A coal mine directional drilling machine drill rod loading and unloading system and a control method thereof

Abstract

The application provides a coal mine directional drilling machine drill rod loading and unloading system and a control method thereof, and relates to the technical field of coal mine drilling machines.The system comprises a base, a sliding table device rotatably installed on the base, and a drill rod transfer device.The sliding table device comprises a sliding table main body rotatably installed on the base, a sliding table clamping assembly installed on the sliding table main body, a power head installed on the sliding table main body and used for driving the drill rod to move, and a sliding table mechanical arm assembly installed on the side of the sliding table main body away from the drill rod transfer device.The drill rod transfer device comprises a transfer groove rotatably installed on the base, a transfer lifting servo cylinder arranged between the transfer groove and the base, and an alignment assembly arranged in the transfer groove.The transfer groove and the sliding table main body are coaxially installed, so that the transfer groove and the sliding table main body can rotate around the same shaft when rotating relative to the base respectively.When the drill rod is loaded and unloaded between the transfer groove and the sliding table main body, the transfer groove rotates relative to the base to be parallel to the sliding table main body.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling rig technology, and in particular to a drill rod loading and unloading system and control method for a coal mine directional drilling rig. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, directional drilling rigs in coal mines are gradually developing towards automation and intelligence. Existing drill rod loading and unloading systems typically use multi-degree-of-freedom robotic arms mounted on the drilling rig, employing visual positioning or sensors to automatically grab drill rods from the drill rod holder and align and screw them onto the drilling rig's spindle. However, the confined working space in coal mines means that mounting multi-degree-of-freedom robotic arms on the drilling rig inevitably increases the overall size of the equipment, hindering operations. Furthermore, such multi-degree-of-freedom robotic arms require highly skilled operators, while the operational skills of underground coal mine personnel are generally limited, resulting in unsatisfactory practical performance.

[0004] Furthermore, existing technologies also employ combined hydraulic cylinders to achieve continuous drilling and unhooking devices, enabling continuous gripping, conveying, twisting, and unhooking of drill rods. A horizontal transition mechanism is installed between the slide and the drill rod box. However, this horizontal transition mechanism cannot adapt to changes in the slide angle, making the gripping device structurally complex and cumbersome to control. Simultaneously, the hydraulic system in this method is significantly affected by temperature, and internal and external leakage can lead to inaccurate positioning and slow response, thus impacting the quality of hooking and unhooking. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a drill pipe loading and unloading system and control method for coal mine directional drilling rigs that can solve or at least alleviate the above-mentioned problems, enabling efficient, accurate and reliable operation of the drill pipe loading and unloading process, while adapting to the narrow underground working environment and reducing the dependence on the skill level of the operators.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a drill pipe loading and unloading system for a coal mine directional drilling rig, comprising a base, and a slide table device and a drill pipe transfer device rotatably mounted on the base; the slide table device includes a slide table body rotatably mounted on the base, a slide table clamping assembly mounted on the slide table body, a power head mounted on the slide table body for driving the drill pipe movement, and a slide table robotic arm assembly mounted on the side of the slide table body opposite to the drill pipe transfer device; the drill pipe transfer device includes a transfer groove rotatably mounted on the base, a transfer lifting servo cylinder disposed between the transfer groove and the base, and an alignment assembly disposed in the transfer groove; the transfer groove and the slide table body are coaxially mounted, such that when the transfer groove and the slide table body rotate relative to the base respectively, they can rotate about the same axis; during drill pipe loading and unloading between the transfer groove and the slide table body, the transfer groove rotates relative to the base to be parallel to the slide table body.

[0007] In some embodiments, a first hinge portion is provided on the lower side of one end of the slide body, and a second hinge portion corresponding to the first hinge portion is provided on the lower side of one end of the transfer groove. A coaxial member passes through the first hinge portion and the second hinge portion to rotatably mount the slide body and the transfer groove on the base.

[0008] In some embodiments, a proximity sensor is installed in the transfer groove to detect whether there is a drill rod or to place the drill rod in place; a proximity sensor is installed on the side of the slide body to detect whether the transfer groove has rotated into place.

[0009] In some embodiments, the drill pipe transfer device further includes a stopper installed on the lower side of the transfer groove.

[0010] In some embodiments, the stop member is L-shaped and includes a vertical portion mounted on the lower side of the transfer groove and a horizontal portion connected to the vertical portion; the horizontal portion extends toward the slide body, and the end of the horizontal portion facing the transfer groove can abut against the lower side of the slide body.

[0011] In some embodiments, the drill rod loading and unloading system for a coal mine directional drilling rig further includes a side-mounted drill rod box device installed on one side of the base, wherein the drill rod transfer device is located between the slide device and the side-mounted drill rod box device.

[0012] In some embodiments, the slide-table robotic arm assembly moves up and down with the slide-table body, including a vertical servo cylinder, a horizontal servo cylinder, and a gripper assembly; the vertical servo cylinder is vertically mounted on the slide-table body; the horizontal servo cylinder is mounted on the end of the vertical servo cylinder away from the slide-table body, and is perpendicular to the vertical servo cylinder; the gripper assembly is mounted on the end of the horizontal servo cylinder away from the vertical servo cylinder, and is perpendicular to the horizontal servo cylinder.

[0013] Secondly, the present invention provides a control method for a drill rod loading and unloading system of a coal mine directional drilling rig. The drill rod loading and unloading system of the coal mine directional drilling rig is the aforementioned drill rod loading and unloading system of the coal mine directional drilling rig. The control method includes drilling process control and drill unloading process control.

