CN-122014204-A - Full-automatic drilling control method for intelligent drilling machine for coal mine

CN122014204ACN 122014204 ACN122014204 ACN 122014204ACN-122014204-A

Abstract

The invention provides a full-automatic drilling control method of an intelligent coal mine drilling machine, which comprises the steps of receiving signals fed back by sensors, encoders and proximity switches on the intelligent coal mine drilling machine through a controller, monitoring drilling data of the drilling machine in real time, and performing full-automatic drilling, wherein a drilling host machine is provided with a main clamping pressure sensor, a clamping unloading pressure sensor and a power head displacement encoder, a rod supplementing device is provided with a transfer tray advancing and retreating pressure sensor, a transfer tray proximity switch, a Y-direction stay rope displacement encoder, an X-direction stay rope displacement encoder and a rod supplementing gripper proximity switch, a rod adding and unloading mechanical arm is correspondingly provided with a rod adding small arm rotation angle encoder and a rod adding small arm telescopic pressure sensor, and a rod adding and unloading mechanical arm is correspondingly provided with a rod adding large arm in-place proximity switch and a rod adding large arm zero position proximity switch. The invention realizes the real-time dynamic adjustment of drilling parameters, improves the drilling efficiency, improves the positioning precision, and realizes the full-flow automatic operation of drilling, rod loading and unloading and rod supplementing of the drilling machine.

Inventors

SHI YANG
FANG PENG
XING WANG
ZHANG GANG
ZHAO XUEFENG
LI JIAN
ZHANG BOYANG
LIU SHIJIE

Assignees

中煤科工西安研究院(集团)有限公司

Dates

Publication Date: 20260512
Application Date: 20260106

Claims (7)

