Main manipulator positioning system

Abstract

The utility model relates to the technical field of coal mine drilling machines, and discloses a main manipulator positioning system which comprises an overturning sensor, an overturning induction plate, a control system, a rotating part and a fixing part, the rotating part can rotate relative to the fixing part, the overturning sensor is installed on the fixing part, and the overturning induction plate is installed on the rotating part; in an initial state, the turnover sensor and the turnover induction plate are disconnected, and no signal is output; when the rotating part rotates relative to the fixed part and leaves the initial position, the overturning sensor is covered with the overturning induction plate, the overturning sensor sends a signal to the control system, and the coverage range of the overturning induction plate meets the rotating angle stroke requirement of the rotating part. And the positioning accuracy of the manipulator is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of coal mine drilling machines, in particular to a main manipulator positioning system. Background Art

[0002] This scheme is improved based on the invention with publication number: CN116877007A and patent name: Drill rod conveying manipulator and drill rod conveying method for directional drilling rig. The invention discloses a drill rod conveying manipulator for directional drilling rig, which is arranged on the mobile platform of the drilling rig. Its function is to place the drill rod in the drill rod box on the frame, so as to connect the newly added drill rod and the drill rod in the borehole.

[0003] If the patent is attached Figure 2 As shown, the manipulator includes a pitch cylinder, a slewing drive, a pitch arm, a slewing shaft, a swivel arm, a gripper, and a pressure rod. The pitch cylinder drives the slewing shaft and the swivel arm to swing vertically, and the gripper is installed on the swivel arm. The slewing drive drives the swivel shaft and the swivel arm to rotate, thereby driving the gripper to rotate. The gripper includes a moving gripper that can move up and down. By moving the moving gripper and rotating the swivel arm, the drill rod can be moved from the drill rod box to the rack.

[0004] This solution has the following advantages:

[0005] 1. Save installation space: The inclination adjustment is driven by an external oil cylinder on the arm, without using the servo motor or rotary reducer of the existing technology, which saves a lot of installation space in the direction perpendicular to the frame.

[0006] 2. Save movement space: The gripper lifts the drill rod upwards instead of grasping it downwards as in the existing technology. During the rotation of the manipulator toward the frame, it can naturally avoid the frame, attitude adjustment mechanism and other components, and the required movement space is significantly reduced.

[0007] However, this type of manipulator has been optimized to reduce its activity space, but at the same time, due to its small activity space, it requires a variety of positioning instruments to achieve positioning to avoid damage to its own structure due to motion interference; if it relies on optical sensors, in underground coal mine drilling operations, the light is dim and dust particles block the line of sight, and the accuracy of the optical sensors is difficult to guarantee; if it only relies on the hydraulic cylinder's own stroke for control, it is still prone to leakage and errors after long-term use.

[0008] Therefore, a main manipulator positioning system suitable for underground coal mine drilling operations is needed to ensure the accuracy of manipulator positioning. Utility Model Content

[0009] The utility model aims to provide a main manipulator positioning system, which is suitable for underground coal mine drilling operations to ensure the accuracy of manipulator positioning.

[0010] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: the main manipulator positioning system includes a flip sensor, a flip sensing plate, a control system, a rotating part and a fixed part, the rotating part can rotate relative to the fixed part, the flip sensor is installed on the fixed part, and the flip sensing plate is installed on the rotating part;

[0011] In the initial state, the flip sensor and the flip sensing plate are disconnected, and no signal is output; when the rotating part rotates relative to the fixed part and leaves the initial position, the flip sensing plate always covers the flip sensor, and the flip sensor sends a signal to the control system.

[0012] The beneficial effects of this program are:

[0013] 1. The manipulator is usually set between the drill rod box and the frame. The frame is equipped with a power head, which needs to reciprocate to push the drill rod grabbed by the manipulator into the drill hole;

[0014] However, when the manipulator's arm is rotating, the gripper drives the drill rod to rotate together, and the required activity space is the largest at this time. Therefore, it is necessary to send a signal to the control system to ensure that other structures of the drilling rig will not appear within the activity space of the manipulator, thereby avoiding situations such as motion interference between the power head and the gripper.

[0015] In this solution, by setting a flip sensor, once the rotating arm rotates, the flip sensing plate covers the flip sensor, and the flip sensor sends a signal to the control system, so that the control system can handle unexpected situations of motion interference in a timely manner.

[0016] 2. The flip controller is independent of the slew drive that drives the arm to rotate, and can monitor whether the arm is rotating, which increases the reliability of the robot arm positioning system.

[0017] 3. When the arm turns to the side close to the frame, the flip sensing plate always covers the flip sensor, thereby ensuring that only when the arm returns to the initial state, that is, the position closest to the drill rod box, the flip sensor and the flip sensing plate will be disconnected, thereby ensuring that there will be no motion interference between the power head and the gripper.

[0018] Furthermore, the fixed part is a pitch arm of the manipulator, the upper part of the pitch arm includes an axle seat, one end of the axle seat is provided with an end cover, and the rollover sensor is installed on the axle seat or the end cover.