[0014] In some embodiments, the drilling process control includes the following steps: S11. Initialize the position of the drill pipe box robotic arm assembly, the position of the drill pipe transfer device, and the position of the slide table robotic arm assembly; S12. Check if there is a drill rod in the transfer trough. If there is no drill rod in the transfer trough, the drill rod box robotic arm assembly automatically inspects the drill rod box, grabs the drill rod from the compartment containing the drill rod through the drill rod box gripper, and moves the grabbed drill rod horizontally to the transfer position to place the drill rod into the transfer trough. After placement, the drill rod box gripper rises and retracts to the drill rod compartment position determined by the program, and waits for the transfer trough to descend and return to its original position to continue conveying the drill rod. If there is a drill rod in the transfer trough, the drill rod box robotic arm assembly completes the inspection and then waits. S13. After the drill pipe is placed in the transfer groove, the position of the drill pipe is fixed by the alignment assembly; S14. After the power head of the sliding table robotic arm assembly retracts to a safe position, the sliding table gripper moves to the drill rod position and clamps the drill rod. After the front and rear hydraulic cylinders are released, the sliding table gripper lifts the drill rod to a high position and retracts horizontally back to its original position. After the rear gripper of the sliding table returns to its original position and opens, the rear gripper descends. When it reaches the set value of the rear gripper's drill rod release position, the program determines that the descent is in place. After the rear gripper clamps the drill rod, the sliding table gripper releases and then rises to a high position to wait.

[0015] In some embodiments, the drill unloading process control includes the following steps: S21. Initialize the position of the drill pipe box robotic arm assembly, the position of the drill pipe transfer device, and the position of the slide table robotic arm assembly; S22. Based on the proximity sensor signal in the transfer trough, determine whether there is a drill rod in the transfer trough. If there is a drill rod in the transfer trough, the rear hydraulic cylinder first aligns with the drill rod, and then the front hydraulic cylinder clamps the drill rod. After the drill rod box robotic arm assembly removes the drill rod, the transfer trough rises to the proximity sensor position on the slide body, waiting for the slide robotic arm assembly to place the drill rod in the transfer trough. Then, the rear hydraulic cylinder aligns with the drill rod, and the front hydraulic cylinder clamps the drill rod. The transfer trough descends to its original position, waiting for the drill rod box robotic arm assembly to remove the drill rod from the transfer trough, and the cycle repeats. If no drill rod is detected in the transfer trough, the transfer trough rises, waiting for the slide robotic arm assembly to place the drill rod in the transfer trough. Then, the rear hydraulic cylinder aligns with the drill rod, and the front hydraulic cylinder clamps the drill rod. The transfer trough descends to its original position, waiting for the drill rod box robotic arm assembly to remove the drill rod, and the cycle repeats. S23. The drill pipe box robotic arm assembly first completes the drill pipe box inspection to determine which column to start loading drill pipes from. Then, it checks whether there are drill pipes in the transfer chute before proceeding with its actions. If there are drill pipes in the initial transfer chute, the drill pipe box gripper of the robotic arm assembly moves to the transfer position, then descends to the drill pipe position and clamps the drill pipe. After the front and rear hydraulic cylinders release, the drill pipe box gripper raises the drill pipe to a high position. Then, based on the inspection results, it moves horizontally to the corresponding drill pipe column to place the drill pipe. Finally, the drill pipe box gripper rises to a high position to wait. If there are no drill pipes in the initial transfer chute, the drill pipe box robotic arm assembly waits in its original position after completing the inspection. S24. Wait for the power head to lift the drill rod to the unfastened rear end buckle position. After the rear clamp returns to its original position, the slide table gripper of the slide table robotic arm assembly descends to the drill rod lifting height and clamps the drill rod. After the rear end buckle is unfastened and the rear clamp is released, the slide table gripper lifts the drill rod to the high position and then extends horizontally. After the transfer chute is in place, it descends to the transfer position to put down the drill rod, and the slide table gripper rises back to its original position to wait.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: 1. The drill rod loading and unloading system for coal mine directional drilling rigs provided by this invention can load and unload drill rods efficiently, accurately and reliably, while adapting to the narrow working environment underground. The simple operation of the robotic arm assembly in conjunction with the transfer chute can reduce the dependence on the skill level of the operators.

[0017] 2. In this invention, the transfer trough and the slide body are coaxially installed with the same lifting base point. The servo electric cylinder controls the transfer lifting and lowering in conjunction with the proximity sensor to ensure that the lifting angle of the transfer trough is consistent with the tilt angle of the slide body, i.e., the transfer trough and the slide are parallel, ensuring that the positioning height of the slide robotic arm assembly in gripping the drill rod is consistent. When the drill rod is positioned in the transfer trough, the rear hydraulic cylinder moves first, followed by the front hydraulic cylinder, ensuring that the drill rod is fixed in position within the transfer trough. This is beneficial for the slide robotic arm assembly to fix the position when placing the drill rod into the rear gripper, improving the engagement efficiency. At the same time, it is beneficial for the drill rod box robotic arm assembly to fix the position when placing the drill rod into the drill rod box, preventing the drill rod from colliding with the drill rod box and protecting the drill rod threads. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0019] Figure 1A A perspective view of a drill rod loading and unloading system for a coal mine directional drilling rig according to an embodiment of the present invention is shown.

