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CN-117864692-B - Automatic feeding system and automatic control method for underground drill rod of coal mine

CN117864692BCN 117864692 BCN117864692 BCN 117864692BCN-117864692-B

Abstract

The invention discloses an automatic feeding system and an automatic control method for drill rods in a coal mine, comprising a movable car body platform, wherein a feeding mechanism which is distributed transversely is arranged in the middle of the car body platform, a control module is arranged at the front end of the car body platform in the longitudinal direction, the feeding structure comprises a feed box bracket, the feed box bracket comprises a pair of first upright posts and a pair of second upright posts which are distributed on the car body platform in the transverse direction in sequence, a first cross beam is arranged between the first upright posts and the second upright posts, the control module is used for controlling the cooperation of a horizontal material distributing structure and a vertical material distributing structure, only one drill rod is extracted each time, a certain fault tolerance capability is realized through a storage queuing structure, one drill rod is ensured each time temporary storage station, the production beat is not influenced, the problem that only a single drill rod is difficult to take out from a plurality of drill rods each time is solved, and meanwhile the production beat of equipment is not influenced.

Inventors

  • YAN BIN
  • LU QIANHAI
  • WU ZHIFENG
  • LIU YAOBO
  • DAI CHENYU
  • FAN YILIN
  • PENG GUANGYU
  • CUI WANHAO

Assignees

  • 中煤科工西安研究院(集团)有限公司

Dates

Publication Date
20260508
Application Date
20240123

Claims (12)

