CN115749636A - Mining rod replacement mechanical arm and hydraulic control method - Google Patents

Mining rod replacement mechanical arm and hydraulic control method Download PDF

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Publication number
CN115749636A
CN115749636A CN202211569937.1A CN202211569937A CN115749636A CN 115749636 A CN115749636 A CN 115749636A CN 202211569937 A CN202211569937 A CN 202211569937A CN 115749636 A CN115749636 A CN 115749636A
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China
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proportional reversing
reversing valve
valve
rotate
hydraulic
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CN202211569937.1A
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闫海峰
姚永成
王忠宾
梁斌
顾进恒
戴剑博
司垒
周震
董红帅
龚子耀
刘立奇
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN202211569937.1A priority Critical patent/CN115749636A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

A mining rod-changing mechanical arm and a hydraulic control method are disclosed, and the system comprises: two ends of the large arm are respectively connected with the base and the small arm in a rotating manner, the base is connected to the slewing bearing and is driven to rotate by the hydraulic motor, and a hydraulic cylinder is respectively connected between the large arm and the base and between the large arm and the small arm; the wrist pitching hydraulic motor is connected to the end part of the forearm and drives the second motor mounting seat provided with the wrist yawing hydraulic motor II to rotate, the wrist yawing hydraulic motor II drives the third motor mounting seat provided with the wrist rotating hydraulic motor to rotate, and the wrist rotating hydraulic motor drives the paw joint assembly to rotate; the method comprises the following steps: controlling the paw to be opened, and controlling the mechanical arm to move to a grabbing position; grabbing the drill rod; controlling the mechanical arm to reach the upper rod position; loosening the drill rod; resetting the mechanical arm; controlling the mechanical arm to move to the position of the fetching rod; grabbing the drill rod; controlling the mechanical arm to reach the rod placing position; loosening the drill rod; and resetting the mechanical arm. The system and the method have high automation degree, and can improve the efficiency of underground rod replacement operation.

Description

Mining rod replacing mechanical arm and hydraulic control method
Technical Field
The invention belongs to the technical field of mining machinery, and particularly relates to a mining rod-changing mechanical arm and a hydraulic control method.
Background
Rock burst is one of the main disasters causing coal mine disaster accidents, and the corresponding effective prevention and control measure is drilling pressure relief at present. However, coal and gas outburst, water inrush and other events occur in the drilling construction process, and the drilling machine for coal mines in China can only be manually operated at the construction stage due to the limitation of key links such as rod replacement and the like. In this case, once the gas burst or water burst accident occurs at the orifice, the personal safety of the operator faces serious threat. In order to ensure the personal safety of drilling machine operators, it is necessary to research the automatic rod-changing mechanical arm in the coal mine.
The existing underground coal mine rod replacing device is usually formed by combining various mechanisms, and has the disadvantages of complex structure, inconvenient control process and low operation efficiency. The rod-changing mechanical arm is more flexible compared with other devices, and the drill-changing process is more convenient. The existing drilling-changing mechanical arm is driven by a hydraulic motor, the control mode is complex, and the control precision is low. Therefore, it is desirable to provide a mechanical rod-changing system and method with convenient control process and high control precision.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a mining rod-changing mechanical arm and a hydraulic control method, the system has the advantages of compact structure, high integration degree, multiple degrees of freedom, good flexibility, simple control mode and high control precision, the operation efficiency of underground rod-changing operation can be greatly improved, and meanwhile, each degree of freedom can be accurately controlled; the method has high automation degree, can conveniently realize the filling operation and the repacking operation of the drill rod, and has great effect on improving the production efficiency and the safety of a coal mine.
The invention provides a mining rod-changing mechanical arm, which comprises a mining automatic rod-changing mechanical arm and a hydraulic control unit;
the mining automatic rod-changing manipulator comprises a slewing bearing, a hydraulic motor, a base, a large arm, a small arm, a large arm hydraulic cylinder, a small arm hydraulic cylinder, a first motor mounting seat, a first wrist pitching hydraulic motor, a second motor mounting seat, a second wrist yawing hydraulic motor, a third motor mounting seat, a wrist rotating hydraulic motor and a paw joint assembly; the slewing bearing is arranged on the supporting platform, and a hydraulic motor for driving the upper mounting platform to rotate is connected onto the slewing bearing; the lower end of the base is fixedly connected with the mounting platform at the upper part of the slewing bearing through a flange, the upper part of the base is oppositely and fixedly connected with a pair of connecting guard plates, and an accommodating groove is formed between the pair of connecting guard plates; the lower end of the large arm extends into the left end of the accommodating groove and is rotatably connected with the pair of connecting guard plates through a first pin shaft, and the upper end of the large arm is connected with the left end of the small arm through a fourth pin shaft; the large arm hydraulic cylinder is positioned on the right side of the large arm, the lower end of the large arm hydraulic cylinder extends into the right end of the accommodating groove and is rotatably connected with the pair of connecting guard plates through a second pin shaft, and the upper end of the large arm hydraulic cylinder is rotatably connected with the part, close to the lower part, of the middle part of the large arm through a third pin shaft; the small arm hydraulic cylinder is positioned above the same side of the large arm hydraulic cylinder, the lower end of the small arm hydraulic cylinder is rotatably connected with the part, close to the upper part, of the middle part of the large arm through a fifth pin shaft, and the upper end of the small arm hydraulic cylinder is rotatably connected with the lower end of the left part of the small arm through a sixth pin shaft; the first motor mounting seat is fixedly connected to the right end of the small arm, and a wrist pitching hydraulic motor I is mounted in the first motor mounting seat; the second motor mounting seat is arranged below the first motor mounting seat, a wrist yawing hydraulic motor II is mounted in the second motor mounting seat, a first wrist connecting plate is fixedly connected to the upper end of the second motor mounting seat, and the free end of the first wrist connecting plate is fixedly connected with a first connecting flange fixedly sleeved outside an output shaft of the wrist pitching hydraulic motor; the third motor mounting seat is arranged below the second motor mounting seat, the lower end of the third motor mounting seat is provided with a wrist rotating hydraulic motor, the upper end of the third motor mounting seat is fixedly connected with a second wrist connecting plate, and the free end of the second wrist connecting plate is fixedly connected with a second connecting flange fixedly sleeved outside the second output shaft of the wrist horizontal swinging hydraulic motor; the wrist rotating hydraulic motor is connected with the paw joint assembly; the paw joint assembly consists of a paw joint main body, a fixed paw, an oil cylinder fixing frame, a movable paw, a paw opening and closing oil cylinder, an upper slip and a lower slip; the upper end of the paw joint main body is fixedly connected with a connecting flange III fixedly sleeved outside an output shaft of the wrist rotary hydraulic motor; the upper end of the fixed paw is fixedly connected with the lower end of the paw joint main body, and the lower end of the fixed paw is of an upwards-sunken arc-shaped structure; the oil cylinder fixing frame is positioned on the outer side of one end of the fixed paw in the length direction and is fixedly connected with the outer side wall of the middle part of the paw joint main body; the movable paw is arranged on one side opposite to the fixed paw, the lower portion of the movable paw is of an arc-shaped structure matched with the fixed paw, a pair of connecting arms are fixedly connected to two ends of the upper end of the movable paw in the length direction, the pair of connecting arms are respectively located on the outer portions of two opposite sides of the paw joint main body, connecting ends of the pair of connecting arms are rotatably connected with a connecting lug plate fixedly connected to one side of the lower end of the paw joint main body through eighth pin shafts, a base of the paw opening and closing oil cylinder is rotatably connected with the lower end of the oil cylinder fixing frame through a hinge base, and a piston rod end of the movable paw opening and closing oil cylinder is rotatably connected with a free end of one connecting arm through a seventh pin shaft; the shape and the size of the upper slip are matched with the cambered surface of the fixed paw, and the upper slip is fixedly connected inside the cambered surface of the fixed paw; the shape and the size of the lower slip are matched with the cambered surface at the lower part of the movable paw, and the lower slip is fixedly connected inside the cambered surface at the lower part of the movable paw;
the hydraulic control unit comprises an engine, a variable pump, a first proportional reversing valve, a second proportional reversing valve, a third proportional reversing valve, a fourth proportional reversing valve, a fifth proportional reversing valve, a sixth proportional reversing valve, a seventh proportional reversing valve, a first rotary encoder, a second rotary encoder, a third rotary encoder, a fourth rotary encoder, a fifth rotary encoder, a sixth rotary encoder, a pressure sensor and a controller; the variable displacement pump is driven by an engine coaxially connected with the variable displacement pump, an oil suction port of the variable displacement pump is connected with a hydraulic oil tank, an oil discharge port of the variable displacement pump is respectively connected with a port P of a first proportional reversing valve, a port P of a second proportional reversing valve, a port P of a third proportional reversing valve, a port P of a fourth proportional reversing valve, a port P of a fifth proportional reversing valve, a port P of a sixth proportional reversing valve and a port P of a seventh proportional reversing valve, and a port T of the first proportional reversing valve, a port T of the second proportional reversing valve, a port T of the third proportional reversing valve, a port T of the fourth proportional reversing valve, a port T of the fifth proportional reversing valve, a port T of the sixth proportional reversing valve and a port T of the seventh proportional reversing valve are all connected with the hydraulic oil tank; the port A and the port B of the first proportional reversing valve are respectively connected with a first oil inlet and a second oil inlet of a first locking loop, and a first oil outlet and a second oil outlet of the first locking loop are connected with the port A and the port B of the hydraulic motor; the port A and the port B of the second proportional reversing valve are respectively connected with a first oil inlet and a second oil inlet of the first balanced loop, and a first oil outlet and a second oil outlet of the first balanced loop are connected with a rodless cavity oil port and a rod cavity oil port of the large-arm hydraulic cylinder; the port A and the port B of the third proportional reversing valve are respectively connected with a first oil inlet and a second oil inlet of a second balanced loop, and a first oil outlet and a second oil outlet of the second balanced loop are connected with a rodless cavity oil port and a rod cavity oil port of the small-arm hydraulic cylinder; a port A and a port B of the fourth proportional reversing valve are respectively connected with a first oil inlet and a second oil inlet of a second locking loop, and a first oil outlet and a second oil outlet of the second locking loop are connected with a port A and a port B of the first wrist pitching hydraulic motor; a port A and a port B of the fifth proportional reversing valve are respectively connected with a first oil inlet and a second oil inlet of a third locking loop, and a first oil outlet and a second oil outlet of the third locking loop are connected with a port A and a port B of a wrist transverse swinging hydraulic motor II; a port A and a port B of the proportional reversing valve VI are respectively connected with a first oil inlet and a second oil inlet of a fourth locking loop, and a first oil outlet and a second oil outlet of the fourth locking loop are connected with a port A and a port B of the wrist rotating hydraulic motor; a port A and a port B of the proportional reversing valve seventh are respectively connected with a first oil inlet and a second oil inlet of a fifth locking loop, and a first oil outlet and a second oil outlet of the fifth locking loop are connected with a rodless cavity oil port and a rod cavity oil port of the paw opening and closing oil cylinder; the rotary encoder is connected to an output shaft of the hydraulic motor and used for acquiring a rotation angle signal of the base in real time; the second rotary encoder is connected to the first pin shaft and used for acquiring a rotation angle signal of the large arm in real time; the third rotary encoder is connected to the fourth pin shaft and used for acquiring a rotation angle signal of the small arm relative to the large arm in real time; the rotary encoder IV is connected to an output shaft of the wrist pitching hydraulic motor I and is used for acquiring a pitching angle signal of the second motor mounting seat in real time; the rotary encoder V is connected to an output shaft of the wrist yaw hydraulic motor II and is used for acquiring yaw angle signals of a third motor mounting seat in real time; the rotary encoder six is connected to an output shaft of the wrist rotary hydraulic motor and used for acquiring a rotation angle signal of the paw joint assembly in real time; the pressure sensor is arranged at an oil port of the rodless cavity and is used for acquiring an oil pressure signal in the rodless cavity of the gripper opening and closing oil cylinder in real time;
the controller is respectively connected with the engine, the pressure sensor, the variable pump, the first proportional reversing valve, the second proportional reversing valve, the third proportional reversing valve, the fourth proportional reversing valve, the fifth proportional reversing valve, the sixth proportional reversing valve, the seventh proportional reversing valve, the first rotary encoder, the second rotary encoder, the third rotary encoder, the fourth rotary encoder, the fifth rotary encoder and the sixth rotary encoder.
