CN112658664A - Automatic connecting device and method for coal mine drill rods - Google Patents
Automatic connecting device and method for coal mine drill rods Download PDFInfo
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- CN112658664A CN112658664A CN202011581736.4A CN202011581736A CN112658664A CN 112658664 A CN112658664 A CN 112658664A CN 202011581736 A CN202011581736 A CN 202011581736A CN 112658664 A CN112658664 A CN 112658664A
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Abstract
The invention relates to an automatic connecting device and an automatic connecting method for coal mine drill rods, belonging to the technical field of coal mine drill rod detection, wherein the automatic connecting device for coal mine drill rods comprises a guide chute arranged on a support, the rear end of the guide chute is provided with a material pushing mechanism capable of pushing a drill rod to be loaded in the guide chute to move along the guide chute, the front end of the guide chute is provided with a fastening system, the fastening system comprises a slide rail arranged along the length direction of the guide chute, a supporting plate is connected onto the slide rail in a sliding manner, and the supporting plate is connected with a supporting plate driving device capable of enabling the supporting plate to move along the slide; the supporting plate driving device is a screw rod nut pair driven by the screw rod driving device, a chuck with a clamping center coaxial with a drill rod to be installed in the guide chute is arranged on the supporting plate, and the chuck is connected with a rotary driving device capable of enabling the chuck to rotate around the clamping center; and a clamping device with the clamping center coaxial with the clamping center of the chuck is arranged on one side of the chuck, which is far away from the material guide groove, and the clamping device is arranged on the bracket. The invention realizes the automatic connection of the drill rods.
Description
Technical Field
The invention belongs to the technical field of coal mine drill rod detection, and relates to an automatic connection device and an automatic connection method for a coal mine drill rod.
Background
In recent years, with the improvement of the requirements of the mine drilling process, the overall performance of the connected drill rods is more strictly required. Therefore, many drill rods must be connected to a length before shipping, and then tested, such as orienting the drill rods to the length, and then performing an overall hydraulic test on the drill rods. However, the required amount of drill rods is large, thus resulting in a large amount of work for connecting the drill rods. However, at present, the traditional shoulder-carrying hand screwing method is adopted for connection and screwing in China, 4 workers are needed to be matched with the upper buckle, a large wrench is used for screwing the drill rod, and no torque monitoring is carried out in the buckling and fastening operation. The judgment can be carried out only by the experience of field personnel, so that a large amount of threads are scratched. The connection mode not only causes a large amount of resource waste, but also wastes a large amount of labor force, influences the production efficiency, greatly improves the production cost, cannot meet the requirement of large-scale production, and is not beneficial to market competition and future development of enterprises. Therefore, the invention discloses an automatic connecting device and a connecting method for coal mine drill rods.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an automatic connection device and an automatic connection method for coal mine drill rods, so as to achieve automatic connection of the drill rods.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic connecting device for coal mine drill rods comprises a guide chute arranged on a support, wherein a material pushing mechanism capable of pushing a drill rod to be installed in the guide chute to move along the guide chute is arranged at the rear end of the guide chute; the support plate driving device is a screw nut pair driven by the screw rod driving device and comprises a screw rod which is arranged in parallel to the guide rail and is rotationally connected to the bracket, one end of the screw rod is connected with the screw rod driving device, and the support plate is in threaded connection with the screw rod to form the screw nut pair with the screw rod; the supporting plate is provided with a chuck, the clamping center of which is coaxial with a drill rod to be installed in the guide chute, and the chuck is connected with a rotary driving device capable of rotating around the clamping center of the chuck; and a clamping device with the clamping center coaxial with the clamping center of the chuck is arranged on one side of the chuck, which is far away from the material guide groove, and the clamping device is arranged on the bracket.
Optionally, the automatic feeding mechanism can automatically add the drill rod into the guide groove.
Optionally, the automatic feeding mechanism comprises an inclined transportation ladder, the inclined transportation ladder comprises a transportation ladder body arranged on one side of the material guide groove, the top end of the transportation ladder body is provided with an inclined surface, and one side close to the material guide groove is lower than one side far away from the material guide groove so as to form a V-shaped structure with the outer side surface of the material guide groove, and the V-shaped structure can only accommodate one drill rod; the conveying ladder body is connected with a lifting device which can enable the conveying ladder body to move along the vertical direction, so that a drill rod in the V-shaped structure can fall into the guide chute under the action of gravity; one side that the baffle box was kept away from to transportation ladder body is equipped with the drilling rod case, and the drilling rod case opens towards one side of transportation ladder body, and its bottom is the slope setting and is less than the one side of keeping away from the transportation ladder body near one side of transportation ladder body to make the drilling rod in it can fall to the V type structure in automatically under the effect of gravity.