  1. 1. The automatic feeding system for the underground drill rod of the coal mine is characterized by comprising a movable car body platform (1), wherein feeding mechanisms (5) distributed transversely are arranged in the middle of the car body platform (1), and a control module (3) is arranged at the front longitudinal end of the car body platform (1); The feeding mechanism (5) comprises a feed box bracket, wherein the feed box bracket (51) comprises a pair of first upright posts (511) and a pair of second upright posts (513) which are transversely and sequentially arranged on a vehicle body platform (1), a first cross beam (512) is arranged between the first upright posts (511) and the second upright posts (513), a plurality of first sensors (61) are arranged on the transverse rear side surface of the first upright posts (511), and a second sensor (62) is arranged on the upper surface of the first cross beam (512); The horizontal material distribution device is characterized in that a horizontal material distribution structure (52) is arranged on the first cross beams (512), the horizontal material distribution structure (52) comprises a first main shaft (525) and a second main shaft (521) which are sequentially arranged between the two first cross beams (512) along the transverse direction and backwards, first driving wheels (526) are sleeved at two ends of the first main shaft (525), first driven wheels (522) are arranged at two ends of the second main shaft (521), first flexible composite driving belts (523) are jointly arranged on the first driving wheels (526) and the first driven wheels (522), and 4 first magnetic grabbing devices (524) are uniformly arranged on the first flexible composite driving belts (523), and one end of each first main shaft (525) extends out of the first cross beams (512) and is connected with a first motor (527); The device also comprises a first auxiliary control mechanism, wherein the first auxiliary control mechanism comprises a beam moving reversing structure (528) and a beam fixing reversing structure (529) which are respectively arranged on opposite surfaces of the two first beams (512); The beam moving reversing structure (528) comprises a beam moving reversing multistage oil cylinder (5283) fixed on the side wall of the first beam (512), and a beam moving reversing baffle (5282) and a beam moving reversing top plate (5281) are sequentially arranged at the bottom of the beam moving reversing multistage oil cylinder (5283); the beam fixed reversing structure (529) comprises a beam fixed reversing top plate (5291) and a beam fixed reversing baffle (5292) which are fixed on the side wall of the first beam (512); A vertical material distribution structure (53) is arranged between the first upright posts (511), the vertical material distribution structure (53) comprises a third main shaft (535) and a fourth main shaft (531) which are sequentially arranged between the first upright posts (511) along the vertical direction, two ends of the third main shaft (535) are sleeved with second driving wheels (536), two ends of the fourth main shaft (531) are provided with second driven wheels (532), the second driving wheels (536) and the second driven wheels (532) are jointly provided with second flexible compound transmission belts (533), 4 second magnetic grabbing structures (534) are uniformly arranged on the second flexible compound transmission belts (533), and one end of the third main shaft (535) extends out of the first upright posts (511) and is connected with a second motor (537); The device also comprises a second auxiliary control mechanism, wherein the second auxiliary control mechanism comprises a column moving reversing structure (538) and a column fixing reversing structure (539) which are respectively arranged on opposite surfaces of the two first columns (511); The upright post moving reversing structure (538) comprises an upright post moving reversing multistage oil cylinder (5383) fixed on the side wall of the first upright post (511), and an upright post moving reversing baffle (5382) and an upright post moving reversing top plate (5381) are sequentially arranged at the bottom of the upright post moving reversing multistage oil cylinder (5383); The upright post fixed reversing structure (539) comprises an upright post fixed reversing top plate (5391) and an upright post fixed reversing baffle (5392), wherein the upright post fixed reversing top plate (5391) and the upright post fixed reversing baffle are fixed on the side wall of the first upright post (511); The top of the first upright post (511) is provided with a storage queuing structure (54), the storage queuing structure (54) comprises a pair of storage supporting frames (541) which are respectively arranged at the top of the first upright post (511), baffle plates (543) are arranged at the tail ends of the storage supporting frames (541), connecting rods are arranged between the storage supporting frames (541), and storage inclined plane guide plates (542) which are parallel to the storage supporting frames (541) are arranged on the connecting rods; The top end of the storage station (73) is provided with a storage station sensor (63), and the temporary storage station (75) is provided with a temporary storage station sensor (64); The first magnetic grabbing device (524) or the second magnetic grabbing device (534) comprises a fixed housing (5342) arranged in a first flexible composite transmission belt (523) or a second flexible composite transmission belt (533), a rotating main shaft (5341) is arranged in the fixed housing (5342), rotating bearings (5343) are sleeved at two ends of the rotating main shaft (5341) and extend out of two end faces of the fixed housing (5342) respectively, a movable end rotating handle (5344) is arranged at one end, close to a beam moving reversing mechanism (528) or a column moving reversing mechanism (538), of the rotating main shaft (5341), a fixed end rotating handle (5345) is arranged at one end, close to a beam fixed reversing mechanism (529) or a column fixed reversing mechanism (539), of the rotating main shaft (5341) is different from the fixed end rotating handle (5345) by 180 degrees, magnets (5326) of two stators (53424) are arranged at one end, close to the beam moving reversing mechanism (528) or the column moving reversing mechanism (538), of the fixed housing (5342); the control module (3) is electrically connected with the first sensor (61), the second sensor (62), the storage station sensor (63), the temporary storage station sensor (64), the first motor (527), the second motor (537), the beam moving reversing multi-stage oil cylinder (5283), the column moving reversing multi-stage oil cylinder (5383), the queuing station upper limit limiting oil cylinder (545) and the queuing station lower limit limiting oil cylinder (544).
  2. 2. The automatic feeding system for drill pipes in coal mines according to claim 1, wherein the fixed housing (5342) comprises a stator support frame (53421), a stator inner cavity (53423) is formed in the stator support frame (53421), and stator support holes (53422) communicated with the stator inner cavity (53423) are formed in two axial end faces of the stator support frame (53421).
  3. 3. The automatic feeding system for drill rods in coal mines according to claim 2, wherein the rotary spindle (5341) comprises a rotary spindle magnet supporting section (53413) arranged in a stator inner cavity (53423) and rotary spindle bearing sections (53412) arranged at two ends of the rotary spindle magnet supporting section (53413), rotary spindle connecting sections (53411) are arranged on two rotary spindle bearing sections (53412), the rotary spindle connecting sections (53411) are arranged in the stator supporting holes (53422) and the tail ends of the rotary spindle connecting sections extend out of the stator supporting holes (53422), and a plurality of rotary spindle magnets (53414) are uniformly arranged in the rotary spindle magnet supporting sections (53413).
