CN111577169A - Automatic transferring, loading and unloading system for electric coal mine drill carriage drill rods and working method - Google Patents

Abstract

The invention discloses an automatic drill rod transferring, loading and unloading system of an electric coal mine drill carriage and a working method, wherein the automatic transferring, loading and unloading system comprises a drill rod warehouse, a drill rod transferring mechanism, a drill rod loading and unloading mechanism and a controller; the drill rod warehouse is characterized in that a V-shaped drill rod placing frame is fixed in a box body, and the drill rod transfer mechanism is formed by sequentially connecting a machine base, a waist seat, a large arm, a small arm, a wrist, an end effector and driving joints among the machine base, the waist seat, the large arm, the small arm, the wrist and the end effector; the drill rod is taken out from the three-dimensional drill rod warehouse by controlling the waist seat rotation, the large arm swing, the small arm swing, the wrist swing, the connecting beam rotation and the paw grabbing motion, then the drill rod is transferred to the position where the drill rod is to be assembled and disassembled, and finally the whole working process of assembling and disassembling the drill rod is completed. The invention can realize the automation of loading and unloading the drill rod by matching with a CMS1-4500 (55) coal mine drill carriage.

Description

Automatic transferring, loading and unloading system for electric coal mine drill carriage drill rods and working method

Technical Field

The invention relates to a drill carriage for a coal mine, in particular to a drill rod loading and unloading system of the drill carriage.

Technical Field

In the existing underground coal mine drilling construction, a drill carriage is generally adopted, such as a CMS1-4500 (55) coal mine drill carriage; the current CMS1-4500 (55) coal mine drill trucks are mostly manually operated to load and unload drill rods, the operation labor intensity is high, the working conditions are severe, and safety accidents of operators are easily caused. To improve the above situation, the following technologies are currently available:

the patent granted by wandonghua 2019 in 7 months entitled "drill pipe vehicle with automatic drill pipe loading and unloading function" is shown in fig. 1. The drill rod vehicle adopts a first-stage vertical main arm, a second-stage vertical main arm and a horizontal cross arm to control the action of a manipulator, so that the drill rod is grabbed. The drill rod vehicle is a rectangular coordinate type mechanical arm, and is not suitable for drill rod loading and unloading work of the special hydraulic drill carriage.

Granted patent "a device for automatically assembling and disassembling drill rods for a gas drilling rig in a soft coal seam" in 2018, xinguo, as shown in fig. 2, adopts an auxiliary clamping and positioning device fixed between a front power head and a rear power head to realize automatic connection of drill rods. But the device does not have a drill pipe transfer mechanism.

The patent entitled "automatic handling device for drill rods" in Zhao Zhong, 2018 and 8 months is shown in FIG. 3. The device designs and installs a drilling rod support and assists the ware, puts into the drilling rod and supports in the assistor, can realize drilling rod loading and unloading. But the device does not involve a drill rod transfer mechanism.

In summary, the drill rod handling system designed in the prior art is not suitable for the drill rod handling work of CMS1-4500 (55) coal mine drilling rigs.

Disclosure of Invention

The invention provides an automatic transfer, loading and unloading system of a drilling rod of an electrodynamic type coal mine drill carriage and a working method of the system aiming at the specific structural size and construction process of a CMS1-4500 (55) coal mine drill carriage, so that the automation degree of drilling construction is improved, the labor intensity of workers is reduced, the drilling time is saved, and the operation efficiency and the safety of coal mine production are improved.

The technical scheme is as follows: an automatic drill rod transferring, loading and unloading system of an electric coal mine drill carriage comprises a drill rod warehouse, a drill rod transferring mechanism, a drill rod loading and unloading mechanism and a controller; the drill rod loading and unloading mechanism comprises a power head, a guide rail, a rack and a clamp holder, wherein the power head comprises a chuck, a hydraulic motor and a speed reducer, the chuck is used for clamping a drill rod, high-speed power output by the hydraulic motor is converted into low speed after passing through the speed reducer, and then the drill rod is driven to carry out drilling construction. The drill rod loading and unloading mechanism and the working principle are the prior art; the method is characterized in that:

the drill rod storage is a three-dimensional drill rod storage for storing drill rods, the three-dimensional drill rod storage is arranged at the rear part of one side of the drill carriage chassis, and the placing direction of the drill rods to be grabbed is consistent with the traveling direction of the drill carriage; the three-dimensional drill rod warehouse is characterized in that a V-shaped drill rod placing frame, referred to as a V-shaped frame for short, is fixed in a box body, two wings of the V-shaped frame are used for placing drill rods, an upper stop block and a lower stop block are respectively arranged at two ends of the bottom of each wing, and driving electric cylinders are respectively arranged below the upper stop block and the lower stop block; a drill rod ejection electric cylinder is respectively arranged at two ends under the V-shaped frame, and a bush sleeve is arranged at the top end of the drill rod ejection electric cylinder; the working principle is that the driving electric cylinder drives the upper and lower stop blocks to eject or retract respectively so as to position the drill rod or release the drill rod to the tile sleeve, and the drill rod is lifted up when the drill rod ejecting electric cylinder extends out so as to be grabbed by the drill rod transfer mechanism.

Further, the surface of the tile sleeve is provided with a buffer rubber pad.

The drill rod transfer mechanism is arranged in front of a three-dimensional drill rod library of a drill carriage chassis, consists of a machine base, a waist seat, a large arm, a small arm, a wrist, an end effector and driving joints among the machine base, the waist seat, the large arm, the small arm, the wrist and the end effector which are sequentially connected and is used for grabbing drill rods from the drill rod library and transferring the drill rods to the tail end of a drill carriage guide rail; the driving joint is an integrated component of a motor and a speed reducer, namely, the output shaft of the motor is a speed-reduced output shaft, such as a base motor, a waist base motor, a large arm motor, a small arm motor and a wrist motor which are described below;

the drill rod transfer mechanism is specifically constructed in a way that a base motor is fixed on a base plate of the base, and an output shaft of the base motor is connected with a waist seat through a gear, so that the base motor drives the waist seat to rotate; the output shaft of the waist seat motor is connected with the large arm through a key; the output shaft of the large arm motor is connected with the small arm through a key; the output shaft of the forearm motor is connected with the wrist through a key; the end effector comprises a connecting beam, a paw and a transmission shaft; the wrist is in meshing transmission connection with the transmission shaft by adopting a pair of bevel gears, wherein the small bevel gear is arranged on an output shaft of the wrist driving motor, and a shaft of the large bevel gear is connected with the transmission shaft by a key; two paw driving electric cylinders are fixed on the connecting beam, arc-shaped sliding grooves are formed in the side ends of the paws, and the rolling shafts penetrate through the arc-shaped sliding grooves, so that the paws on the two sides are respectively connected with the extending rods of the corresponding paw driving electric cylinders through the rolling shafts; the two electric cylinders respectively drive the two side paws to move, so that the rolling shaft drives the paws to move along the track of the sliding groove, the closing and the loosening of the paws are realized, the opening and closing angle of the paws is adjusted, and the grabbing of the drill rod to be grabbed is completed; the paw is arc-shaped and is suitable for the shape of a drill rod to be grabbed; the centre of the paw is located on the axis of rotation of the wrist to minimise the torsional moment of the wrist.

Based on the moment balance principle, the paw adopts a parallel three-paw structure, namely, a single-paw and a double-paw are respectively arranged on two sides, and the length of a side roller of the single-paw is smaller than that of a side roller of the double-paw.

In addition, the gripper surface is equipped with the antiskid cushion to increase surface friction, realize snatching the accuracy of drilling rod.

The drill rod assembling and disassembling mechanism is the prior art and comprises a power head, a guide rail, a rack and a clamp holder; the power head comprises a chuck, a hydraulic motor and a speed reducer, the chuck is used for clamping the drill rod, and high-speed power output by the hydraulic motor is converted into low speed after passing through the speed reducer so as to drive the drill rod to carry out drilling construction;

the controller is a control component which controls and drives the joint motor to operate by adopting an demonstrating method and is used for controlling the movement of each joint of the whole set of system; the teaching method is the prior art; the drill rod is taken out from the three-dimensional drill rod warehouse by controlling the waist seat rotation, the large arm swing, the small arm swing, the wrist swing, the connecting beam rotation and the paw grabbing motion, then the drill rod is transferred to the position where the drill rod is to be assembled and disassembled, and finally the whole working process of assembling and disassembling the drill rod is completed.