[0020] Figure 1B It shows Figure 1A The diagram shows a perspective view of the drill rod loading and unloading system of a coal mine directional drilling rig from another direction, with some components omitted.

[0021] Figure 1C It shows Figure 1A The diagram shows a perspective view of the drill rod transfer device in the drill rod loading and unloading system of a coal mine directional drilling rig.

[0022] Figure 2 It shows Figure 1A The diagram shows a plan view of the drill rod loading and unloading system for a coal mine directional drilling rig.

[0023] Figure 3 A drilling flowchart of the coal mine directional drilling rig drill rod loading and unloading control method of the present invention is shown.

[0024] Figure 4 The flowchart shows the operation of the drill rod transfer device during drilling.

[0025] Figure 5 A flowchart illustrating the unloading process of the drill rod loading and unloading control method for coal mine directional drilling rigs according to the present invention is shown.

[0026] Figure 6 The flowchart shows the operation of the drill pipe transfer device during drill unloading.

[0027] Explanation of reference numerals in the attached drawings: 1-Base; 2-Slide table assembly; 21-Slide table body; 22-First hinge; 23-Slide table clamping assembly; 24-Power head; 25-Coaxial component; 3-Slide table robotic arm assembly; 31-Vertical servo cylinder of slide table robotic arm; 32-Horizontal servo cylinder of slide table robotic arm; 33-Slide table gripper assembly; 34-Hydraulic cylinder of slide table gripper; 35-Slide table gripper; 4-Drill pipe transfer device; 41-Transfer groove ; 42-Transfer lifting servo electric cylinder; 43-Alignment assembly; 44-Front end cylinder; 45-Rear end cylinder; 46-Stop part; 47-Second hinge part; 5-Side hanging drill pipe box device; 51-Drill pipe box; 52-Drill pipe box robotic arm assembly; 53-Drill pipe box robotic arm vertical servo electric cylinder; 54-Drill pipe box robotic arm horizontal servo electric cylinder; 55-Side hanging gripper assembly; 56-Side hanging gripper cylinder; 57-Drill pipe box gripper. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0029] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0032] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0033] Also refer to Figures 1A to 2The coal mine directional drilling rig drill rod loading and unloading system provided by the present invention includes a base 1, a sliding platform device 2, a drill rod transfer device 4, and a side-mounted drill rod box device 5. The sliding platform device 2 and the drill rod transfer device 4 are installed above the base 1, and the side-mounted drill rod box device 5 is installed on one side of the base 1, with the drill rod transfer device 4 located between the sliding platform device 2 and the side-mounted drill rod box device 5. Preferably, the base 1 is a tracked chassis. The sliding platform device 2 is rotatably mounted on the base 1.

[0034] The slide table device 2 includes a slide table body 21 rotatably mounted on a base 1, a slide table clamping assembly 23 mounted on the slide table body 21, and a power head 24 for driving the drill pipe movement. Preferably, the slide table body 21 is a plate-like structure or a strip-shaped frame body, welded from structural steel. A first hinge portion 22 is provided on the lower side of one end of the slide table body 21. The first hinge portion 22 is rotatably connected to the base 1 via a coaxial member 25. The slide table clamping assembly 23 and the power head 24 can adopt existing structures in the prior art, which will not be specifically described here.

[0035] The slide table device 2 also includes a slide table robotic arm assembly 3 installed on the side of the slide table body 21 opposite to the drill pipe transfer device 4. The slide table robotic arm assembly 3 moves up and down with the slide table body 21 and includes a vertical servo cylinder 31, a horizontal servo cylinder 32, and a gripper assembly 33. The vertical servo cylinder 31 is vertically mounted on the slide table body 21. The horizontal servo cylinder 32 is mounted on the end of the vertical servo cylinder 31 away from the slide table body 21, and is perpendicular to the vertical servo cylinder 31. The gripper assembly 33 is mounted on the end of the horizontal servo cylinder 32 away from the vertical servo cylinder 31, and is perpendicular to the horizontal servo cylinder 32.

[0036] The vertical servo cylinder 31 of the slide-table robotic arm includes three position points: the highest lifting point, with a height greater than the rear gripper and power head of the slide-table clamping assembly 23 to prevent interference with horizontal extension; the height at which the slide-table gripper assembly 33 places the drill rod into position; and the height at which the slide-table gripper assembly 33 descends to grip the drill rod at the drill rod transfer device 4. The horizontal extension positions of the horizontal servo cylinder 32 of the slide-table robotic arm include retracting to its original position and extending across the slide to the drill rod transfer device 4. Preferably, both lifting and horizontal directions utilize servo cylinders, are equipped with encoders and brake mechanisms, and the programmable logic controller (PLC) can read the encoder values ​​of the servo driver in real time, converting them into vertical and horizontal displacement values ​​to determine the lifting height and horizontal displacement in real time, improving positioning accuracy and the robotic arm's response speed. The slide-table robotic arm assembly 3 can lift vertically and extend horizontally. This robotic arm mechanism is simple, easy to install, disassemble, and maintain, and occupies little space.