  4. 4. The automatic feeding system for drill rods in a coal mine as recited in claim 1, wherein a pair of the first cross members are provided with a pair of symmetrical first spindle mounting holes (5121) and a pair of symmetrical second spindle mounting holes (5122) in sequence in a transverse direction, a first spindle (525) is rotatably mounted in the pair of the first spindle mounting holes (5121), and a second spindle (521) is rotatably mounted in the pair of the second spindle mounting holes (5122).
  5. 5. The automatic feeding system for drill rods in a coal mine well according to claim 1, wherein a pair of the first upright posts (511) are vertically and upwardly arranged in sequence in a pair of symmetrical third spindle mounting holes (5112) and a pair of symmetrical fourth spindle mounting holes (5111), a third spindle (535) is rotatably mounted in the pair of third spindle mounting holes (5112), and a fourth spindle (531) is rotatably mounted in the pair of fourth spindle mounting holes (5111).
  6. 6. An automatic feeding system for drill pipes in a coal mine as recited in claim 1, wherein a rib is provided between the bottom of the warehouse support frame (541) and the first upright (511).
  7. 7. The automatic feeding system for drill pipes in a coal mine as recited in claim 1, wherein the vertical height of the warehouse incline guide plate (542) is greater than the vertical height of the warehouse support frame (541).
  8. 8. An automatic drill rod feeding system for a coal mine as claimed in claim 1, wherein the distance between adjacent first (61) or second (62) sensors is the diameter of one drill rod.
  9. 9. The automatic feeding system for drill pipes in a coal mine as claimed in claim 1, wherein the bottom of the car body platform (1) is provided with a crawler belt (2).
  10. 10. An automatic control method for feeding a drill rod in a coal mine is characterized by specifically comprising the following steps of: step 1, hoisting a large number of drill rods (4) into a drill rod material box, and arranging the drill rods (4) in the drill rod material box in order; Step 2, judging whether a temporary storage station sensor (64) detects a drill rod in real time, if so, keeping an extending state of a queuing station lower section limiting cylinder 544, and preventing a queuing station drill rod (42) from entering a storage station (73), otherwise, retracting the queuing station lower section limiting cylinder (544), and enabling the queuing station drill rod (42) to enter a temporary storage station (75); step 3, judging whether the queuing station sensor (65) detects the drill rod in real time, if so, keeping the upper section limiting cylinder (545) of the queuing station in an extending state, preventing the storage station drill rod (41) from entering the queuing station (74), and otherwise, retracting the upper section limiting cylinder (545) of the queuing station, and allowing the storage station drill rod (41) to enter the queuing station (74); step 4, judging whether the storage station sensor (63) detects the drill rod in real time, if so, stopping the movement of the vertical material distributing structure (53), otherwise, starting to grab the drill rod by the vertical material distributing structure (53); step 5, judging whether all the first sensors (61) detect no drill rod in real time, if so, entering a step 7, and if not, entering a step 6; Step 6, when the first sensor (61) detects the highest layer number of the drill rods, data are transmitted to the control module (3), the control module (3) controls the upright post moving reversing multistage oil cylinder (5383) to move, so that the upright post moving reversing top plate (5381) is positioned at the position of the next layer of the highest layer number of the existing drill rods, when the moving end rotating handle (5344) moves to the position of the upright post moving reversing top plate (5381), the moving end rotating handle contacts the upright post moving reversing top plate (5381) and then rotates 180 degrees, the rotating main shaft (5341) is driven to rotate, the magnetic grabbing device (534) moves in a magnetic field, the working area generates magnetism, the drill rods are grabbed from the drill rod bin, the separated single drill rods are conveyed to the top through the second flexible composite transmission belt (533), the separated single drill rods are contacted with the storage inclined plane guide plate (542) of the storage queuing structure (54), and the separated drill rods enter the storage inclined plane guide plate (73) and stop sliding down to the position of the upper section limiting oil cylinder (545) of the station along the storage inclined plane guide plate (542); Step 7, when the second sensor (62) detects the maximum number of columns of drill rods, data are transmitted to the control module (3), the control module (3) controls the beam to move and change the multistage oil cylinder (5283) to move, so that the beam to move and change the top plate (5281) to be positioned at the position of the next layer of the maximum number of columns of the existing drill rods, when the movable end rotating handle (5344) moves to the position of the beam to move and change the top plate (5281), the movable end rotating handle contacts with the beam to move and change the top plate (5281) to rotate 180 degrees, the rotating main shaft (5341) is driven to rotate, so that the magnetic grabbing device (534) moves in a magnetic field, magnetism is generated in a working area, drill rods are grabbed from a drill rod box, single drill rods are separated, and the separated single drill rods are conveyed to the position of the first upright column (511) through the movement of the first flexible composite transmission belt (533); Step 8, judging whether all the second sensors (62) do not detect the drill rod in real time, if so, stopping the operation of the horizontal material distributing structure (52), and continuously operating the vertical material distributing structure (53); and 9, judging whether all the first sensors (61) do not detect the drill rod in real time, and stopping working if the vertical material distributing structure (53) is in the vertical material distributing structure.
  11. 11. The automatic control method for feeding underground drill rods in coal mines according to claim 10, wherein in the step 6, if the first sensor (61) with the same height on the first upright post (511) detects that a drill rod exists, and if one of the first sensor and the first sensor detects that no drill rod exists, the drill rod in the vertical material distributing station (71) is dislocated, the upright post moving reversing top plate (5381) is moved to the position of the lower three layers of the highest layers of the existing drill rods, and the lower three layers of the drill rods of the highest layers of the drill rods are grabbed to drive the upper two layers of the drill rods to move.
  12. 12. The method for automatically controlling feeding of underground drill rods in coal mines according to claim 10, wherein in the step 7, when two second sensors (61) in the same column number on the two first beams detect that a drill rod is present, and when one sensor detects that no drill rod is present, the drill rods in the horizontal distributing station (72) are dislocated, the beam moving reversing top plate (5281) is moved to the position of the lower column of the maximum column number of the existing drill rods, and the lower column of the drill rods of the maximum column number layer of the drill rods are grabbed to drive the drill rods of the upper column to move.