The working method of the system is as follows:

the method comprises the following steps that firstly, a system is powered on, a controller controls the whole system to reset, and a paw is located in a waiting working area of a drill rod warehouse;

the controller controls a driving electric cylinder of one wing of the V-shaped frame to drive the lower stop block to retract, the bottommost drill rod is released into the tile sleeve to drive the lower stop block to extend and drive the upper stop block to retract, the second drill rod falls to the bottommost, the rest drill rods fall along with the second drill rod, and the upper stop block extends to position the drill rods;

thirdly, the controller controls the drill rod to eject the electric cylinder to extend out, and the drill rod is lifted;

the controller controls the paw to grab the drill rod, and then controls the posture of the drill rod transfer mechanism to transfer the drill rod to the position to be installed; during transfer, the controller controls the swinging motion of the large arm and the small arm to enable the paw to move to a position coaxial with the original point Y coordinate of the drill rod to be loaded and unloaded; then, the connecting beam is controlled to rotate, the paw moves to the tail end of the guide rail, and finally the clamped drill rod is positioned in the tail end direction of the guide rail, so that the requirement on the loading and unloading posture of the drill rod is met;

fifthly, the controller controls the power head to retreat to the tail end of the guide rail, the chuck clamps the drill rod, the paw loosens the drill rod, and the power head drives the drill rod to rotate forward and perform feeding motion to enable the drill rod to rotate and complete drill rod installation;

and sixthly, when the drill rod is disassembled, the operation is opposite to that of the fifth step until the drill rod is loosened by the chuck, and after the drill rod is grabbed by the paw, the operation is opposite to that of the fourth step, the drill rod is transferred to the drill rod warehouse and is placed back to the position of the uppermost drill rod of the V-shaped frame.

The whole set of automatic drill rod transferring and loading and unloading system consists of a three-dimensional drill rod warehouse, a drill rod transferring mechanism, a drill rod loading and unloading mechanism and a controller and is used for realizing the loading and unloading of drill rods. The invention has the characteristics of simple structure, high automation degree of drill rod loading and unloading, safe and reliable operation and the like, and is particularly suitable for loading and unloading operation of the wide-blade drill rod under the coal mine.

The drill rod transferring, loading and unloading system has the following advantages:

(1) the invention has simple structure, convenient operation and high cost performance.

(2) The drill rod loading and unloading system is matched with a CMS1-4500 (55) coal mine drill carriage, so that the automation of loading and unloading the drill rod can be realized, the labor intensity of workers is reduced, and the safety of the loading and unloading operation of the drill rod is improved.

(3) The drill rod transfer mechanism provided by the invention adopts the multi-joint type manipulator to transfer the drill rod, so that the labor can be saved, and the construction safety can be improved.

Drawings

FIG. 1 is a perspective view of a prior art auto-handler drill pipe truck;

FIG. 2 is a perspective view of an automatic drill pipe loading and unloading device of a gas discharge drilling machine for a soft coal seam in the prior art;

FIG. 3 is a perspective view of a prior art drill rod auto-handler;

FIG. 4 is a schematic perspective view of an embodiment of the present invention;

FIG. 5 is a schematic view of the connection of the lower arm and the gripper of the drill pipe transfer mechanism according to the embodiment of the present invention;

FIGS. 6, 7 and 8 are front, side and top views, respectively, of an end effector of a rod transfer mechanism according to an embodiment of the present invention;

fig. 9 and 10 are schematic front views of a drill rod three-dimensional warehouse according to an embodiment of the invention, wherein fig. 9 shows a waiting state, and fig. 10 shows a lifting state;

FIG. 11 is a flow chart of the operation of the transfer of example drill rods;

FIG. 12 is a graphical depiction of the trajectory of an example drill pipe transfer;

fig. 13 is a functional diagram of a controller according to an embodiment of the present invention. .