Furthermore, in order to ensure that a main oil supply pipeline in the hydraulic control unit works in a constant pressure range, the hydraulic control unit further comprises a first overflow valve, and an oil discharge port of the variable pump is connected with a hydraulic oil tank through the first overflow valve.
Further, in order to conveniently and automatically control the opening degree of the gripper opening and closing oil cylinder, the hydraulic control unit further comprises a limit switch connected with the controller 27, the limit switch is fixedly connected to the lower end of the gripper joint main body and matched with the free end of one connecting arm, and when the free end of the connecting arm moves towards the direction of the lower end of the gripper joint main body and reaches the position touching the limit switch, the movable gripper is in the maximum opening state relative to the fixed gripper.
Furthermore, in order to ensure that the rotation of the hydraulic motor is not influenced by load change, the first locking circuit, the second locking circuit, the third locking circuit, the fourth locking circuit and the fifth locking circuit are all composed of a first hydraulic control one-way valve and a second hydraulic control one-way valve, an oil inlet of the first hydraulic control one-way valve is used as a first oil inlet of the corresponding locking circuit, an oil outlet of the first hydraulic control one-way valve is used as a first oil outlet of the corresponding locking circuit, an oil inlet of the second hydraulic control one-way valve is used as a second oil inlet of the corresponding locking circuit, an oil outlet of the second hydraulic control one-way valve is used as a second oil outlet of the corresponding locking circuit, a hydraulic control port of the first hydraulic control one-way valve is connected with an oil inlet of the second hydraulic control one-way valve through a signal oil path, and a hydraulic control port of the second hydraulic control one-way valve is connected with an oil inlet of the first hydraulic control one-way valve through a signal oil path.
Furthermore, in order to ensure the stability and constancy of the pressure of a loop where the hydraulic motor is located, the hydraulic control unit further comprises a second overflow valve, a third overflow valve, a fourth overflow valve, a fifth overflow valve, a sixth overflow valve, a seventh overflow valve, an eighth overflow valve and a ninth overflow valve, wherein a port A of the hydraulic motor is connected with a hydraulic oil tank through the second overflow valve, and a port B of the hydraulic motor is connected with the hydraulic oil tank through the third overflow valve; the port A of the wrist pitching hydraulic motor I is connected with a hydraulic oil tank through an overflow valve IV, and the port B of the wrist pitching hydraulic motor I is connected with the hydraulic oil tank through an overflow valve V; the port A of the wrist yawing hydraulic motor II is connected with a hydraulic oil tank through a sixth overflow valve, and the port B of the wrist yawing hydraulic motor II is connected with the hydraulic oil tank through a seventh overflow valve; and the port A of the wrist rotating hydraulic motor is connected with the hydraulic oil tank through an overflow valve eight, and the port B of the wrist rotating hydraulic motor is connected with the hydraulic oil tank through an overflow valve nine.
Furthermore, in order to ensure the stability of the hydraulic cylinder in the action process, the first balance circuit and the second balance circuit are both composed of a first balance valve and a second balance valve, the first balance valve is composed of a first one-way valve and a first hydraulic control sequence valve, an oil inlet of the first one-way valve is communicated with an oil inlet of the first hydraulic control sequence valve to form a first oil inlet corresponding to the balance circuit, an oil outlet of the first one-way valve is communicated with an oil outlet of the first hydraulic control sequence valve to form a first oil outlet corresponding to the balance circuit, the second balance valve is composed of a second one-way valve and a second hydraulic control sequence valve, an oil inlet of the second one-way valve is communicated with an oil inlet of the second hydraulic control sequence valve to form a second oil inlet corresponding to the balance circuit, an oil outlet of the second one-way valve is communicated with an oil outlet of the second hydraulic control sequence valve to form a second oil outlet corresponding to the balance circuit, an oil inlet of the first hydraulic control sequence valve is connected with an oil inlet of the second hydraulic control sequence valve. The balance valve is arranged on the oil inlet oil way in the upward direction of the hydraulic cylinder, so that the condition that the load suddenly falls due to the oil leakage or pressure reduction of the return circuit of the hydraulic cylinder can be effectively avoided, certain back pressure can be generated by arranging the balance valve on the oil return oil way in the downward direction of the hydraulic cylinder, the action of the piston rod in the retraction process can be more gradual, and the condition that the load suddenly falls due to the action of gravity can be avoided.
Further, in order to adapt to the explosion-proof requirement under a coal mine and meet the closed-loop control required by a mechanical arm, the first proportional reversing valve, the second proportional reversing valve, the third proportional reversing valve, the fourth proportional reversing valve, the fifth proportional reversing valve, the sixth proportional reversing valve and the seventh proportional reversing valve are all explosion-proof three-position four-way proportional reversing valves, when the proportional reversing valves are electrified and work at the left position, the oil passages between the ports P and A are communicated, the oil passages between the ports T and B are communicated, when the proportional reversing valves are electrified and work at the middle position, the ports P, T, A and B are all stopped, when the proportional reversing valves are electrified and work at the right position, the oil passages between the ports P and B are communicated, and the oil passages between the ports T and A are communicated.
Furthermore, the device is convenient to control, and comprises a start/stop button and a control handle, wherein the start/stop button and the control handle are both connected with the controller, the start/stop button is used for respectively sending a start signal and a stop signal to the controller according to the control of an operator, and the control handle is used for respectively sending a drill rod filling signal and a drill rod reloading signal to the controller according to the control of the operator.
Preferably, the controller is a PLC controller.
In the invention, the base is fixedly connected to the mounting platform of the slewing bearing, the slewing bearing is connected with the hydraulic motor, the bottom end of the large arm can have one slewing degree of freedom, and meanwhile, the first rotary encoder is arranged on the output shaft of the hydraulic motor, so that a slewing angle signal under the slewing degree of freedom can be conveniently acquired; the lower end of the large arm is connected with a pair of connecting guard plates fixedly connected to the upper part of the base through a first pin shaft, so that the large arm has a rotational degree of freedom relative to the base, and meanwhile, a second rotary encoder is arranged on the first pin shaft, so that a rotational angle signal under the rotational degree of freedom can be conveniently acquired; the left end of the small arm is connected with the upper end of the large arm through a fourth pin shaft, so that the small arm has a rotational degree of freedom relative to the large arm, and meanwhile, a rotary encoder III is arranged on the fourth pin shaft, so that a rotational angle signal under the rotational degree of freedom can be conveniently acquired; a first wrist pitching hydraulic motor is installed in a first motor installation seat fixedly connected to the right end of the small arm, an output shaft of the first wrist pitching hydraulic motor is fixedly connected with a first wrist connecting plate at the upper end of a second motor installation seat, the second motor installation seat can have a pitching degree of freedom relative to the first motor installation seat, and meanwhile, a rotary encoder IV is arranged on the output shaft of the first wrist pitching hydraulic motor, so that a pitching angle signal under the pitching degree of freedom can be conveniently acquired; a wrist horizontal swinging hydraulic motor II is installed in the second motor installation seat and is fixedly connected with a second wrist connecting plate at the upper end of the third motor installation seat, so that the third motor installation seat has a horizontal swinging freedom degree relative to the second motor installation seat, and meanwhile, a rotary encoder V is arranged on an output shaft of the wrist horizontal swinging hydraulic motor II, so that a horizontal swinging angle signal under the horizontal swinging freedom degree can be conveniently acquired; the wrist rotation hydraulic motor is mounted on the third motor mounting seat and is connected with the paw joint assembly, the paw joint assembly can have one rotation degree of freedom relative to the third motor mounting seat, and meanwhile, the rotary encoder six is arranged on the output shaft of the wrist rotation hydraulic motor, so that the rotation angle signal under the rotation degree of freedom can be conveniently acquired. The invention adopts a mode of combining the hydraulic cylinder and the hydraulic motor to control the pose of the mechanism arm, wherein the large arm hydraulic cylinder and the small arm hydraulic cylinder can respectively control the pitching angle of the large arm and the pitching angle of the small arm relative to the large arm, the wrist pitching hydraulic motor I, the wrist yawing hydraulic motor II and the wrist rotating hydraulic motor can conveniently control the change of various poses of the wrist joint of the mechanical arm, and further the paw can adapt to the change of the inclination angle and the azimuth angle of a drilling platform, so as to realize the precise drilling rod grabbing operation and the rod releasing operation. Oil pressure signals in a rodless cavity of the gripper opening and closing oil cylinder are collected in real time through the pressure sensor, and whether the grabbing force is appropriate or not can be judged by the controller according to the size of the pressure value fed back, so that the situation that the drilling rod is damaged or the movable gripper is damaged due to overlarge grabbing force can be avoided. Utilize rotary encoder's setting, can carry out accurate regulation to each degree of freedom through automatic mode to can come the pole demand of trading that adapts to different scenes fast through closed-loop control's mode. The system has six degrees of freedom, and is more flexible and more free than the traditional mode of singly adopting a hydraulic cylinder or a hydraulic motor. Meanwhile, compared with the existing rod replacing device, the system is integrated and has a more compact structure and higher rod replacing efficiency.