Description

Automatic feeding system and automatic control method for underground drill rod of coal mine Technical Field The invention belongs to the field of underground automatic drilling of coal mines, relates to an automatic feeding device of drill pipes, and particularly relates to an automatic feeding system and an automatic control method of drill pipes under the coal mines. Background Drilling operations downhole in coal mines are one of the most important tasks in coal mining and mining area exploration. In these operations, drill pipe is a commonly used tool for running drill bits into the ground to obtain information about the structure and geology of the seam. However, the conventional method of manually feeding and sorting drill rods has problems due to the severe downhole environment, narrow working space and safety risks. The conventional feeding mode of underground drill rods in coal mines mainly relies on manual operation, the drill rods are usually put in a whole box in a material frame mode, required single drill rods need to be manually sorted, and for drill rods with the length of less than 1.5 meters, 1 person can accept the sorting of the drill rods, but for drill rods with the length of more than 1.5 meters, 1 person can hardly sort the drill rods, especially for longer and heavier drill rods with the length of more than 1.5 meters, such asThe weight of a single drill rod can reach 54kg, two people or even 3 people are required to work cooperatively, and the sorting and feeding work of the single drill rod is realized. The process is time-consuming and labor-consuming, low in production efficiency, and easy to cause accidental injury of workers, and personal safety risks exist. In order to reduce the labor intensity of workers, sorting automation is realized. The automatic feeding device for the drill rods is required to contain a large number of drill rods at one time, is not less than 200 drill rods, can sort out only a single drill rod from a large number of drill rods each time, and has a certain fault tolerance, namely, the drill rods are often subjected to the placement conditions of bit-tampering, dislocation, intersection and the like, and the automatic feeding device for the drill rods is required to realize automatic feeding and feeding operation. The device has the advantages of high reliability, good fault tolerance, low price and strong practicability, and can improve the working efficiency, reduce the risk and improve the working condition. Through the application of the automatic feeding equipment for the underground crawler drill rod of the coal mine, the efficiency of underground drilling operation of the coal mine is obviously improved, meanwhile, the personal safety risk can be reduced, the operation condition is improved, and great economic and social benefits are brought to the fields of coal exploitation, mining area exploration and the like. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide an automatic feeding system and an automatic control method for a drill rod under a coal mine, which solve the technical problem of low sorting efficiency of the drill rod in the prior art. In order to solve the technical problems, the invention adopts the following technical scheme: The automatic feeding system for the drill rod under the coal mine comprises a movable car body platform, wherein feeding mechanisms distributed along the transverse direction are arranged in the middle of the car body platform, and a control module is arranged at the front end of the car body platform in the longitudinal direction; The feeding structure comprises a feed box bracket, wherein the feed box bracket comprises a pair of first stand columns and a pair of second stand columns which are transversely and sequentially distributed on a vehicle body platform, and a first cross beam is arranged between the first stand columns and the second stand columns; The horizontal material distribution structure comprises a first main shaft and a second main shaft which are sequentially arranged between the two first cross beams along the transverse direction and backwards, wherein the two ends of the first main shaft are sleeved with a first driving wheel, the two ends of the second main shaft are provided with a first driven wheel, the first driving wheel and the first driven wheel are jointly provided with a first flexible transmission belt, and the first flexible transmission belt is uniformly provided with a second magnetic grasping device; the device also comprises a first auxiliary control mechanism, wherein the first auxiliary control mechanism comprises a beam moving reversing structure and a beam fixing reversing structure which are respectively arranged on the opposite surfaces of the two first beams; The beam moving reversing structure comprises a beam moving reversing multistage oil cylinder fixed on the side wall of the first beam, and a beam moving reversi