CN115538934B - Integrated drilling robot based on six-axis manipulator drill rod loading and unloading and control method - Google Patents
Integrated drilling robot based on six-axis manipulator drill rod loading and unloading and control method Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/02—Rod or cable suspensions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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Abstract
The invention discloses an integrated drilling robot based on six-axis manipulator drill rod loading and unloading and a control method, wherein the integrated drilling robot comprises a crawler body, a drill rod loading and unloading system and a main controller, wherein the drill rod loading and unloading system and the main controller are installed on the crawler body; the drill rod loading and unloading system comprises a three-degree-of-freedom host, a rod box, a six-axis serial manipulator and a drill rod grabbing compliant member, wherein the six-axis serial manipulator is positioned between the three-degree-of-freedom host and the rod box; and the full-automatic drilling construction is realized through the intelligent control of the core controller. The invention improves the construction safety and the drilling efficiency of the drilling machine, reduces the labor intensity and simultaneously promotes the development of the automation and the intellectualization of the drilling equipment technology.
Description
Technical Field
The invention belongs to the field of underground coal mine drilling equipment, and relates to a hydraulic digital control coal mine drilling robot system based on an explosion-proof six-shaft serial manipulator for loading and unloading a drill rod and a control method thereof.
Background
Most coal mines in China are underground mining, various natural disasters such as water damage, rock burst disasters, gas outburst disasters and the like are usually accompanied in the coal mine mining process, and the main means for solving the disasters are construction water detection and drainage holes, anti-impact holes and gas drainage holes. With the further deepening of the underground mining of the coal mine, the underground safety problem is increasingly outstanding, and the development of automatic and intelligent drilling machines for various drilling constructions such as water exploration holes, gas extraction holes, outburst prevention and pressure relief holes and the like is urgent. In the face of a new energy scientific and technological revolution characterized by informatization and intellectualization, in order to realize the goals of mechanical people change, automation, people reduction and intellectualization in the pit, the innovation of people reduction and efficiency improvement driving technology is reduced, and the development of intelligent drilling technical equipment is trendy. In 2020, the guidance suggestion about advancing the intelligent development of coal mines, which is jointly issued by the eight committees, indicates that the intelligent technology and the coal industry are promoted to be fused and developed, the intelligent level of the coal mines is improved, and the high-quality development of the coal industry in China is promoted. The mechanized and intelligent level of coal mining is improved, the ratio of advanced productivity is improved, and transformation development is driven through innovation.
The drilling machine, which is a key device in the field of coal mine safety, is particularly important for improving the automation degree. In the aspects of intelligent drilling technology and equipment, foreign advanced drilling technical means are mainly applied to the field of ground oil and gas exploration and development, and relatively few researches are carried out on the aspect of drilling underground coal mine tunnels. The underground advanced technical equipment is applied to underground coal mine tunnel drilling construction, and great difficulty still exists, and the special production operation environment in the underground coal mine determines that the mature drilling technical equipment on the ground cannot be carried.
The traditional hydraulic drilling machine has the potential safety hazards of walking, short construction distance from the drilling machine, incapability of automatically preventing clamping, displacement of the drilling machine caused by stability and looseness in the drilling construction process, damage to a drilling rod, accidents in a hole and the like. The drilling rod is assembled and disassembled manually, the hole opening posture is adjusted semi-automatically, automation of a drilling process is not realized, one-key drilling and one-key tripping are realized, the labor intensity is high, and the construction efficiency is low. However, the domestic mine electrical equipment has an independent authentication system, mutual authentication with foreign automatic equipment is lacked, the industrial foundation is weak, the research on domestic automatic drilling machines is not many, and only a few of domestic automatic drilling machines are applied.
A KY-310 high-drilling-frame type full-hydraulic drive drilling machine developed by the Luoyang mine mechanical engineering design research institute utilizes a microelectronic technology and an automatic control technology, a CAN bus system is used for monitoring the working state of the drilling machine and controlling an execution mechanism, and a monitoring device in a cab CAN monitor the current working state of drilling depth, total drilling depth, system pressure and the like in real time. The Chongqing research institute puts the remote control drilling machine into an underground experiment at the earliest time, changes a hydraulic valve of the drilling machine into an electromagnetic valve, uses a PLC as a controller and a computer as a control terminal, and realizes the remote control operation of the drilling machine. The common defects of the two drilling machines are that the automatic leveling and the automatic supporting stability of the crawler body are not realized, and the drilling machine is prevented from moving due to stability and looseness in the drilling construction process, so that the drilling rod is damaged and accidents in the hole are avoided; the automation of the drilling process is not realized, one-key drilling and one-key tripping are carried out; remote monitoring, diagnosis and interaction based on a network are not realized.
The drill rod conveying is divided into a first stage from the drill rod storage box to the drill rod auxiliary positioning member and a second stage from the drill rod auxiliary positioning member to the drilling machine. In the first stage, drill rod auxiliary positioning is needed, the drill rod is placed to the drill rod auxiliary positioning component, the drill rod slides to the bottom of the guide groove under the action of gravity, the non-contact limit switch detects the position of the drill rod, and after the drill rod is accurately positioned, the drill rod loading and unloading arm grabs the drill rod again to convey the drill rod. In the second stage, by means of a monocular camera and a cooperation target arranged on the drilling machine, a drill rod loading and unloading arm accurately conveys a drill rod to a central axis of a clamp holder slip of a feeding device of the drilling machine at a certain angle by using a visual servo control method; the two stages are relatively complex in process and long in required time; and the machine vision cooperation target used in the second stage is greatly interfered by the underground construction environment and light rays of the coal mine of the drilling robot, and the popularization and the application also need to be continuously researched and optimized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an integrated drilling robot based on six-axis mechanical arm drill rod loading and unloading and a control method, and aims to solve the problems that the construction efficiency is low, the working space requirement is large, the interference of a machine vision cooperation target by the underground construction environment and light of a coal mine of a drilling robot is large and the like in the prior art; the development of the drilling equipment technology automation and intellectualization is promoted while the construction safety and the drilling efficiency of the drilling machine are improved and the labor intensity is reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
an integrated drilling robot based on six-axis mechanical arm drill rod loading and unloading comprises a crawler body, a drill rod loading and unloading system and a main controller, wherein the drill rod loading and unloading system and the main controller are installed on the crawler body;
the crawler body comprises a crawler body platform and walking crawler assemblies on two sides of the crawler body platform;
the drill rod loading and unloading system comprises a three-degree-of-freedom host, a rod box, a six-axis serial manipulator and a drill rod grabbing compliant member, wherein the six-axis serial manipulator is positioned between the three-degree-of-freedom host and the rod box; the three-degree-of-freedom host comprises a feeding machine body, a shackle device, a front clamp holder, a rear clamp holder, a power head, a feeding oil cylinder, a planker, a translation oil cylinder, a translation clamping plate, a feeding displacement sensor assembly, a translation displacement sensor assembly and a variable amplitude stabilizing device; the variable-amplitude stabilizing device is arranged on the crawler body platform through a lifting oil cylinder, and a rotary support of the variable-amplitude stabilizing device is connected with one side of the feeding machine body; the translation of the translation oil cylinder, the lifting of the lifting oil cylinder of the variable amplitude stabilizing device and the rotation of the rotary support can realize the adjustment of three degrees of freedom of the main machine; the rod box comprises a box body bracket, a drill rod limiting frame, a stop rod, a base plate, a front bin door, a baffle plate assembly and a rear bin door; the rod box is provided with a plurality of layers of spaces for accommodating the drill rods, and can adapt to the drill rods with different diameters by adjusting the side base plate and the bottom drill rod limiting frame; the six-axis serial manipulator comprises a base, an arm body and a servo motor; the rotation angle range of the arm body on the base ranges from minus 180 degrees to plus 180 degrees, the servo motor can control the arm body to sequentially or synchronously act to realize the change of the tail end position, and the servo motor is used for grabbing the drill rod from the rod box to the drill rod placing position of the three-degree-of-freedom host; the drill rod grabbing compliant member comprises an n-shaped frame, a first oil cylinder arranged on the n-shaped frame, a flexible part and a gear rack group which are positioned below the first oil cylinder, a paw, an elastic assembly, a proximity switch, a magnet and a magnetic switch assembly; the first oil cylinder can push the gear rack group to drive the paw to open and close so as to grab the drill rod;
the main controller is arranged on a bracket behind the crawler body platform and is connected with the crawler body platform through a bolt, and can control the crawler body to self-level, self-stabilize, automatically load and unload a drill rod, automatically adjust the hole opening posture and automatically drill.
The invention also comprises the following technical characteristics:
the crawler body further comprises a mining intrinsic safety double-shaft inclination angle sensor, a hoisting rigging, a console valve group, a pressure transmitter assembly and a junction box assembly, wherein the mining intrinsic safety double-shaft inclination angle sensor is installed on a crawler body platform; the mining intrinsic safety double-shaft tilt angle sensor can realize automatic positioning and automatic stabilization of the crawler body; the hoisting rigging is welded on the side surface of the crawler body platform, so that the hoisting of the drilling machine in the assembling or transporting process is met; the console valve group is connected with the crawler body platform through bolts, and the control and execution of each action of the drilling machine are realized through the control of an explosion-proof remote controller; the pressure transmitter assembly is used for detecting the feeding, pulling, forward rotation, reverse rotation and oil return working pressure of the drilling machine in real time and displaying the working pressure on a control interface of the explosion-proof remote controller so as to be convenient for a construction operator to observe; the junction box assembly is in threaded connection with the crawler body platform.