The invention also provides a hydraulic control method for the mining rod-changing mechanical arm, which specifically comprises the following steps:
the method comprises the following steps: an operator sends a starting signal to the controller through the starting/stopping key, and the controller receives the starting signal and then controls the engine to start and drives the variable pump to work so as to enable the system to enter a working state;
step two: after the controller receives the drill rod filling signal, executing a third step, and after the controller receives the drill rod reloading signal, executing a fourth step;
step three: filling operation of the drill rod;
s31: the controller obtains a target rotation angle I of the base, a target pitch angle I of the big arm, a target pitch angle II of the small arm, a target pitch angle III of the second motor mounting seat, a target yaw angle I of the third motor mounting seat and a target rotation angle II of the paw joint assembly according to the position coordinate of the set grabbing position, and obtains a target rotation angle III, a target pitch angle IV of the big arm, a target pitch angle V of the small arm, a target pitch angle VI of the second motor mounting seat, a target yaw angle II of the third motor mounting seat and a target rotation angle IV of the paw joint assembly according to the position coordinate of the drill rod platform;
s32: the controller controls the proportional reversing valve seven to work at a left position for a certain time, and high-pressure oil discharged by the variable displacement pump is utilized to drive a piston rod of the paw opening and closing oil cylinder to extend out for a set length, so that the movable paw is in an open state relative to the fixed paw;
s33: the controller controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve in sequence to enable the movable gripper and the fixed gripper to reach the position of the drill rod, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving a hydraulic motor to rotate by using high-pressure oil discharged by a variable displacement pump to enable the base to rotate to a first target rotation angle;
controlling the second proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic cylinder of the large arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to a first target pitch angle;
controlling the third proportional reversing valve to work at the left position or the right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to a target pitch angle II;
controlling the proportional reversing valve IV to work at a left position or a right position for a certain time, and driving the wrist pitching hydraulic motor I to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to a target pitching angle III;
controlling the fifth proportional reversing valve to work at a left position or a right position for a certain time, and driving the second wrist yawing hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the third motor mounting seat to rotate to a first target yawing angle;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to a target rotation angle II;
s34: the controller controls the seventh proportional reversing valve to work at the right position for a certain time, and high-pressure oil discharged by the variable pump is used for driving a piston rod of the gripper opening and closing oil cylinder to retract for a set length, so that the movable gripper is in a closed state relative to the fixed gripper, and a drill rod is grabbed;
s35: the controller controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve in sequence to enable the movable gripper and the fixed gripper to reach the position of the drill rod platform, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic motor to rotate to a target rotation angle III by using high-pressure oil discharged by the variable displacement pump;
controlling the second proportional reversing valve to work at a left position or a right position for a certain time, and driving the large arm hydraulic cylinder to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to a fourth target pitch angle;
controlling the third proportional reversing valve to work at the left position or the right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to a target pitch angle five;
controlling the proportional reversing valve IV to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to a target pitching angle six;
controlling the proportional reversing valve V to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor II to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the third motor mounting seat to rotate to a target yaw angle II;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to a target rotation angle four;
s36: the controller controls the proportional reversing valve seven to work at a left position for a certain time, high-pressure oil discharged by the variable displacement pump is utilized to drive a piston rod of the gripper opening and closing oil cylinder to extend out for a set length, so that the movable gripper is in an open state relative to the fixed gripper, and a grabbed drill rod is placed on the drill rod platform;
s37: the controller sequentially controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic motor to rotate to an initial position by using high-pressure oil discharged by the variable displacement pump;
controlling the second proportional reversing valve to work at a left position or a right position for a certain time, and driving the large arm hydraulic cylinder to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to an initial position;
controlling the third proportional reversing valve to work at the left position or the right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to the initial position;
controlling the proportional reversing valve IV to work at a left position or a right position for a certain time, and driving the wrist pitching hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to an initial position;
controlling the fifth proportional reversing valve to work at the left position or the right position for a certain time, and driving the second wrist yawing hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the third motor mounting seat to rotate to the initial position;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to the initial position;
s38: repeating S31 to S37 for multiple times until the filling operation of all the drill rods is finished;
step four: the drill rod is subjected to reinstallation operation;
s41: the controller obtains a target rotation angle III, a target pitch angle IV of the big arm, a target pitch angle V of the small arm, a target pitch angle VI of the second motor mounting seat, a target yaw angle II of the third motor mounting seat and a target rotation angle IV of the paw joint assembly according to the position coordinates of the drill rod platform, and obtains a target rotation angle V of the base, a target pitch angle VII of the big arm, a target pitch angle VIII of the small arm, a target pitch angle VII of the second motor mounting seat, a target yaw angle III of the third motor mounting seat and a target rotation angle VI of the paw joint assembly according to the position coordinates of the drill rod box;
s42: the controller sequentially controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve to enable the movable gripper and the fixed gripper to reach the rod taking position, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic motor to rotate to a third target rotation angle by using high-pressure oil discharged by the variable displacement pump;
controlling the second proportional reversing valve to work at the left position or the right position for a certain time, and driving the hydraulic cylinder of the large arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to a fourth target pitch angle;
controlling the third proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to a target pitch angle five;
controlling the proportional reversing valve IV to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to a target pitching angle six;
controlling the fifth proportional reversing valve to work at a left position or a right position for a certain time, and driving the second wrist yawing hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the third motor mounting seat to rotate to a second target yawing angle;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to a target rotation angle four;
s43: the controller controls the seventh proportional reversing valve to work at the right position for a certain time, and high-pressure oil discharged by the variable pump is used for driving a piston rod of the gripper opening and closing oil cylinder to retract for a set length, so that the movable gripper is in a closed state relative to the fixed gripper, and a drill rod is grabbed;
s44: the controller controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve in sequence to enable the movable gripper and the fixed gripper to reach the position of the drill pipe box, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic motor to rotate to a target rotation angle five by using high-pressure oil discharged by the variable displacement pump;
controlling the second proportional reversing valve to work at a left position or a right position for a certain time, and driving the large arm hydraulic cylinder to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to a target pitch angle of seven;
controlling the third proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to a target pitch angle of eight;
controlling the proportional reversing valve IV to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to a target pitching angle nine;
controlling the proportional reversing valve V to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor II to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the third motor mounting seat to rotate to a target yaw angle III;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to a target rotation angle six;
s45: the controller controls the seven proportional reversing valves to work at a left position for a certain time, and high-pressure oil discharged by the variable displacement pump is utilized to drive piston rods of the gripper opening and closing oil cylinders to extend out for a set length, so that the movable grippers are in an open state relative to the fixed grippers, and a drill rod falls into the drill rod box;
s46: the controller sequentially controls the first proportional reversing valve, the second proportional reversing valve and the third proportional reversing valve to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic motor to rotate to an initial position by using high-pressure oil discharged by the variable displacement pump;
controlling the second proportional reversing valve to work at a left position or a right position for a certain time, and driving the large arm hydraulic cylinder to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the large arm to rotate to an initial position;
controlling the third proportional reversing valve to work at a left position or a right position for a certain time, and driving the hydraulic cylinder of the small arm to extend or retract for a certain length by using high-pressure oil discharged by the variable displacement pump so as to enable the small arm to rotate to an initial position;
controlling the proportional reversing valve IV to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the second motor mounting seat to rotate to the initial position;
controlling the proportional reversing valve V to work at the left position or the right position for a certain time, and driving the wrist to swing horizontally by using high-pressure oil discharged by the variable displacement pump to rotate the second hydraulic motor so as to enable the third motor mounting seat to rotate to the initial position;
controlling the proportional reversing valve six to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor to rotate by using high-pressure oil discharged by the variable displacement pump so as to enable the paw joint assembly to rotate to the initial position;
s47: and repeatedly executing S41 to S46 for multiple times until finishing the assembly operation of all the drill rods.
The method has high automation degree, can conveniently realize the filling operation and the repacking operation of the drill rods, can effectively save human resources, greatly improves the working efficiency of the rod replacing operation under the coal mine, has wide popularization value and social benefit, and has great effect on improving the production efficiency and the safety of the coal mine.
Drawings
FIG. 1 is a schematic structural diagram of an automatic rod-changing manipulator for mining in the invention;
FIG. 2 is a perspective view of the gripper joint assembly of the present invention;
FIG. 3 is a front view of the paw joint assembly of the present invention;
FIG. 4 is a hydraulic schematic of the hydraulic control unit of the present invention;
FIG. 5 is a flow chart of a method of the present invention.
In the figure: 1. slewing bearing, 2, base, 3, big arm hydraulic cylinder, 4, small arm hydraulic cylinder, 5, big arm, 6, small arm, 7, wrist pitching hydraulic motor I, 8, first wrist connecting plate, 9, wrist yawing hydraulic motor II, 10, second wrist connecting plate, 11, wrist rotating hydraulic motor, 12, paw joint assembly, 12-1, lower slip, 12-2, movable paw, 12-3, paw opening and closing oil cylinder, 12-4, oil cylinder fixing frame, 12-5, paw joint main body, 12-6, fixed paw, 12-7, upper slip, 12-8, seventh pin shaft, 12-9, connecting arm, 12-10, eighth pin shaft, 12-11, connecting lug plate, 12-12, limit switch, 13, first motor mounting seat, 14, second motor mounting seat, 15, third motor mounting seat, 16, fourth pin shaft, 17, a sixth pin shaft, 18, a hydraulic motor, 19, a connecting guard plate, 20, a containing groove, 21, a first pin shaft, 22, a second pin shaft, 23, a third pin shaft, 24, a variable displacement pump, 25, a first overflow valve, 26, a pressure sensor, 27, a controller, 28, a first proportional reversing valve, 29, a second proportional reversing valve, 30, a third proportional reversing valve, 31, a fourth proportional reversing valve, 32, a fifth proportional reversing valve, 33, a sixth proportional reversing valve, 34, a seventh proportional reversing valve, 35, a first locking circuit, 36, a second overflow valve, 37, a third overflow valve, 38, a first balance circuit, 39, a second balance circuit, 40, a second locking circuit, 41, a fourth overflow valve, 42, a fifth overflow valve, 43, a third locking circuit, 44, a sixth overflow valve, 45, a seventh overflow valve, 46, a fourth locking circuit, 47, eight and 48 overflow valves, nine and 49 overflow valves, a fifth locking loop, 50, a first rotary encoder, 51, a second rotary encoder, 52, a third rotary encoder, 53, a fourth rotary encoder, 54, a fifth rotary encoder, 55, a sixth rotary encoder, 56, a first hydraulic control check valve, 57, a second hydraulic control check valve, 58, a fifth pin shaft, 59, a second hydraulic control sequence valve, 60, a first check valve, 61, a first hydraulic control sequence valve, 62 and a second check valve.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 4, the invention provides a mining rod-changing mechanical arm, which comprises a mining automatic rod-changing mechanical arm and a hydraulic control unit;
the mining automatic rod-changing manipulator comprises a slewing bearing 1, a hydraulic motor 18, a base 2, a large arm 5, a small arm 6, a large arm hydraulic cylinder 3, a small arm hydraulic cylinder 4, a first motor mounting seat 13, a wrist pitching hydraulic motor I7, a second motor mounting seat 14, a wrist yawing hydraulic motor II 9, a third motor mounting seat 15, a wrist rotating hydraulic motor 11 and a paw joint assembly 12; the slewing bearing 1 is arranged on a supporting platform, and a hydraulic motor 18 for driving the upper mounting platform to rotate is connected onto the slewing bearing; preferably, the hydraulic motor 18 drives the base 2 to perform a reciprocating rotary motion of 270 °; the lower end of the base 2 is fixedly connected with an upper mounting platform of the slewing bearing 1 through a flange, the upper part of the base 2 is oppositely and fixedly connected with a pair of connecting guard plates 19, and an accommodating groove 20 is formed between the pair of connecting guard plates 19; the lower end of the large arm 5 extends into the interior of the left end of the accommodating groove 20 and is rotatably connected with the pair of connecting guard plates 19 through a first pin shaft 21, and the upper end of the large arm is connected with the left end of the small arm 6 through a fourth pin shaft 16; the large-arm hydraulic cylinder 3 is positioned on the right side of the large arm 5, the lower end of the large-arm hydraulic cylinder extends into the right end of the accommodating groove 20 and is rotatably connected with the pair of connecting guard plates 19 through a second pin shaft 22, and the upper end of the large-arm hydraulic cylinder 3 is rotatably connected with the lower part of the middle part of the large arm 5 through a third pin shaft 23; the large arm hydraulic cylinder 3 is used for driving the pitch angle of the large arm 5 to change; the small arm hydraulic cylinder 4 is positioned above the same side of the large arm hydraulic cylinder 3, the lower end of the small arm hydraulic cylinder is rotatably connected with the upper part of the middle part of the large arm 5 through a fifth pin shaft 58, and the upper end of the small arm hydraulic cylinder is rotatably connected with the lower end of the left part of the small arm 6 through a sixth pin shaft 17; the small arm hydraulic cylinder is used for driving the small arm 6 to change the pitch angle relative to the large arm 5;
