CN214732126U - Automatic rod taking and feeding machine and control system thereof - Google Patents

Abstract

The invention provides an automatic rod taking and feeding machine and a control system thereof, belonging to the technical field of drill rod replacement, and being capable of automatically replacing a rod piece of equipment to be replaced; the rest stand is placed on the ground, and a plurality of rod pieces are placed on the rest stand; the rail is arranged at the side between the rest stand and the equipment to be replaced; the movable trolley is arranged on the track, the movable trolley moves back and forth along the track, the selecting device is arranged close to the placing frame, and the selecting device selects one rod piece and places the rod piece on the movable trolley. The control system is based on the automatic rod taking and feeding machine. According to the automatic rod replacing device, the selecting device is used for selecting a rod piece on the placement frame and placing the rod piece on the moving trolley, the moving trolley transports the rod piece to the position near the equipment to be replaced along the rail, the automatic rod disassembling and assembling device firstly disassembles a waste rod of the equipment to be replaced, then the rod piece is grabbed from the moving trolley and installed on the equipment to be replaced, and automatic rod replacing of the equipment to be replaced is achieved.

Description

Automatic rod taking and feeding machine and control system thereof

Technical Field

The utility model relates to a technical field is changed to the drilling rod, especially relates to an automatic get and send pole machine and control system thereof.

Background

At present, due to the special environment in front of the furnace, the drill rod of the taphole drilling machine needs to be replaced manually. The manual replacement has the defects of poor working environment and high labor intensity.

With the continuous improvement of the automation level in the front of the furnace, in order to realize the unmanned operation in the front of the furnace, the rod replacing machine is required to replace the manual operation to replace the rod replacing operation of the taphole drilling machine.

In view of the above, there is a need to develop an automatic rod picking and delivering machine and a control system thereof, which are used in cooperation with an automatic rod dismounting and mounting device to realize automatic drill rod replacement.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an automatic get and send pole machine and control system thereof utilizes and selects a member on the device selects the rest stand and places on the travelling car, and the travelling car transports near waiting to trade the pole equipment with the member along the track, and automatic dismouting pole device is dismantled earlier and is waited to trade the useless pole of pole equipment after snatching the member and install and wait to trade the pole equipment from the travelling car, realizes waiting to trade the automatic pole of pole equipment.

Realize the utility model discloses the technical scheme of purpose as follows:

the automatic rod taking and conveying machine is matched with an automatic rod disassembling and assembling device of a rod replacing device for use, and comprises a rest frame, a track, a moving trolley and a selecting device;

the rest stand is placed on the ground, and a plurality of rod pieces are placed on the rest stand;

the rail is arranged at the side between the rest stand and the equipment with the rod to be replaced;

the moving trolley is arranged on the track and moves back and forth along the track,

the selecting device is arranged close to the rest stand, and selects one rod piece and places the rod piece on the movable trolley.

With reference to the first aspect, in a possible implementation manner, the shelf includes a first shelf and a second shelf, the first shelf and the second shelf are arranged in parallel, and the first shelf and/or the second shelf places the rod;

the selecting device selects the rod piece from the first frame body and/or the second frame body.

With reference to the first aspect, in a possible implementation manner, the mobile trolley includes a rotating device, a lifting device, and a trolley body, the trolley body is mounted on the rail, the rotating device and the lifting device are fixed inside the trolley body, the lifting device is located above the rotating device, the lifting device is connected to the rotating device, and the lifting device rotates together with the rotating device;

the rod piece is placed on the lifting device by the selecting device, the rod piece is always higher than the trolley body when being placed on the movable trolley, and the rod piece is lifted along with the lifting device.

With reference to the first aspect, in one possible implementation manner, the lifting device includes: bracket, elevating platform and link that connect gradually, the link is connected rotary device, and the member is placed to the bracket, and the bracket is higher than the dolly body.

With reference to the first aspect, in one possible implementation manner, the rotating device includes a rotating body, a bearing, a fixed body, a gland, a connecting rod, and an electric push rod, the rotating body is connected with the fixed body through the bearing, the fixed body is located inside the rotating body, and both the fixed body and the electric push rod are installed inside the trolley body;

the gland is arranged on the rotating body to compress the bearing, one end of the connecting rod is hinged with the rotating body, the other end of the connecting rod is hinged with the electric push rod, and the electric push rod drives the connecting rod to push and pull the rotating body to rotate around the fixed body when extending or retracting;

the rotating body is connected with the connecting frame of the lifting device.