[0037] The slide table gripper assembly 33 includes a slide table gripper cylinder 34 and a slide table gripper 35 driven by the slide table gripper cylinder 34. A proximity sensor is mounted on the side of the slide table gripper 35. The slide table robotic arm assembly 3 moves the slide table gripper cylinder 34 and the slide table gripper 35. When the compression spring rod at the center of the slide table gripper 35 presses against the drill rod, the spring rod is compressed and rises to contact the proximity sensor on the side of the slide table gripper 35, thus detecting whether the slide table gripper 35 has a drill rod and assisting in determining its position. The clamping and releasing of the slide table gripper 35 is achieved by acquiring real-time analog signals through a pressure sensor. These signals are converted into engineering quantities by the PLC and then compared with preset values ​​in the PLC to determine whether the clamping or releasing is complete. The preset values ​​can be modified through a Human Machine Interface (HMI) installed on the main control box, facilitating on-site debugging and maintenance. The slide table gripper assembly 33 can move the drill pipe from the slide table clamping assembly 23 to the drill pipe transfer device 4, or can move the drill pipe from the drill pipe transfer device 4 to the slide table clamping assembly 23.

[0038] The drill pipe transfer device 4 includes a transfer groove 41 rotatably mounted on a base 1, a transfer lifting servo cylinder 42 disposed between the transfer groove 41 and the base 1, and an alignment assembly 43 disposed in the transfer groove 41. The transfer groove 41 is coaxially mounted with the slide body 21, ensuring that the transfer lifting and the lifting of the slide body 21 can be performed around the same axis. Specifically, a second hinge portion 47 corresponding to the first hinge portion 22 is provided on the lower side of one end of the transfer groove 41. A coaxial member 25 passes through the first hinge portion 22 and the second hinge portion 47, rotatably mounting the slide body 21 and the transfer groove 41 on the base 1. Preferably, a proximity sensor is installed in the transfer groove 41 to detect whether there is a drill pipe or to place the drill pipe in place. The alignment assembly 43 includes a front cylinder 44 and a rear cylinder 45 disposed between the front cylinder 44 and the second hinge portion 47; wherein the front cylinder 44 and the rear cylinder 45 are respectively movably mounted in the transfer groove 41. A proximity sensor is mounted on the side of the slide body 21 facing the transfer groove 41 to detect whether the transfer groove 41 has rotated into position. Furthermore, the drill pipe transfer device 4 also includes a stop member 46 mounted on the lower side of the transfer groove 41. The lifting stroke protection of the transfer groove 41 is achieved through this stop member 46. Preferably, the stop member 46 is approximately L-shaped, including a vertical portion mounted on the lower side of the transfer groove 41 and a horizontal portion connected to the vertical portion. The horizontal portion extends towards the slide body 21, and the end of the horizontal portion facing the transfer groove 41 (i.e., the end away from the vertical portion) can abut against the lower side of the slide body 21. When the proximity sensor fails to reach the raised position, the L-shaped stop member 46 can hook onto the bottom of the slide body 21, triggering an overload alarm in the servo electric cylinder driver and stopping the rise of the transfer groove 41. Therefore, even when the sensor fails near the top of the riser, the transfer trough 41 can still remain parallel to the slide body 21, ensuring normal loading and unloading of drill rods between the transfer trough 41 and the slide body 21. This avoids the transfer trough 41 from getting stuck or the loading and unloading interrupted due to erroneous signals or failure of the sensor, thereby improving the system's fault tolerance and operational continuity under harsh working conditions. Preferably, the stop piece 46 is bolted to the bottom of the transfer trough 41.

[0039] In some embodiments, a pressure sensor is installed at the end of the transverse section facing the transfer trough 41. This pressure sensor is used to detect the contact pressure between the end of the transverse section and the lower side of the slide body 21 in real time. If the transfer trough 41 fails to issue a stop signal due to sensor malfunction during its ascent, the contact pressure between the end of the transverse section and the lower side of the slide body 21 will continue to increase as the ascent continues. Once the pressure value detected by the pressure sensor exceeds a preset threshold, the control system triggers a forced stop signal to stop the ascent of the transfer trough 41 and simultaneously issues an alarm to alert the operator. Thus, the pressure sensor not only serves as a dynamic monitoring element for maintaining parallel operation but also ensures that the transfer trough 41 stops at the correct height parallel to the slide body 21, effectively preventing damage to the stopper 46 caused by the transfer trough 41 pressing against the lower side of the slide body 21 due to excessive lifting, thereby further improving the reliability and safety of the system operation.

[0040] The transfer trough 41 is coaxially mounted with the slide body 21, ensuring that the lifting angle base points of the transfer and lifting are consistent with those of the slide body 21. When the transfer trough 41 rises to the position of the sensor (preferably a proximity sensor) on the side of the slide body 21, the transfer lifting servo cylinder 42 stops operating, ensuring that the transfer trough 41 and the slide body 21 are parallel. The rear hydraulic cylinder 45 first aligns with the drill rod, and then the front hydraulic cylinder 44 clamps the drill rod. Because the installation position of the slide robotic arm assembly 3 is fixed, but the position of the slide robotic arm assembly 3 placing the drill rod into the transfer trough 41 will move relative to the tilt angle of the slide body 21, controlling the front and rear hydraulic cylinders in this way can ensure that the position of the slide robotic arm assembly 3 remains unchanged when picking up the drill rod, and that the position is fixed when placing the drill rod into the rear clamp, which is beneficial for the control of the shackle. In addition, the above-mentioned configuration of the drill rod transfer device 4 can also ensure that the position of the drill rod is fixed when placing it from the transfer trough 41 into the side-mounted drill rod box device 5, avoiding collision with the side-mounted drill rod box device 5.