the first motor mounting seat 13 is fixedly connected to the right end of the small arm 6, and a wrist pitching hydraulic motor I7 is mounted in the first motor mounting seat; the second motor mounting seat 14 is arranged below the first motor mounting seat 13, a wrist yawing hydraulic motor II 9 is mounted in the second motor mounting seat, the upper end of the second motor mounting seat is fixedly connected with a first wrist connecting plate 8, and the free end of the first wrist connecting plate 8 is fixedly connected with a first connecting flange fixedly sleeved outside the output shaft of the wrist pitching hydraulic motor I7; the wrist pitching hydraulic motor I7 is used for realizing the relative rotation between the first motor mounting seat 13 and the second motor mounting seat 14; the third motor mounting seat 15 is arranged below the second motor mounting seat 14, the lower end of the third motor mounting seat is provided with a wrist rotating hydraulic motor 11, the upper end of the third motor mounting seat is fixedly connected with a second wrist connecting plate 10, and the free end of the second wrist connecting plate 10 is fixedly connected with a second connecting flange fixedly sleeved outside the output shaft of the second wrist yawing hydraulic motor 9; the second wrist yaw hydraulic motor 9 is used for realizing the relative rotation between the third motor mounting seat 15 and the second motor mounting seat 14; the wrist rotation hydraulic motor 11 is connected with the paw joint assembly 12 and is used for realizing the relative rotation between the paw joint assembly 12 and the third motor mounting seat 15; the paw joint assembly 12 consists of a paw joint main body 12-5, a fixed paw 12-6, an oil cylinder fixing frame 12-4, a movable paw 12-2, a paw opening and closing oil cylinder 12-3, an upper slip 12-7 and a lower slip 12-1; the upper end of the paw joint main body 12-5 is fixedly connected with a third connecting flange fixedly sleeved outside the output shaft of the wrist rotating hydraulic motor 11; the upper end of the fixed paw 12-6 is fixedly connected with the lower end of the paw joint main body 12-5, the lower end of the fixed paw is of an upwards sunken arc-shaped structure, and the fixed paw 12-6 is connected with the paw joint main body 12-5 through a bolt in order to facilitate assembly and disassembly; the oil cylinder fixing frame 12-4 is positioned on the outer side of one end of the fixed paw 12-6 in the length direction and is fixedly connected with the outer side wall of the middle part of the paw joint main body 12-5, and the oil cylinder fixing frame 12-4 is connected with the paw joint main body 12-5 through bolts for facilitating assembly and disassembly;
the movable paw 12-2 is arranged on one side opposite to the fixed paw 12-6, the lower portion of the movable paw is of an arc structure matched with the fixed paw 12-6, two ends of the upper end of the movable paw in the length direction are fixedly connected with a pair of connecting arms 12-9, the pair of connecting arms 12-9 are respectively located on the outer portions of two opposite sides of the paw joint main body 12-5, the connecting ends of the pair of connecting arms 12-9 are rotatably connected with a connecting lug plate 12-11 fixedly connected with one side of the lower end of the paw joint main body 12-5 through eighth pin shafts 12-10, the base of the paw opening and closing oil cylinder 12-3 is rotatably connected with the lower end of an oil cylinder fixing frame 12-4 through a hinge seat, the end of a piston rod of the paw opening and closing oil cylinder 12-3 is rotatably connected with the free end of one connecting arm 12-9 through a seventh pin shaft 12-8, and the paw opening and closing oil cylinder 12-3 is used for driving the movable paw 12-2 to be far away from or close to the fixed paw 12-6 so as to realize opening and closing actions of the paw; the shape and the size of the upper slip 12-7 are matched with the cambered surface of the fixed paw 12-6 and fixedly connected inside the cambered surface of the fixed paw 12-6, so that the upper slip 12-7 with different sizes can be conveniently replaced to meet the grabbing requirements of different drill rods, and the upper slip 12-7 is connected with the fixed paw 12-6 through bolts; the shape and the size of the lower slip 12-1 are matched with the arc surface at the lower part of the movable paw 12-2, and the lower slip is fixedly connected inside the arc surface at the lower part of the movable paw 12-2; in order to facilitate the replacement of the lower slips 12-1 with different sizes so as to meet the grabbing requirements of different drill rods, the lower slips 12-1 are connected with the movable gripper 12-2 through bolts;
the hydraulic control unit comprises an engine, a variable displacement pump 24, a first proportional reversing valve 28, a second proportional reversing valve 29, a third proportional reversing valve 30, a fourth proportional reversing valve 31, a fifth proportional reversing valve 32, a sixth proportional reversing valve 33, a seventh proportional reversing valve 34, a first rotary encoder 50, a second rotary encoder 51, a third rotary encoder 52, a fourth rotary encoder 53, a fifth rotary encoder 54, a sixth rotary encoder 55, a pressure sensor 26 and a controller 27; the variable displacement pump 24 is driven by an engine coaxially connected with the variable displacement pump, an oil suction port of the variable displacement pump is connected with a hydraulic oil tank, an oil discharge port of the variable displacement pump is respectively connected with a P port of a first proportional reversing valve 28, a P port of a second proportional reversing valve 29, a P port of a third proportional reversing valve 30, a P port of a fourth proportional reversing valve 31, a P port of a fifth proportional reversing valve 32, a P port of a sixth proportional reversing valve 33 and a P port of a seventh proportional reversing valve 34, and a T port of the first proportional reversing valve 28, a T port of the second proportional reversing valve 29, a T port of the third proportional reversing valve 30, a T port of the fourth proportional reversing valve 31, a T port of the fifth proportional reversing valve 32, a T port of the sixth proportional reversing valve 33 and a T port of the seventh proportional reversing valve 34 are all connected with the hydraulic oil tank; a port A and a port B of the first proportional reversing valve 28 are respectively connected with a first oil inlet and a second oil inlet of a first locking loop 35, and a first oil outlet and a second oil outlet of the first locking loop 35 are connected with the port A and the port B of the hydraulic motor 18; the port A and the port B of the second proportional reversing valve 29 are respectively connected with a first oil inlet and a second oil inlet of the first balanced loop 38, and a first oil outlet and a second oil outlet of the first balanced loop 38 are connected with a rodless cavity oil port and a rod cavity oil port of the large-arm hydraulic cylinder 3; a port A and a port B of the third proportional reversing valve 30 are respectively connected with a first oil inlet and a second oil inlet of a second balanced loop 39, and a first oil outlet and a second oil outlet of the second balanced loop 39 are connected with a rodless cavity oil port and a rod cavity oil port of the small-arm hydraulic cylinder 4; the port A and the port B of the fourth proportional reversing valve 31 are respectively connected with a first oil inlet and a second oil inlet of the second locking loop 40, and a first oil outlet and a second oil outlet of the second locking loop 40 are connected with the port A and the port B of the first wrist pitching hydraulic motor 7; a port A and a port B of the fifth proportional reversing valve 32 are respectively connected with a first oil inlet and a second oil inlet of the third locking loop 43, and a first oil outlet and a second oil outlet of the third locking loop 43 are connected with a port A and a port B of the wrist yaw hydraulic motor II 9; a port A and a port B of the proportional reversing valve sixth 33 are respectively connected with a first oil inlet and a second oil inlet of a fourth locking loop 46, and a first oil outlet and a second oil outlet of the fourth locking loop 46 are connected with the port A and the port B of the wrist rotating hydraulic motor 11; a port A and a port B of the proportional reversing valve seventh 34 are respectively connected with a first oil inlet and a second oil inlet of a fifth locking loop 49, and a first oil outlet and a second oil outlet of the fifth locking loop 49 are connected with a rodless cavity oil port and a rod cavity oil port of the paw opening and closing oil cylinder 12-3; the first rotary encoder 50 is connected to an output shaft of the hydraulic motor 18 and is used for acquiring a rotation angle signal of the base 2 in real time; the second rotary encoder 51 is connected to the first pin shaft 21 and is used for acquiring a rotation angle signal of the large arm 5 in real time; the third rotary encoder 52 is connected to the fourth pin 16 and used for acquiring a rotation angle signal of the small arm 6 relative to the large arm 5 in real time; the rotary encoder IV 53 is connected to an output shaft of the wrist pitching hydraulic motor I7 and is used for acquiring pitching angle signals of the second motor mounting seat 14 in real time; the fifth rotary encoder 54 is connected to an output shaft of the second wrist yaw hydraulic motor 9 and used for acquiring yaw angle signals of the third motor mounting seat 15 in real time; the six rotary encoders 55 are connected to the output shaft of the wrist rotation hydraulic motor 11 and used for acquiring rotation angle signals of the paw joint assembly 12 in real time; the pressure sensor 26 is installed at an oil port of the rodless cavity and is used for acquiring an oil pressure signal in the rodless cavity of the gripper opening and closing oil cylinder 12-3 in real time, so that the controller 27 can match a pressure value when a drill rod is clamped through the oil pressure signal conveniently;
the controller 27 is respectively connected with the engine, the pressure sensor 26, the variable displacement pump 24, the first proportional reversing valve 28, the second proportional reversing valve 29, the third proportional reversing valve 30, the fourth proportional reversing valve 31, the fifth proportional reversing valve 32, the sixth proportional reversing valve 33, the seventh proportional reversing valve 34, the first rotary encoder 50, the second rotary encoder 51, the third rotary encoder 52, the fourth rotary encoder 53, the fifth rotary encoder 54 and the sixth rotary encoder 55.
In order to ensure that the main oil supply pipeline in the hydraulic control unit works in a constant pressure range, the hydraulic control unit further comprises a first overflow valve 25, and an oil outlet of the variable pump 24 is also connected with a hydraulic oil tank through the first overflow valve 25.
In order to conveniently and automatically control the opening degree of the gripper opening and closing oil cylinder, the hydraulic control unit further comprises a limit switch 12-12 connected with the controller 27, the limit switch 12-12 is fixedly connected to the lower end of the gripper joint main body 12-5 and matched with the free end of one connecting arm 12-9, and when the free end of the connecting arm 12-9 moves towards the lower end of the gripper joint main body 12-5 and reaches the position where the limit switch 12-12 is touched, the movable gripper 12-2 is in the maximum opening state relative to the fixed gripper 12-6.
In order to ensure that the rotation of the hydraulic motor is not affected by load change, each of the first locking circuit 35, the second locking circuit 40, the third locking circuit 43, the fourth locking circuit 46 and the fifth locking circuit 49 is composed of a first hydraulic control one-way valve 56 and a second hydraulic control one-way valve 57, an oil inlet of the first hydraulic control one-way valve 56 is used as a first oil inlet of the corresponding locking circuit, an oil outlet of the first hydraulic control one-way valve 56 is used as a first oil outlet of the corresponding locking circuit, an oil inlet of the second hydraulic control one-way valve 57 is used as a second oil inlet of the corresponding locking circuit, an oil outlet of the second hydraulic control one-way valve 57 is used as a second oil outlet of the corresponding locking circuit, a hydraulic control port of the first hydraulic control one-way valve 56 is connected with the oil inlet of the second hydraulic control one-way valve 57 through a signal oil path, and a hydraulic control port of the second hydraulic control one-way valve 57 is connected with the oil inlet of the first hydraulic control one-way valve 56 through a signal oil path.
In order to ensure the stability and constancy of the pressure of a loop where the hydraulic motor is located, the hydraulic control unit further comprises a second overflow valve 36, a third overflow valve 37, a fourth overflow valve 41, a fifth overflow valve 42, a sixth overflow valve 44, a seventh overflow valve 45, an eighth overflow valve 47 and a ninth overflow valve 48, wherein a port A of the hydraulic motor 18 is connected with a hydraulic oil tank through the second overflow valve 36, and a port B of the hydraulic motor 18 is connected with the hydraulic oil tank through the third overflow valve 37; the port A of the wrist pitching hydraulic motor I7 is connected with a hydraulic oil tank through an overflow valve IV 41, and the port B of the wrist pitching hydraulic motor I7 is connected with the hydraulic oil tank through an overflow valve V42; the port A of the wrist yawing hydraulic motor II 9 is connected with a hydraulic oil tank through an overflow valve six 44, and the port B of the wrist yawing hydraulic motor II 9 is connected with the hydraulic oil tank through an overflow valve seven 45; the port A of the wrist rotation hydraulic motor 11 is connected with a hydraulic oil tank through an overflow valve eight 47, and the port B of the wrist rotation hydraulic motor 11 is connected with the hydraulic oil tank through an overflow valve nine 48.
In order to ensure the stability of the hydraulic cylinder in the action process, the first balance circuit 38 and the second balance circuit 39 are both composed of a first balance valve and a second balance valve, the first balance valve is composed of a first one-way valve 60 and a first hydraulic control sequence valve 61, an oil inlet of the first one-way valve 60 is communicated with an oil inlet of the first hydraulic control sequence valve 61 to form a first oil inlet corresponding to the balance circuit, an oil outlet of the first one-way valve 60 is communicated with an oil outlet of the first hydraulic control sequence valve 61 to form a first oil outlet corresponding to the balance circuit, the second balance valve is composed of a second one-way valve 62 and a second hydraulic control sequence valve 59, an oil inlet of the second one-way valve 62 is communicated with an oil inlet of the second hydraulic control sequence valve 59 to form a second oil inlet corresponding to the balance circuit, an oil outlet of the second one-way valve 62 is communicated with an oil outlet of the second hydraulic control sequence valve 59 to form a second oil outlet corresponding to the balance circuit, a port of the first hydraulic control sequence valve 61 is connected with an oil inlet of the second hydraulic control sequence valve 59, and a hydraulic control sequence valve 59 is connected with an oil inlet of the first hydraulic control sequence valve 61. The balance valve is arranged on the oil inlet oil way which moves upwards on the hydraulic cylinder, so that the situation that the load suddenly falls due to the oil leakage of a loop or the working condition of pressure reduction of the hydraulic cylinder can be effectively avoided, certain back pressure can be generated by arranging the balance valve on the oil return oil way which moves downwards on the hydraulic cylinder, the action of the piston rod in the retraction process is more gentle, and the situation that the load suddenly falls due to the action of gravity can be avoided.