Optionally, a torque limiter is further included in communication with the lead screw and the lead screw drive.
Optionally, the rotation driving device is a hydraulic motor, and the hydraulic motor is connected with an overflow valve, so that the maximum torque of the rotation driving device acting on the chuck is not greater than the pre-tightening torque of the thread.
Optionally, the fastening system further comprises a speed measuring device connected with the chuck and used for measuring the rotating speed of the chuck, and the speed measuring device is used for measuring the speed of the disc teeth.
Optionally, a control system is included in communication with the pusher mechanism and the fastening system.
An automatic connection method for coal mine drill rods is provided, the automatic connection device for coal mine drill rods is characterized in that the stroke of the drill rods to be installed, which move along the axial direction of the automatic connection device, is sequentially divided into a clamping stroke L1, a quick stroke L2 and a top buckling stroke L3, wherein L1 is the axial stroke of the drill rods to be installed, which enter a chuck arranged on a supporting plate from a guide chute, L2 is the axial stroke of the drill rods to be installed, which move together with the supporting plate to be in contact with the drill rods at the front end, and L3 is the axial stroke of the drill rods to be installed, which rotate together with the chuck to be in threaded connection with the; l1 and L2 are fast strokes, L3 is slow stroke; and when the resistance including the rotation of the screw rod is increased to a preset value or a protection switch under an extreme condition is triggered, the chuck and the screw rod driving device quickly rotate reversely to enable the drill rod to be installed to be separated from the front-end drill rod until the supporting plate completely exits from the stroke L3, and then the chuck and the screw rod driving device rotate forwards again to achieve threaded connection of the drill rod to be installed and the front-end drill rod.
Optionally, stage L3 includes
Speed regulation: adjusting the speed of the chuck and the screw rod driving device according to the ratio of the screw rod rotation speed to the chuck rotation speed
Is positively rotated, wherein P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
connecting: after the speed regulation is finished, the screw rod and the chuck move according to a rotating speed ratio k until the torque of the drill rod to be installed reaches a pre-tightening value, the drill rod to be installed and the front end drill rod are in threaded connection in place, and the chuck and the screw rod driving device stop rotating;
resetting: after the drill rod to be installed and the front end drill rod are in threaded connection in place, the drill rod is loosened after the chuck stops rotating, and the chuck moves back to L1 along with the supporting plate quickly.
Optionally, throttling comprises the steps of:
s1, the supporting plate enters L3 stage, the chuck starts to rotate forwards, and the rotation angle theta of the chuck is measured1The pallets are propelled forward at a corresponding speed of fixed ratio k, wherein
P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
s2 judging the rotation angle theta of the chuck1And the rotation angle theta of the screw rod driving device for driving the screw rod nut pair to move in corresponding time2Whether the formula is satisfied:
θ2＝kθ1
in the formula: theta1Is the chuck angle, theta2Is the rotating angle of the screw rod driving device,
P1for the drill rod thread pitch, P2The screw pitch of the screw rod;
if the formula theta is satisfied2＝kθ1The supporting plate keeps corresponding relation and moves forward until the chuck stops rotating; and conversely, the chuck and the screw rod driving device rotate reversely rapidly until the supporting plate completely exits from the stroke L3, and then S1 and S2 are sequentially executed until the drill rod to be installed and the front end drill rod are in threaded connection, and the chuck stops rotating.