With reference to the first aspect, in one possible implementation manner, the selecting device includes a traveling module, a traveling rail beam, a lifting module, and a suction module;

the walking module is arranged on the walking rail beam, reciprocates between the rest stand and the movable trolley along the walking rail beam, and is arranged on the ground;

the lifting module is arranged between the walking module and the suction module and drives the suction module to ascend or descend;

the suction module sucks one rod piece and places the rod piece on the movable trolley.

With reference to the first aspect, in one possible implementation manner, the traveling module includes a traveling trolley, a connecting shaft, and a power mechanism;

the walking trolley is arranged on the walking rail beam and is connected with the power mechanism, and the power mechanism drives the walking trolley to reciprocate along the walking rail beam;

the connecting shaft is installed in walking dolly bottom, and the top of lifting module is connected to the connecting shaft, and the bottom of lifting module is installed and is drawn the module.

With reference to the first aspect, in one possible implementation manner, the lifting module includes a lifting beam, a lifter, and a driving mechanism;

the lifting beam is suspended at the bottom of the walking module, the hoister is arranged on the lifting beam, and the hoister is also connected with the suction module;

the driving mechanism is fixed on the lifting beam, and a driving part of the driving mechanism is connected with the lifting machine;

the driving mechanism drives the hoister to ascend or descend along the hoisting beam.

With reference to the first aspect, in one possible implementation manner, the suction module includes a connection support and a plurality of electromagnetic chucks;

the connecting support is fixedly connected with a hoisting machine of the hoisting module;

the connecting support is provided with a plurality of connecting rods, and the length direction of the connecting support is consistent with that of the rod piece;

each electromagnetic chuck corresponds to one connecting rod, and the electromagnetic chucks are fixed at the bottom ends of the connecting rods;

and the plurality of electromagnetic chucks suck different parts of the same rod piece.

In a second aspect, a control system for an automatic rod picking and delivering machine is provided, where the automatic rod picking and delivering machine is the automatic rod picking and delivering machine according to the first aspect, and the control system includes:

the control module controls the start and stop of the mobile trolley and the selection device;

the first limiting module is arranged on a track and connected with the control module, the first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state;

the second limiting module is arranged on the selecting device and connected with the control module, the second limiting module detects the motion state of the selecting device in real time and sends the motion state of the selecting device to the control module, and the control module controls the selecting device to change the motion state.

In the present disclosure, at least the following technical effects or advantages are provided:

1. according to the automatic rod replacing device, the selecting device is used for selecting a rod piece on the placement frame and placing the rod piece on the moving trolley, the moving trolley transports the rod piece to the position near the equipment to be replaced along the rail, the automatic rod disassembling and assembling device firstly disassembles a waste rod of the equipment to be replaced, then the rod piece is grabbed from the moving trolley and installed on the equipment to be replaced, and automatic rod replacing of the equipment to be replaced is achieved.

2. The equipment to be replaced can be a rock drill of the taphole drilling machine, the rod body can be a new drill rod or a new ram, the automatic rod dismounting and mounting device can be a mechanical arm on the taphole drilling machine frame, the mechanical arm grabs the new drill rod or the new ram on the movable trolley and aligns to a drill rod sleeve of the rock drill, and then the rock drill of the taphole drilling machine is rotated forwards, and due to the fact that the drill rod or the ram is connected with the drill rod sleeve of the rock drill through threads, the rock drill can be connected with the new drill rod or the new ram when rotating forwards and advancing. And after a new drill rod or a new ram rod is connected, the manipulator is retracted to the standby position, so that the replacement of the new drill rod or the new ram rod is completed.