Preferably, the controller 27 is a PLC controller;
in order to adapt to the explosion-proof requirement under a coal mine and meet the requirement of realizing closed-loop control required by a mechanical arm, the first proportional reversing valve 28, the second proportional reversing valve 29, the third proportional reversing valve 30, the fourth proportional reversing valve 31, the fifth proportional reversing valve 32, the sixth proportional reversing valve 33 and the seventh proportional reversing valve 34 are all explosion-proof three-position four-way proportional reversing valves, when the proportional reversing valves are powered on and work at a left position, oil passages between the ports P and A are communicated, oil passages between the ports T and B are communicated, when the proportional reversing valves are powered off and work at a middle position, the ports P, T, A and B are all stopped, when the proportional reversing valves are powered on and work at a right position, the oil passages between the ports P and B are communicated, and the oil passages between the ports T and A are communicated. The first proportional reversing valve 28, the second proportional reversing valve 29, the third proportional reversing valve 30, the fourth proportional reversing valve 31, the fifth proportional reversing valve 32, the sixth proportional reversing valve 33 and the seventh proportional reversing valve 34 are used for changing the flow direction of oil liquid, and meanwhile, the opening degree of an internal valve port is changed according to the output degree of an electric signal, so that the continuous control of the oil supply flow is realized.
In order to facilitate the control, the drilling rod loading device further comprises a start/stop button and an operating handle, the start/stop button and the operating handle are both connected with the controller 27, the start/stop button is used for respectively sending a start signal and a stop signal to the controller 27 according to the control of an operator, and the operating handle is used for respectively sending a drilling rod loading signal and a drilling rod reloading signal to the controller 27 according to the control of the operator.
In the invention, the base is fixedly connected to the mounting platform of the slewing bearing, the slewing bearing is connected with the hydraulic motor, the bottom end of the large arm can have one slewing degree of freedom, and meanwhile, the first rotary encoder is arranged on the output shaft of the hydraulic motor, so that a slewing angle signal under the slewing degree of freedom can be conveniently acquired; the lower end of the large arm is connected with a pair of connecting guard plates fixedly connected to the upper part of the base through a first pin shaft, so that the large arm has a rotational degree of freedom relative to the base, and meanwhile, a second rotary encoder is arranged on the first pin shaft, so that a rotational angle signal under the rotational degree of freedom can be conveniently acquired; the left end of the small arm is connected with the upper end of the large arm through a fourth pin shaft, so that the small arm has a rotational degree of freedom relative to the large arm, and meanwhile, a rotary encoder III is arranged on the fourth pin shaft, so that a rotational angle signal under the rotational degree of freedom can be conveniently acquired; the first wrist pitching hydraulic motor is installed in the first motor installation seat fixedly connected to the right end of the forearm, the output shaft of the first wrist pitching hydraulic motor is fixedly connected with the first wrist connecting plate at the upper end of the second motor installation seat, the second motor installation seat can have a pitching degree of freedom relative to the first motor installation seat, and meanwhile, a rotary encoder IV is arranged on the output shaft of the first wrist pitching hydraulic motor, so that a pitching angle signal under the pitching degree of freedom can be conveniently acquired; a second wrist yawing hydraulic motor is mounted in the second motor mounting seat and is fixedly connected with a second wrist connecting plate at the upper end of a third motor mounting seat, so that the third motor mounting seat has a yawing freedom degree relative to the second motor mounting seat, and meanwhile, a fifth rotary encoder is arranged on an output shaft of the second wrist yawing hydraulic motor, so that a yawing angle signal under the yawing freedom degree can be conveniently acquired; the wrist rotation hydraulic motor is mounted on the third motor mounting seat and is connected with the paw joint assembly, the paw joint assembly can have one rotation degree of freedom relative to the third motor mounting seat, and meanwhile, the rotary encoder six is arranged on the output shaft of the wrist rotation hydraulic motor, so that the rotation angle signal under the rotation degree of freedom can be conveniently acquired. The invention adopts a mode of combining the hydraulic cylinder and the hydraulic motor to control the pose of the mechanism arm, wherein the large arm hydraulic cylinder and the small arm hydraulic cylinder can respectively control the pitching angle of the large arm and the pitching angle of the small arm relative to the large arm, the wrist pitching hydraulic motor I, the wrist yawing hydraulic motor II and the wrist rotating hydraulic motor can conveniently control the change of various poses of the wrist joint of the mechanical arm, and further the paw can adapt to the change of the inclination angle and the azimuth angle of a drilling platform, so as to realize the precise drilling rod grabbing operation and the rod releasing operation. Oil pressure signals in a rodless cavity of the gripper opening and closing oil cylinder are collected in real time through the pressure sensor, and whether the grabbing force is appropriate or not can be judged by the controller according to the size of the pressure value fed back, so that the situation that the drilling rod is damaged or the movable gripper is damaged due to overlarge grabbing force can be avoided. Utilize rotary encoder's setting, can carry out accurate regulation to each degree of freedom through automatic mode to rod changing demand that can adapt to different scenes fast through closed-loop control's mode. The system has six degrees of freedom, and is more flexible and free than the traditional mode of singly adopting a hydraulic cylinder or a hydraulic motor. Simultaneously, compare with current pole device of trading, the structure of this system integration is compacter, trades the pole efficiency higher.
As shown in fig. 5, the invention also provides a hydraulic control method for the mining rod-changing mechanical arm, which specifically comprises the following steps:
the method comprises the following steps: an operator sends a starting signal to the controller 27 through a start/stop key, and the controller 27 controls the engine to start after receiving the starting signal, drives the variable pump 24 to work, and enables the system to enter a working state;
step two: step three is executed after the controller 27 receives the drill rod filling signal, and step four is executed after the controller 27 receives the drill rod reloading signal;
step three: filling operation of the drill rod;
s31: the controller 27 firstly obtains a first target rotation angle of the base 2, a first target pitch angle of the boom 5, a second target pitch angle of the forearm 6, a third target pitch angle of the second motor mounting seat 14, a first target yaw angle of the third motor mounting seat 15 and a second target rotation angle of the paw joint assembly 12 according to the position coordinates of the set grabbing position, and obtains a third target rotation angle, a fourth target pitch angle of the boom 5, a fifth target pitch angle of the forearm 6, a sixth target pitch angle of the second motor mounting seat 14, a second target yaw angle of the third motor mounting seat 15 and a fourth target rotation angle of the paw joint assembly 12 according to the position coordinates of the drill rod platform;
s32: the controller 27 controls the proportional directional valve seven 34 to work at a left position for a certain time, and high-pressure oil discharged by the variable pump 24 is utilized to drive a piston rod of the paw opening and closing oil cylinder 12-3 to extend out for a set length, so that the movable paw 12-2 is in an open state relative to the fixed paw 12-6;
in the process, the controller 27 controls the proportional directional valve seven 34 by using a position signal fed back by a limit switch connected to the paw joint main body 12-5, and controls the proportional directional valve seven 34 to lose power and work in a middle position after the preset length is reached;
s33: the controller 27 sequentially controls the first proportional directional valve 28, the second proportional directional valve 29 and the third proportional directional valve 30 to enable the movable gripper 12-2 and the fixed gripper 12-6 to reach the position of the drill rod, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate by using high-pressure oil discharged by the variable displacement pump 24 so as to enable the base 2 to rotate to a first target rotation angle; in the process, the controller 27 controls the first proportional reversing valve 28 by using a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position after the target rotation angle is reached;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to a first target pitch angle; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a middle position after the target first pitch angle is reached;
controlling the third proportional reversing valve 30 to work at a left position or a right position for a certain time, and driving the small arm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the small arm 6 to rotate to a target pitch angle II; in the process, the controller 27 controls the proportional directional valve III 30 by using a rotation angle signal fed back by the rotary encoder III 53 in real time, and controls the proportional directional valve III 30 to work in a neutral position after the target pitch angle II is reached;
controlling the proportional reversing valve IV 31 to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to a target pitching angle III; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the target pitch angle III is reached;
controlling a fifth proportional directional valve 32 to work at a left position or a right position for a certain time, and driving a second wrist yawing hydraulic motor 9 to rotate by using high-pressure oil discharged by the variable displacement pump 24, so that the third motor mounting seat 15 rotates to a first target yawing angle; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position when the target yaw angle is reached to be one;
controlling the proportional reversing valve VI 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to a target rotation angle II; in the process, the controller 27 controls the proportional reversing valve six 33 by using a rotation angle signal fed back by the rotary encoder six 55 in real time, and controls the proportional reversing valve six 33 to lose power and work in a middle position after the target rotation angle reaches a second target rotation angle;
s34: the controller 27 controls the proportional reversing valve seven 34 to work at the right position for a certain time, and high-pressure oil discharged by the variable pump 24 is used for driving a piston rod of the gripper opening and closing oil cylinder 12-3 to retract for a set length, so that the movable gripper 12-2 is in a closed state relative to the fixed gripper 12-6, and a drill rod is grabbed; in the process, the controller 27 judges whether the closing state is the closed state by utilizing a pressure signal fed back by the pressure sensor 26 in real time, and controls the proportional directional valve seven 34 to work in a neutral position when the set closing pressure is reached;
s35: the controller 27 sequentially controls the first proportional directional valve 28, the second proportional directional valve 29 and the third proportional directional valve 30 to enable the movable gripper 12-2 and the fixed gripper 12-6 to reach the position of the drill pipe platform, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate to a target rotation angle III by using high-pressure oil discharged by the variable displacement pump 24; in the process, the controller 27 controls the first proportional reversing valve 28 by using a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position when a target rotation angle is reached;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to a target pitch angle IV; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a neutral position after the target pitch angle is reached to four;
controlling the third proportional reversing valve 30 to work at the left position or the right position for a certain time, and driving the forearm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the forearm 6 to rotate to a target pitch angle five; in the process, the controller 27 controls the third proportional directional valve 30 by using a rotation angle signal fed back by the third rotary encoder 53 in real time, and controls the third proportional directional valve 30 to lose power and work in a middle position after the fifth target pitch angle is reached;
controlling the proportional reversing valve IV 31 to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to a target pitching angle VI; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the target pitch angle IV is reached;
controlling the proportional directional valve five 32 to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor two 9 to rotate by using high-pressure oil discharged by the variable pump 24, so that the third motor mounting seat 15 rotates to a target yaw angle two; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position after the target yaw angle II is reached;
controlling the proportional reversing valve six 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to a target rotation angle four; in the process, the controller 27 controls the proportional directional valve six 33 by using a rotation angle signal fed back by the rotation code six 55 in real time, and controls the proportional directional valve six 33 to lose power and work in a middle position after the target rotation angle is reached to four;