Specifically, the shackle device, the front holder and the rear holder of the three-degree-of-freedom host are screwed on the mounting plate of the feeding machine body and are matched with the power head to realize automatic loading and unloading of the drill rod; the power head is connected with the carriage through a pin shaft, the carriage is connected with a cylinder barrel of the feeding oil cylinder and moves along with the cylinder barrel of the feeding oil cylinder, and the power head and the carriage slide on the feeding machine body along with the extension and retraction of the feeding oil cylinder, so that the drilling machine can drill down and drill up; one end of the feeding oil cylinder is connected to the front end of the feeding machine body, and the other end of the feeding oil cylinder is fixed to the rear end of the feeding machine body; one end of the feeding displacement sensor assembly is fixed on the feeding machine body, and the other end of the feeding displacement sensor assembly is fixed on the carriage, so that the stroke position of the feeding oil cylinder is detected and fed back in real time; one end of a translation oil cylinder is hinged to the front end of the feeding machine body, the other end of the translation oil cylinder is hinged to the rear end of the feeding machine body, a cylinder barrel is connected with a translation clamping plate, the feeding machine body is driven to move back and forth through the extension and retraction of the translation oil cylinder, and the distance between the feeding machine body and a drilling orifice is adjusted; one end of the translation displacement sensor assembly is fixed on the feeding machine body, and the other end of the translation displacement sensor assembly is fixed on the translation clamping plate to detect and feed back the translation amount of the translation oil cylinder.
Specifically, the variable amplitude stabilizing device comprises an upright post oil cylinder slide rail assembly, a rotary support, an encoder, a lifting oil cylinder, a lifting displacement sensor assembly, an upright post lower stabilizing assembly and a rotary upper stabilizing assembly;
the vertical column oil cylinder sliding rail assembly is sleeved on the two vertical column lower stabilizing assemblies, a rotary support is arranged on the front wall of the vertical column oil cylinder sliding rail assembly, the rotary support is connected with the feeding machine body through an L-shaped support plate, and a rotary turbine of the rotary support can drive the L-shaped support plate and the feeding machine body to rotate; a braking piece is arranged in the rotary support and can hydraulically brake and lock the rotary turbine; the encoder is connected to the braking part through the mounting seat, and an inner shaft of the encoder is connected with the L-shaped supporting plate through the transmission shaft, so that the direct measurement of the drill hole inclination angle is realized;
the lower end of the lifting oil cylinder is in threaded connection with the crawler body platform, the upper end of the lifting oil cylinder is in threaded connection with the rear wall of the upright oil cylinder sliding rail assembly, the feeding machine body moves along the upright oil cylinder through the extension and retraction of the lifting oil cylinder, and the height adjustment of the drilling machine hole is realized;
one end of the lifting displacement sensor assembly is in threaded connection with the upright post oil cylinder sliding rail assembly, and the other end of the lifting displacement sensor assembly is in threaded connection with the crawler body platform for detecting and feeding back the displacement of the lifting oil cylinder.
Specifically, the two lower upright stabilizing assemblies are parallel to each other, each lower upright stabilizing assembly comprises a lower upright and a lower jacking hydraulic cylinder below the lower upright, and a piston rod of the lower jacking hydraulic cylinder is internally provided with a displacement sensor;
the rotary upper stabilizing assemblies are connected with the lower stabilizing assembly of the stand column through rotary sleeves at the lower part of the rotary upper stabilizing assemblies, each rotary upper stabilizing assembly comprises an upper stand column and an upper jacking hydraulic oil cylinder above the inner part of the upper stand column, and a limiting pin is arranged at the lower end of each rotary upper stabilizing assembly; the rotary upper stabilizing component is fixed with the crawler body platform by utilizing a limiting pin during transportation, so that the upper stabilizing component is retracted and is consistent with the width of the crawler body;
when in a construction stable state, the limiting pin is pulled out to rotate the two rotary upper stable assemblies outwards by 90 degrees to the outside of the vehicle body, namely two sides of the upright post lower stable assembly, so as to increase the stable distance and improve the stable reliability; during transportation, the piston rod of the upper ejection hydraulic oil cylinder of the rotary upper stabilizing assembly extends upwards and the piston rod of the lower ejection hydraulic oil cylinder of the lower stabilizing assembly extends downwards respectively to stabilize the drilling machine.
Specifically, the box body support of the rod box comprises a square bottom frame and four side plates at four corners, the square bottom frame comprises two parallel side beams and two parallel end beams, and each side beam is provided with two vertical side plates to enclose and block the drill rod; the drill rod limiting frame is provided with two arc-shaped grooves which are parallel to each other and vertically connected between the two side beams, the drill rod limiting frame is provided with arc-shaped grooves which are distributed at equal intervals so as to put the drill rods in a stacking mode and ensure that the drill rods are put in a stacking mode at fixed intervals, and the drill rods are placed perpendicular to the drill rod limiting frame; the stop lever is detachably arranged between the two opposite side plates and is parallel to the drill rod limiting frame so as to prevent the drill rods from falling off due to vibration during transportation of the whole box of drill rods, and the stop lever is detached and placed in the two groups of support through holes behind the box body support when the drilling machine works; the base plate is screwed on the side plate, and drill rods with different diameters can be met by adjusting the thickness of the base plate and replacing the drill rod limiting frame, and the drill rod limiting frame can adapt to hand grasping in different forms; the front bin door and the rear bin door are parallel and opposite and are respectively arranged between the two side plates above the two end beams, the front bin door is screwed with the baffle plate assembly and then screwed onto the two parallel and opposite side plates, and the front bin door is detached from the box body support when the drilling machine works so as to limit the axial limiting of a drill rod in the drill rod box when the drilling machine walks.
Specifically, the arm body of the six-axis serial manipulator can horizontally rotate by taking a base as a center, and the base is provided with a 0 reference; the arm body comprises a shoulder, a big arm, a small arm and a wrist which are sequentially connected, the lower end of the shoulder is connected with the base, the upper end of the shoulder is connected with one end of the big arm through a shoulder joint controlled by a servo motor, the other end of the big arm is connected with one end of the small arm through an elbow joint controlled by the servo motor, the other end of the small arm is connected with the upper part of the wrist through a wrist joint controlled by the servo motor, and the lower end of the wrist is connected with a drill rod to grab a flexible component.
Specifically, a first oil cylinder of the drill rod grabbing compliant member penetrates through and is installed on a top plate of the n-shaped frame, a flexible part is installed at the lower end of the first oil cylinder, and the lower portion of an intermediate shaft of the flexible part is connected with the gear rack group; the gear rack group comprises a rack, a mounting shaft and a gear; the rack is connected with the middle shaft of the flexible part, the gear is sleeved on a mounting shaft, and the mounting shaft is arranged between the two side plates of the n-shaped frame; the mounting shaft is also provided with two claws, so that the claws can be opened and closed by pushing the rack and pinion group through the first oil cylinder; the magnetic switch component and the magnet are arranged between the two claws below the n-shaped frame, and the oil cylinder in the magnetic switch component can control whether the magnet has magnetism or not; the elastic component is connected between the upper end of the magnet and the outside of the side wall of the n-shaped frame.
Specifically, the flexible part comprises a connecting shell, a spring, a wedge, a joint bearing, an upper shell, a sliding block, a lower shell, an elastic element, a connecting disc and a middle shaft;
the connecting shell and the upper shell as well as the upper shell and the lower shell are connected through bolts; the spring is arranged between a bulge at the top of the inner wall of the connecting shell and the upper end of the wedge, the wedge is arranged in a chute of the upper shell, the inclined plane at the lower end of the wedge is contacted with the inclined plane at one end of the sliding block, and the sliding block is arranged on the upper plane in the lower shell; the joint bearing is arranged in the sliding block, the outer ring of the joint bearing is fixed with the sliding block, the inner ring of the joint bearing is matched with one end of the intermediate shaft, and the other end of the intermediate shaft is connected with the gear rack group; the elastic element is fixed between the connecting disc and the upper plane in the lower shell through screws, and the connecting disc is connected between the intermediate shaft and the elastic element, so that the intermediate shaft can swing and twist around the sliding block.
A control method of the integrated drilling robot based on six-axis mechanical arm drill rod loading and unloading comprises the following steps:
step a1: initializing a six-axis serial manipulator and a three-degree-of-freedom host, wherein the six-axis serial manipulator and the three-degree-of-freedom host return to a calibration zero point, a shackle is closed, a rear holder is opened, and a power head returns to a calibration position;
step a2: the explosion-proof remote controller inputs construction target hole parameters to the three-degree-of-freedom host;
step a3: the three-degree-of-freedom host moves to an appointed position according to the calculation result, and the coordinate position is fed back to the controller;
step a4: the explosion-proof remote controller sends a rod adding instruction to the three-degree-of-freedom host and the six-axis serial manipulator;
step a5: waiting for adding a rod by the three-degree-of-freedom host, and grabbing the flexible component by the six-axis serial manipulator and the drill rod at the tail end of the six-axis serial manipulator to take the rod;
step a6: the six-axis serial manipulator grabs the drill rod and puts the drill rod into the set position of the gripper according to the coordinate value fed back by the three-degree-of-freedom host;
step a7: the gripper clamps and sends information to the drill rod grabbing compliant member to control the gripper to release;
step a8: the six-axis serial manipulator moves to a specified safety position and sends information to the three-degree-of-freedom host;
step a9: the power head rotates to feed until the pressure reaches a set value;
step a10: judging that the buckling is finished through pressure mutation, and loosening the clamp holder;
step a11: the power head rotates to feed until the pressure reaches a set value;
step a12: judging that the screwing-in is completed through pressure mutation, and loosening the screw detacher;
step a13: full-automatic self-adaptive drilling: setting parameters for drilling or setting gears for drilling, and automatically increasing or decreasing feeding pressure and rotation pressure according to drilling parameters;
step a14: when the power head is detected to feed to a calibration position, the three-degree-of-freedom host stops acting, the shackle device is clamped, and the rear end shackle is dismounted;
step a15: and d, judging whether the number of the drill rods reaches the required design hole depth or not after the shackling is finished through pressure mutation, stopping the operation, and returning to the step a4 to carry out the next cycle if the number of the drill rods does not reach the design hole depth.