Illustration of the drawings: 1-machine base, 2-waist base, 3-large arm, 4-paw, 5-power head, 6-connecting beam, 7-paw driving electric cylinder, 8-working drill rod, 9-chuck, 10-guide rail, 11-wrist, 12-drill rod to be installed, 13-small arm, 14-motor, 15-drill rod warehouse, 16-upright column, 17-paw driving electric cylinder extension rod, 18-box, 19-drill rod placing frame, 20-drill rod to be grabbed, 21-upper block driving electric cylinder, 22-lower block driving electric cylinder, 23-upper block, 24-lower block, 25-bush, 26-drill rod ejection electric cylinder extension rod, 27-drill rod ejection electric cylinder and 28-rolling shaft.

Detailed Description

As shown in fig. 4, the automatic drill rod transferring, loading and unloading system for the electric coal mine drill carriage comprises a drill rod warehouse 15, a drill rod transferring mechanism, a drill rod loading and unloading mechanism and a controller; the drill rod loading and unloading mechanism comprises a power head 5, a guide rail, a rack and a clamp holder, wherein the power head 5 comprises a chuck 9, a hydraulic motor and a speed reducer, the chuck 9 is used for clamping a drill rod, high-speed power output by the hydraulic motor is converted into low speed after passing through the speed reducer, and then the drill rod is driven to carry out drilling construction. The drill rod loading and unloading mechanism and the working principle are the prior art; the drill rod warehouse 15 is a three-dimensional drill rod warehouse for storing drill rods, the three-dimensional drill rod warehouse is arranged at the rear part of one side of a carriage plate of the drill carriage, and the placing direction of the drill rods 20 to be grabbed is consistent with the traveling direction of the drill carriage; the structure of the three-dimensional drill rod warehouse 15 is shown in fig. 9 and 10, a V-shaped drill rod placing frame 19, referred to as a V-shaped frame for short, is fixed in a box body, two wings of the V-shaped frame are used for placing drill rods 20 to be grabbed, an upper stop block 23 and a lower stop block 24 are arranged at two sides of the bottommost part of each wing, and an upper stop block driving electric cylinder 21 and a lower stop block driving electric cylinder 22 are respectively arranged below the upper stop block 23 and the lower stop block 24; drill rod ejection electric cylinders 27 are respectively arranged on two sides under the V-shaped frame, and tile sleeves 25 are arranged at the top ends of extension rods of the drill rod ejection electric cylinders 27; the working principle is that the upper stop block driving electric cylinder 21 and the lower stop block driving electric cylinder 22 respectively drive the upper stop block 23 and the lower stop block 24 to eject or retract so as to position the drill rod 20 to be grabbed or release the drill rod 20 to be grabbed into the tile sleeve 25, and the drill rod ejecting electric cylinder 27 lifts the drill rod 20 to be grabbed when extending out for the drill rod transfer mechanism to grab.

Further, the bush sleeve 25 is connected with the drill rod ejection electric cylinder extension rod 26 through a bolt, and a buffer rubber pad is arranged on the surface of the bush sleeve 25, so that load impact is reduced when the drill rod rolls down.

The drill rod transfer mechanism is arranged in front of a three-dimensional drill rod library 15 of a drill carriage chassis, and is formed by sequentially connecting a machine base 1, a waist seat 2, a large arm 3, a small arm 13, a wrist 11, an end effector (comprising two claws 7, a pin shaft 28, a connecting beam 6, a claw driving electric cylinder 7 and a claw driving electric cylinder extension rod 17) and driving joints among the two parts, and is used for grabbing drill rods from the drill rod library 15 and transferring the drill rods to the tail end of a drill carriage guide rail; the driving joint is an integrated component of a motor and a speed reducer, namely, the output shaft of the motor is a speed-reduced output shaft, such as a base motor 14a, a waist base motor 14b, a large arm motor 14c, a small arm motor 14d and a wrist motor 14e which are described below; the drill rod transfer mechanism is specifically constructed in a way that a base motor 14a is fixed on a base plate of the base 1, and an output shaft of the base motor is connected with the waist seat 2 through a gear, so that the base motor 14a drives the waist seat 2 to rotate; the output shaft of the waist seat motor 14b is connected with the large arm 3 through a key; the output shaft of the large arm motor 14c is connected with the small arm 13 through a key; the output shaft of the forearm motor 14d is connected with the wrist 11 through a key, as shown in FIG. 5; the wrist 11 is in meshing transmission connection with a transmission shaft by adopting a pair of bevel gears, wherein a small bevel gear is arranged on an output shaft of a wrist driving motor 14e, a shaft of a large bevel gear is connected with the transmission shaft by a key, as shown in figures 6, 7 and 8, two claws 4 of the end effector are connected with an extension rod 17 of a claw driving electric cylinder 7 by a rolling shaft 28; two paw driving electric cylinders 7 are fixed on the connecting beam 6, arc-shaped sliding grooves are formed in the side ends of the paws, and the rolling shafts 28 penetrate through the arc-shaped sliding grooves, so that the paws 4 on the two sides are respectively connected with the extending rods 17 of the corresponding paw driving electric cylinders 7 through the rolling shafts 28; the two electric cylinders 7 respectively drive the two side claws 4 to move, so that the rolling shaft 28 drives the claws 4 to move along the track of the sliding chute, the closing and the loosening of the claws 4 are realized, the opening and closing angle of the claws 4 is adjusted, and the grabbing of the drill rod 20 to be grabbed is completed; the paw 4 is arc-shaped and is suitable for the shape of the drill rod 20 to be grabbed; the centre of the finger 4 is located on the pivot axis of the wrist 11 to minimise the torsional moment of the wrist 11.