s36: the controller 27 controls the proportional directional valve seven 34 to work at a left position for a certain time, and high-pressure oil discharged by the variable pump 24 is utilized to drive a piston rod of the paw opening and closing oil cylinder 12-3 to extend out for a set length, so that the movable paw 12-2 is in an open state relative to the fixed paw 12-6, and a grabbed drill rod is placed on a drill rod platform;
in the process, the controller 27 controls the proportional reversing valve seven 34 by using a in-place signal fed back by a limit switch connected to the paw joint main body 12-5, and controls the proportional reversing valve seven 34 to lose power and work in a middle position after the set length is reached;
s37: the controller 27 sequentially controls the first proportional reversing valve 28, the second proportional reversing valve 29 and the third proportional reversing valve 30 to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate to the initial position by using the high-pressure oil discharged by the variable displacement pump 24; in the process, the controller 27 controls the first proportional reversing valve 28 by utilizing a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position after the initial position is reached;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to the initial position; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a middle position after the second proportional reversing valve reaches an initial position;
controlling the third proportional reversing valve 30 to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the small arm 6 to rotate to the initial position; in the process, the controller 27 controls the third proportional reversing valve 30 by using a rotation angle signal fed back by the third rotary encoder 53 in real time, and controls the third proportional reversing valve 30 to lose power and work in a middle position after the third proportional reversing valve reaches an initial position;
controlling the proportional reversing valve IV 31 to work at a left position or a right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to an initial position; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the initial position is reached;
controlling the proportional directional valve five 32 to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor two 9 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the third motor mounting seat 15 to rotate to the initial position; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position after the proportional directional valve five 32 is powered off after the initial position is reached;
controlling the proportional reversing valve VI 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to the initial position; in the process, the controller 27 controls the proportional reversing valve six 33 by using a rotation angle signal fed back by the rotary encoder six 55 in real time, and controls the proportional reversing valve six 33 to lose power and work in a middle position after reaching an initial position;
s38: repeating S31 to S37 for multiple times until the filling operation of all the drill rods is finished;
step four: the drill rod is reinstalled;
s41: the controller 27 obtains a target rotation angle three, a target pitch angle four of the boom 5, a target pitch angle five of the forearm 6, a target pitch angle six of the second motor mounting seat 14, a target yaw angle two of the third motor mounting seat 15 and a target rotation angle four of the paw joint assembly 12 according to the position coordinates of the drill rod platform, and obtains a target rotation angle five of the base 2, a target pitch angle seven of the boom 5, a target pitch angle eight of the boom 6, a target pitch angle nine of the second motor mounting seat 14, a target yaw angle three of the third motor mounting seat 15 and a target rotation angle six of the paw joint assembly 12 according to the position coordinates of the drill rod box;
s42: the controller 27 sequentially controls the first proportional directional valve 28, the second proportional directional valve 29 and the third proportional directional valve 30 to enable the movable gripper 12-2 and the fixed gripper 12-6 to reach the rod taking position, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate to a target rotation angle III by using high-pressure oil discharged by the variable displacement pump 24; in the process, the controller 27 controls the first proportional reversing valve 28 by using a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position when a target rotation angle is reached;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to a target pitch angle IV; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a neutral position after the target pitch angle is reached to four;
controlling the third proportional reversing valve 30 to work at a left position or a right position for a certain time, and driving the small arm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the small arm 6 to rotate to a target pitch angle five; in the process, the controller 27 controls the third proportional directional valve 30 by using a rotation angle signal fed back by the third rotary encoder 53 in real time, and controls the third proportional directional valve 30 to lose power and work in a middle position after the fifth target pitch angle is reached;
controlling the proportional reversing valve IV 31 to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to a target pitching angle VI; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the target pitch angle IV is reached;
controlling the proportional directional valve five 32 to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor two 9 to rotate by using high-pressure oil discharged by the variable pump 24, so that the third motor mounting seat 15 rotates to a target yaw angle two; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position after the target yaw angle II is reached;
controlling the proportional reversing valve six 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to a target rotation angle four; in the process, the controller 27 controls the proportional directional valve six 33 by using a rotation angle signal fed back by the rotary encoder six 55 in real time, and controls the proportional directional valve six 33 to lose power and work in a middle position when a target rotation angle is reached;
s43: the controller 27 controls the proportional directional valve seven 34 to work at the right position for a certain time, and high-pressure oil discharged by the variable pump 24 is utilized to drive a piston rod of the paw opening and closing oil cylinder 12-3 to retract for a set length, so that the movable paw 12-2 is in a closed state relative to the fixed paw 12-6, and a drill rod is grabbed;
in the process, the controller 27 judges whether the closing state is the closed state by utilizing a pressure signal fed back by the pressure sensor 26 in real time, and controls the proportional directional valve seven 34 to work in a neutral position when the set closing pressure is reached;
s44: the controller 27 sequentially controls the first proportional directional valve 28, the second proportional directional valve 29 and the third proportional directional valve 30 to enable the movable gripper 12-2 and the fixed gripper 12-6 to reach the position of the drill rod box, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate to a target rotation angle five by using high-pressure oil discharged by the variable displacement pump 24; in the process, the controller 27 controls the first proportional reversing valve 28 by using a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position after the target rotation angle is reached to five;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to a target pitch angle seven; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a middle position after the target pitch angle is seven;
controlling the third proportional reversing valve 30 to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the small arm 6 to rotate to the target pitch angle eight; in the process, the controller 27 controls the third proportional directional valve 30 by using a rotation angle signal fed back by the third rotary encoder 53 in real time, and controls the third proportional directional valve 30 to lose power and work in a middle position after the target pitch angle eight is reached;
controlling the proportional reversing valve IV 31 to work at the left position or the right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to a target pitching angle nine; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the target pitch angle is nine;
controlling the proportional directional valve five 32 to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor two 9 to rotate by using high-pressure oil discharged by the variable pump 24, so that the third motor mounting seat 15 rotates to a target yaw angle three; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position when power is lost after the target yaw angle three is reached;
controlling the proportional reversing valve six 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to a target rotation angle six; in the process, the controller 27 controls the proportional directional valve six 33 by using a rotation angle signal fed back by the rotation code six 55 in real time, and controls the proportional directional valve six 33 to lose power and work in a middle position after the target rotation angle six is reached;
s45: the controller 27 controls the proportional directional valve seven 34 to work at a left position for a certain time, and high-pressure oil discharged by the variable pump 24 is utilized to drive a piston rod of the paw opening and closing oil cylinder 12-3 to extend out for a set length, so that the movable paw 12-2 is in an open state relative to the fixed paw 12-6, and a drill rod falls into a drill rod box;
in the process, the controller 27 controls the proportional directional valve seven 34 by using a position signal fed back by a limit switch connected to the paw joint main body 12-5, and controls the proportional directional valve seven 34 to lose power and work in a middle position after the preset length is reached;
s46: the controller 27 sequentially controls the first proportional reversing valve 28, the second proportional reversing valve 29 and the third proportional reversing valve 30 to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve 28 to work at the left position or the right position for a certain time, and driving the hydraulic motor 18 to rotate to the initial position by using the high-pressure oil discharged by the variable displacement pump 24; in the process, the controller 27 controls the first proportional reversing valve 28 by utilizing a rotation angle signal fed back by the first rotary encoder 50 in real time, and controls the first proportional reversing valve 28 to lose power and work in a middle position after the initial position is reached;
controlling the second proportional reversing valve 29 to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder 3 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the large arm 5 to rotate to the initial position; in the process, the controller 27 controls the second proportional reversing valve 29 by using a rotation angle signal fed back by the second rotary encoder 51 in real time, and controls the second proportional reversing valve 29 to lose power and work in a middle position after the initial position is reached;
controlling the third proportional reversing valve 30 to work at a left position or a right position for a certain time, and driving the small arm hydraulic cylinder 4 to extend or retract for a certain length by using high-pressure oil discharged by the variable pump 24 so as to enable the small arm 6 to rotate to an initial position; in the process, the controller 27 controls the third proportional reversing valve 30 by using a rotation angle signal fed back by the third rotary encoder 53 in real time, and controls the third proportional reversing valve 30 to lose power and work in a middle position after the initial position is reached;
controlling the proportional reversing valve IV 31 to work at a left position or a right position for a certain time, and driving the wrist pitching hydraulic motor I7 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the second motor mounting seat 14 to rotate to an initial position; in the process, the controller 27 controls the proportional directional valve IV 31 by using a rotation angle signal fed back by the rotation coding IV 53 in real time, and controls the proportional directional valve IV 31 to lose power and work in a middle position after the initial position is reached;
controlling the proportional directional valve five 32 to work at the left position or the right position for a certain time, and driving the wrist yaw hydraulic motor two 9 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the third motor mounting seat 15 to rotate to the initial position; in the process, the controller 27 controls the proportional directional valve five 32 by using a rotation angle signal fed back by the rotary encoding five 54 in real time, and controls the proportional directional valve five 32 to work in a neutral position after the proportional directional valve five 32 is powered off after the initial position is reached;
controlling the proportional reversing valve VI 33 to work at the left position or the right position for a certain time, and driving the wrist rotating hydraulic motor 11 to rotate by using high-pressure oil discharged by the variable pump 24 so as to enable the paw joint assembly 12 to rotate to the initial position; in the process, the controller 27 controls the proportional reversing valve six 33 by using a rotation angle signal fed back by the rotary encoder six 55 in real time, and controls the proportional reversing valve six 33 to lose power and work in a middle position after reaching an initial position;
s47: and repeatedly executing S41 to S46 for multiple times until finishing the assembly operation of all the drill rods.
The method has high automation degree, can conveniently realize the filling operation and the repacking operation of the drill rods, can effectively save human resources, greatly improves the working efficiency of the rod replacing operation under the coal mine, has wide popularization value and social benefit, and has great effect on improving the production efficiency and the safety of the coal mine.