The invention has the beneficial effects that: the automatic transfer of the drill rod is realized through the motion matching of the drill rod box, the inclined conveying ladder and the lifting device; when the drill rod is fastened, the advancing speed of the supporting plate and the rotating speed ratio of the chuck and the screw rod driving device are accurately controlled by monitoring the rotating speed of the chuck and coordinating the rotating speed of the screw rod driving device, so that the accurate connection of the drill rod threads is realized; by setting the L1 and the L2 as a fast stroke and the L3 as a slow stroke, the efficiency of drill rod connection is improved; by arranging the torque limiter, when the resistance including the rotation of the screw rod is increased to a preset value or a protection switch under an extreme condition is triggered, the torque is not transmitted between the screw rod and the screw rod driving device any more, so that the thread of the drill rod is protected; the maximum torque acted on the chuck by the rotary driving device is set to be not more than the pre-tightening torque of the thread, so that the thread of the drill rod is further protected, and the low accidental injury rate of drill rod connection is realized; the automatic drill rod connecting device realizes automatic transfer and automatic fastening of the drill rod, solves the problems of high labor intensity of field workers, low connecting efficiency and serious damage to the drill rod thread, reduces the accidental injury rate of drill rod connection, improves the drill rod connecting efficiency and greatly reduces the labor cost.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of an automatic coal mine drill rod connecting device according to the invention;
FIG. 2 is a schematic structural view of the fastening system of the present invention;
fig. 3 is a schematic structural view of the inclined transportation ladder of the present invention.
Reference numerals: the device comprises a clamp 101, a chuck 102, a supporting plate 103, a speed measuring turntable 104, a rotating speed sensor 105, a reduction gearbox 106, a frame 107, a torque limiter 108, a ball screw 109, a hydraulic motor 110, a stepping motor 111, a v-shaped guide groove 201, a transfer groove 202, a transfer groove outer side surface 203, a hydraulic push rod 204, a transport frame 301, a transport ladder 302, a lifting hydraulic cylinder 303, a guide groove 304, an inclined surface 305, an inclined transport ladder right side surface 306 and a drill rod box 401.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, an automatic connecting device for coal mine drill rods comprises a guide chute arranged on a support, wherein a pushing mechanism capable of pushing a drill rod to be installed in the guide chute to move along the guide chute is arranged at the rear end of the guide chute, a fastening system is arranged at the front end of the guide chute, the fastening system comprises a slide rail arranged along the length direction of the guide chute, a supporting plate 103 is connected to the slide rail in a sliding manner, and the supporting plate 103 is connected with a supporting plate 103 driving device capable of enabling the supporting plate 103 to move along the slide rail; the supporting plate 103 driving device is a screw-nut pair driven by the screw rod driving device and comprises a screw rod which is arranged in parallel to the guide rail and is rotationally connected to the bracket, one end of the screw rod is connected with the screw rod driving device, and the supporting plate 103 is in threaded connection with the screw rod to form the screw-nut pair with the screw rod; the screw rod driving device is preferably a motor; the supporting plate 103 is provided with a chuck 102 with a clamping center coaxial with a drill rod to be installed in the guide chute, and the chuck 102 is connected with a rotary driving device capable of rotating around the clamping center; the side of the chuck 102 far away from the material guiding groove is provided with a clamp 101 with a clamping center coaxial with the clamping center of the chuck, and the clamp 101 is arranged on the bracket.
The automatic feeding mechanism can automatically add the drill rod into the guide groove. The automatic feeding mechanism comprises an inclined type conveying ladder 302, the inclined type conveying ladder 302 comprises a conveying ladder body arranged on one side of the guide chute, the top end of the conveying ladder body is provided with an inclined surface 305, one side close to the guide chute is lower than one side far away from the guide chute so as to form a V-shaped structure with the outer side surface of the guide chute, and the V-shaped structure can only accommodate one drill rod; the conveying ladder body is connected with a lifting device which can enable the conveying ladder body to move along the vertical direction, so that a drill rod in the V-shaped structure can fall into the guide chute under the action of gravity; one side that the baffle box was kept away from to the transportation ladder body is equipped with drilling rod case 401, and drilling rod case 401 opens towards one side of transportation ladder body, and its bottom is the slope setting and is less than the one side of keeping away from the transportation ladder body near one side of transportation ladder body to make the drilling rod in it can fall to the V type structure in automatically under the effect of gravity.
The driving device of the supporting plate 103 can be a screw nut pair driven by a motor, and comprises a screw rod which is arranged in parallel with a guide rail and is rotationally connected to a bracket, one end of the screw rod is connected with the motor, and the supporting plate 103 is in threaded connection with the screw rod to form the screw nut pair with the screw rod.
Preferably, the fastening system further comprises a speed measuring device connected to the chuck 102 for measuring the rotational speed of the chuck 102, the speed measuring device being an encoder or a disk tooth speed measuring device.