1. The full-automatic drilling control method of the intelligent coal mine drilling machine is characterized in that the control method receives signals fed back by sensors, encoders and proximity switches on the intelligent coal mine drilling machine through the controller (4), monitors drilling data of the drilling machine in real time and realizes full-automatic drilling control of the intelligent coal mine drilling machine; The clamping shackle component (3-1) of the drilling host machine (8) is provided with a main clamping pressure sensor and a clamping unloading pressure sensor to monitor the pressure change of the clamping shackle component (3-1) in a clamping/loosening state, and the drilling host machine (8) is also provided with a power head displacement encoder to feed back the position of the power head (3-3) in real time; The motor pump set (3) is provided with an I pump pressure sensor so as to monitor the pressure change of the I pump; The automatic feeding device is characterized in that a transfer tray (4-4) of the feeding device (6) is provided with a transfer tray advancing and retreating pressure sensor and a transfer tray proximity switch, so as to monitor pressure change of two states of an upper rod position waiting point and a feeding rod position waiting point when the transfer tray (4-4) advances and detect whether a drill rod exists in the transfer tray (4-4), a Y-direction stay rope displacement encoder and an X-direction stay rope displacement encoder are corresponding to a feeding rod big arm (5-1) of the feeding device (6) so as to detect displacement changes in real time, and a feeding rod grip proximity switch (5-3) is arranged beside a feeding rod grip (5-2) of the feeding rod device (6) so as to detect whether the drill rod exists in the feeding rod grip (5-2) and a rod bin (4-1); The loading and unloading arm (7) comprises a loading arm small arm (6-6) corresponding to a loading arm small arm rotation angle encoder for detecting rotation angles, a first loading arm small arm telescopic pressure sensor and a second loading arm small arm telescopic pressure sensor are respectively arranged on a first loading arm small arm (6-3) and a second loading arm small arm (6-5) so as to monitor pressure changes of the first loading arm small arm and the second loading arm small arm in two telescopic states, and a loading arm large arm (6-1) corresponding to the loading arm large arm (7) is provided with a loading arm large arm in-place proximity switch and a loading arm large arm zero-position proximity switch for detecting whether the loading arm large arm (6-1) is in place or is in an initial position.
2. The full-automatic drilling control method of the intelligent coal mine drilling machine according to claim 1, wherein the drilling host machine (8) comprises a feeding guide rail (3-2), a middle angle adjusting device (3-5) arranged below the feeding guide rail (3-2), a front angle adjusting device (3-6) arranged at the front end of the feeding guide rail (3-2), a power head (3-3) arranged on the feeding guide rail (3-2) and an active drill rod (3-4) arranged in the power head, a clamping and shackle assembly (3-1) arranged on the feeding guide rail (3-2), the power head (3-3) can move on the feeding guide rail (3-2), the power head (3-3) and the active drill rod (3-4) are coaxial with the clamping and shackle assembly (3-1), the clamping and shackle assembly (3-1) comprises a clamp and a shackle device which are coaxially arranged, the clamp is arranged close to the power head (3-3) and is a clamp, the shackle device can rotate under the action of the shackle cylinder, and the clamp and the main pressure sensor are distributed at the clamp and the shackle device.
3. The full-automatic drilling control method of the intelligent coal mine drilling machine according to claim 1, wherein the rod supplementing device (6) comprises a rod bin (4-1), a rod supplementing mechanical arm (4-2), a sliding guide rail (4-3), a transfer tray (4-4) and a rack guide rail, the side face and the front face of the rod bin (4-1) are respectively fixed with the sliding guide rail (4-3) and the rack guide rail, the rod supplementing mechanical arm (4-2) is clamped on the rack guide rail and can slide along the rack guide rail, the transfer tray (4-4) is clamped on the sliding guide rail (4-3), the transfer tray (4-4) can slide along the sliding guide rail (4-3), a transfer tray feeding and retreating pressure sensor is arranged on a transfer tray advancing and retreating digital valve through a pressure measuring oil pipe thread, and a transfer tray proximity switch is arranged at one end, close to an oil tank, of the transfer tray (4-4).
4. The full-automatic drilling control method of the intelligent coal mine drilling machine according to claim 1, wherein the rod supplementing mechanical arm (4-2) comprises a vertical rod supplementing big arm (5-1), a rod supplementing vertical arm (5-5), a cross beam (5-4) horizontally connected between the rod supplementing big arm (5-1) and the rod supplementing vertical arm (5-5), a rod supplementing grab (5-2) connected to the lower end of the rod supplementing vertical arm (5-5) and a rod supplementing grab proximity switch (5-3) arranged beside the rod supplementing grab (5-2), the rod supplementing big arm (5-1) can vertically stretch and horizontally move along a rack guide rail, the rod supplementing vertical arm (5-5) can drive the rod supplementing grab (5-2) to vertically stretch and retract to achieve grabbing/placing of a drill rod in a rod bin (4-1), one end of a Y-direction stay rope displacement encoder is fixed to a machine body, the other end of the Y-direction stay rope displacement encoder is connected to a vertical arm cylinder in the rod supplementing big arm (5-1), and the X-direction displacement encoder is installed at one side of the rod bin (4-1) close to the rod bin (4-1), and the rod storage bin (4-1) is connected to one side of the rod bin (4-2).
5. The full-automatic drilling control method of the intelligent coal mine drilling machine according to claim 1, wherein the loading and unloading rod mechanical arm (7) comprises an angle adjusting oil cylinder, a rod big arm (6-1), a rod cross arm, a rod small arm (6-6), a rod gripper (6-2) and a rod gripper proximity switch (6-4) which are connected in sequence, the angle adjusting oil cylinder can adjust the angle of the rod big arm (6-1), the rod cross arm drives the rod small arm (6-6) to rotate through the swinging oil cylinder, the rod big arm (6-1) is perpendicular to the rod cross arm, the rod cross arm is perpendicular to the rod small arm (6-6), the rod small arm (6-6) comprises a first rod small arm (6-3) and a second rod small arm (6-5) which are connected in parallel, the first rod small arm (6-3) can drive the rod gripper (6-2) to extend/retract, the first rod small arm telescopic pressure sensor, the second rod adding small arm telescopic pressure sensor is arranged on the first rod adding small arm (6-3) and the second rod adding small arm (6-5) telescopic digital valve through pressure measuring oil pipe threads, the rod adding small arm rotary angle encoder is arranged at the bottom of the swinging oil cylinder, the rod adding large arm in-place proximity switch is arranged below the feeding guide rail (3-2) and is lifted along with the feeding guide rail (3-2), and the rod adding large arm zero proximity switch is arranged on the body of the drilling host (8) and is not lifted along with the feeding guide rail (3-2).