Claims (10)

1. A mining rod-changing mechanical arm comprises a mining automatic rod-changing mechanical arm and a hydraulic control unit, and is characterized in that the mining automatic rod-changing mechanical arm is provided with a hydraulic control unit;
the mining automatic rod-changing manipulator comprises a slewing bearing (1), a hydraulic motor (18), a base (2), a large arm (5), a small arm (6), a large arm hydraulic cylinder (3), a small arm hydraulic cylinder (4), a first motor mounting seat (13), a wrist pitching hydraulic motor I (7), a second motor mounting seat (14), a wrist yawing hydraulic motor II (9), a third motor mounting seat (15), a wrist rotating hydraulic motor (11) and a paw joint assembly (12); the slewing bearing (1) is arranged on the supporting platform, and a hydraulic motor (18) for driving the upper mounting platform to rotate is connected onto the slewing bearing; the lower end of the base (2) is fixedly connected with an upper mounting platform of the slewing bearing (1) through a flange, a pair of connecting guard plates (19) are oppositely and fixedly connected to the upper part of the base (2), and an accommodating groove (20) is formed between the pair of connecting guard plates (19); the lower end of the large arm (5) extends into the interior of the left end of the accommodating groove (20) and is rotatably connected with the pair of connecting guard plates (19) through a first pin shaft (21), and the upper end of the large arm is connected with the left end of the small arm (6) through a fourth pin shaft (16); the large-arm hydraulic cylinder (3) is positioned on the right side of the large arm (5), the lower end of the large-arm hydraulic cylinder extends into the inner part of the right end of the accommodating groove (20) and is rotatably connected with the pair of connecting guard plates (19) through a second pin shaft (22), and the upper end of the large-arm hydraulic cylinder (3) is rotatably connected with the lower part of the middle part of the large arm (5) through a third pin shaft (23); the small arm hydraulic cylinder (4) is positioned above the same side of the large arm hydraulic cylinder (3), the lower end of the small arm hydraulic cylinder is rotatably connected with the upper part of the middle part of the large arm (5) through a fifth pin shaft (58), and the upper end of the small arm hydraulic cylinder is rotatably connected with the lower end of the left part of the small arm (6) through a sixth pin shaft (17); the first motor mounting seat (13) is fixedly connected to the right end of the small arm (6), and a wrist pitching hydraulic motor I (7) is mounted in the first motor mounting seat; the second motor mounting seat (14) is arranged below the first motor mounting seat (13), a wrist yawing hydraulic motor II (9) is mounted in the second motor mounting seat, the upper end of the second motor mounting seat is fixedly connected with a first wrist connecting plate (8), and the free end of the first wrist connecting plate (8) is fixedly connected with a first connecting flange fixedly sleeved outside the output shaft of the wrist pitching hydraulic motor I (7); the third motor mounting seat (15) is arranged below the second motor mounting seat (14), the lower end of the third motor mounting seat is provided with a wrist rotating hydraulic motor (11), the upper end of the third motor mounting seat is fixedly connected with a second wrist connecting plate (10), and the free end of the second wrist connecting plate (10) is fixedly connected with a second connecting flange fixedly sleeved outside the output shaft of the second wrist yawing hydraulic motor (9); the wrist rotating hydraulic motor (11) is connected with a paw joint assembly (12); the paw joint assembly (12) consists of a paw joint main body (12-5), a fixed paw (12-6), an oil cylinder fixing frame (12-4), a movable paw (12-2), a paw opening and closing oil cylinder (12-3), an upper slip (12-7) and a lower slip (12-1); the upper end of the paw joint main body (12-5) is fixedly connected with a third connecting flange fixedly sleeved outside the output shaft of the wrist rotating hydraulic motor (11); the upper end of the fixed paw (12-6) is fixedly connected with the lower end of the paw joint main body (12-5), and the lower end of the fixed paw is of an upwards-concave arc structure; the oil cylinder fixing frame (12-4) is positioned on the outer side of one end of the fixed paw (12-6) in the length direction and is fixedly connected with the outer side wall of the middle part of the paw joint main body (12-5); the movable paw (12-2) is arranged on one side opposite to the fixed paw (12-6), the lower portion of the movable paw is of an arc structure matched with the fixed paw (12-6), two ends of the upper end of the movable paw in the length direction are fixedly connected with a pair of connecting arms (12-9), the pair of connecting arms (12-9) are respectively located on the outer portions of two opposite sides of the paw joint main body (12-5), the connecting end of each connecting arm (12-9) is rotatably connected with a connecting lug plate (12-11) fixedly connected with one side of the lower end of the paw joint main body (12-5) through an eighth pin shaft (12-10), the base of the paw opening and closing oil cylinder (12-3) is rotatably connected with the lower end of the oil cylinder fixing frame (12-4) through a hinge seat, and the end of the piston rod of the paw opening and closing oil cylinder is rotatably connected with the free end of one connecting arm (12-9) through a seventh pin shaft (12-8); the shape and the size of the upper slip (12-7) are matched with the cambered surface of the fixed paw (12-6) and fixedly connected inside the cambered surface of the fixed paw (12-6); the shape and the size of the lower slip (12-1) are matched with the cambered surface at the lower part of the movable paw (12-2), and the lower slip is fixedly connected inside the cambered surface at the lower part of the movable paw (12-2);
the hydraulic control unit comprises an engine, a variable pump (24), a first proportional reversing valve (28), a second proportional reversing valve (29), a third proportional reversing valve (30), a fourth proportional reversing valve (31), a fifth proportional reversing valve (32), a sixth proportional reversing valve (33), a seventh proportional reversing valve (34), a first rotary encoder (50), a second rotary encoder (51), a third rotary encoder (52), a fourth rotary encoder (53), a fifth rotary encoder (54), a sixth rotary encoder (55), a pressure sensor (26) and a controller (27); the variable pump (24) is driven by an engine coaxially connected with the variable pump, an oil suction port of the variable pump is connected with a hydraulic oil tank, an oil discharge port of the variable pump is respectively connected with a P port of a first proportional reversing valve (28), a P port of a second proportional reversing valve (29), a P port of a third proportional reversing valve (30), a P port of a fourth proportional reversing valve (31), a P port of a fifth proportional reversing valve (32), a P port of a sixth proportional reversing valve (33) and a P port of a seventh proportional reversing valve (34), and a T port of the first proportional reversing valve (28), a T port of the second proportional reversing valve (29), a T port of the third proportional reversing valve (30), a T port of the fourth proportional reversing valve (31), a T port of the fifth proportional reversing valve (32), a T port of the sixth proportional reversing valve (33) and a T port of the seventh proportional reversing valve (34) are all connected with the hydraulic oil tank; the port A and the port B of the first proportional reversing valve (28) are respectively connected with a first oil inlet and a second oil inlet of a first locking loop (35), and a first oil outlet and a second oil outlet of the first locking loop (35) are connected with the port A and the port B of the hydraulic motor (18); the port A and the port B of the second proportional reversing valve (29) are respectively connected with a first oil inlet and a second oil inlet of a first balanced loop (38), and a first oil outlet and a second oil outlet of the first balanced loop (38) are connected with a rodless cavity oil port and a rod cavity oil port of a large-arm hydraulic cylinder (3); the port A and the port B of the third proportional reversing valve (30) are respectively connected with a first oil inlet and a second oil inlet of a second balance loop (39), and a first oil outlet and a second oil outlet of the second balance loop (39) are connected with a rodless cavity oil port and a rod cavity oil port of the small arm hydraulic cylinder (4); the port A and the port B of the fourth proportional reversing valve (31) are respectively connected with a first oil inlet and a second oil inlet of a second locking loop (40), and a first oil outlet and a second oil outlet of the second locking loop (40) are connected with the port A and the port B of the first wrist pitching hydraulic motor (7); a port A and a port B of the fifth proportional reversing valve (32) are respectively connected with a first oil inlet and a second oil inlet of a third locking loop (43), and a first oil outlet and a second oil outlet of the third locking loop (43) are connected with a port A and a port B of a wrist transverse swing hydraulic motor II (9); the port A and the port B of the proportional reversing valve six (33) are respectively connected with a first oil inlet and a second oil inlet of a fourth locking loop (46), and a first oil outlet and a second oil outlet of the fourth locking loop (46) are connected with the port A and the port B of the wrist rotating hydraulic motor (11); a port A and a port B of the proportional reversing valve seven (34) are respectively connected with a first oil inlet and a second oil inlet of a fifth locking loop (49), and a first oil outlet and a second oil outlet of the fifth locking loop (49) are connected with a rodless cavity oil port and a rod cavity oil port of the paw opening and closing oil cylinder (12-3); the first rotary encoder (50) is connected to an output shaft of the hydraulic motor (18) and is used for acquiring a rotation angle signal of the base (2) in real time; the second rotary encoder (51) is connected to the first pin shaft (21) and is used for acquiring a rotation angle signal of the large arm (5) in real time; the rotary encoder III (52) is connected to the fourth pin shaft (16) and is used for acquiring a rotation angle signal of the small arm (6) relative to the large arm (5) in real time; the rotary encoder IV (53) is connected to an output shaft of the wrist pitching hydraulic motor I (7) and is used for acquiring pitching angle signals of the second motor mounting seat (14) in real time; the rotary encoder V (54) is connected to an output shaft of the wrist yawing hydraulic motor II (9) and is used for acquiring yawing angle signals of the third motor mounting seat (15) in real time; the six rotary encoders (55) are connected to the output shaft of the wrist rotating hydraulic motor (11) and used for acquiring rotation angle signals of the paw joint assembly (12) in real time; the pressure sensor (26) is arranged at an oil port of the rodless cavity and is used for acquiring oil pressure signals in the rodless cavity of the paw opening and closing oil cylinder (12-3) in real time;
the controller (27) is respectively connected with the engine, the pressure sensor (26), the variable displacement pump (24), the first proportional reversing valve (28), the second proportional reversing valve (29), the third proportional reversing valve (30), the fourth proportional reversing valve (31), the fifth proportional reversing valve (32), the sixth proportional reversing valve (33), the seventh proportional reversing valve (34), the first rotary encoder (50), the second rotary encoder (51), the third rotary encoder (52), the fourth rotary encoder (53), the fifth rotary encoder (54) and the sixth rotary encoder (55).
2. The mining rod-changing mechanical arm according to claim 1, wherein the hydraulic control unit further comprises a first overflow valve (25), and an oil discharge port of the variable pump (24) is further connected with a hydraulic oil tank through the first overflow valve (25).
3. A mining rod-changing mechanical arm as claimed in claim 2, characterized in that the hydraulic control unit further comprises a limit switch (12-12) connected to the controller (27), the limit switch (12-12) is fixedly connected to the lower end of the gripper joint body (12-5) and is engaged with the free end of one of the link arms (12-9), and the movable gripper (12-2) is maximally opened with respect to the fixed gripper (12-6) when the free end of the link arm (12-9) reaches a position where the limit switch (12-12) is touched during the movement in the direction of the lower end of the gripper joint body (12-5).
4. The mining rod replacing mechanical arm as claimed in any one of claims 1 to 3, wherein each of the first locking circuit (35), the second locking circuit (40), the third locking circuit (43), the fourth locking circuit (46) and the fifth locking circuit (49) is composed of a first hydraulic control one-way valve (56) and a second hydraulic control one-way valve (57), an oil inlet of the first hydraulic control one-way valve (56) serves as a first oil inlet of the corresponding locking circuit, an oil outlet of the first hydraulic control one-way valve (56) serves as a first oil outlet of the corresponding locking circuit, an oil inlet of the second hydraulic control one-way valve (57) serves as a second oil inlet of the corresponding locking circuit, an oil outlet of the second hydraulic control one-way valve (57) serves as a second oil outlet of the corresponding locking circuit, a hydraulic control port of the first hydraulic control one-way valve (56) is connected with an oil inlet of the second hydraulic control one-way valve (57) through a signal oil path, and a hydraulic control port of the second hydraulic control one-way valve (57) is connected with an oil inlet of the first hydraulic control one-way valve (56) through a signal oil path.
5. The mining rod-changing mechanical arm according to claim 4, wherein the hydraulic control unit further comprises a second overflow valve (36), a third overflow valve (37), a fourth overflow valve (41), a fifth overflow valve (42), a sixth overflow valve (44), a seventh overflow valve (45), an eighth overflow valve (47) and a ninth overflow valve (48), the port A of the hydraulic motor (18) is connected with the hydraulic oil tank through the second overflow valve (36), and the port B of the hydraulic motor (18) is connected with the hydraulic oil tank through the third overflow valve (37); the port A of the wrist pitching hydraulic motor I (7) is connected with a hydraulic oil tank through an overflow valve IV (41), and the port B of the wrist pitching hydraulic motor I (7) is connected with the hydraulic oil tank through an overflow valve V (42); the port A of the wrist yawing hydraulic motor II (9) is connected with a hydraulic oil tank through an overflow valve six (44), and the port B of the wrist yawing hydraulic motor II (9) is connected with the hydraulic oil tank through an overflow valve seven (45); the port A of the wrist rotating hydraulic motor (11) is connected with a hydraulic oil tank through an overflow valve eight (47), and the port B of the wrist rotating hydraulic motor (11) is connected with the hydraulic oil tank through an overflow valve nine (48).
6. The mining rod replacing mechanical arm as claimed in claim 4, wherein the first balance circuit (38) and the second balance circuit (39) are both composed of a first balance valve and a second balance valve, the first balance valve is composed of a first one-way valve (60) and a first hydraulic sequence valve (61), an oil inlet of the first one-way valve (60) is communicated with an oil inlet of the first hydraulic sequence valve (61) to form a first oil inlet corresponding to the balance circuit, an oil outlet of the first one-way valve (60) is communicated with an oil outlet of the first hydraulic sequence valve (61) to form a first oil outlet corresponding to the balance circuit, the second balance valve is composed of a second one-way valve (62) and a second hydraulic sequence valve (59), an oil inlet of the second one-way valve (62) is communicated with an oil inlet of the second hydraulic sequence valve (59) to form a second oil inlet corresponding to the balance circuit, an oil outlet of the second one-way valve (62) is communicated with an oil outlet of the second hydraulic sequence valve (59) to form a second oil outlet corresponding to the balance circuit, the first hydraulic sequence valve (61) is connected with the oil inlet of the second hydraulic sequence valve (59), and the second hydraulic sequence valve (59) is connected with the oil inlet of the second hydraulic sequence valve (59).
7. The mining rod-changing mechanical arm according to claim 6, wherein the first proportional reversing valve (28), the second proportional reversing valve (29), the third proportional reversing valve (30), the fourth proportional reversing valve (31), the fifth proportional reversing valve (32), the sixth proportional reversing valve (33) and the seventh proportional reversing valve (34) are all explosion-proof three-position four-way proportional reversing valves, when the valves are powered on and work in the left position, oil passages between the ports P and A are communicated, oil passages between the ports T and B are communicated, when the valves are powered off and work in the middle position, the ports P, T, A and B are all cut off, when the valves are powered on and work in the right position, oil passages between the ports P and B are communicated, and oil passages between the ports T and A are communicated.