A control method of the integrated drilling robot based on six-axis mechanical arm drill rod loading and unloading comprises the following steps:
step b1: initializing a six-axis serial manipulator, simultaneously detecting the state of a three-degree-of-freedom host machine, and obtaining the state of a to-be-unloaded rod when an active drill rod is separated from a drill rod, a front clamp clamps the drill rod to be closed, and a rear clamp clamps the drill rod to be opened;
and b2: feeding the power head to a calibration position, and fastening the rear end of the power head;
step b3: the power head rotates to feed, and after the buckling is judged to be finished through pressure mutation, the front clamp holder is loosened;
and b4: pulling the power head to a calibration position, clamping by the front clamp holder, and detaching the front end buckle;
and b5: the power head rotates and is pulled out, and after the situation that the shackle is completely disassembled is judged through pressure sudden change, the power head is pulled out to a calibration position;
step b6: clamping by a rear clamp holder, and disassembling a rear end buckle;
step b7: the power head rotates to be pulled out, after the situation that the shackle is completely disassembled is judged through sudden pressure change, the power head is pulled out to a calibration position, the current position coordinate is sent to the main controller, and meanwhile a signal for waiting for disassembling the rod is sent to the six-axis serial manipulator;
step b8: the six-axis serial manipulator and the tail end drill rod thereof grab the compliant component to clamp the drill rod, the rear gripper is loosened, the six-axis serial manipulator puts the drill rod into a set position of the rod box, and in the process, the six-axis serial manipulator sends information to the three-degree-of-freedom host when moving to a specified safe position;
step b9: and c, judging whether the quantity of the drill pipe pulling-out reaches the requirement or not, stopping the operation if the drill pipe pulling-out is finished, and returning to the step b1 to carry out the next circulation if the drill pipe pulling-out is not finished.
Compared with the prior art, the invention has the following technical effects:
the invention adopts an electro-hydraulic servo control system, has high system control precision, can realize accurate positioning and has good stability; the synchronous double-gripper middle rod adding structure is specially designed, a rotary support adjusting mechanism with a holding function, an operating device with a distributed layout and a crawler body of a drilling machine are optimized, and a hydraulic system, an electric control system and a friendly man-machine interaction system which meet requirements are designed by combining the characteristics of integration, electric control, unmanned operation, continuous operation and the like of a drilling robot.
1. The integral type overall arrangement, robot, three degree of freedom host computers, drilling rod case are on same platform, and the relative position need not be markd again in the construction aversion, and the construction aversion is convenient, efficient.
2. The drill rod box adopts a multi-column and multi-layer large-capacity box body structure, and the requirement on the number of drill rods for deep drilling can be met. The drill rod with different diameters can be adapted by replacing two parts, and the construction requirements of different drilling diameters can be met. And by making row and column identification on the drill rod box, when the machine is started up after shutdown, an operator inputs the row and column corresponding to the current drill rod on the remote controller, and then the machine can directly enter a drilling machine working mode without polling the current drill rod position, so that the drilling construction preparation time of the drilling machine is shortened, and the efficiency is improved.
3. And (4) fully-automatic drilling. Through the calling of the main controller to the automatic control program, the monitoring feedback of the sensor to the control system and the actuating mechanism can automatically load and unload the drill rod and automatically adjust the tapping attitude, and the tapping azimuth angle is adjusted to the designed tapping azimuth angle according to the drilling parameters, so that full-automatic drilling is realized, and the construction efficiency is improved. The intelligent control system simultaneously starts the self-adaptive drilling program, the fault diagnosis program and the emergency processing program to complete the matching of the drilling efficiency, the self-processing of abnormal conditions in the hole, the fault alarm and the emergency shutdown process, so that the blockage can be automatically prevented, and the accidents in the hole are avoided.
4. An autonomous stabilizing leveling system. The drilling machine can be automatically supported and stabilized through the information transmission of the main controller, the inclination angle sensor and the displacement sensor, and the drilling machine is prevented from moving due to the fact that the drilling machine is stabilized and loosened in the drilling construction process, so that the drilling rod is prevented from being damaged and accidents in a hole are prevented;
5. a hydraulic digital control system. The control and operation functions are good, the repetition precision is high, the hydraulic system and elements have more flexibility, and the system has more advantages in dynamic and static precision, efficiency, operability and energy conservation.
6. Digitalizing and informationizing. The remote controller with the digital virtual instrument has the functions of monitoring, early warning and diagnosing the state of the drilling machine, can store data and is convenient for history tracing; the drilling machine can be accurately and quantitatively controlled according to the set value of the drilling parameter, so that the digital parameter drilling is realized; remote monitoring, diagnosis and interaction can be carried out based on the network, and people can be saved on the working face.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a three-degree-of-freedom host structure according to the present invention;
FIG. 3 is a schematic structural view of a variable amplitude stabilizing device of the present invention;
FIG. 4 is a schematic illustration of the track body configuration of the present invention;
FIG. 5 is a schematic view of the pole box construction of the present invention;
FIG. 6 is a schematic structural view of a six-axis tandem robot and its end drill rod grabbing compliant member of the present invention;
FIG. 7 is a schematic view of the drill rod gripping compliant member of the present invention, with (a) the gripper closed and (b) the gripper open;
FIG. 8 is a schematic view of a flexure construction of the present invention;
FIG. 9 is a schematic view of a feed displacement sensor assembly of the present invention;
FIG. 10 is a schematic view of the drilling process of the present invention;
FIG. 11 is a schematic drawing of the inventive tripping process.
The reference numbers mean:
1. the system comprises a three-degree-of-freedom host, a crawler body, a pressure gauge assembly, a valve bank, a rod box, an oil tank assembly, a cooler assembly, a mining explosion-proof emergency stop button, a motor pump set, a main controller, a six-shaft serial manipulator, and a drill rod grabbing compliant member, wherein the crawler body is 2, the pressure gauge assembly is 3, the valve bank is 4, the rod box is 5, the oil tank assembly is 6, the cooler assembly is 7, the mining explosion-proof emergency stop button is 8, the motor pump set is 9, the main controller is 10, the six-shaft serial manipulator is 11, and the drill rod grabbing compliant member is 12; 13. the device comprises a feeding machine body, 14 parts of a shackle device and a front clamp holder, 15 parts of a rear clamp holder, 16 parts of a variable amplitude stabilizing device, 17 parts of a power head, 18 parts of a feeding oil cylinder, 19 parts of a carriage, 20 parts of a translation oil cylinder, 21 parts of a translation clamping plate, 22 parts of a feeding displacement sensor assembly and 23 parts of a translation displacement sensor assembly; 24. a rotary support, 25, an encoder, 26, a lifting displacement sensor assembly, 27, a lifting oil cylinder, 28, an upright oil cylinder slide rail assembly, 29, an upright lower stabilizing assembly, and 30, a rotary upper stabilizing assembly; 31. 32, a crawler body platform, 32, a walking crawler assembly, 33, a mining intrinsic safety double-shaft inclination angle sensor, 34, a hoisting rigging, 35, an operating console valve group, 36, a pressure transmitter assembly, 37 and a junction box assembly; 38. a box body bracket, 39, a drill rod limiting frame, 40, a stop lever, 41, a backing plate, 42, a front bin door, 43, a baffle plate component and 44, a rear bin door; 45. a base, 46, an arm body, 47, a servo motor; 48. the device comprises a first oil cylinder, a 49. N-shaped frame, a 50 gear rack group, a 51 flexible part, a 52 elastic component, a 53 proximity switch, a 54 magnet, a 55 paw, a 56 magnetic switch component; 57. the connecting shell 58, the spring 59, the wedge 60, the joint bearing 61, the upper shell 62, the sliding block 63, the lower shell 64, the elastic element 65, the connecting disc 66 and the intermediate shaft.
Detailed Description
The following embodiments are given as examples of the present invention, and it should be noted that the present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention are included in the protection scope of the present invention.