[0019] Furthermore, the rotating part includes a rotary drive, a rotary shaft and a rotary arm. The rotary drive is installed at one end of the shaft seat away from the end cover. The rotary drive, rotary shaft and rotary arm are connected in sequence. The rotary shaft passes through the shaft seat and the end cover. The flip sensing plate is installed on the rotary shaft or the rotary arm near the flip sensor.

[0020] Furthermore, the flipping induction plate is an arc-shaped plate, and the arc-shaped plate, the rotating shaft and the rotating arm are coaxial.

[0021] Furthermore, it also includes a horizontal sensor and a horizontal sensing block. The horizontal sensing block is arranged on the rotating arm. When the rotating arm is in a horizontal position, the horizontal sensor is connected to the horizontal sensing block, and the horizontal sensor sends a signal to the control system, and the control system controls the rotating arm to stop vertical rotation.

[0022] Furthermore, a level sensor is arranged on the drill rod box.

[0023] This solution also has the following effects:

[0024] 1. During the vertical rotation of the arm, the inclination sensor is usually used to identify whether the arm is rotated in place when it swings up and down: in the initial state, in order to facilitate grabbing the drill rod in the drill rod box, the arm is in a horizontal state, and then the drill rod needs to be tilted upward first, the arm rotates so that the drill rod is above the frame, and finally the drill rod is tilted downward. The whole process involves three angles, which requires the inclination sensor to use a double-headed cylinder to accurately control the position of the required cylinder piston rod;

[0025] In this solution, the inclination sensor only needs to use a simpler single-head cylinder. The stroke of the piston rod of the single-head cylinder when the cylinder is full and empty only needs to correspond to the angle when the drill rod tilts upward and downward. When the boom returns to its initial horizontal position, a horizontal sensor can be used to sense it. When the horizontal sensor senses that the boom is horizontal, it means that the boom has returned to its initial state.

[0026] 2. Compared with the inclination sensor using a double-headed cylinder, this solution uses a single-headed cylinder and a level sensor combination, which has a simpler structure, is easier to maintain, and is simpler to control;

[0027] At the same time, the combination of the two sensors can quickly identify where the problem occurs, and only one of the sensors needs to be checked, which improves maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure is a diagram showing the overall structure of the drilling rig according to the embodiment;

[0029] Figure 2 A three-dimensional axonometric diagram of the entire robot arm of the embodiment;

[0030] Figure 3 A three-dimensional axonometric view of the pitch arm of the embodiment;

[0031] Figure 4 A three-dimensional axonometric view of the rotating arm of the embodiment;

[0032] Figure 5 FIG. 1 is a schematic diagram of installing a rollover sensor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following is further described in detail through specific implementation methods:

[0034] The figure marks in the drawings of the specification include: manipulator 1, cylinder seat 101, pitch cylinder 102, slewing drive 103, pitch arm 104, shaft seat 104a, end cover 104b, slewing shaft 105, slewing arm 106, horizontal sensing block 10601, gripper 107, isometric sensor 2, power head 3, frame 4, clamp 5, drill rod box 6, flip sensor 7, flip sensing plate 8, arc-shaped groove portion 9, horizontal sensor 10.

[0035] Example

[0036] The embodiment is basically as follows Figure 1-Figure 5 As shown: Main manipulator positioning system, such as Figure 1 As shown, it is installed on a directional drilling rig, which is provided with a manipulator 1, a frame 4, and a drill rod box 6. The drill rod box 6 is provided with an arc-shaped groove portion 9, and the frame 4 is provided with an equiangular sensor 2, a power head 3, and a clamp 5. The manipulator 1 is located between the drill rod box 6 and the frame 4. Its function is to grab the drill rod in the drill rod box 6 to the frame 4, and install the drill rod through the power head 3 on the frame 4. The above are all existing technologies.

[0037] like Figure 2 As shown, the main manipulator positioning system is a part of the manipulator 1, including a horizontal sensor 10, a horizontal sensing block 10601, a flip sensor 7, a flip sensing plate 8, a control system, a rotating part, a fixed part, a cylinder seat 101 and a pitch cylinder 102.

[0038] The rotating part includes a rotary drive 103, a rotary shaft 105 and a rotary arm 106, and the fixed part is a pitch arm 104 of the manipulator 1. Figure 3 As shown, the upper part of the pitch arm 104 includes an axle seat 104a, and the right end of the axle seat 104a is bolted to an end cover 104b, and the rollover sensor 7 is installed on the axle seat 104a or the end cover 104b near the lower side of one end of the rotating arm 106; Figure 2 As shown, the cylinder seat 101 is bolted to the directional drilling rig, the lower end of the pitch cylinder 102 is hinged to the cylinder seat 101, and the upper end of the output shaft of the pitch cylinder 102 is hinged to the lower part of the pitch arm 104.

[0039] like Figure 2As shown, the rotary driver 103 is installed at the end of the shaft seat 104a away from the end cover 104b, that is, the right end of the shaft seat 104a, the rotary driver 103, the rotary shaft 105 and the rotating arm 106 are connected in sequence, the rotary shaft 105 passes through the shaft seat 104a and the end cover 104b, and a claw 107 is provided at the left end of the rotating arm 106. The flip sensing plate 8 is installed on the rotary shaft 105 or the rotating arm 106 at a position close to the flip sensor 7. In this embodiment, for ease of installation, the flip sensing plate 8 is installed on an end surface of the rotary shaft 105 close to the flip sensor 7 by bolts.