8. The mining rod-changing mechanical arm according to claim 7, further comprising a start/stop button and an operating handle, wherein the start/stop button and the operating handle are both connected with the controller (27), the start/stop button is used for respectively sending a start signal and a stop signal to the controller (27) according to the control of an operator, and the operating handle is used for respectively sending a drill rod filling signal and a drill rod reloading signal to the controller (27) according to the control of the operator.
9. A mining boom changing robot arm as claimed in claim 8, characterized in that said controller (27) is a PLC controller.
10. The mining rod-changing mechanical arm hydraulic control method comprises the mining rod-changing mechanical arm according to claim 9, and is characterized by comprising the following steps:
the method comprises the following steps: an operator sends a starting signal to the controller (27) through a starting/stopping key, and the controller (27) controls the engine to start after receiving the starting signal, drives the variable pump (24) to work and enables the system to enter a working state;
step two: after the controller (27) receives the drill rod filling signal, executing a step three, and after the controller (27) receives the drill rod reinstalling signal, executing a step four;
step three: filling operation of the drill rod;
s31: the controller (27) firstly obtains a target rotation angle I of the base (2), a target pitch angle I of the boom (5), a target pitch angle II of the forearm (6), a target pitch angle III of the second motor mounting seat (14), a target yaw angle I of the third motor mounting seat (15) and a target rotation angle II of the paw joint assembly (12) according to the position coordinate of the set grabbing position, and obtains a target rotation angle III, a target pitch angle IV of the boom (5), a target pitch angle V of the forearm (6), a target pitch angle VI of the second motor mounting seat (14), a target yaw angle II of the third motor mounting seat (15) and a target rotation angle IV of the paw joint assembly (12) according to the position coordinate of the drill rod platform;
s32: the controller (27) controls the seven proportional reversing valves (34) to work at a left position for a certain time, and high-pressure oil discharged by the variable pump (24) is utilized to drive piston rods of the gripper opening and closing oil cylinders (12-3) to extend out for a set length, so that the movable grippers (12-2) are in an open state relative to the fixed grippers (12-6);
s33: the controller (27) sequentially controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) to enable the movable gripper (12-2) and the fixed gripper (12-6) to reach the position of the drill rod, and the specific control process is as follows:
controlling a first proportional reversing valve (28) to work at a left position or a right position for a certain time, and driving a hydraulic motor (18) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a base (2) to rotate to a first target rotation angle;
controlling a second proportional reversing valve (29) to work at a left position or a right position for a certain time, and driving a large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a large arm (5) to rotate to a first target pitch angle;
controlling the third proportional reversing valve (30) to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the small arm (6) to rotate to a second target pitch angle;
controlling a fourth proportional reversing valve (31) to work at a left position or a right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to a third target pitching angle;
controlling a fifth proportional directional valve (32) to work at the left position or the right position for a certain time, and driving a second wrist yaw hydraulic motor (9) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to a first target yaw angle;
controlling the proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving the wrist rotation hydraulic motor (11) to rotate by using high-pressure oil discharged by the variable pump (24) so as to enable the paw joint assembly (12) to rotate to a target rotation angle II;
s34: the controller (27) controls the proportional directional valve seven (34) to work at the right position for a certain time, and high-pressure oil discharged by the variable pump (24) is utilized to drive a piston rod of the paw opening and closing oil cylinder (12-3) to retract for a set length, so that the movable paw (12-2) is in a closed state relative to the fixed paw (12-6), and a drill rod is grabbed;
s35: the controller (27) controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) in sequence to enable the movable gripper (12-2) and the fixed gripper (12-6) to reach the position of the drill rod platform, and the specific control process is as follows:
controlling the first proportional reversing valve (28) to work at the left position or the right position for a certain time, and driving a hydraulic motor (18) to rotate to a target rotation angle III by utilizing high-pressure oil discharged by a variable pump (24);
controlling the second proportional reversing valve (29) to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the large arm (5) to rotate to a fourth target pitch angle;
controlling a third proportional reversing valve (30) to work at a left position or a right position for a certain time, and driving a small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a small arm (6) to rotate to a fifth target pitching angle;
controlling a fourth proportional reversing valve (31) to work at a left position or a right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to a sixth target pitching angle;
controlling a fifth proportional directional valve (32) to work at the left position or the right position for a certain time, and driving a second wrist yaw hydraulic motor (9) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to a second target yaw angle;
controlling a proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving a wrist rotating hydraulic motor (11) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a paw joint assembly (12) to rotate to a target rotation angle four;
s36: the controller (27) controls the proportional directional valve seven (34) to work at a left position for a certain time, and high-pressure oil discharged by the variable pump (24) is utilized to drive a piston rod of the gripper opening and closing oil cylinder (12-3) to extend out for a set length, so that the movable gripper (12-2) is in an open state relative to the fixed gripper (12-6), and a grabbed drill rod is placed on a drill rod platform;
s37: the controller (27) sequentially controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve (28) to work at the left position or the right position for a certain time, and driving the hydraulic motor (18) to rotate to the initial position by using high-pressure oil discharged by the variable displacement pump (24);
controlling a second proportional reversing valve (29) to work at the left position or the right position for a certain time, and driving a large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a large arm (5) to rotate to an initial position;
controlling a third proportional reversing valve (30) to work at a left position or a right position for a certain time, and driving a small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a small arm (6) to rotate to an initial position;
controlling a fourth proportional reversing valve (31) to work at a left position or a right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to an initial position;
controlling a fifth proportional directional valve (32) to work at a left position or a right position for a certain time, and driving a wrist to swing transversely to rotate a second hydraulic motor (9) by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to an initial position;
controlling a proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving a wrist rotating hydraulic motor (11) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a paw joint assembly (12) to rotate to an initial position;
s38: repeating S31 to S37 for multiple times until the filling operation of all the drill rods is finished;
step four: the drill rod is subjected to reinstallation operation;
s41: the controller (27) firstly obtains a target rotating angle III, a target pitch angle IV of the big arm (5), a target pitch angle V of the small arm (6), a target pitch angle VI of the second motor mounting seat (14), a target yaw angle II of the third motor mounting seat (15) and a target rotating angle IV of the paw joint assembly (12) according to the position coordinates of the drill rod platform, and obtains a target rotating angle V of the base (2), a target pitch angle seven of the big arm (5), a target pitch angle eight of the small arm (6), a target pitch angle nine of the second motor mounting seat (14), a target yaw angle three of the third motor mounting seat (15) and a target rotating angle six of the paw joint assembly (12) according to the position coordinates of the drill rod box;
s42: the controller (27) sequentially controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) to enable the movable gripper (12-2) and the fixed gripper (12-6) to reach the rod taking position, and the specific control process is as follows:
controlling the first proportional reversing valve (28) to work at the left position or the right position for a certain time, and driving a hydraulic motor (18) to rotate to a target rotation angle III by utilizing high-pressure oil discharged by a variable pump (24);
controlling the second proportional reversing valve (29) to work at the left position or the right position for a certain time, and driving the large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the large arm (5) to rotate to a fourth target pitch angle;
controlling the third proportional reversing valve (30) to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the small arm (6) to rotate to a target pitch angle five;
controlling a fourth proportional reversing valve (31) to work at a left position or a right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to a sixth target pitching angle;
controlling a fifth proportional directional valve (32) to work at a left position or a right position for a certain time, and driving a wrist yawing hydraulic motor II (9) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to a target yawing angle II;
controlling a proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving a wrist rotating hydraulic motor (11) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a paw joint assembly (12) to rotate to a target rotation angle four;
s43: the controller (27) controls the proportional directional valve seven (34) to work at the right position for a certain time, and high-pressure oil discharged by the variable pump (24) is utilized to drive a piston rod of the paw opening and closing oil cylinder (12-3) to retract for a set length, so that the movable paw (12-2) is in a closed state relative to the fixed paw (12-6), and a drill rod is grabbed;
s44: the controller (27) controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) in sequence to enable the movable gripper (12-2) and the fixed gripper (12-6) to reach the position of the drill rod box, and the specific control process is as follows:
controlling the first proportional reversing valve (28) to work at the left position or the right position for a certain time, and driving the hydraulic motor (18) to rotate to a target rotation angle five by using high-pressure oil discharged by the variable pump (24);
controlling a second proportional reversing valve (29) to work at the left position or the right position for a certain time, and driving a large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a large arm (5) to rotate to a target pitch angle seven;
controlling the third proportional reversing valve (30) to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the small arm (6) to rotate to a target pitch angle eight;
controlling a fourth proportional reversing valve (31) to work at the left position or the right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to a target pitching angle nine;
controlling a fifth proportional directional valve (32) to work at the left position or the right position for a certain time, and driving a second wrist yaw hydraulic motor (9) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to a third target yaw angle;
controlling a proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving a wrist rotating hydraulic motor (11) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a paw joint assembly (12) to rotate to a target rotation angle six;
s45: the controller (27) controls the proportional directional valve seven (34) to work at a left position for a certain time, and high-pressure oil discharged by the variable pump (24) is utilized to drive a piston rod of the gripper opening and closing oil cylinder (12-3) to extend out for a set length, so that the movable gripper (12-2) is in an open state relative to the fixed gripper (12-6), and a drill rod falls into the drill rod box;
s46: the controller (27) sequentially controls the first proportional reversing valve (28), the second proportional reversing valve (29) and the third proportional reversing valve (30) to enable the mining automatic rod changing manipulator to recover to an initial position, and the specific control process is as follows:
controlling the first proportional reversing valve (28) to work at the left position or the right position for a certain time, and driving the hydraulic motor (18) to rotate to the initial position by using high-pressure oil discharged by the variable displacement pump (24);
controlling a second proportional reversing valve (29) to work at a left position or a right position for a certain time, and driving a large arm hydraulic cylinder (3) to extend or retract for a certain length by using high-pressure oil discharged by a variable pump (24) so as to enable a large arm (5) to rotate to an initial position;
controlling the third proportional reversing valve (30) to work at the left position or the right position for a certain time, and driving the small arm hydraulic cylinder (4) to extend or retract for a certain length by using high-pressure oil discharged by the variable pump (24) so as to enable the small arm (6) to rotate to the initial position;
controlling a fourth proportional reversing valve (31) to work at the left position or the right position for a certain time, and driving a first wrist pitching hydraulic motor (7) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a second motor mounting seat (14) to rotate to the initial position;
controlling a fifth proportional reversing valve (32) to work at the left position or the right position for a certain time, and driving a second wrist yaw hydraulic motor (9) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a third motor mounting seat (15) to rotate to the initial position;
controlling a proportional reversing valve six (33) to work at a left position or a right position for a certain time, and driving a wrist rotating hydraulic motor (11) to rotate by using high-pressure oil discharged by a variable pump (24) so as to enable a paw joint assembly (12) to rotate to an initial position;
s47: and repeatedly executing S41 to S46 for multiple times until finishing the assembly operation of all the drill rods.
CN202211569937.1A 2022-12-08 2022-12-08 Mining rod replacement mechanical arm and hydraulic control method Pending CN115749636A (en)

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Application Number Priority Date Filing Date Title
CN202211569937.1A CN115749636A (en) 2022-12-08 2022-12-08 Mining rod replacement mechanical arm and hydraulic control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211569937.1A CN115749636A (en) 2022-12-08 2022-12-08 Mining rod replacement mechanical arm and hydraulic control method

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CN115749636A true CN115749636A (en) 2023-03-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211569937.1A Pending CN115749636A (en) 2022-12-08 2022-12-08 Mining rod replacement mechanical arm and hydraulic control method

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116084861A (en) * 2023-04-10 2023-05-09 张家口市宣化金科钻孔机械有限公司 Rod storage warehouse of drilling machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116084861A (en) * 2023-04-10 2023-05-09 张家口市宣化金科钻孔机械有限公司 Rod storage warehouse of drilling machine

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