Example 1:
the embodiment provides an integrated drilling robot based on six-axis manipulator drill rod loading and unloading, which comprises a crawler body 2, a drill rod loading and unloading system arranged on the crawler body 2 and a main controller 10;
the crawler body 2 comprises a crawler body platform 31 and walking crawler assemblies 32 on two sides of the crawler body platform;
the drill rod loading and unloading system comprises a three-degree-of-freedom host 1, a rod box 5, a six-axis serial manipulator 11 positioned between the three-degree-of-freedom host 1 and the rod box 5, and a drill rod grabbing compliant member 12 at the tail end of the six-axis serial manipulator 11; the three-degree-of-freedom host 1 comprises a feeding machine body 13, a shackle device, a front clamp 14, a rear clamp 15, a power head 17, a feeding oil cylinder 18, a planker 19, a translation oil cylinder 20, a translation clamping plate 21, a feeding displacement sensor assembly 22, a translation displacement sensor assembly 23 and a variable amplitude stabilizing device 16; the variable-amplitude stabilizing device 16 is arranged on a crawler body platform 31 through a lifting oil cylinder 27, and a rotary support 24 of the variable-amplitude stabilizing device 16 is connected with one side of the feeding machine body 13; the translation of the translation oil cylinder 20, the lifting of the lifting oil cylinder 27 of the variable amplitude stabilizing device 16 and the rotation of the rotary support 24 can realize the adjustment of three degrees of freedom of the main machine;
the rod box 5 comprises a box body bracket 38, a drill rod limiting frame 39, a stop lever 40, a backing plate 41, a front bin gate 42, a baffle plate assembly 43 and a rear bin gate 44; the rod box 5 has a plurality of layers of spaces for accommodating the drill rods, and can adapt to the drill rods with different diameters by adjusting the side base plate 41 and the bottom drill rod limiting frame 39;
the six-axis serial robot 11 includes a base 45, an arm 46, and a servo motor 47; the rotation angle range of the arm body 46 on the base 45 is minus 180 degrees to plus 180 degrees, and the servo motor 47 can control the arm body 46 to sequentially or synchronously act to realize the change of the tail end position and is used for grabbing the drill rod from the rod box 5 to the drill rod placing position of the three-degree-of-freedom host 1;
the drill rod grabbing compliant member 12 comprises a first cylinder 48, an n-shaped frame 49, a gear rack set 50, a flexible member 51, an elastic component 52, a proximity switch 53, a magnet 54, a gripper 55 and a magnetic switch component 56; for gripping the drill rod.
The main controller 10 is installed on a bracket behind the crawler body platform 31 and is connected with the crawler body platform 31 through bolts, and can control the crawler body 2 to self-level, self-stabilize, automatically load and unload drill rods, automatically adjust the hole opening posture and automatically drill.
The crawler body 2 comprises a crawler body platform 31, a walking crawler assembly 32, a mining intrinsic safety double-shaft inclination angle sensor 33, a hoisting rigging 34, a console valve group 35, a pressure transmitter assembly 36 and a junction box assembly 37; the walking crawler assemblies 32 are arranged on the left side and the right side of the crawler body platform 31; the mining intrinsically-safe double-shaft inclination angle sensor 33 is arranged on the crawler body platform 31 and forms a self-leveling and self-stabilizing system together with the control part of the crawler body 2, so that the automatic positioning and automatic stabilization of the crawler body 2 are realized, the stable crawler body platform 31 is the precondition guarantee that the drilling machine works, and the three-degree-of-freedom host 1 arranged on the crawler platform can stably and accurately work according to the set requirement; the hoisting rigging 34 is welded on the side surface of the crawler body platform 31, so that the hoisting of the drilling machine in the assembling or transporting process is met; the control console valve group 35 is connected with the vehicle body platform through bolts, valve combination is applied, the linkage function between the control of each action of the drilling machine and the actuating mechanism is realized through the control of an explosion-proof remote controller, 4 control console valve groups are wrapped in the protective cover, the drilling machine is ensured to be neat and attractive, misoperation is prevented, and when a maintenance, debugging or control system fails, an electromagnetic valve handle is required to be installed firstly, and then manual operation is carried out; the pressure transmitter assembly 36 is used for detecting working pressures of a main pump, an auxiliary pump, feeding, pulling, forward rotation, reverse rotation and oil return of the drilling machine in real time, and is displayed on the pressure gauge assembly 3 and a control interface of the explosion-proof remote controller, so that the observation of construction operators is facilitated. A junction box assembly 37 is bolted to crawler body platform 31 for connecting main controller 10 and pressure transmitter assembly 36.
In the drill rod loading and unloading system, a six-axis serial manipulator 11 can meet arm extension and tail end load required by the drill rod loading and unloading, and the drill rod loading and unloading in the working space of the three-degree-of-freedom host 1 are realized through control; the drill rod grabbing compliant component 12 is a multi-direction passive compliant device which is simple in structure and strong in applicability and is used for the coal mine robot to grab a drill rod, so that a rigid mechanical arm is protected; the rod box 5 is provided with a plurality of layers of spaces for accommodating the drill rods, and can adapt to the drill rods with different diameters by adjustment; by applying the multi-robot cooperation control technology and the compliance control technology, the robot can load and unload the drill rod. The task of loading and unloading the drill rod between the slave rod box 5 and the three-degree-of-freedom host 1 is completed by controlling the six-axis serial manipulator 11 and the drill rod grabbing compliant member 12; because all the parts are arranged on the same vehicle body platform, the distance between the six-axis serial manipulator 11 and the rod box 5 and the three-degree-of-freedom host 1 is relatively fixed; when debugging, marking zero on the mechanical arm, marking zero on the three-degree-of-freedom host 1, and measuring relative coordinate values between the drill rod box 5 and the mechanical arm and between the zero host and the mechanical arm, wherein in work, the change of the coordinate value of the three-degree-of-freedom host 1 is transmitted to the controller through three sensors on the host, then the controller sends a command to the mechanical arm, and the mechanical handle sends the drill rod to a designated position; when the manipulator grabs the drill rods from the drill rod box 5, because the drill rods are arranged according to the fixed row spacing and the fixed column spacing, the current grabbing coordinate value is calculated by a stacking algorithm according to the coordinate value of the last time every time, and therefore the manipulator can accurately grab the drill rods; and within the appointed times of loading and unloading the drill rod, obtaining an error mean value by applying a mean value method, and automatically compensating.
The shackle device, the front holder 14 and the rear holder 15 of the three-degree-of-freedom host 1 are screwed on the mounting plate of the feeder body 13 and are matched with the power head 17 to realize automatic assembly and disassembly of the drill rod; the power head 17 is connected with the carriage 19 through a pin shaft, the carriage 19 is connected with a cylinder barrel of the feeding oil cylinder 18 and moves along with the cylinder barrel of the feeding oil cylinder 18, the power head 17 and the carriage 19 slide on the feeding machine body 13 along with the extension and retraction of the feeding oil cylinder 18, and the drilling machine is used for drilling down and drilling up; a rotation speed sensor is arranged on the rear end cover of the power head 17 and used for detecting the rotation speed in real time; one end of the feeding oil cylinder 18 is connected with the front end of the feeding machine body 13, and the other end is fixed at the rear end of the feeding machine body 13; one end of a feeding displacement sensor assembly 22 is fixed on the feeding machine body 13, and the other end of the feeding displacement sensor assembly is fixed on the carriage 19, so that the stroke position of the feeding oil cylinder 18 is detected and fed back in real time; one end of a double-acting translation oil cylinder 20 is hinged to the front end of the feeding machine body 13, the other end of the double-acting translation oil cylinder is hinged to the rear end of the feeding machine body 13, a cylinder barrel is connected with a translation clamping plate 21, the feeding machine body 13 is driven to move back and forth through the extension and contraction of the translation oil cylinder 20, and the distance between the feeding machine body 13 and a drilling orifice is adjusted; one end of a translation displacement sensor assembly 23 is fixed on the feeding machine body 13, and the other end of the translation displacement sensor assembly is fixed on a translation clamping plate 21 to detect and feed back the translation amount of the translation oil cylinder 20; the variable-amplitude stabilizing device 16 is arranged on a crawler body platform 31 through a lifting oil cylinder 27, and a rotary support 24 of the variable-amplitude stabilizing device 16 is connected with one side of the feeding machine body 13; the translation of the translation oil cylinder 20, the lifting of the lifting oil cylinder 27 of the variable amplitude stabilizing device 16 and the rotation of the rotary support 24 can realize the adjustment of three degrees of freedom of the main machine.
The variable-amplitude stabilizing device 16 comprises an upright post oil cylinder slide rail assembly 28, a rotary support 24, an encoder 25, a lifting oil cylinder 27, a lifting displacement sensor assembly 26, an upright post lower stabilizing assembly 29 and a rotary upper stabilizing assembly 30;
the upright post oil cylinder slide rail assembly 28 is sleeved on the two upright post lower stabilizing assemblies 29, the front wall of the upright post oil cylinder slide rail assembly 28 is provided with a rotary support 24 (the adjustment range of the inclination angle of the feeding machine body 13 is-90 degrees to +90 degrees, and various adjustments are convenient and reliable), the rotary support 24 is connected with the feeding machine body 13 through an L-shaped support plate, and a rotary turbine of the rotary support 24 can drive the L-shaped support plate and the feeding machine body 13 to rotate; a braking part is arranged in the rotary support, and the braking part can perform hydraulic braking locking on the rotary turbine, so that the operation stability of the main machine and the safety coefficient of the operation are obviously improved; the encoder 25 is connected to the braking part through the mounting seat, and an inner shaft of the encoder 25 is connected with the L-shaped supporting plate through a transmission shaft, so that the direct measurement of the drilling inclination angle is realized; more specifically, the outer ring of the rotary support 24 is fixed on the front wall of the upright cylinder slide rail assembly 28, the inner ring rotary turbine of the rotary support 24 is fixedly connected with an L-shaped support plate, and the L-shaped support plate is fixedly connected with the feeding machine body 13; the inner shaft of the encoder 25 is connected with one end of the transmission shaft, and the other end of the transmission shaft is connected with the L-shaped support plate.