[0041] The side-mounted drill pipe box device 5 includes a drill pipe box 51 mounted on one side of the base 1, and a drill pipe box robotic arm assembly 52 mounted on the drill pipe box 51. It is conceivable that the side-mounted drill pipe box device 5 can be added or omitted depending on the underground space conditions in the coal mine. Without the side-mounted drill pipe box device 5, manual handling is required to retrieve and place drill pipes onto the transfer mechanism. The lifting and lowering of the drill pipe box robotic arm assembly 52 also uses a servo cylinder, equipped with an encoder and a brake mechanism. The PLC can read the encoder value of the servo driver in real time, convert it into a vertical displacement to determine the lifting height in real time, improving the speed of drill pipe inspection and judgment within the drill pipe box 51, and quickly locating the drill pipe height. The drill pipe box robotic arm assembly 52 includes a vertical servo cylinder 53, a horizontal servo cylinder 54, and a side-mounted gripper assembly 55. The vertical servo cylinder 53 is vertically mounted on the drill pipe box 51. A horizontal servo cylinder 54 of the drill pipe box robotic arm is mounted on the end of the vertical servo cylinder 53 of the drill pipe box robotic arm away from the drill pipe box 51, and the horizontal servo cylinder 54 is perpendicular to the vertical servo cylinder 53. A side-mounted gripper assembly 55 is mounted on the end of the horizontal servo cylinder 54 of the drill pipe box robotic arm away from the vertical servo cylinder 53, and the side-mounted gripper assembly 55 is perpendicular to the horizontal servo cylinder 54. The side-mounted gripper assembly 55 includes a side-mounted gripper cylinder 56 and a drill pipe box gripper 57 driven by the side-mounted gripper cylinder 56. A proximity sensor is mounted on the side of the drill pipe box gripper 57. The horizontal movement of the drill pipe box robotic arm assembly 52 is controlled by a servo motor, with encoder feedback of real-time position, resulting in fast start-up and accurate stopping.

[0042] In some embodiments, the present invention also provides a control method for the above-mentioned drill rod loading and unloading system of a coal mine directional drilling rig, including drilling process control and drill rod unloading process control. The operator can select whether or not the side-mounted drill rod box device 5 is present via an HMI screen. The following describes the two processes in detail with the side-mounted drill rod box device 5 added.

[0043] Also refer to Figure 3 and Figure 4 The drilling process control includes the following steps: S11. Initialize the positions of the drill pipe box robotic arm assembly 52, the drill pipe transfer device 4, and the slide table robotic arm assembly 3. Specifically, the drill pipe box robotic arm assembly 52 is in the raised position, the drill pipe box gripper 57 is horizontally within the drill pipe box area, and the drill pipe box gripper 57 is released; the drill pipe transfer device 4 is in the lowered original position, and the front and rear end cylinders are released; the slide table robotic arm assembly 3 is in the raised position, the slide table gripper 35 is released and is in the horizontal retracted position.

[0044] S12. Check if there is a drill rod in the transfer trough 41. If there is no drill rod in the transfer trough 41, the drill rod box robotic arm assembly 52 automatically inspects the drill rod box, grabs the drill rod from the compartment containing the drill rod through the drill rod box gripper 57, and moves the grabbed drill rod horizontally to the transfer position to place the drill rod into the transfer trough 41. After placement, the drill rod box gripper 57 rises and retracts to the drill rod compartment position determined by the program, and waits for the transfer trough 41 to descend and return to its original position to continue transporting the drill rod. If there is a drill rod in the transfer trough 41, the drill rod box robotic arm assembly 52 completes the inspection and then waits.

[0045] S13. After the drill rod is placed in the transfer groove 41, its position is fixed by the alignment assembly 43. Specifically, the drill rod transfer device 4 first aligns the drill rod with the rear hydraulic cylinder 45, and then clamps the drill rod with the front hydraulic cylinder 44 to ensure that the position of the slide table robotic arm assembly 3 is fixed, which is beneficial for the power head to connect and disconnect the screws. After the drill rod box robotic arm assembly 52 reaches a safe distance, the transfer groove 41 rises (rotates upward around the coaxial member 25), stops rising when it reaches the proximity sensor position on one side of the slide table body 21, waits for the slide table robotic arm assembly 3 to take away the drill rod, and then descends back to its original position.

[0046] In some embodiments, when detecting whether there is a drill rod in the drill rod transfer device 4, a proximity sensor installed in the drill rod transfer device 4 can detect whether there is a drill rod in the transfer groove 41, and determine whether the next step is to raise the transfer groove 41 or wait for manual or corresponding robotic arm components to place the drill rod in the transfer groove 41 based on whether there is a drill rod.

[0047] The front and rear hydraulic cylinders control the fixing of the drill rod in the transfer groove 41. The rear hydraulic cylinder 45 first aligns and extends, and the front hydraulic cylinder 44 then aligns and clamps the drill rod. This ensures that the position of the slide table robotic arm assembly 3 is fixed when it grabs the drill rod and will not change with the angle of the slide table. This also ensures that the position of the drill rod is fixed when the robotic arm places the drill rod into the slide table holder, which is beneficial for the drilling rig power head to perform the connection and disconnection operation. The extension, alignment and retraction of the front and rear hydraulic cylinders are controlled by the pressure sensor transmitting real-time analog values ​​to the PLC to convert them into engineering values. The converted pressure engineering values ​​are then compared with the preset alignment and retraction pressure values ​​in the PLC to determine whether to align or retract.