Based on the moment balance principle, the paw adopts a parallel three-paw structure, namely 1 paw and 2 paws are respectively arranged on two sides, and the length of the side roller of the single paw is smaller than that of the side roller of the double paws, as shown in fig. 6, 7 and 8. In addition, the gripper surface is equipped with the antiskid cushion to increase surface friction, realize snatching the accuracy of drilling rod.

The drill rod loading and unloading mechanism is an existing mechanism on an existing drill carriage and comprises a power head 5, a guide rail 10, a rack, a chuck 9, a hydraulic motor and a speed reducer; the chuck 9 is used for clamping the drill rod, and high-speed power output by the hydraulic motor is converted into low speed through the speed reducer so as to drive the drill rod to carry out drilling construction;

the controller is a control component which controls and drives the joint motor to operate by adopting an demonstrating method and is used for controlling the movement of each joint of the whole set of system; the teaching method is the prior art; the drill rod is taken out from the three-dimensional drill rod warehouse 15 by controlling the rotation of the waist seat 2, the swing of the large arm 3, the swing of the small arm 13, the swing of the wrist 11, the rotation of the connecting beam 6 and the grabbing motion of the paw 4, then the drill rod is transferred to the position where the drill rod is to be assembled and disassembled, and finally the whole working process of assembling and disassembling the drill rod is completed.

As shown in fig. 11, the working method of the present invention is as follows:

1. the system is powered on, the controller controls the whole system to reset, and the paw 4 is positioned in a waiting working area of the drill rod warehouse;

2. the controller controls a driving electric cylinder of one wing of the V-shaped frame to retract the lower stop block 24, the bottommost drill rod is released into the tile sleeve 25, the lower stop block 24 is driven to extend out of the upper stop block 23 to retract, the second drill rod falls to the bottommost drill rod, the rest drill rods fall along with the lower stop block, and the upper stop block 23 extends out to position the drill rod 20 to be grabbed;

3. the controller controls the drill rod ejection electric cylinder 27 to extend out and lift the drill rod 20 to be grabbed;

4. the controller controls the gripper 4 to grasp the drill rod 20 to be grasped and then controls the posture of the drill rod transfer mechanism so as to transfer the drill rod 20 to be grasped to the position to be installed to form the drill rod 12 to be installed; during transfer, the controller controls the swinging motion of the large arm 3 and the small arm 13, so that the paw 4 moves to a position coaxial with the original point Y coordinate of the drill rod 12 to be loaded and unloaded; then, the connecting beam 6 is controlled to rotate, so that the paw 4 moves to the tail end of the guide rail 10, and finally the clamped drill rod is positioned in the tail end direction of the guide rail 10 to meet the loading and unloading posture of the drill rod;

5. the controller controls the power head 5 to retreat to the tail end of the guide rail 10, the chuck 9 clamps the drill rod 12 to be installed, the paw 4 loosens the drill rod, the power head 5 drives the drill rod 12 to be installed to rotate forwards along the guide rail 10 and perform feeding motion, so that the drill rod 12 to be installed and the working drill rod 8 clamped by the chuck 9 are subjected to rotary union, the rod installation operation is realized, and the drilling operation is continued;

the gripper 4 returns to the original position of the drill rod to be grabbed after loosening the drill rod, and waits for the next grabbing and transferring work; repeating the steps until the drilling depth is reached;