6. The full-automatic drilling control method of the intelligent drilling machine for the coal mine, as claimed in claim 1, comprises the following steps: s1, when a drilling machine runs for the first time, a rod bin of a rod supplementing device is subjected to rod detection and rod searching counting through a Y-direction stay cord displacement encoder, an X-direction stay cord displacement encoder and a rod supplementing handle proximity switch; S2, judging whether the clamping or loosening action of the clamp is finished according to the real-time signal changes of the main clamping pressure sensor and the clamping unloading pressure sensor, acquiring the real-time position of the power head through a power head displacement encoder, and carrying out the starting point shackle of the active drill rod and the prefronous drill rod, wherein after the shackle is finished, the power head moves to the rearmost end of the feeding guide rail to feed back the displacement of the feeding guide rail to the controller; S3, monitoring pressure change of a feeding and retreating pressure sensor of the transfer tray in the process of grabbing the drill rod, and judging that the transfer tray reaches a waiting point of a rod supplementing position when the reading of the feeding and retreating pressure sensor of the transfer tray is more than 13 Mpa; S4, feeding back a rod supplementing device to a controller by the X-direction stay cord displacement encoder and the Y-direction stay cord displacement encoder to reach a rod supplementing position waiting point, and transmitting a rod supplementing handle proximity switch signal to the controller when a rod supplementing handle descends to touch a drill rod, wherein the rod supplementing handle places the drill rod into a transfer tray, and the transfer tray proximity switch detects the drill rod; S5, monitoring pressure change of a transfer tray feeding and retreating pressure sensor, and judging that the transfer tray reaches a waiting point of a rod adding position when the reading of the transfer tray feeding and retreating pressure sensor is more than 13 Mpa; S6, monitoring pressure change of a second rod adding small arm telescopic pressure sensor in the rod adding process, when the set pressure is 20Mpa, enabling the first rod adding small arm and the second rod adding small arm to extend completely, and when a rod adding gripper descends to touch a drill rod, enabling a rod adding gripper proximity switch to feed back signals to a controller, enabling the rod adding gripper to be closed and enabling the second rod adding small arm to retract; S7, detecting that the big arm of the adding rod is in place by a big arm in place proximity switch of the adding rod, carrying out forward rotation on the small arm of the adding rod, acquiring a position feedback controller of the small arm of the adding rod to be 90 degrees through a rotation angle encoder of the small arm of the adding rod, ensuring that the small arm of the adding rod swings to an upper drill rod point to wait, monitoring pressure changes of a first small arm telescopic pressure sensor and a second small arm telescopic pressure sensor, and fully extending the small arm of the first adding rod and the small arm of the second adding rod when the set pressure is 20 Mpa; S8, monitoring pressure change of a main clamping pressure sensor, clamping and holding a drill rod by a clamp, opening a rod adding gripper, retracting a first rod adding small arm and a second rod adding small arm, enabling the rotation of the rod adding small arm to be 0 degrees through a feedback controller angle value of a rod adding small arm rotation angle encoder, and enabling a rod adding large arm zero position proximity switch to perform zero position detection on the rod adding large arm to be at an initial position; S9, feeding the power head forwards, feeding back the moving displacement of the power head on a feeding guide rail in real time through a power head displacement encoder, and feeding back the power head displacement encoder to a controller to output 20 when the power head reaches a buckling point 1, so as to buckle; S10, monitoring the change condition of a main clamping pressure sensor in the system, when the feedback of an I pump pressure sensor of a motor pump set to a controller is 10Mpa, indicating that the buckling is completed, opening a clamp, acquiring the real-time position of a power head on a feeding guide rail, feeding the power head to an upper buckling point 2, feeding a power head displacement encoder to the controller to output 100, buckling a middle drill rod and a front drill rod, clamping and maintaining a clamping unloading, and when the feedback of the clamping unloading pressure sensor to the controller is 10Mpa, fully automatically completing buckling of the middle drill rod and the front drill rod, and fully automatically drilling a drill rod, wherein the power head drills to the forefront end; and S11, feeding back the displacement of the power head on the feeding guide rail in real time by the power head displacement encoder, and when the displacement of the power head reaches the starting point of the shackle of the active drill rod and the front drill rod and the shackle is fed back to the controller by the clamping pressure sensor to be 10Mpa, the power head is retreated to the rearmost end after the shackle is completed, and repeating S2-S10 until the designed drilling depth is reached.
7. The full-automatic drilling control method of the intelligent coal mine drilling machine, as set forth in claim 6, is characterized in that S1 comprises the steps of Y-direction positioning, Y-direction stay cord displacement encoder detecting displacement change of a large rod compensating arm in the Y-axis direction in real time, oil cylinder stroke fixing of the rod compensating vertical arm, controller calibrating accurate Y-coordinate positions corresponding to each layer of drill rods in a rod bin dynamically based on data collected by the Y-direction stay cord displacement encoder and combined with oil cylinder working states of the rod compensating vertical arm, X-direction positioning, X-direction stay cord displacement encoder monitoring displacement of the large rod compensating arm in the X-axis direction in real time, calibrating the X-coordinate positions of the drill rods in the rod bin, and when the rod compensating arm contacts the drill rods downwards, rod compensating arm proximity switches are triggered, signals are transmitted to the controller, and accurate identification and counting of the drill rods at all positions in the rod bin are achieved.