[0040] like Figure 5 As shown, the flip sensing plate 8 is an arc plate, the arc plate, the rotating shaft 105 and the rotating arm 106 are coaxial, the flip sensing plate 8 can cover the flip sensor 7, and the coverage range of the flip sensing plate 8 meets the rotation angle travel requirement of the rotating part. The flip sensor 7 is a proximity sensor, which is an inductive proximity sensor that detects the presence of metal, and the flip sensing plate 8 is an iron block.

[0041] like Figure 4 As shown, the horizontal sensing block 10601 is bolted to the swing arm 106, and the horizontal sensor 10 is bolted to the side of the arc-shaped groove portion 9 of the drill pipe box 6. When the swing arm 106 is in a horizontal position, the horizontal sensor 10 is connected to the horizontal sensing block 10601, and the horizontal sensor 10 sends a signal to the control system, the control system includes a single chip microcomputer, the flip sensor, the single chip microcomputer and the swing arm are connected in sequence, and the single chip microcomputer can control the pitch cylinder 102, so that the swing arm 106 stops vertical rotation.

[0042] The main manipulator positioning system is used as follows:

[0043] 1. In the initial state, the rotating arm 106 is set horizontally, the gripper 107 is located on the side of the rotating arm 106 close to the drill rod box 6, the flip sensor 7 and the flip sensing plate 8 are disconnected, no signal is output, and the horizontal sensor 10 is connected to the horizontal sensing block 10601;

[0044] 2. After the gripper 107 grabs the drill rod on the arc-shaped groove part 9, the pitch cylinder 102 drives the rotating arm 106 to rotate, thereby driving the gripper 107 and the drill rod to swing upward, and the horizontal sensor 10 is disconnected from the horizontal sensing block 10601;

[0045] 3. After the rotary drive 103 drives the rotating arm 106 to rotate, the flip sensing plate 8 covers the flip sensor 7. After the flip sensor 7 senses the flip sensing plate 8 in front, the flip sensor 7 is turned on and sends a signal to the control system; the control system prohibits the power head from sliding on the frame, thereby preventing the gripper 107 and the drill rod from interfering with the power head 3 in motion;

[0046] 4. After the manipulator 1 places the drill rod on the frame 4, the rotary driver 103 drives the rotating arm 106 to reverse, so that the hand claw 107 on the rotating arm 106 moves to the side close to the drill rod box 6, and the flip sensing plate 8 no longer covers the flip sensor 7, and no signal is output. The control system drives the power head 3 to install the drill rod;

[0047] 5. The pitch cylinder 102 drives the rotating arm 106 to rotate vertically. When the horizontal sensor 10 is connected to the horizontal sensing block 10601, the horizontal sensor 10 sends a signal to the control system, indicating that the rotating arm 106 has returned to the initial position and the pitch cylinder 102 stops running.

[0048] The above is only an embodiment of the utility model, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the utility model, several deformations and improvements can be made, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Main manipulator positioning system, characterized by: It includes a flip sensor, a flip sensing plate, a control system, a rotating part and a fixed part, wherein the rotating part can rotate relative to the fixed part, the flip sensor is installed on the fixed part, and the flip sensing plate is installed on the rotating part; In the initial state, the flip sensor and the flip sensing plate are disconnected, and no signal is output; when the rotating part rotates relative to the fixed part and leaves the initial position, the flip sensing plate covers the flip sensor, and the flip sensor sends a signal to the control system. The coverage range of the flip sensing plate meets the rotation angle travel requirements of the rotating part.

2. The main manipulator positioning system according to claim 1, characterized in that: The fixed part is the pitch arm of the manipulator, the upper part of the pitch arm includes an axle seat, one end of the axle seat is provided with an end cover, and the rollover sensor is installed on the axle seat or the end cover.

3. The main manipulator positioning system according to claim 2, characterized in that: The rotating part includes a slewing drive, a slewing shaft and a slewing arm. The slewing drive is installed at one end of the shaft seat away from the end cover. The slewing drive, slewing shaft and slewing arm are connected in sequence. The slewing shaft passes through the shaft seat and the end cover. The flip sensing plate is installed on the slewing shaft or the slewing arm near the flip sensor.

4. The main manipulator positioning system according to claim 3, characterized in that: The flip induction plate is an arc-shaped plate, and the arc-shaped plate, the rotating shaft and the rotating arm are coaxial.

5. The main manipulator positioning system according to claim 4, characterized in that: It also includes a horizontal sensor and a horizontal sensing block. The horizontal sensing block is arranged on the rotating arm. When the rotating arm is in a horizontal position, the horizontal sensor is connected with the horizontal sensing block, and the horizontal sensor sends a signal to the control system, and the control system controls the rotating arm to stop vertical rotation.

6. The main manipulator positioning system according to claim 5, characterized in that: The level sensor is arranged on the drill rod box.

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