Preferably, the automatic feeding device further comprises a control system connected with the automatic feeding mechanism, the material pushing mechanism and the fastening system, after the automatic feeding mechanism finishes feeding, the control system controls the material pushing mechanism and the fastening system to realize automatic fastening and fastening of the drill rod, quick connection of each executing mechanism can be realized, and connection efficiency of the drill rod is improved. When the drill rod is fastened, the rotating speed of the chuck is monitored by the control system, the rotating speed of the screw rod driving device is coordinated, the advancing speed of the supporting plate and the rotating speed ratio of the chuck and the screw rod driving device can be accurately controlled, and accurate connection of drill rod threads is achieved. The control system can be an industrial personal computer or a PLC.
In order to reduce the accidental injury rate of the threads when the drill rod is connected, the invention also comprises a torque limiter 108 connected with the screw rod and the screw rod driving device, so that when the resistance including the rotation of the screw rod is increased to a preset value or a protection switch under an extreme condition is triggered, the torque transmission between the screw rod and the screw rod driving device is not carried out any more, and the threads of the drill rod are protected.
In order to further comprise the drill rod thread, the maximum torque acted on the chuck by the rotary driving device of the invention is not larger than the pre-tightening torque of the thread, the rotary driving device can be a hydraulic motor 110, the hydraulic motor 110 is connected with a relief valve, and the maximum torque acted on the chuck 102 by the rotary driving device is not larger than the pre-tightening torque of the thread.
The automatic connection method of the coal mine drill rods comprises the steps of sequentially dividing the stroke of the drill rods to be installed, which move along the axial direction, into a clamping stroke L1, a quick stroke L2 and a top buckling stroke L3, wherein L1 is the axial stroke of the drill rods to be installed, which enter a chuck 102 arranged on a supporting plate 103 from a guide chute, L2 is the axial stroke of the drill rods to be installed, which move along with the supporting plate 103 to be in contact with the front end drill rods, and L3 is the axial stroke of the drill rods to be installed, which rotate along with the chuck 102 to be in threaded connection with the front end drill rods; l1 and L2 are fast strokes, L3 is slow stroke; when resistance including rotation of the screw rod is increased to a preset value or a protection switch under an extreme condition is triggered when the drill rod to be installed enters the stage L3 along with the supporting plate 103, the chuck 102 and the screw rod driving device rotate reversely rapidly to enable the drill rod to be installed to be separated from the front-end drill rod until the supporting plate 103 completely exits from the stroke L3, and then the chuck 102 and the screw rod driving device rotate forward again to achieve threaded connection of the drill rod to be installed and the front-end drill rod.
Preferably, stage L3 includes
Speed regulation: of adjusting chucks 102 and screw drivesSpeed, according to the ratio of the screw rotation speed to the chuck 102 rotation speed
Is positively rotated, wherein P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
connecting: after the speed regulation is finished, the screw rod and the chuck 102 move according to a rotating speed ratio k, until the torque of the drill rod to be installed reaches a pre-tightening value, the drill rod to be installed and the front end drill rod are in threaded connection in place, and the chuck 102 and the screw rod driving device stop rotating;
resetting: after the drill rod is assembled and the front end drill rod is connected in place in a threaded mode, the chuck 102 stops rotating and releases the drill rod, and the chuck 102 and the supporting plate 103 retract to L1 quickly.
Preferably, the speed regulation comprises the following steps:
s1 when the pallet 103 enters L3 stage, the chuck 102 starts to rotate forward, and the rotation angle theta of the chuck is measured1The pallet 103 is propelled forward at a corresponding speed of fixed ratio k, wherein
P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
s2 judging the rotation angle theta of the chuck1And the rotation angle theta of the screw rod driving device for driving the screw rod nut pair to move in corresponding time2Whether the formula is satisfied:
θ2＝kθ1
in the formula: theta1Is the chuck angle, theta2Is the rotating angle of the screw rod driving device,
P1for the drill rod thread pitch, P2The screw pitch of the screw rod;
if the formula theta is satisfied2＝kθ1The supporting plate 103 keeps corresponding relation and advances until the chuck 102 stops rotating; otherwise, the chuck 102 and the screw rod driving device are quickly reversed until the supporting plate 103 completely exits the stroke L3, and then S1 and S2 are sequentially executed until the drill rod to be installed and the front drill rod are in threaded connectionThe chuck 102 stops rotating.