The lower end of the lifting oil cylinder 27 is in threaded connection with the crawler body platform 31, the upper end of the lifting oil cylinder 27 is in threaded connection with the rear wall of the upright oil cylinder slide rail assembly 28, and the feeding machine body 13 moves along the upright oil cylinder through the extension and retraction of the lifting oil cylinder 27, so that the height adjustment of the drilling machine hole is realized;
one end of the lifting displacement sensor component 26 is screwed on the column cylinder slide rail component 28, and the other end is screwed on the crawler body platform 31 for detecting and feeding back the displacement of the lifting cylinder 27;
the lower upright stabilizing assemblies 29 are two and parallel to each other, each lower upright stabilizing assembly 29 comprises a lower upright and a lower hydraulic oil cylinder below the lower upright, a displacement sensor is arranged in a piston rod of each lower hydraulic oil cylinder, the lifting amount of the front end of the platform of the drilling machine body can be monitored in real time, the upper half part of the interior of each lower upright stabilizing assembly 29 is of a hollow structure, the mass of each upright can be reduced on the premise of ensuring the structural strength, a signal line of the displacement sensor penetrates out of the hollow part of each upright to the top end cover, and a through hole for mounting a jackscrew is formed in the side surface of each upright and used for fixing the displacement sensor;
the rotary upper stabilizing assemblies 30 are two and are parallel to the upright lower stabilizing assemblies 29, the rotary upper stabilizing assemblies 30 are connected with the upright lower stabilizing assemblies 29 through rotary sleeves at the lower parts of the rotary upper stabilizing assemblies 30, each rotary upper stabilizing assembly 30 comprises an upper upright and an upper jacking hydraulic cylinder above the upper part of the upper upright, and the lower ends of the rotary upper stabilizing assemblies 30 are provided with limit pins; during transportation, the rotary upper stabilizing component 30 is fixed with the crawler body platform 31 by using a limit pin, so that the upper stabilizing component is retracted and is consistent with the width of the crawler body;
when in a construction stable state, the limiting pin is pulled out to enable the two rotary upper stabilizing assemblies 30 to rotate outwards by 90 degrees to the outside of the vehicle body, namely the two sides of the lower upright post stabilizing assembly 29 (limited by the limiting block), pin holes at the two ends of the connecting plate are aligned with the rotary upper stabilizing assemblies 30 and the pin holes of the platform of the vehicle body, the pin shafts are respectively inserted to limit the freedom degree of the pin shafts, the stabilizing distance is increased, the stabilizing reliability is improved, and meanwhile, a drill rod can be more easily gripped by a mechanical hand to pass through the space between the two stabilizing upright posts; during transportation, the piston rod of the upper hydraulic oil cylinder of the rotary upper stabilizing assembly 30 extends upwards and the piston rod of the lower hydraulic oil cylinder of the lower stabilizing assembly 29 extends downwards respectively to stabilize the drilling machine, so that the distance between upper stabilizers is increased, a sufficient space is reserved for an automatic drill rod handling system, a lower stabilizing range is increased, a stabilizing area is increased, and the stability of drilling construction is enhanced.
The box body support 38 of the rod box 5 comprises a square bottom frame and four side plates at four corners, the square bottom frame comprises two parallel side beams and two parallel end beams, and each side beam is provided with two vertical side plates to enclose the drill rod; the drill rod limiting frame 39 is provided with two parallel drill rod limiting frames which are vertically connected between the two side beams, arc-shaped grooves which are distributed at equal intervals are arranged on the drill rod limiting frame 39 to stack drill rods to ensure that the drill rods are stacked and arranged at fixed intervals, and the drill rods are arranged perpendicular to the drill rod limiting frame 39; the stop rods 40 are detachably arranged between the two opposite side plates and are parallel to the drill rod limiting frame 39 so as to prevent the drill rods from falling off due to vibration when the whole box of drill rods is transported, and the stop rods 40 are detached and placed in the two groups of support through holes behind the box body support 38 when the drilling machine works; the backing plate 41 is screwed on the side plate, drill rods with different diameters can be met by adjusting the thickness of the backing plate 41 and replacing the drill rod limiting frame 39, and the drill rod limiting frame is suitable for being held by hands in different forms; the front bin gate 42 and the rear bin gate 44 are opposite in parallel and are respectively arranged between two side plates above the two end beams, the front bin gate 42 is screwed with the baffle plate assembly 43 and then screwed with the two opposite side plates in parallel, and the front bin gate is detached from the box body support 38 when the drilling machine works so as to limit the axial limiting of drill rods in the drill rod box 5 when the drilling machine walks. The rod box 5 has multiple layers and columns of spaces for accommodating drill rods and is adapted to drill rods of different diameters by adjusting the side plate 41 and the bottom surface drill rod limiting rack 39.
The arm body 46 of the six-axis serial manipulator 11 can horizontally rotate by taking the base 45 as a center, the base 45 is provided with a 0 standard, and the rotation angle of the arm body 46 ranges from minus 180 degrees to plus 180 degrees; the arm body 46 comprises a shoulder part, a big arm, a small arm and a wrist which are connected in sequence, the lower end of the shoulder part is connected with the base 45, the upper end of the shoulder part is connected with one end of the big arm through a shoulder joint controlled by a servo motor 47, the other end of the big arm is connected with one end of the small arm through an elbow joint controlled by the servo motor 47, the other end of the small arm is connected with the upper part of the wrist through a wrist joint controlled by the servo motor 47, and the lower end of the wrist is connected with the drill rod grabbing flexible component 12; the six mining explosion-proof servo motors 47 are used for controlling joint parts, so that six serial shafts of the manipulator sequentially or synchronously act to realize the change of the position of the tail end gripper 55, and the drill rod placing position of the host machine is grabbed from the rod bin. The protection grade of the complete machine of the explosion-proof six-degree-of-freedom manipulator is IP54, and the complete machine meets the operation requirements of complex environments such as underground moisture, multiple dust and the like of a coal mine.
The first oil cylinder 48 of the drill rod grabbing compliant member 12 is mounted on the n-shaped frame 49, the lower end of the first oil cylinder 48 is connected with a gear rack group 50 through a flexible piece 51, the gear rack group 50 is connected with a paw 55, so that the paw 55 can be opened and closed by pushing the gear rack group 50 through the first oil cylinder 48, when a robot loads and unloads a drill rod, the paw 55 can generate position deviation and angle deviation when being subjected to forces in the X, Y and Z directions and in the directions around the X, Y and Z axes, and counter force can be eliminated through the flexible piece 51; a magnetic switch assembly 56 and a magnet 54 are arranged between the two claws 55 below the n-shaped frame 49, and an oil cylinder in the magnetic switch assembly 56 can control whether the magnet 54 is magnetic; the elastic component 52 is connected between the upper end of the magnet 54 and the outer side wall of the n-shaped frame 49, and when the magnet 54 is subjected to counter force when the gripper 55 clamps the drill rod, the counter force is eliminated through the elastic component 52, so that the rigid mechanical arm is protected.
The first oil cylinder 48 penetrates through and is arranged on the top plate of the n-shaped frame 49, the flexible part 51 is arranged at the lower end of the first oil cylinder 48, and the lower part of an intermediate shaft 66 of the flexible part 51 is connected with the rack and pinion set 50; the gear rack set 50 includes a rack, a mounting shaft and a gear; the rack is connected with a middle shaft 66 of the flexible piece 51, the gear is sleeved on a mounting shaft, and the mounting shaft is arranged between two side plates of the n-shaped frame 49; two claws 55 are arranged on the mounting shaft; the first oil cylinder 48 can drive the intermediate shaft 66 to drive the rack to move, and the rack drives the gear to rotate so as to drive the two paws 55 to open or close;
the flexible member 51 includes a connection housing 57, a spring 58, a wedge 59, a knuckle bearing 60, an upper housing 61, a slider 62, a lower housing 63, an elastic member 64, a connection disc 65, and an intermediate shaft 66; the connecting shell 57 and the upper shell 61 as well as the upper shell 61 and the lower shell 63 are connected through bolts, and the connecting positions of the two layers of bolts are staggered by 45 degrees, so that the assembly and disassembly are convenient; the spring 58 is arranged between the top projection of the inner wall of the connecting shell 57 and the upper end of the wedge 59, the wedge 59 is arranged in the sliding groove of the upper shell 61, the inclined plane of the lower end of the wedge 59 is contacted with the inclined plane of one end of the sliding block 62, and the sliding block 62 is arranged on the upper plane in the lower shell 63 and can move horizontally in the directions of the X axis, the Y axis and the Z axis; the knuckle bearing 60 is arranged in the sliding block 62, the outer ring of the knuckle bearing 60 is fixed with the sliding block 62, the inner ring of the knuckle bearing 60 is matched with one end of the intermediate shaft 66, and the other end of the intermediate shaft 66 is connected with the gear rack group 50; the elastic element 64 is fixed between the connecting disc 65 and the inner upper plane of the lower shell 63 through screws, and the connecting disc 65 is connected between the intermediate shaft 66 and the elastic element 64, so that the intermediate shaft 66 can swing and twist around the sliding block 62; when the robot is not subjected to a counter force, the flexible member 51 remains rigid; when external force is applied, the external force is transmitted to the intermediate shaft 66 through the gripper 55, the intermediate shaft 66 drives the sliding block 62 to perform position deviation, the position deviation can be converted into displacement of the wedge 59 along the sliding groove direction, at the moment, the spring 58 is compressed to generate vertical downward restoring force, the wedge 59 and the sliding block 62 are restored, and therefore the flexible part 51 has flexibility in the directions of the X axis, the Y axis and the Z axis, when the external force is applied, the elastic restoring force of the elastic element 64 enables the intermediate shaft 66 to restore, so that the flexible part 51 can achieve flexibility in the directions of the X axis, the Y axis and the Z axis, and finally the mechanical arm is not subjected to counterforce through the flexible part 51, and protection on the mechanical arm is achieved.