6. when the working drill rod 8 is disassembled, the operation is opposite to the 5 th step until the chuck 9 loosens the drill rod, the gripper 7 grabs the drill rod and performs the opposite operation with the 4 th step, and the drill rod is transferred to the three-dimensional drill rod warehouse 15 and placed back on the V-shaped frame until all the drill rods are disassembled.

The movement trajectory of the drill rod transfer mechanism is explained below with reference to fig. 12: taking the front corner point at the upper left of the drill rod warehouse 15 as a coordinate origin, namely an O point; the right, upper and front of the drill rod warehouse 15 are respectively the positive directions of the axes of the three-dimensional coordinate system X, Y, Z; in consideration of the barycentric balance of the drill rod to be grabbed and the dimensional relationship of each part of the system, the original point position of the drill rod 20 to be grabbed, the original point position of the gripper 4 and the middle point of the distance between the two extension rods when the extension rods of the electric drill rod ejection cylinder 27 extend to the right position are set as the same coordinate point (1300, 500, 500), namely the point C, wherein the geometric relationship of the original point position of the drill rod 20 to be grabbed is described as the central point of the bottom surface of the drill rod, the geometric relationship of the original point position of the gripper 4 is described as the central position of the projection of the gripper in the XZ plane when the electric drill rod ejection cylinder 27 extends to the right position, namely the point Q in fig. 6, the point is the central point of the geometric relationship of the gripper 4, and the middle point of the distance between the two extension rods when the extension rods of the electric drill rod ejection cylinder 27.

The gripper 4 sequentially passes through A, B points from the point O to the point C and grips the drill rod, and then the gripper 4 is transferred to the point D, wherein the point is the Y-axis coordinate of the original point position of the drill rod 20 to be loaded and unloaded; and then, transferring to a point F through a point E, and finally reaching a point H, wherein the point is the position of the paw under the attitude of the drill rod to be assembled and disassembled.

Claims (6)

1. An automatic drill rod transferring, loading and unloading system of an electric coal mine drill carriage comprises a drill rod warehouse, a drill rod transferring mechanism, a drill rod loading and unloading mechanism and a controller; the drill rod loading and unloading mechanism comprises a power head, a guide rail, a rack and a clamp holder, wherein the power head comprises a chuck, a hydraulic motor and a speed reducer, and the chuck is used for clamping a drill rod; the method is characterized in that:

the drill rod storage is a three-dimensional drill rod storage for storing drill rods, the three-dimensional drill rod storage is arranged at the rear part of one side of the drill carriage chassis, and the placing direction of the drill rods to be grabbed is consistent with the traveling direction of the drill carriage; the three-dimensional drill rod warehouse is characterized in that a V-shaped drill rod placing frame, referred to as a V-shaped frame for short, is fixed in a box body, two wings of the V-shaped frame are used for placing drill rods, an upper stop block and a lower stop block are respectively arranged at two ends of the bottom of each wing, and driving electric cylinders are respectively arranged below the upper stop block and the lower stop block; a drill rod ejection electric cylinder is respectively arranged at two ends under the V-shaped frame, and a bush sleeve is arranged at the top end of the drill rod ejection electric cylinder;

the drill rod transfer mechanism is arranged in front of a three-dimensional drill rod library of a drill carriage chassis, consists of a machine base, a waist seat, a large arm, a small arm, a wrist, an end effector and driving joints among the machine base, the waist seat, the large arm, the small arm, the wrist and the end effector which are sequentially connected, and is used for grabbing a drill rod from the drill rod library, transferring the drill rod to the tail end of a drill carriage guide rail and rotating with a working drill rod under the movement of a power head; the driving joint is an integrated component of the motor and the speed reducer, namely, the output shaft of the motor is the output shaft after speed reduction;