Example 1
An automatic connection device for coal mine drill rods comprises a drill rod transfer system, a fastening system and a control system, wherein the control system is a PLC (programmable logic controller), the drill rod transfer system comprises a drill rod box 401, a lifting device, an inclined type transportation ladder 302, a transportation rack 301, a transfer groove 202, a pushing mechanism and a guide groove, the lifting device is a lifting hydraulic cylinder 303, the pushing mechanism is a hydraulic push rod 204, the guide groove is a v-shaped guide groove 201, the inclined direction of the bottom of the inner side of the drill rod box 401 is consistent with the inclined direction of an inclined surface 305 of a transportation ladder body, the inclined type transportation ladder 302 is arranged in the guide groove 304 arranged on the transportation rack 301, the lifting hydraulic cylinder 303 is arranged between the inclined type transportation ladder 302 and the transportation rack 301, one end of the lifting hydraulic cylinder 303 is fixed on the transportation rack 301 through a pressing ring, the other end of the lifting hydraulic cylinder is fixed on the inclined type transportation ladder 302, the lifting hydraulic cylinder 303 can drive the inclined type, the hydraulic push rod 204 is fixed at the rear end of the opening of the transfer groove 202;
the fastening system comprises a screw rod driving device, a torque limiter 108, a ball screw 109, a hydraulic motor 110, a reduction box 106, a rotating speed sensor 105, a chuck 102 and a clamp holder 101, wherein the screw rod driving device is a stepping motor 111, the stepping motor 111 is connected with a screw rod of the ball screw 109 through the torque limiter 108, and the torque limiter 108 plays a role in protecting the screw rod and the motor; a support plate 103 is arranged above the ball screw 109, the support plate 103 is fixedly connected with a nut of the ball screw 109 through a bolt, and the support plate 103 is connected with the rack 107 in a sliding manner through a sliding chute, so that the support plate 103 can move linearly on the rack 107; a reduction box 106 is arranged above the supporting plate 103, one end face of the reduction box 106 is connected with a hydraulic motor 110 through a bolt, the other end face of the reduction box 106 is provided with a chuck 102 for clamping a drill rod, the chuck 102 is a hydraulic chuck, and the hydraulic motor 110 drives the hydraulic chuck 102 to rotate together through the reduction box 106; the outer end of the hydraulic chuck is provided with a speed measuring rotary disc 104, a rotating speed sensor 105 is arranged at the right upper end of the speed measuring rotary disc 104, the rotating speed sensor 105 can accurately monitor the rotating angle of the hydraulic chuck by detecting the number of teeth of the speed measuring rotary disc, and the clamp 101 is fixed at one end of a rack 107 in front of the hydraulic chuck.
When the diagonal transport ladder 302 is in the lower extreme position, the inner bottom side of the drill rod box 401 is higher than the diagonal transport ladder 302, so that the drill rods in the drill rod box 401 roll downwards under the influence of gravity, automatically rolling onto the inclined surface 305 of the diagonal transport ladder 302.
The width of the inclined surface 305 positioned at the top of the inclined transportation ladder is only enough to accommodate one drill to be placed on the inclined transportation ladder, the contact end surface of the inclined transportation ladder 302 and a drill rod is the inclined surface 305, the lower surface side of the inclined surface 305 is close to the end surface of the transportation rack 301, only one drill rod can be taken away in the upward movement process of the inclined transportation ladder 302 from the lower limit position, and when the inclined transportation ladder 302 is at the upper limit position, the lowest end of the inclined surface 305 is higher than the transfer groove 202, so that when the inclined transportation ladder 302 is at the upper limit position, the drill rod automatically rolls into the v-shaped guide groove 201 in the transfer groove 202.
An overflow valve is arranged on a hydraulic pipeline of the hydraulic motor 110, and the limitation of the maximum fastening torque is realized through the limitation of the highest pressure of hydraulic oil.
The supporting plate 103 is connected with the frame 107 through a sliding groove, so that the supporting plate 103 can move on the frame 107, and the whole stroke of the supporting plate 103 is L, which can be divided into a clamping stroke L1, a quick stroke L2 and a fastening stroke L3.
The hydraulic chuck is provided with a speed measuring rotary disc 104, the rotating speed of the hydraulic chuck and the rotating speed of the stepping motor are controlled to be a fixed ratio k in the screwing stage, the k is determined by the thread pitch of the connecting thread,
P1for the drill rod thread pitch, P2Is a ball screw thread.