The main controller 10 is arranged on a bracket behind the crawler body platform 31 and is connected with the crawler body platform 31 through bolts; the bracket and the main controller 10 can be removed during transportation, and the length size of the crawler body platform 31 is reduced; the controller is an integrated processing center of a control center and an operation instruction of the drilling machine, receives and processes various signals sent by the sensor group, packs information to be displayed according to a communication protocol and then transmits the information to the outside through the wireless network transceiving module; the controller also receives and processes control signals received by the wireless network transceiving module, controls the current values of various anti-explosion electric control valve groups 4, hydraulic valve groups 4, sensor systems, digital valves and anti-explosion servo motors 47 of the console valve group 35 through programs, further controls the reversing of the proportional solenoid valve and the opening of the valve port, and the rotation speed and the rotation direction of the digital valves and the anti-explosion servo motors 47, and achieves the purposes of controlling the crawler body 2 to be self-leveled, self-stabilized, automatically loading and unloading drill rods, automatically adjusting the opening gesture and automatically drilling.
The integrated drilling robot based on the six-axis manipulator drill rod loading and unloading further comprises an oil tank assembly 6, a cooler assembly 7, a mining explosion-proof type emergency stop button 8, a motor pump set 9, a main controller 10 and an explosion-proof remote controller, wherein the main controller 10 is connected with the explosion-proof remote controller through a wireless network module.
The oil tank assembly 6 is in threaded connection with the crawler body platform 31 and comprises an oil return filter, an air filter, a wireless network module communicated with an explosion-proof remote controller, a mining intrinsically safe temperature transmitter, an intrinsically safe liquid level sensor, a self-sealing oil suction filter and a high-pressure oil filter, and the oil temperature and the oil level height in the oil tank can be transmitted to the main controller 10 in real time; the self-sealing oil suction filter has no need of discharging hydraulic oil, and its oil circuit is automatically sealed, and the filter core can be directly pulled out and replaced.
The cooler assembly 7 is connected with the oil tank assembly 6 and comprises a cooler mounting shell, a handle, a cooler core and a joint, wherein the cooler core is fixed in the shell, and the shell is connected to the oil tank assembly 6 in a threaded manner, so that the maintenance and the replacement are convenient; the cooler assembly 7 is connected with the oil return of the system multi-way valve and the oil return of the gearbox, and is used for reducing the temperature of the hydraulic return oil, keeping the oil temperature within a normal working range and reducing the aging and the abrasion of hydraulic elements.
The mining explosion-proof emergency stop button 8 can be used for stopping the drilling machine by quickly pressing the button when an emergency abnormal condition occurs, so that a protection effect is achieved.
The motor-pump set 9 is a power source of the drilling machine and comprises an explosion-proof motor, a pump I and a pump II; pump I, II pumps adopt the series system to connect, and for abundant rational utilization space, the motor adopts the inner shaft type, directly passes through splined connection with pump I, through the vertical spiro union of pump seat to track automobile body platform 31 on, motor pump group 9 inlays in track automobile body platform 31, and this kind of mounting means greatly increased the compactness of rig.
The explosion-proof remote controller is connected with the main controller 10 and comprises a PLC module, a wireless network transceiving module II, a liquid crystal display screen and an operation panel; the operation panel, the liquid crystal display screen and the wireless network transceiving module II are respectively connected with the PLC module; the PLC module receives an instruction sent by the operation panel, packs the instruction according to a communication protocol and then sends the instruction to the wireless network transceiving module II to send out the instruction; the wireless network transceiving module II receives the signal sent by the wireless network transceiving module and transmits the signal to the PLC module for processing; the liquid crystal display screen is used for displaying the motion states of the crawler body 2 and the drilling robot, the pressure of a hydraulic system, the drilling depth, the rotation speed of a drill rod, the oil temperature, the drilling azimuth angle, the angle adjusting angle, the drill rod diameter and related warning prompt information; the operation panel comprises a left crawler walking control handle, a right crawler walking control handle, a self-leveling and self-stabilizing start/stop button, a one-key drilling button, single-action buttons of all executing mechanisms, a function selection button, a digital input keyboard and the like. The accelerator curve optimization is carried out on the processing values of the left and right crawler control handles, and the controllability of the crawler traveling speed is enhanced.
The drilling robot can realize the automatic control function, and whether the sensor group can work stably and reliably is a key factor for determining whether the system can work stably and reliably; the sensor group comprises a displacement sensor which is arranged in the stable oil cylinder (namely the lower jacking hydraulic oil cylinder) and is used for detecting the extending length of the stable oil cylinder; the pressure transmitter is connected in the hydraulic pipeline and used for detecting the oil pressure; the double-shaft inclination angle sensor is arranged on the crawler platform and used for detecting the inclination angle of the crawler platform; a pull rope sensor which is arranged on the three-degree-of-freedom host 1 and is used for detecting the displacement of the feeding oil cylinder 18, the translation oil cylinder 20 and the lifting oil cylinder 27; a multi-turn absolute value encoder 25 mounted on the angle adjusting device (i.e., the amplitude variation stabilizing device 16) for detecting the inclination angle of the main machine; a rotation speed sensor installed at the rear end of the power head 17 and used for detecting the rotation speed of the power head 17; the temperature sensor is arranged on the oil tank and used for detecting the oil temperature and the liquid level sensor of the oil level of the oil tank; the proximity sensor is arranged at the tail end of the gripper and used for detecting whether the gripper is close to the drill rod; the sensors transmit data to the main controller 10 in a CAN bus mode; the sensor group also comprises an absolute value encoder 25 and a working condition intelligent identification module, wherein the absolute value encoder is installed inside the explosion-proof servo motor 47 and plays a role in feedback.
The calibration work comprises the steps of robot zero marking, three-degree-of-freedom host machine 1 zero marking (zero marking is carried out by an inclination angle multi-circle absolute value encoder 25 of the host machine of the angle adjusting device), lifting oil cylinder 27 initial position zero marking, translation oil cylinder 20 initial position zero marking, lower top oil cylinder initial position zero marking, feeding oil cylinder 18 displacement pull rope sensor position calibration Z1, Z2, Z3 and Z4 (position Z1: the foremost end of the motion of the power head 17 and the smallest stroke of the feeding oil cylinder 18 are used for upper rear end buckling during drilling), position Z2: upper front end buckling (thread buckling between a middle drill rod and an orifice drill rod) during automatic drilling and front end buckling during automatic drilling, position Z3: upper rear end buckling position during automatic drilling and rear end buckling during automatic drilling, position Z4: the rearmost end of the motion of the power head 17, feeding oil cylinder 18 maximum stroke during feeding, rod adding position waiting and avoiding when adding rods)
Example 2:
the embodiment provides a control method of an integrated drilling robot based on six-axis mechanical arm drill rod loading and unloading, which comprises a drilling process and a tripping process;
referring to fig. 9 and 10, the drilling process includes the steps of:
step a1: initializing a six-axis serial manipulator and a three-degree-of-freedom host, wherein the six-axis serial manipulator and the three-degree-of-freedom host both return to a calibration zero point, the shackle device is closed, the rear clamp holder is opened, and the power head returns to a calibration position Z4;
step a2: the explosion-proof remote controller inputs construction target hole parameters to the three-degree-of-freedom host;
step a3: the three-degree-of-freedom host moves to an appointed position according to the calculation result, and the coordinate position is fed back to the controller;
step a4: the explosion-proof remote controller sends a rod adding instruction to the three-degree-of-freedom host and the six-axis serial manipulator;
step a5: the three-degree-of-freedom host waits for adding a rod, the six-axis serial manipulator and the drill rod grabbing compliant member at the tail end of the six-axis serial manipulator grab the rod, and the six-axis serial manipulator and the drill rod grabbing compliant member at the tail end of the six-axis serial manipulator grab the drill rod according to the distance between the drill rods and a stacking program compiled according to the arrangement rule of the drill rods;
step a6: the six-axis serial manipulator grabs the drill rod by applying a motion track planned by a track planning algorithm according to the coordinate value fed back by the three-degree-of-freedom host and puts the drill rod into a set position of the gripper;
step a7: the gripper clamps and sends information to the drill rod grabbing compliant member to control the gripper to loosen, and meanwhile, the gripper control program calls the passive compliant control program to avoid impact damage to the six-axis serial manipulator and the drill rod grabbing compliant member at the tail end of the six-axis serial manipulator when the gripper clamps the drill rod in the drill rod loading and unloading operation process;
step a8: the six-axis serial manipulator moves to a specified safety position according to a motion track planned by a track planning algorithm and sends information to the three-degree-of-freedom host;
step a9: the power head rotates to feed until the pressure reaches a set value;
step a10: the buckling completion is judged through the pressure mutation, and the clamp holder is loosened;
step a11: the power head rotates to feed until the pressure reaches a set value;
step a12: judging that the make-up is completed through pressure mutation, and loosening the make-up remover;
step a13: full-automatic self-adaptive drilling: setting parameters for drilling or setting gears for drilling, and automatically increasing or decreasing feeding pressure and rotation pressure according to drilling parameters;
step a14: when the power head is detected to feed to a calibration position Z1, the three-degree-of-freedom host stops acting, the shackle device is clamped, and the rear end shackle is dismounted;
step a15: and d, judging whether the number of the drill rods reaches the required design hole depth or not after the shackling is finished through pressure mutation, stopping the operation, and returning to the step a4 to carry out the next cycle if the number of the drill rods does not reach the design hole depth.