Description

Full-automatic drilling control method for intelligent drilling machine for coal mine Technical Field The invention belongs to the technical field of intelligent drilling machines for coal mines, and relates to a full-automatic drilling control method for an intelligent drilling machine for the coal mine. Background The current intelligent drilling machine technology for coal mines mainly surrounds manual experience driving, semi-automatic operation and basic automatic control and unfolding. The traditional drilling operation takes manually-adjusted parameters such as drilling pressure, rotating speed and the like as a core, the stratum change is judged by relying on experience of operators, the drilling efficiency and the pore-forming quality are directly influenced by the operation experience, the difference of operation effects among different groups is obvious, long-term training and accumulation experience are needed, part of equipment is used for realizing semi-automatic loading and unloading of a drill rod through a clamp and a mechanical arm, but the semi-automatic loading and unloading of the drill rod is limited by insufficient precision (positioning error +/-5 cm) of a mechanical structure and a positioning sensor, the neutral difference of the drill rod is easy to cause, the eccentric wear or jamming of a drilling tool is easy to cause, meanwhile, the dynamic adaptability to complex stratum (such as coal rock hardness mutation) is not needed, the optimal drilling state is difficult to maintain, the operator is still needed to operate an orifice in a short distance, and the exposure risk of high-risk environment exists. Although these techniques have improved the level of rig automation to some extent, there are still significantly shorter plates in terms of efficiency, accuracy and safety. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide a full-automatic drilling control method of an intelligent drilling machine for a coal mine, which solves the problems that in the prior art, drilling parameters depend on operation experience, efficiency fluctuation is large, meanwhile, safety hidden danger that personnel need to operate an orifice at a short distance in the operation of a traditional drilling machine exists, positioning precision is poor, single-cycle operation time is long and the like. In order to solve the technical problems, the invention adopts the following technical scheme: The control method is characterized in that the control method receives and controls signals fed back by sensors, encoders and proximity switches on the intelligent coal mine drilling machine through the controller, monitors drilling data of the drilling machine in real time and realizes the full-automatic drilling control of the intelligent coal mine drilling machine; The clamping shackle assembly of the drilling host machine is provided with a main clamping pressure sensor and a clamping unloading pressure sensor for monitoring pressure changes of two states of clamping/loosening of the clamping shackle assembly; the motor pump set is provided with an I pump pressure sensor so as to monitor the pressure change of the I pump; The transfer tray of the rod supplementing device is provided with a transfer tray advancing and retreating pressure sensor and a transfer tray proximity switch, so as to monitor the pressure change of two states of an upper rod position waiting point and a rod supplementing position waiting point when the transfer tray advances, and detect whether a drill rod exists in the transfer tray; The first and second adding small arms are respectively provided with a first adding small arm telescopic pressure sensor and a second adding small arm telescopic pressure sensor so as to monitor pressure changes of the first adding small arm and the second adding small arm in two states; the big arm of the loading and unloading rod mechanical arm is correspondingly provided with a big arm in-place proximity switch and a big arm zero proximity switch to detect whether the big arm is in place or at an initial position. The invention also comprises the following technical characteristics: The drilling host comprises a feeding guide rail, a middle angle adjusting device arranged below the feeding guide rail, a front angle adjusting device arranged at the front end of the feeding guide rail, a power head arranged on the feeding guide rail, a driving drill rod arranged in the power head, a clamping shackle assembly arranged on the feeding guide rail, wherein the power head can move on the feeding guide rail, the power head and the driving drill rod are coaxial with the clamping shackle assembly, the clamping shackle assembly comprises a clamping device and a shackle device which are coaxially arranged, the clamping device is a clamping device close to the power head and can rotate under the action of a shackle oil cylinder, and a main clamping pressure sensor an