In the transfer process of the drill rod, a drill rod male head is placed in the drill rod box 401 towards the direction of the hydraulic chuck, and the drill rod male head is the external thread of the drill rod; because the whole drill rod box 401 inclines towards the inclined transportation ladder 302, a drill rod in the drill rod box 401 has a tendency of rolling towards the inclined transportation ladder 302, when the inclined surface of the inclined transportation ladder 302 is lower than the drill rod box 401, the drill rod in the drill rod box 401 automatically rolls into the inclined surface 305 of the inclined transportation ladder 302, when the inclined surface 305 of the inclined transportation ladder body is higher than the drill rod box 401, the drill rod in the drill rod box 401 is resisted by the right side surface 306 of the inclined transportation ladder, the lifting hydraulic cylinder 303 drives the inclined transportation ladder 302 to move upwards, in the process of moving upwards of the inclined transportation ladder 302, the inclined surface 305 and the outer side surface 203 of the transfer groove of the inclined transportation ladder 302 limit the movement of the drill rod together, and therefore the drill rod can only be driven to move upwards by the inclined transportation ladder 302.
It should be noted that the width of the inclined surface 305 of the inclined transportation ladder 302 can only accommodate one drill rod, so that the inclined transportation ladder 302 can only carry one drill rod during the upward movement;
when the inclined surface 305 of the inclined transportation ladder 302 is higher than the height of the transfer groove 202, the drill rod automatically rolls into the v-shaped guide groove 201 in the transfer groove 202 due to the fact that the drill rod loses the limit of the outer side surface 203 of the transfer groove, the PLC controls the hydraulic push rod 204 after the lifting hydraulic cylinder 303 finishes upward movement, the drill rod is pushed out to a specified position, namely, the transfer of one drill rod is finished, the hydraulic push rod 204 retracts, and the inclined transportation ladder 302 descends to an initial state.
According to the invention, the automatic transfer of the drill rod is realized through the motion matching of the drill rod box 401, the inclined type conveying ladder 302 and the lifting device, the control system monitors the rotating speed sensor 105 and coordinates the rotating speed of the motor during fastening, the rotating speed ratio of the advancing speed chuck of the supporting plate 103 and the screw rod driving device is accurately controlled, and the accurate connection of the drill rod threads is realized. According to the invention, through automatic drill rod transferring and screwing, high efficiency and low accidental injury rate of drill rod connection are realized.
Example 2
The automatic coal mine drill rod connecting method applying the automatic coal mine drill rod connecting device comprises the following steps:
step 1, the hydraulic chuck clamps the transfer groove 202 to send out the drill rod, the supporting plate 103 finishes L1 and L2 at the highest speed, and the process is as follows:
the supporting plate 103 moves to L1 quickly and moves to a designated position at a designated speed, the PLC controls the hydraulic chuck 102 to clamp the drill rod, and the carriage 103 finishes L1 and L2 at the highest speed. (ii) a
Step 2, the supporting plate 103 enters the stage L3, the hydraulic chuck starts to rotate, and the accurate rotation angle theta of the hydraulic chuck is measured by the rotation speed sensor 1051Support for fixingThe plate advances at a corresponding speed of fixed ratio k, the process being:
the stepping motor 111 drives the supporting plate 103 to rapidly move to L3 through the ball screw 109, the rotating speed of the stepping motor 111 in L3 is adjusted according to the rotating speed of the hydraulic chuck 102, and the ratio of the rotating speed of the stepping motor 111 to the rotating speed of the hydraulic chuck 102 is k all the time;
step 3, judging the rotation angle theta of the hydraulic chuck1And the angle of rotation theta of the stepping motor2Whether the formula is satisfied:
θ2＝kθ1
in the formula: theta1Is a hydraulically-actuated chuck angle of rotation, theta2Is the rotating angle of the stepping motor,
P1for the drill rod thread pitch, P2For the ball screw thread, if the formula is satisfied, step 5 is carried out, otherwise step 4 is carried out, and the process is as follows:
when the threads are correctly connected, the hydraulic chuck 102 rotates and the supporting plate 103 advances according to the ratio k until the torque reaches a pre-tightening value, the hydraulic motor 110 releases the pressure to complete the tightening of the drill rod, the PLC judges that the threaded connection is completed, and the step 5 is executed;
when a threaded connection is faulty, there are two situations:
A. the hydraulic chuck 102 rotates but the supporting plate 103 cannot advance according to the ratio k, the stepping motor 111 cannot be adjusted to a proper rotating speed, the PLC judges that the connection is wrong, and step 4 is executed;
B. when the threaded connection is wrong (for example, the thread is blocked, the supporting plate cannot advance, namely, the resistance of the rotation of the screw rod is increased, and the torque limiter is disengaged when the resistance reaches a certain value) or a protection switch under extreme conditions is triggered (for example, signal detection is wrong, and a hydraulic chuck cannot completely loosen a drill rod after the thread is screwed down), the PLC judges that the connection is wrong, and executes a step 4;