[0048] The servo electric cylinder drives the transfer trough 41 to rise and fall. When the detection block on the transfer trough 41 reaches the position of the detection sensor on the slide body 21, the PLC receives the signal that the trough has risen to the correct position and stops the servo electric cylinder. At zero speed, the servo electric cylinder can maintain torque to prevent the transfer trough 41 from moving. When the transfer trough 41 falls, the servo encoder feeds back the position information, which is compared with the preset position value in the PLC to determine whether the transfer trough 41 has fallen to the correct position. After the transfer trough 41 has risen to the correct position, the slide robotic arm assembly 3 on the slide body 21 clamps the drill rod through the PLC program in the main control box, and the front and rear hydraulic cylinders release. After detecting that there is no drill rod, the servo electric cylinder controls the transfer trough 41 to fall.

[0049] S14. After the power head of the slide table robotic arm assembly 3 retracts to a safe position (because this robotic arm assembly spans the slide table, safety can be guaranteed), the horizontal servo cylinder 32 and the vertical servo cylinder 31 of the slide table robotic arm drive the slide table gripper 35 to descend to the drill rod position (judged by the proximity sensor installed on the slide table gripper 35 and by comparing the position feedback from the servo cylinder encoder with the set height in the PLC). Then, the drill rod is clamped. After the front and rear cylinders are released, the slide table gripper 35 lifts the drill rod to the high position and retracts horizontally back to the original position. After the rear gripper of the slide table returns to its original position and opens, the slide table gripper descends. When the rear gripper reaches the set value for the drill rod release position, the program judges that the descent is in place. After the rear gripper clamps the drill rod, the slide table gripper 35 is released and then rises to the high position to wait.

[0050] Also refer to Figure 5 and Figure 6 The unloading process control includes the following steps: S21. Initialize the positions of the drill pipe box robotic arm assembly 52, the drill pipe transfer device 4, and the slide table robotic arm assembly 3. Specifically, the drill pipe box robotic arm assembly 52 is in the raised position, the drill pipe box gripper 57 is horizontally within the drill pipe box area, and the drill pipe box gripper 57 is released; the drill pipe transfer device 4 is in the lowered original position, and the front and rear end cylinders are released; the slide table robotic arm assembly 3 is in the raised position, the slide table gripper 35 is released and is in the horizontal retracted position.

[0051] S22. Based on the proximity sensor signal in the transfer groove 41, determine whether there is a drill rod. If there is a drill rod in the transfer groove 41, the rear hydraulic cylinder 45 first aligns the drill rod, and then the front hydraulic cylinder 44 clamps it (to ensure accurate positioning when placing the drill rod into the drill rod box and to prevent collision with the drill rod box). After the drill rod box robotic arm assembly 52 removes the drill rod, the transfer groove 41 rises to the proximity sensor position on the slide body 21 (i.e., the transfer groove 41 and the slide body 21 are parallel). Wait for the slide robotic arm assembly 3 to place the drill rod in the transfer groove 41, then align the drill rod with the rear hydraulic cylinder 45, and then clamp the drill rod with the front hydraulic cylinder 44. The transfer groove 41 descends to its original position, and waits for the drill rod box robotic arm assembly 52 to remove the drill rod from the transfer groove 41. The cycle repeats. If no drill rod is detected in the transfer trough 41, the transfer trough 41 rises, waiting for the slide table robotic arm assembly 3 to place the drill rod in the transfer trough 41. Then, the rear hydraulic cylinder 45 aligns the drill rod with the drill rod, and the front hydraulic cylinder 44 clamps the drill rod. The transfer trough 41 then descends to its original position, waiting for the drill rod box robotic arm assembly 52 to remove the drill rod, and the cycle repeats.

[0052] In some embodiments, when detecting whether there is a drill rod in the drill rod transfer device 4, a proximity sensor installed in the transfer groove 41 can detect whether there is a drill rod, and determine whether the next step is to lower the transfer groove 41 or wait for manual or corresponding robotic arm components to remove the drill rod from the transfer groove 41 based on whether there is a drill rod.

[0053] The front and rear hydraulic cylinders control the fixing of the drill rod in the transfer groove 41. The rear hydraulic cylinder 45 extends first as a reference, and the front hydraulic cylinder 44 clamps it. Because the angle of the slide body 21 changes, the drill rod placed in the transfer groove 41 will change position back and forth. The front and rear hydraulic cylinders can ensure that the position of the drill rod is fixed. Together with the drill rod box robotic arm assembly 52, the drill rod is taken away and accurately placed into the drill rod box. The extension, alignment and retraction of the front and rear hydraulic cylinders are transmitted to the PLC in real time through the pressure sensor to convert the analog value into an engineering value. The converted pressure engineering value is then compared with the preset alignment and retraction pressure values ​​in the PLC to determine whether it is aligned or retracted.

[0054] The servo electric cylinder controls the lifting and lowering of the transfer trough 41. When the detection block on the transfer trough 41 reaches the position of the sliding table detection sensor, the PLC receives the signal indicating that the trough has reached its position and stops the servo electric cylinder. At zero speed, the servo maintains torque to prevent the transfer mechanism from moving. When the transfer trough 41 descends, the servo encoder provides position information, which is compared with the preset position value in the PLC to determine whether the transfer trough 41 has descended to its correct position. After the transfer trough 41 has descended to its correct position, the front and rear hydraulic cylinders are released, and the drill rod can be removed manually or by the drill rod box robotic arm assembly 52.