Drawings

FIG. 1 is a schematic structural view of an automatic rod picking and delivering machine;

FIG. 2 is a schematic view of FIG. 1 taken along line A;

FIG. 3 is a schematic view of FIG. 1 taken along line B;

FIG. 4 is a schematic structural view of the mobile cart;

FIG. 5 is a schematic structural view of a lifting device of the mobile cart;

FIG. 6 is a first structural view of a rotating device of the mobile cart;

FIG. 7 is a second schematic structural view of a rotating device of the mobile cart;

FIG. 8 is a first schematic diagram of a selecting device;

FIG. 9 is a second schematic diagram of the selecting device;

FIG. 10 is a schematic diagram of a control system for the automatic rod picking and delivering machine;

in the figure, 1-rest stand; 11-a first frame body; 12-a second frame body; 2-selecting a device; 21-a suction module; 211-connecting the support; 212-electromagnetic chuck; 213-a connecting rod; 22-a lifting module; 221-a lifting beam; 222-a hoist; 223-a drive mechanism; 23-a walking module; 231-a walking trolley; 232-connecting shaft; 24-a walking rail beam; 3-a track; 4-moving the trolley; 41-rotating means; 411-a rotating body; 412-a bearing; 413-a stationary body; 414-a gland; 415-a link; 416-an electric push rod; 42-a lifting device; 421-a bracket; 422-a lifting platform; 423-connecting frame; 43-trolley body; 5-a rod member.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that the functions, methods, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

In the description of the present embodiments, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.

Referring to fig. 1, 2 and 3, an embodiment of the present disclosure provides an automatic rod picking and delivering machine, which is used in cooperation with an automatic rod dismounting and mounting device of a rod replacement device, and includes a rest 1, a rail 3, a moving cart 4 and a selecting device 2; the rest stand 1 is placed on the ground, and a plurality of rod pieces 5 are placed on the rest stand 1; the rail 3 is arranged at the side between the rest stand 1 and the equipment to be replaced; the moving trolley 4 is arranged on the track 3, the moving trolley 4 moves back and forth along the track 3, the selecting device 2 is arranged close to the rest stand 1, and the selecting device 2 selects one rod piece 5 and is placed on the moving trolley 4.

The automatic rod taking and conveying machine takes rods from the placement frame 1 and conveys the rods to a rod changing position of equipment to be changed, preferably, the track 3 is arranged on the ground, the track 3 is provided with a first working position and a second working position, the first working position is close to the placement frame 1, and the second working position is positioned below the rod changing position of the equipment to be changed; the movable trolley 4 reciprocates between a first working position and a second working position along the track 3, the movable trolley 4 is lower than the upper surface of the rest rack 1 and the rod replacing position of the rod replacing equipment, the selecting device 2 selects one rod piece 5 from the rest rack 1 and places the rod piece on the movable trolley 4 at the first working position, and the movable trolley 4 carries the rod piece 5 to move to the second working position.

The rod piece 5 on the placement frame 1 is selected by the selecting device 2 and placed on the moving trolley 4, the moving trolley 4 transports the rod piece 5 to the position near the rod replacing equipment along the rail 3, the automatic rod disassembling and assembling device first disassembles the waste rod of the rod replacing equipment, then the rod piece 5 is grabbed from the moving trolley 4 and installed on the rod replacing equipment, and automatic rod replacing of the rod replacing equipment is achieved.

Referring to fig. 8, the shelf 1 includes a first shelf 11 and a second shelf 12, the first shelf 11 and the second shelf 12 are arranged in parallel, and the bar 5 is placed on the first shelf 11 and/or the second shelf 12; the picking device 2 picks bars 5 from the first rack 11 and/or the second rack 12.

The rod piece 5 is a drill rod or a ram, the equipment to be replaced is preferably an iron notch drill, and the drill rod and the ram of the iron notch drill are consumable items and need to be replaced in time, so that the drill rod is placed on the first rack body 11, the ram is placed on the second rack body 12, and the selection device 2 selects the drill rod from the first rack body 11 or the selection device 2 selects the ram from the second rack body 12 according to the difference that the rods of the iron notch drill are replaced.

The equipment to be replaced can be a rock drill of the taphole drilling machine, the rod body can be a new drill rod or a new ram, the automatic rod dismounting and mounting device can be a mechanical arm on the taphole drilling machine frame, the mechanical arm grabs the new drill rod or the new ram on the movable trolley 4 and aligns to a drill rod sleeve of the rock drill, and then the rock drill of the taphole drilling machine rotates forwards, and due to the fact that the drill rod or the ram is in threaded connection with the drill rod sleeve of the rock drill, the rock drill can be connected with the new drill rod or the new ram when rotating forwards and advancing. And after a new drill rod or a new ram rod is connected, the manipulator is retracted to the standby position, so that the replacement of the new drill rod or the new ram rod is completed.