step 4, rapidly reversing the hydraulic chuck and the stepping motor according to the rotating speed ratio k until the supporting plate 103 completely exits from the stroke L3, and turning to step 2;
step 5, the supporting plate 103 keeps corresponding relation and moves forward until the hydraulic chuck stops rotating;
the hydraulic chuck is driven by a hydraulic motor, and as an overflow valve is connected in parallel to a hydraulic pipeline of the hydraulic motor, when the hydraulic motor reaches the maximum torque, the overflow valve is decompressed, and the hydraulic chuck (102) stops rotating, the maximum torque provided by the hydraulic chuck (102) is a preset value which is set according to the pretightening force of threads;
step 6, the PLC controls the hydraulic chuck 102 to loosen the drill rod, the supporting plate 103 is quickly retreated to L1, and the L1 is finished at the designed speed;
step 7, loosening the clamp 101, moving the connected drill rod to a designated position, clamping the drill rod by the clamp 101, and turning to the step 1;
the clamping stroke L1 is the safe distance that the support plate 103 is close to the transfer groove 202 to send out the drill rod, after the L1 is reached, the support plate 103 runs at a reduced speed to reach a preset position, and L1 is set according to the sending-out length of the drill rod; the quick stroke L2 is a safe distance between the transfer groove 202 and the gripper 101, and L2 is determined by the delivery length of the drill rod and the length of the gripper 101 for gripping the drill rod; the threading stroke L3 is the distance of threading and threading preparation, which is determined by the length of the drill rod held by the gripper 101 and the adjustment distance of the stepping motor 111, and the ratio of the rotating speed of the stepping motor to the rotating speed of the hydraulic chuck is a constant value k in L3.
According to the invention, through the accurate control of the movement of the chuck 102 and the supporting plate 103 and the control of the chuck torque, the accurate screwing-on of the drill rod thread is realized, the drill rod thread is protected, and further the low accidental injury rate of the drill rod connection is realized. The invention changes the traditional manual connection mode of the drill rod, realizes automatic transfer and automatic fastening of the drill rod, improves the connection efficiency of the drill rod, solves the problems of high labor intensity of field workers, low connection efficiency and serious damage to the thread of the drill rod, and greatly saves labor force.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a colliery drilling rod automatic connection device which characterized in that: the drilling machine comprises a guide chute arranged on a support, wherein a material pushing mechanism capable of pushing a drill rod to be loaded in the guide chute to move along the guide chute is arranged at the rear end of the guide chute; the support plate driving device is a screw nut pair driven by the screw rod driving device and comprises a screw rod which is arranged in parallel to the guide rail and is rotationally connected to the bracket, one end of the screw rod is connected with the screw rod driving device, and the support plate is in threaded connection with the screw rod to form the screw nut pair with the screw rod; the supporting plate is provided with a chuck, the clamping center of which is coaxial with a drill rod to be installed in the guide chute, and the chuck is connected with a rotary driving device capable of rotating around the clamping center of the chuck; and a clamping device with the clamping center coaxial with the clamping center of the chuck is arranged on one side of the chuck, which is far away from the material guide groove, and the clamping device is arranged on the bracket.
2. The automatic coal mine drill rod connecting device as claimed in claim 1, wherein: the automatic feeding mechanism capable of automatically adding the drill rod into the guide groove is further included.
3. The automatic coal mine drill rod connecting device as claimed in claim 2, wherein: the automatic feeding mechanism comprises an inclined conveying ladder, the inclined conveying ladder comprises a conveying ladder body arranged on one side of the guide chute, an inclined surface is arranged at the top end of the conveying ladder body, one side close to the guide chute is lower than one side far away from the guide chute so as to enable the conveying ladder body and the outer side surface of the guide chute to form a V-shaped structure, and the V-shaped structure can only accommodate one drill rod; the conveying ladder body is connected with a lifting device which can enable the conveying ladder body to move along the vertical direction, so that a drill rod in the V-shaped structure can fall into the guide chute under the action of gravity; one side that the baffle box was kept away from to transportation ladder body is equipped with the drilling rod case, and the drilling rod case opens towards one side of transportation ladder body, and its bottom is the slope setting and is less than the one side of keeping away from the transportation ladder body near one side of transportation ladder body to make the drilling rod in it can fall to the V type structure in automatically under the effect of gravity.