[0055] S23. The drill rod box robotic arm assembly 52 first performs a drill rod box inspection to determine which column to start loading drill rods from. Then, it checks whether there are drill rods in the transfer chute 41 before proceeding with its actions. If there are drill rods in the initial transfer chute 41, the drill rod box gripper 57 of the drill rod box robotic arm assembly 52 moves to the transfer position, then descends to the drill rod position (determined by proximity sensors and displacement feedback from the lifting servo cylinder installed on the gripper 57, along with the position set in the PLC program). The gripper 57 clamps the drill rod, and after the front and rear hydraulic cylinders release, the gripper 57 lifts the drill rod to a high position. Then, based on the inspection results, it moves horizontally to the corresponding drill rod column to place the drill rod, and then the gripper 57 rises to a high position to wait. If there are no drill rods in the initial transfer chute 41, the drill rod box robotic arm assembly 52 waits in its original position after completing the inspection.

[0056] S24. Wait for the power head to lift the drill rod to the unfastened rear end buckle position. After the rear clamp returns to its original position, the slide table gripper 35 of the slide table robotic arm assembly 3 descends to the drill rod lifting height (determined by the proximity sensor installed on the slide table gripper 35 or by comparing the feedback from the servo cylinder encoder with the height set by the PLC). The slide table gripper 35 clamps the drill rod. After the rear end buckle is unfastened and the rear clamp is released, the slide table gripper 35 lifts the drill rod to the high position and then extends horizontally. After the transfer groove 41 is in place, it descends to the transfer position to put down the drill rod (determined by comparing the position feedback from the servo cylinder encoder with the height set by the PLC). The slide table gripper 35 rises back to its original position to wait.

[0057] In some embodiments, the control mode can be switched between single-action and automatic via remote control, and the process control can be started with one button. Centralized control is achieved through PLC. Proximity sensors determine whether drill pipe or transfer chute has reached its designated position. The position value fed back by the servo cylinder encoder is compared with the PLC preset value to determine the lifting height and horizontal displacement of the robotic arm assembly. Real-time values ​​collected by pressure sensors are compared with the PLC preset pressure value to determine the clamping / loosening status. The operating speed, positioning value, and drill pipe quantity in the drill pipe box can be modified via the control box display. This system can be started with one button via remote control and operates automatically throughout the entire process, significantly reducing manual intervention and achieving the goal of reducing personnel downhole. When a fault occurs, the HMI screen will display a fault alarm, which helps workers quickly locate the fault point. At this time, the remote control can be switched to single-action mode for manual intervention, providing flexible operation.

[0058] The drill rod loading and unloading system of the coal mine directional drilling rig uses servo electric cylinders to control the lifting and horizontal extension of the slide table robotic arm assembly 3, the lifting of the drill rod box robotic arm assembly 52, and the lifting of the drill rod transfer chute 41. The servo electric cylinders are equipped with encoders to collect position information in real time. A brake mechanism ensures that the servo electric cylinders maintain torque at zero speed and in power-off conditions, guaranteeing the stability of the robotic arm and preventing slippage. The operating speed of the servo electric cylinders can be modified on the HMI screen to achieve stable operation, prevent impacts, and ensure accurate positioning. The servo driver communicates with the PLC in real time, and status and fault detection points can be set on the HMI for convenient system maintenance.

[0059] The transfer groove 41 of the drill pipe transfer device 4 is coaxially installed with the slide body 21, which can ensure that the lifting base points of the transfer groove 41 and the slide body 21 are consistent. When the transfer groove 41 rises to the sensor position on the side of the slide body 21, the servo cylinder stops moving to ensure that the transfer groove 41 and the slide body 21 are parallel. The rear hydraulic cylinder 45 first aligns with the drill pipe, and the front hydraulic cylinder 44 then clamps the drill pipe. Because the position of the slide robotic arm assembly 3 is fixed, but the position of the slide robotic arm assembly 3 placing the drill pipe into the transfer groove 41 will move relative to the tilt angle of the slide body 21. By controlling the front and rear hydraulic cylinders in this way, it can be ensured that the position of the slide robotic arm assembly 3 remains unchanged when picking up the drill pipe, and at the same time, it can be ensured that the position of the drill pipe box robotic arm assembly 52 is fixed when placing the drill pipe into the drill pipe box, and will not collide with the wall of the drill pipe box.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A drill rod loading and unloading system for a coal mine directional drilling rig, characterized in that, The system includes a base, and a slide table assembly and a drill pipe transfer device rotatably mounted on the base. The slide table assembly includes a slide table body rotatably mounted on the base, a slide table clamping assembly mounted on the slide table body, a power head mounted on the slide table body for driving drill pipe movement, and a slide table robotic arm assembly mounted on the side of the slide table body opposite to the drill pipe transfer device. The drill pipe transfer device includes a transfer groove rotatably mounted on the base, a transfer lifting servo cylinder disposed between the transfer groove and the base, and an alignment assembly disposed in the transfer groove. The transfer groove and the slide table body are coaxially mounted, allowing them to rotate about the same axis when they rotate relative to the base. During drill pipe loading and unloading between the transfer groove and the slide table body, the transfer groove rotates relative to the base. The slide body is parallel to the slide plate body; a first hinge portion is provided on the lower side of one end of the slide plate body, and a second hinge portion corresponding to the first hinge portion is provided on the lower side of one end of the transfer groove. A coaxial member passes through the first hinge portion and the second hinge portion to rotatably mount the slide plate body and the transfer groove on the base; a proximity sensor is installed in the transfer groove to detect whether there is a drill rod or to place the drill rod in place; a proximity sensor is installed on the side of the slide plate body to detect whether the transfer groove has rotated into place; the drill rod transfer device also includes a stop member installed on the lower side of the transfer groove; the stop member is L-shaped and includes a vertical portion installed on the lower side of the transfer groove and a horizontal portion connected to the vertical portion; the horizontal portion extends toward the slide plate body, and the end of the horizontal portion facing the transfer groove can abut against the lower side of the slide plate body.