Referring to fig. 11, the tripping process includes the steps of:
step b1: initializing a six-axis serial manipulator, simultaneously detecting the state of a three-degree-of-freedom host machine, and obtaining the state of a to-be-unloaded rod when an active drill rod is separated from a drill rod, a front clamp clamps the drill rod to be closed, and a rear clamp clamps the drill rod to be opened;
step b2: feeding the power head to a calibration position Z1, and fastening the rear end of the power head;
and b3: the power head rotates to feed, and after the fact that the fastening is finished is judged through pressure mutation, the front clamp holder is loosened;
step b4: pulling the power head to a calibration position Z2, clamping by the front clamp holder, and detaching the front end buckle;
and b5: the power head rotates and is pulled out, and after the situation that the shackle is completely disassembled is judged through pressure sudden change, the power head is pulled out to a calibration position Z3;
step b6: clamping by a rear clamp holder, and disassembling a rear end buckle;
step b7: the power head rotates and is pulled up, after the fact that the shackle is completely disassembled is judged through pressure sudden change, the power head is pulled up to a calibration position Z4, current position coordinates are sent to the main controller, and meanwhile a signal for waiting for rod disassembling is sent to the six-axis serial manipulator;
step b8: the six-axis serial manipulator and the tail end drill rod thereof grab the flexible component to clamp the drill rod, the rear gripper is loosened, the six-axis serial manipulator puts the drill rod into a set position of the rod box according to a motion track planned by a track planning algorithm, and in the process, the six-axis serial manipulator sends information to the three-degree-of-freedom host when moving to a specified safe position;
step b9: and c, judging whether the quantity of the drill pipe pulling-out reaches the requirement or not, stopping the operation if the drill pipe pulling-out is finished, and returning to the step b1 to carry out the next circulation if the drill pipe pulling-out is not finished.
Claims (7)
1. An integrated drilling robot based on six-axis manipulators for loading and unloading drill rods is characterized by comprising a crawler body, a drill rod loading and unloading system and a main controller, wherein the drill rod loading and unloading system and the main controller are arranged on the crawler body;
the crawler body comprises a crawler body platform and walking crawler assemblies on two sides of the crawler body platform;
the drill rod loading and unloading system comprises a three-degree-of-freedom host, a rod box, a six-axis serial manipulator and a drill rod grabbing compliant member, wherein the six-axis serial manipulator is positioned between the three-degree-of-freedom host and the rod box; the three-degree-of-freedom host comprises a feeding machine body, a shackle device, a front clamp holder, a rear clamp holder, a power head, a feeding oil cylinder, a planker, a translation oil cylinder, a translation clamping plate, a feeding displacement sensor assembly, a translation displacement sensor assembly and a variable amplitude stabilizing device; the variable-amplitude stabilizing device is arranged on the crawler body platform through a lifting oil cylinder, and a rotary support of the variable-amplitude stabilizing device is connected with one side of the feeding machine body; the translation of the translation oil cylinder, the lifting of the lifting oil cylinder of the variable amplitude stabilizing device and the rotation of the rotary support can realize the adjustment of three degrees of freedom of the main machine; the rod box comprises a box body bracket, a drill rod limiting frame, a stop rod, a base plate, a front bin door, a baffle plate assembly and a rear bin door; the rod box is provided with a plurality of layers of spaces for accommodating the drill rods, and can adapt to the drill rods with different diameters by adjusting the side base plate and the bottom drill rod limiting frame; the six-axis serial manipulator comprises a base, an arm body and a servo motor; the rotation angle range of the arm body on the base is minus 180 degrees to plus 180 degrees, and the servo motor can control the arm body to sequentially or synchronously act to realize the change of the tail end position and is used for grabbing the drill rod from the rod box to the drill rod placing position of the three-degree-of-freedom host; the drill rod grabbing compliant member comprises an n-shaped frame, a first oil cylinder arranged on the n-shaped frame, a flexible part and a gear rack group which are positioned below the first oil cylinder, a paw, an elastic assembly, a proximity switch, a magnet and a magnetic switch assembly; the first oil cylinder can push the gear rack group to drive the paw to open and close so as to grab the drill rod;
the main controller is arranged on a bracket behind the crawler body platform and is connected with the crawler body platform through a bolt, and can control the crawler body to self-level, self-stabilize, automatically load and unload a drill rod, automatically adjust the hole-opening posture and automatically drill;
the shackle device, the front clamp holder and the rear clamp holder of the three-degree-of-freedom host are screwed on the mounting plate of the feeding machine body and are matched with the power head to realize automatic loading and unloading of the drill rod; the power head is connected with the carriage through a pin shaft, the carriage is connected with a cylinder barrel of the feeding oil cylinder and moves along with the cylinder barrel of the feeding oil cylinder, and the power head and the carriage slide on the feeding machine body along with the extension and retraction of the feeding oil cylinder, so that the drilling machine can drill down and drill up; one end of the feeding oil cylinder is connected to the front end of the feeding machine body, and the other end of the feeding oil cylinder is fixed to the rear end of the feeding machine body; one end of the feeding displacement sensor assembly is fixed on the feeding machine body, and the other end of the feeding displacement sensor assembly is fixed on the carriage, so that the stroke position of the feeding oil cylinder is detected and fed back in real time; one end of the translation oil cylinder is hinged to the front end of the feeding machine body, the other end of the translation oil cylinder is hinged to the rear end of the feeding machine body, the cylinder barrel is connected with the translation clamping plate, the feeding machine body is driven to move back and forth through the extension and retraction of the translation oil cylinder, and the distance between the feeding machine body and a drilling orifice is adjusted; one end of the translation displacement sensor assembly is fixed on the feeding machine body, and the other end of the translation displacement sensor assembly is fixed on the translation clamping plate to detect and feed back the translation amount of the translation oil cylinder;
the variable-amplitude stabilizing device comprises an upright post oil cylinder slide rail assembly, a rotary support, an encoder, a lifting oil cylinder, a lifting displacement sensor assembly, an upright post lower stabilizing assembly and a rotary upper stabilizing assembly;
the vertical column oil cylinder sliding rail assembly is sleeved on the two vertical column lower stabilizing assemblies, a rotary support is arranged on the front wall of the vertical column oil cylinder sliding rail assembly, the rotary support is connected with the feeding machine body through an L-shaped support plate, and a rotary turbine of the rotary support can drive the L-shaped support plate and the feeding machine body to rotate; a braking piece is arranged in the rotary support and can hydraulically brake and lock the rotary turbine; the encoder is connected to the braking part through the mounting seat, and an inner shaft of the encoder is connected with the L-shaped supporting plate through the transmission shaft, so that the direct measurement of the drill hole inclination angle is realized;
the lower end of the lifting oil cylinder is in threaded connection with the crawler body platform, the upper end of the lifting oil cylinder is in threaded connection with the rear wall of the upright post oil cylinder sliding rail assembly, and the feeding machine body moves along the upright post oil cylinder through the extension and retraction of the lifting oil cylinder, so that the drilling height of the drilling machine is adjusted;
one end of the lifting displacement sensor assembly is in threaded connection with the upright post oil cylinder sliding rail assembly, and the other end of the lifting displacement sensor assembly is in threaded connection with the crawler body platform for detecting and feeding back the displacement of the lifting oil cylinder;
a first oil cylinder of the drill rod grabbing compliant component penetrates through and is installed on a top plate of the n-shaped frame, a flexible part is installed at the lower end of the first oil cylinder, and the lower portion of an intermediate shaft of the flexible part is connected with the gear rack group; the gear and rack group comprises a rack, a mounting shaft and a gear; the rack is connected with the middle shaft of the flexible part, the gear is sleeved on a mounting shaft, and the mounting shaft is arranged between the two side plates of the n-shaped frame; the mounting shaft is also provided with two claws, so that the claws can be opened and closed by pushing the rack and pinion group through the first oil cylinder; the magnetic switch component and the magnet are arranged between the two claws below the n-shaped frame, and the oil cylinder in the magnetic switch component can control whether the magnet has magnetism or not; the elastic component is connected between the upper end of the magnet and the outside of the side wall of the n-shaped frame;
the flexible part comprises a connecting shell, a spring, a wedge, a joint bearing, an upper shell, a sliding block, a lower shell, an elastic element, a connecting disc and an intermediate shaft;
the connecting shell and the upper shell as well as the upper shell and the lower shell are connected through bolts; the spring is arranged between a bulge at the top of the inner wall of the connecting shell and the upper end of the wedge, the wedge is arranged in a chute of the upper shell, the inclined plane at the lower end of the wedge is contacted with the inclined plane at one end of the sliding block, and the sliding block is arranged on the upper plane in the lower shell; the joint bearing is arranged in the sliding block, the outer ring of the joint bearing is fixed with the sliding block, the inner ring of the joint bearing is matched with one end of the intermediate shaft, and the other end of the intermediate shaft is connected with the gear rack group; the elastic element is fixed between the connecting disc and the upper plane in the lower shell through screws, and the connecting disc is connected between the intermediate shaft and the elastic element, so that the intermediate shaft can swing and twist around the sliding block.