the end effector comprises a connecting beam, a paw and a transmission shaft; the wrist is in meshing transmission connection with the transmission shaft by adopting a pair of bevel gears, wherein the small bevel gear is arranged on an output shaft of the wrist driving motor, and a shaft of the large bevel gear is connected with the transmission shaft by a key; two paw driving electric cylinders are fixed on the connecting beam, arc-shaped sliding grooves are formed in the side ends of the paws, and the rolling shafts penetrate through the arc-shaped sliding grooves, so that the paws on the two sides are respectively connected with the extending rods of the corresponding paw driving electric cylinders through the rolling shafts; the two electric cylinders respectively drive the two side paws to move, so that the rolling shaft drives the paws to move along the track of the sliding groove, the closing and the loosening of the paws are realized, the opening and closing angle of the paws is adjusted, and the grabbing of the drill rod to be grabbed is completed; the paw is arc-shaped and is suitable for the shape of a drill rod to be grabbed; the center of the paw is positioned on the rotation axis of the wrist so as to minimize the torsion moment of the wrist;

the controller is a control component which controls and drives the joint motor to operate by adopting an demonstrating method and is used for controlling the movement of each joint of the whole set of system; the drill rod is taken out from the three-dimensional drill rod warehouse by controlling the waist seat rotation, the large arm swing, the small arm swing, the wrist swing, the connecting beam rotation and the paw grabbing actions, then the drill rod is transferred to the position where the drill rod is to be assembled and disassembled, and finally the whole working process of assembling and disassembling the drill rod is completed.

2. The system of claim 1, wherein the electric cylinder is composed of a dc motor and a ball screw, and is a member for converting a rotational motion of the dc motor into a linear motion of the extension bar;

the system of claim 1, wherein the drill rod transfer mechanism is coupled in the relationship: the machine seat is characterized in that a machine seat motor is fixed on a machine seat plate, and an output shaft of the machine seat motor is connected with the waist seat through a gear, so that the machine seat motor drives the waist seat to rotate; the output shaft of the waist seat motor is connected with the large arm through a key; the output shaft of the large arm motor is connected with the small arm through a key; the output shaft of the forearm motor is connected with the wrist through a key.

3. The system of claim 1, wherein the gripper is a parallel three-jaw configuration, i.e., a single-piece gripper and a double-piece gripper are disposed on opposite sides of the gripper, and wherein the single-piece gripper side roller is shorter than the double-piece gripper side roller.

4. The system of claim 1, wherein said paw surface is provided with a non-slip rubber pad.

5. The system of claim 1, wherein said shoe surface is provided with a cushion rubber pad.

6. A method of operating a system as claimed in any one of claims 1 to 6, comprising:

the method comprises the following steps that firstly, a system is powered on, a controller controls the whole system to reset, and a paw is located in a waiting working area of a drill rod warehouse;

the controller controls a driving electric cylinder of one wing of the V-shaped frame to drive the lower stop block to retract, the bottommost drill rod is released into the tile sleeve to drive the lower stop block to extend and drive the upper stop block to retract, the second drill rod falls to the bottommost, the rest drill rods fall along with the second drill rod, and the upper stop block extends to position the drill rods;

thirdly, the controller controls the drill rod to eject the electric cylinder to extend out, and the drill rod is lifted;

the controller controls the paw to grab the drill rod, and then controls the posture of the drill rod transfer mechanism to transfer the drill rod to the position to be installed; during transfer, the controller controls the swinging motion of the large arm and the small arm to enable the paw to move to a position coaxial with the original point Y coordinate of the drill rod to be loaded and unloaded; then, the connecting beam is controlled to rotate, the paw moves to the tail end of the guide rail, and finally the clamped drill rod is positioned in the tail end direction of the guide rail, so that the requirement on the loading and unloading posture of the drill rod is met;

fifthly, the controller controls the power head to retreat to the tail end of the guide rail, the chuck clamps the drill rod, the paw loosens the drill rod, and the power head drives the drill rod to rotate forward and perform feeding motion to enable the drill rod to rotate and complete drill rod installation;

and sixthly, when the drill rod is disassembled, the operation is opposite to that of the fifth step until the drill rod is loosened by the chuck, and after the drill rod is grabbed by the paw, the operation is opposite to that of the fourth step, the drill rod is transferred to the drill rod warehouse and is placed back to the position of the uppermost drill rod of the V-shaped frame.

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