4. The automatic coal mine drill rod connecting device as claimed in claim 1, wherein: the torque limiter is connected with the screw rod and the screw rod driving device.
5. The automatic coal mine drill rod connecting device as claimed in claim 1, wherein: the rotary driving device is a hydraulic motor, and the hydraulic motor is connected with an overflow valve.
6. The automatic coal mine drill rod connecting device as claimed in claim 1, wherein: the fastening system further comprises a speed measuring device connected with the chuck and used for testing the rotating speed of the chuck, and the speed measuring device is used for measuring the speed of the disc teeth.
7. The automatic coal mine drill rod connecting device as claimed in claim 1, wherein: the device also comprises a control system connected with the pushing mechanism and the fastening system.
8. An automatic coal mine drill rod connecting method is characterized in that the automatic coal mine drill rod connecting device as claimed in any one of claims 1 to 7 is provided, the stroke of the drill rod to be installed in the axial movement is sequentially divided into a clamping stroke L1, a quick stroke L2 and a fastening stroke L3, the L1 is the axial stroke of the drill rod to be installed entering a chuck arranged on a supporting plate from a guide chute, the L2 is the axial stroke of the drill rod to be installed moving together with the supporting plate to be in contact with a front end drill rod, and the L3 is the axial stroke of the drill rod to be installed rotating together with the chuck to be in threaded connection with the front end drill rod; l1 and L2 are fast strokes, L3 is slow stroke; and when the resistance including the rotation of the screw rod is increased to a preset value or a protection switch under an extreme condition is triggered, the chuck and the screw rod driving device quickly rotate reversely to enable the drill rod to be installed to be separated from the front-end drill rod until the supporting plate completely exits from the stroke L3, and then the chuck and the screw rod driving device rotate forwards again to achieve threaded connection of the drill rod to be installed and the front-end drill rod.
9. The automatic coal mine drill pipe connecting method as claimed in claim 8, wherein the L3 stage comprises
Speed regulation: adjusting the speed of the chuck and the screw rod driving device according to the ratio of the screw rod rotation speed to the chuck rotation speed
Is positively rotated, wherein P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
connecting: after the speed regulation is finished, the screw rod and the chuck move according to a rotating speed ratio k until the torque of the drill rod to be installed reaches a pre-tightening value, the drill rod to be installed and the front end drill rod are in threaded connection in place, and the chuck and the screw rod driving device stop rotating;
resetting: after the drill rod to be installed and the front end drill rod are in threaded connection in place, the drill rod is loosened after the chuck stops rotating, and the chuck moves back to L1 along with the supporting plate quickly.
10. The automatic coal mine drill pipe connecting method according to claim 9, wherein the speed regulation comprises the following steps:
s1, the supporting plate enters L3 stage, the chuck starts to rotate forwards, and the rotation angle theta of the chuck is measured1The pallets are propelled forward at a corresponding speed of fixed ratio k, wherein
P1For the drill rod thread pitch, P2The screw pitch of the screw rod;
s2 judging the rotation angle theta of the chuck1And the rotation angle theta of the screw rod driving device for driving the screw rod nut pair to move in corresponding time2Whether the formula is satisfied:
θ2＝kθ1
in the formula: theta1Is the chuck angle, theta2Is the rotating angle of the screw rod driving device,
P1for the drill rod thread pitch, P2The screw pitch of the screw rod;
if the formula theta is satisfied2＝kθ1The supporting plate keeps corresponding relation and moves forward until the chuck stops rotating; and conversely, the chuck and the screw rod driving device rotate reversely rapidly until the supporting plate completely exits from the stroke L3, and then S1 and S2 are sequentially executed until the drill rod to be installed and the front end drill rod are in threaded connection, and the chuck stops rotating.
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| CN202011581736.4A CN112658664B (en) | 2020-12-28 | 2020-12-28 | Automatic connecting device and method for coal mine drill rods |
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| CN202011581736.4A CN112658664B (en) | 2020-12-28 | 2020-12-28 | Automatic connecting device and method for coal mine drill rods |
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