2. The six-axis manipulator drill rod loading and unloading based integrated drilling robot of claim 1, wherein the crawler body further comprises a mining intrinsically safe dual-axis tilt sensor, a hoisting rigging, a console valve bank, a pressure transmitter assembly and a junction box assembly mounted on a crawler body platform; the mining intrinsic safety double-shaft tilt angle sensor can realize automatic positioning and automatic stabilization of the crawler body; the hoisting rigging is welded on the side surface of the crawler body platform, so that the hoisting of the drilling machine in the assembling or transporting process is met; the console valve group is connected with the crawler body platform through bolts, and the control and execution of each action of the drilling machine are realized through the control of an explosion-proof remote controller; the pressure transmitter assembly is used for detecting the feeding, pulling-up, forward rotation, reverse rotation and oil return working pressure of the drilling machine in real time and displaying the working pressure on a control interface of the explosion-proof remote controller so as to be convenient for a construction operator to observe; the junction box assembly is in threaded connection with the crawler body platform.
3. The six-axis manipulator drill pipe loading and unloading based integrated drilling robot as claimed in claim 1, wherein the two lower upright stabilizing assemblies are parallel to each other, each lower upright stabilizing assembly comprises a lower upright and a lower jacking hydraulic cylinder arranged below the lower upright, and a piston rod of the lower jacking hydraulic cylinder is internally provided with a displacement sensor;
the rotary upper stabilizing assemblies are connected with the lower stabilizing assembly of the stand column through rotary sleeves at the lower part of the rotary upper stabilizing assemblies, each rotary upper stabilizing assembly comprises an upper stand column and an upper jacking hydraulic oil cylinder above the inner part of the upper stand column, and a limiting pin is arranged at the lower end of each rotary upper stabilizing assembly; the rotary upper stabilizing component is fixed with the crawler body platform by utilizing a limiting pin during transportation, so that the upper stabilizing component is retracted and is consistent with the width of the crawler body;
when the construction is in a stable state, the limiting pin is pulled out to rotate the two rotary upper stable assemblies outwards by 90 degrees to the outside of a vehicle body, namely two sides of the upright post lower stable assembly, so as to increase the stable distance and improve the stable reliability; during transportation, the piston rod of the upper ejection hydraulic oil cylinder of the rotary upper stabilizing assembly extends upwards and the piston rod of the lower ejection hydraulic oil cylinder of the lower stabilizing assembly extends downwards respectively to stabilize the drilling machine.
4. The six-axis manipulator drill rod loading and unloading based integrated drilling robot as claimed in claim 1, wherein the box body support of the rod box comprises a square bottom frame and four side plates at four corners, the square bottom frame comprises two parallel side beams and two parallel end beams, and each side beam is provided with two vertical side plates to enclose the drill rod; the drill rod limiting frame is provided with two arc-shaped grooves which are parallel to each other and are vertically connected between the two side beams, the drill rod limiting frame is provided with arc-shaped grooves which are distributed at equal intervals so as to ensure that the drill rods are stacked and arranged at fixed intervals, and the drill rods are placed perpendicular to the drill rod limiting frame; the stop lever is detachably arranged between the two opposite side plates and is parallel to the drill rod limiting frame so as to prevent the drill rods from falling off due to vibration when the whole box of drill rods are transported, and the stop lever is detached and placed in the two groups of support through holes behind the box body support when the drilling machine works; the base plate is screwed on the side plate, and drill rods with different diameters can be met by adjusting the thickness of the base plate and replacing the drill rod limiting frame, and the drill rod limiting frame can be suitable for hand grasping in different forms; the front bin door and the rear bin door are parallel and opposite and are respectively arranged between the two side plates above the two end beams, the front bin door is screwed with the baffle plate assembly and then screwed onto the two parallel and opposite side plates, and the front bin door is detached from the box body support when the drilling machine works so as to limit the axial limiting of a drill rod in the drill rod box when the drilling machine walks.
5. The six-axis manipulator drill rod loading and unloading based integrated drilling robot as claimed in claim 1, wherein the arm body of the six-axis serial manipulator can horizontally rotate by taking a base as a center, and the base is provided with a 0 datum; the arm body comprises a shoulder, a big arm, a small arm and a wrist which are sequentially connected, the lower end of the shoulder is connected with the base, the upper end of the shoulder is connected with one end of the big arm through a shoulder joint controlled by a servo motor, the other end of the big arm is connected with one end of the small arm through an elbow joint controlled by the servo motor, the other end of the small arm is connected with the upper part of the wrist through a wrist joint controlled by the servo motor, and the lower end of the wrist is connected with a drill rod to grab a flexible component.
6. The control method of the integrated drilling robot based on the six-axis manipulator loading and unloading the drill rod as claimed in any one of claims 1 to 5, characterized in that the drilling process of the method comprises the following steps:
step a1: initializing a six-axis serial manipulator and a three-degree-of-freedom host, wherein the six-axis serial manipulator and the three-degree-of-freedom host both return to a calibration zero point, the shackle device is closed, the rear clamp holder is opened, and the power head returns to a calibration position;
step a2: the explosion-proof remote controller inputs construction target hole parameters to the three-degree-of-freedom host;
step a3: the three-degree-of-freedom host moves to an appointed position according to the calculation result, and the coordinate position is fed back to the controller;
step a4: the explosion-proof remote controller sends a rod adding instruction to the three-degree-of-freedom host and the six-axis serial manipulator;
step a5: waiting for adding a rod by the three-degree-of-freedom host, and grabbing the flexible component by the six-axis serial manipulator and the drill rod at the tail end of the six-axis serial manipulator to take the rod;
step a6: the six-axis serial manipulator grabs the drill rod and puts the drill rod into a set position of the gripper according to the coordinate value fed back by the three-degree-of-freedom host;
step a7: the gripper clamps and sends information to the drill rod grabbing compliant member to control the gripper to loosen;
step a8: the six-axis serial manipulator moves to a specified safe position and sends information to the three-degree-of-freedom host;
step a9: the power head rotates to feed until the pressure reaches a set value;
step a10: judging that the buckling is finished through pressure mutation, and loosening the clamp holder;
step a11: the power head rotates to feed until the pressure reaches a set value;
step a12: judging that the make-up is completed through pressure mutation, and loosening the make-up remover;
step a13: full-automatic self-adaptive drilling: setting parameters for drilling or setting gears for drilling, and automatically increasing or decreasing feeding pressure and rotation pressure according to drilling parameters;
step a14: when the power head is detected to feed to a calibration position, the three-degree-of-freedom host stops acting, the shackle device is clamped, and the rear end shackle is dismounted;
step a15: and d, judging whether the number of the drill rods reaches the required design hole depth or not after the shackling is finished through pressure sudden change, stopping the operation, and returning to the step a4 to perform the next cycle if the design hole depth is not reached.
7. The control method of the integrated drilling robot based on the six-axis manipulator loading and unloading the drill rod according to any one of claims 1 to 5, characterized in that the drill pulling process of the method comprises the following steps:
step b1: initializing a six-axis serial manipulator, simultaneously detecting the state of a three-degree-of-freedom host machine, and obtaining the state of a to-be-unloaded rod when an active drill rod is separated from a drill rod, a front clamp clamps the drill rod to be closed, and a rear clamp clamps the drill rod to be opened;
step b2: feeding the power head to a calibration position, and fastening the rear end of the power head;
and b3: the power head rotates to feed, and after the fact that the fastening is finished is judged through pressure mutation, the front clamp holder is loosened;
step b4: the power head is pulled up to a calibration position, the front clamp holder is clamped, and the front end buckle is disassembled;
and b5: the power head rotates and is pulled up, and after the pressure jump judges that the shackle is completely disassembled, the power head is pulled up to a calibration position;
step b6: clamping by a rear clamp holder, and disassembling a rear end buckle;
step b7: the power head rotates to be pulled out, after the situation that the shackle is completely disassembled is judged through sudden pressure change, the power head is pulled out to a calibration position, the current position coordinate is sent to the main controller, and meanwhile a signal for waiting for disassembling the rod is sent to the six-axis serial manipulator;
step b8: the six-axis serial manipulator and the tail end drill rod thereof grab the flexible component to clamp the drill rod, the rear gripper is loosened, the six-axis serial manipulator puts the drill rod into a set position of the rod box, and in the process, the six-axis serial manipulator sends information to the three-degree-of-freedom host when moving to a specified safe position;
step b9: and c, judging whether the quantity of the drill pipe pulling-out reaches the requirement or not, stopping the operation if the drill pipe pulling-out is finished, and returning to the step b1 to carry out the next circulation if the drill pipe pulling-out is not finished.
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