the lower end of the lower fork-shaped lug (1.1) to be connected to the connecting flange of the telescopic device (2) / the test platform of the underground mechanical equipment in the coal mine. The explosion-proof and intrinsically safe host (4) includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

3. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 2, characterized in that, The telescopic device (2) has an outer cylinder (2.2) outside the cylinder (2.1); one end of the cylindrical cylinder (2.1) is provided with a connecting flange to connect with the Hooke hinge assembly I; a magnetostrictive displacement sensor (2.4) is installed inside the cylinder (2.1) and one end of the magnetostrictive displacement sensor (2.4) extends into the cylinder rod (2.5); the outer surface of the cylinder rod (2.5) is octagonal and hollow; a piston is installed at one end and fits with the inner hole of the cylinder (2.1) for free extension and retraction; a nylon ring (2.7) is provided between the piston and the cylinder (2.1); a magnetic ring (2.6) is installed at the end of the cylinder rod (2.5); a connecting flange is provided at the other end of the cylinder rod (2.5) and connects with the Hooke hinge assembly II (3); a rotation sensing mechanism (2.3) is installed at the other end of the cylinder (2.1).

4. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 2, characterized in that, The data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

5. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 2, characterized in that, The rotary sensing mechanism (2.3) includes an optical encoder I (2.3.1), a base plate (2.3.2), a housing (2.3.3), a torque transmission disk (2.3.4), gear I (2.3.5), an end cover (2.3.6), a bearing (2.3.7), gear II (2.3.8), gear III (2.3.9), a rotary shaft I (2.3.10), and a rotary shaft II (2.3.11). The inner hole of the torque transmission disk (2.3.4) has a regular octagonal structure to cooperate with the cylinder rod (2.5) with clearance. The cylinder rod (2.5) and the torque transmission disk (2.3.4) can slide relative to each other along the axial direction and rotate together. Gear I (2.3.5) is installed on the outside of the torque transmission disk (2.3.4). Gear II (2.3.8) and gear III (2.3.9) are respectively connected to the through-hole. The bearing (2.3.7) and rotating shaft I (2.3.10) and rotating shaft II (2.3.11) are installed between the base plate (2.3.2) and the housing (2.3.3) and mesh with gear I (2.3.5); the end cover (2.3.6) is installed on the housing (2.3.3) to press the bearing (2.3.7); one end of rotating shaft I (2.3.10) is machined with a round hole, and the input shaft of grating encoder I (2.3.1) is installed in the round hole and locked by a set screw, so that the rotational movement of the cylinder rod (2.5) passes through the transmission disk (2.3.4), gear I (2.3.5), gear II (2.3.8), gear III (2.3.9) and rotating shaft I (2.3.10) in sequence, and is thus monitored by grating encoder I (2.3.1).

6. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 1, characterized in that, The relative position rapid acquisition device is a RUPU type coal mine underground relative position rapid acquisition device, including a telescopic device (2), a Hooke hinge assembly (1) set at both ends of the telescopic device (2), a base assembly (5) connected to one end of the Hooke hinge assembly (1), and an explosion-proof and intrinsically safe host (4). The telescopic device (2) includes: a cylinder (2.1) and its cylinder rod (2.5), a magnetostrictive displacement sensor (2.4) and a magnetic ring (2.6) disposed in the cylinder (2.1) and the cylinder rod (2.5) to measure the telescopic stroke of the cylinder rod (2.5), a limiting pin (2.8) disposed on the cylinder rod (2.5) and cooperating with the guide groove on the side of the cylinder (2.1) to measure the rotation angle of the cylinder rod (2.5) relative to the cylinder (2.1); one end of the cylinder (2.1) is connected to a set of Hooke hinge assemblies (1) through a connecting flange, and the other end of the cylinder rod (2.5) is connected to another set of Hooke hinge assemblies (1) through a connecting flange; The Hooke hinge assembly (1) includes an upper fork-shaped lug (1.4), a lower fork-shaped lug (1.1), a cross shaft (1.3), and a grating encoder. The cross shaft (1.3) is mounted between the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) via two sets of bearings. The upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) can rotate freely around the two axes of the cross shaft (1.3), respectively. Grating encoders are installed on the outer sides of the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) and between the cross shaft (1.3) to acquire the angle data of the two lugs relative to the cross shaft (1.3) in real time. The upper end of the upper fork-shaped lug (1.4) and the lower end of the lower fork-shaped lug (1.1) of one Hooke hinge assembly (1) are respectively provided with flanges to be connected to the connecting flange of the coal mine underground mechanical equipment test platform / telescopic device (2). The upper end of the upper fork-shaped lug (1.4) and the lower end of the lower fork-shaped lug (1.1) of another Hooke hinge assembly (1) are respectively provided with flanges to be connected to the connecting flange of the telescopic device (2) and one end of the base assembly (5). The other end of the base assembly (5) can be connected to another test platform. The base assembly (5) and its internal grating encoder (5.1) can transmit and detect the rotation angle of the device. The explosion-proof and intrinsically safe host (4) includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

7. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 6, characterized in that, The telescopic device (2) has an outer cylinder (2.2) outside the cylinder (2.1); one end of the cylindrical cylinder (2.1) is provided with a connecting flange to connect with the Hooke hinge assembly I; a magnetostrictive displacement sensor (2.4) is installed inside the cylinder (2.1) and one end of the magnetostrictive displacement sensor (2.4) extends into the cylinder rod (2.5); the outer surface of the cylinder rod (2.5) is octagonal and hollow; a piston is installed at one end and fits with the inner hole of the cylinder (2.1) for free extension and retraction; a nylon ring (2.7) is provided between the piston and the cylinder (2.1); a magnetic ring (2.6) is installed at the end of the cylinder rod (2.5); the other end of the cylinder rod (2.5) is provided with a connecting flange and connected with the Hooke hinge assembly II (3).

8. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 6, characterized in that, The data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

9. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 6, characterized in that, The base assembly (5) includes a grating encoder (5.1), a base (5.2), a housing (5.3), a cover plate (5.4), bearing I (5.5), pinion I (5.6), a spring support (5.6.1), pinion II (5.7), a backlash-free spring (5.8), a main shaft I (5.9), bearing II (5.10), a large gear (5.11), main shaft II (5.12), a coupling (5.13), a bearing pressure plate (5.14), a drive shaft (5.15), bearing III (5.16), and a connecting flange (5.17). The base (5.2) can be fixed to the platform under test at the bottom, and the housing (5.3) is installed on the upper part; a flange is provided on one side of the housing (5.3) and a grating encoder (5.1) is installed; the input shaft of the grating encoder (5.1) is connected to one end of the main shaft I (5.9) to rotate together; the two ends of the main shaft I (5.9) are respectively provided with bearings I (5.5), and coaxial pinion I (5.6) and pinion II (5.7) are set between the two bearings I (5.5); pinion I (5.6) is engaged with the main shaft I (5.9) through a flat key and meshes with the large gear (5.11); pinion II (5.7) has a round hole inside, which can rotate freely around the main shaft I (5.9) and mesh with the large gear (5.11); the end faces of pinion I (5.6) and pinion II (5.7) are provided with spring supports ( 5.6.1), a backlash-free spring (5.8) is installed between the two spring supports (5.6.1); the spring force of the backlash-free spring (5.8) is greater than the resistance of the gear transmission; the large gear (5.11) and the main shaft II (5.12) transmit torque through a flat key; the main shaft II (5.12) is fixed in the base (5.2) through a set of bearings II (5.10); one end of the main shaft II (5.12) is connected to the transmission shaft (5.15) through a coupling (5.13), and the transmission shaft (5.15) is fixed in the housing (5.3) through a set of bearings III (5.16); a bearing sleeve is provided between the two bearings III (5.16), and is fixed in the housing (5.3) through a cover plate (5.4) and a bearing pressure plate (5.14); one end of the transmission shaft (5.15) is provided with a connecting flange (5.17) and connected to the lower fork-shaped lug (1.1) of the Hooke hinge assembly (1).

10. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 1, characterized in that, The probe (7) includes a probe body (7.1) and a proximity switch (7.2). The probe body has a boss (7.3) on its side and is fixed to the relative position quick acquisition device through a connecting flange. The identification base (6) includes a base (6.1), an identification bolt (6.2), a proximity switch II (6.3), a snap ring (6.4), a return spring (6.5), and a probe (6.6). The identification base (6) is installed on the side of the clamp through the flange provided on the base (6.1). When in use, the probe (7) is inserted into the identification base (6) and fixed to each other.

11. The coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 1, characterized in that, The drill rod box (500) includes a welded box body (501), a partition plate (502), and a pad plate (503). The inner side of the welded box body (501) is regularly machined with grooves for installing the partition plates (502). The grooves are evenly arranged and the spacing is such that after the partition plates (502) are installed, the distance between the two partition plates (502) is slightly greater than the diameter of the drill rod. A pad plate (503) is also installed at the bottom of the welded box body (501) to raise the bottom drill rod for easy gripping.

12. A method for obtaining the position of drill pipes in a coal mine underground drill pipe loading and unloading vehicle with a rapid relative position calibration function as described in any one of claims 1 to 11, characterized in that, Methods for obtaining the position of the drill pipe inside the drill pipe box include: With the center point of the drill pipe loading and unloading robot base as the XYZ zero point of the coordinate system. O (0, 0, 0), the coordinates of the center point of the drill pipe box end are... The position of each drill rod inside the drill rod box is calculated using the following formula: in: In the formula, Indicates the first i Okay, number j The coordinates of the center gripping point of the drill pipe column; D represents the drill pipe diameter; W represents the width of each column in the pipe magazine; d represents the thickness of the partition plate. l 'h' represents the distance along the length of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes, and 'h' represents the distance along the height of the drill pipe carriage from the center point at the end of the drill pipe box to the center gripping point of the first row of drill pipes.

13. The method for obtaining the position of drill pipes in a coal mine underground drill pipe loading and unloading vehicle with relative position rapid calibration function as described in claim 12, characterized in that, Methods for obtaining the location of the main unit for adding and removing drill pipes include: Using the center point of the drill pipe loading and unloading robot base as the coordinate system OXYZ origin O (0, 0, 0), the position of the calibrated robotic arm mounting base in the coordinate system is known during the design of the drill pipe loading and unloading vehicle. ( (i.e., the coordinate system of the mounting base for the relative position rapid acquisition device) O 1 X 1 Y 1 Z 1. The coordinate system is based on the center point of the base of the pole loading and unloading robot. OXYZ By translating along the X, Y, and Z directions respectively Obtain; specifically includes: S1. Based on the design drawings of the automatic drilling rig and drill pipe loading / unloading vehicle, calculate and obtain the coordinate information of the automatic drilling rig's main unit drill pipe loading / unloading position relative to the center of the end hinge of the calibrated robotic arm. The mounting base for the relative position rapid acquisition device in the coordinate system OXYZ coordinate information within (a ); S2, based on the measurement results of each sensor in the relative position rapid acquisition device of the calibrated robotic arm, calculate the automatic drilling rig main body drill rod loading and unloading position in the coordinate system of the relative position rapid acquisition device mounting base. coordinate information within The method to obtain it is as follows: Let A be a point at the end of the device, which is in the coordinate system , The coordinates in the figure are as follows: and ; In coordinate system The coordinates can be calculated using the following formula: (1) In the formula, express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 The direction cosine matrix; S3, calculate the loading and unloading position of the automatic drilling rig main unit drill rod in the coordinate system by coordinate system translation. OXYZ The location within is determined as follows: S4, Position Verification: The control system compares the calculated drilling rig feed direction vector with the drilling rig tilt angle data obtained by the drilling rig tilt angle sensor. If the difference is within ±3°, the obtained position is determined to be accurate, and the drill rod loading / unloading robot arm will move the coordinate... This serves as the target point for completing the loading and unloading of drill pipe.

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