2. The drill rod loading and unloading system for directional drilling rigs in coal mines according to claim 1, characterized in that, It also includes a side-mounted drill rod box device installed on one side of the base, wherein the drill rod transfer device is located between the slide device and the side-mounted drill rod box device.

3. The drill rod loading and unloading system for directional drilling rigs in coal mines according to claim 2, characterized in that, The slide-table robotic arm assembly moves up and down with the slide-table body, and includes a vertical servo cylinder, a horizontal servo cylinder, and a gripper assembly. The vertical servo cylinder is vertically mounted on the slide-table body. The horizontal servo cylinder is mounted on the end of the vertical servo cylinder away from the slide-table body, and is perpendicular to the vertical servo cylinder. The gripper assembly is mounted on the end of the horizontal servo cylinder away from the vertical servo cylinder, and is perpendicular to the horizontal servo cylinder.

4. A control method for a drill rod loading and unloading system of a coal mine directional drilling rig, characterized in that, The drill rod loading and unloading system for a coal mine directional drilling rig is the same as the drill rod loading and unloading system for a coal mine directional drilling rig as described in any one of claims 1 to 3. The control method includes drilling process control and drill rod unloading process control; the drilling process control includes the following steps: S11. Initialize the position of the drill pipe box robotic arm assembly, the position of the drill pipe transfer device, and the position of the slide table robotic arm assembly; S12. Check if there is a drill rod in the transfer trough. If there is no drill rod in the transfer trough, the drill rod box robotic arm assembly automatically inspects the drill rod box, grabs the drill rod from the compartment containing the drill rod through the drill rod box gripper, and moves the grabbed drill rod horizontally to the transfer position to place the drill rod into the transfer trough. After placement, the drill rod box gripper rises and retracts to the drill rod compartment position determined by the program, and waits for the transfer trough to descend and return to its original position to continue conveying the drill rod. If there is a drill rod in the transfer trough, the drill rod box robotic arm assembly completes the inspection and then waits. S13. After the drill pipe is placed in the transfer groove, the position of the drill pipe is fixed by the alignment assembly; S14. After the power head of the sliding table robotic arm assembly retracts to a safe position, the sliding table gripper moves to the drill rod position and clamps the drill rod. After the front and rear hydraulic cylinders are released, the sliding table gripper lifts the drill rod to a high position and retracts horizontally back to its original position. After the rear gripper of the sliding table returns to its original position and opens, the rear gripper descends. When it reaches the set value of the rear gripper's drill rod release position, the program determines that the descent is in place. After the rear gripper clamps the drill rod, the sliding table gripper releases and then rises to a high position to wait.

5. The control method for the drill rod loading and unloading system of a coal mine directional drilling rig according to claim 4, characterized in that, The drill unloading process control includes the following steps: S21. Initialize the position of the drill pipe box robotic arm assembly, the position of the drill pipe transfer device, and the position of the slide table robotic arm assembly; S22. Based on the proximity sensor signal in the transfer trough, determine whether there is a drill rod in the transfer trough. If there is a drill rod in the transfer trough, the rear hydraulic cylinder first aligns with the drill rod, and then the front hydraulic cylinder clamps the drill rod. After the drill rod box robotic arm assembly removes the drill rod, the transfer trough rises to the proximity sensor position on the slide body, waiting for the slide robotic arm assembly to place the drill rod in the transfer trough. Then, the rear hydraulic cylinder aligns with the drill rod, and the front hydraulic cylinder clamps the drill rod. The transfer trough descends to its original position, waiting for the drill rod box robotic arm assembly to remove the drill rod from the transfer trough, and the cycle repeats. If no drill rod is detected in the transfer trough, the transfer trough rises, waiting for the slide robotic arm assembly to place the drill rod in the transfer trough. Then, the rear hydraulic cylinder aligns with the drill rod, and the front hydraulic cylinder clamps the drill rod. The transfer trough descends to its original position, waiting for the drill rod box robotic arm assembly to remove the drill rod, and the cycle repeats. S23. The drill pipe box robotic arm assembly first completes the drill pipe box inspection to determine which column to start loading drill pipes from. Then, it checks whether there are drill pipes in the transfer chute before proceeding with its actions. If there are drill pipes in the initial transfer chute, the drill pipe box gripper of the robotic arm assembly moves to the transfer position, then descends to the drill pipe position and clamps the drill pipe. After the front and rear hydraulic cylinders release, the drill pipe box gripper raises the drill pipe to a high position. Then, based on the inspection results, it moves horizontally to the corresponding drill pipe column to place the drill pipe. Finally, the drill pipe box gripper rises to a high position to wait. If there are no drill pipes in the initial transfer chute, the drill pipe box robotic arm assembly waits in its original position after completing the inspection. S24. Wait for the power head to lift the drill rod to the unfastened rear end buckle position. After the rear clamp returns to its original position, the slide table gripper of the slide table robotic arm assembly descends to the drill rod lifting height and clamps the drill rod. After the rear end buckle is unfastened and the rear clamp is released, the slide table gripper lifts the drill rod to the high position and then extends horizontally. After the transfer chute is in place, it descends to the transfer position to put down the drill rod, and the slide table gripper rises back to its original position to wait.

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