In a possible implementation manner, please refer to fig. 4, the mobile cart 4 includes a rotating device 41, a lifting device 42 and a cart body 43, the cart body 43 is installed on the track 3, the rotating device 41 and the lifting device 42 are fixed inside the cart body 43, the lifting device 42 is located above the rotating device 41, the lifting device 42 is connected with the rotating device 41, and the lifting device 42 rotates along with the rotating device 41; the rod piece 5 is placed on the lifting device 42 by the selecting device 2, the rod piece 5 is always higher than the trolley body 43 when being placed on the movable trolley 4, and the rod piece 5 is lifted along with the lifting device 42.

The rotating device 41 rotates the rod 5 from the initial position to the final position, wherein the initial position is the position of the rod 5 when the moving trolley 4 moves to the second working position; the final position is that the center of the rod piece 5 is consistent with the center direction of the rod changing position; the rod 5 is lifted together with the lifting device 42, and the lifting device 42 lifts the rod 5 from the final position to the rod 5 replacement height, so that the rod 5 is aligned with the connecting sleeve of the rod device (rock drill) to be replaced.

The trolley body 43 comprises a trolley, a trolley driving motor, a battery and trolley wheels. The trolley is a steel structure welding part, the trolley driving motor is powered by a battery arranged on the trolley, and the trolley can move forwards and backwards under the driving of the trolley driving motor.

After the connecting sleeve of the equipment (rock drill) to be changed is aligned, the equipment (rock drill) to be changed rotates forwards, and because the rod piece 5 is in threaded connection with the connecting sleeve, a new drill rod can be connected when the equipment (rock drill) to be changed rotates forwards and moves forwards. After the new rod 5 is connected, the automatic rod dismounting device (manipulator) of the rod replacing device is retracted to the standby position, so that the new rod 5 is replaced.

In one possible implementation, referring to fig. 4 and 5, the lifting device 42 includes: bracket 421, elevating platform 422 and link 423 that connect gradually, link 423 connects rotary device 41, and rod 5 is placed to bracket 421, and bracket 421 is higher than dolly body 43.

In the present disclosure, the bracket 421 needs to be higher than the trolley body 43, mainly considering that the length of the rod 5 is greater than the length of the trolley body 43, in order to reduce the length of the trolley body 43 and reduce the production cost of the trolley body 43, the bracket 421 is higher than the trolley body 43 in the present disclosure, and the rod 5 is always higher than the trolley body 43 when the trolley body 43 carries the rod 5.

The lifting platform 422 of the present disclosure is preferably a scissor fork lifting platform 422, and the scissor fork lifting platform 422 is fixedly connected to the bracket 421, and can drive the bracket 421 and the rod 5 placed thereon to vertically lift. The scissor lift 422 is fixedly connected with the connecting frame 423, and the connecting frame 423 is connected with the rotating device 41 through a connecting bolt.

Referring to fig. 4, 6 and 7, the rotating device 41 includes a rotating body 411, a bearing 412, a fixed body 413, a gland 414, a connecting rod 415 and an electric push rod 416, the rotating body 411 is connected to the fixed body 413 through the bearing 412, the fixed body 413 is located inside the rotating body 411, and both the fixed body 413 and the electric push rod 416 are installed inside the cart body 43; the pressing cover 414 is installed on the rotating body 411 to press the bearing 412, one end of the connecting rod 415 is hinged with the rotating body 411, the other end of the connecting rod 415 is hinged with the electric push rod 416, and the electric push rod drives the connecting rod 415 to push and pull the rotating body 411 to rotate around the fixed body 413 when extending or retracting; the rotating body 411 is coupled to a coupling frame 423 of the lifting device 42.

The fixed body 413 of the present disclosure is fixed on the bottom plate of the carriage body 43, the rotating body 411 is connected to the fixed body 413 through a bearing 412, and the rotating body 411 can rotate around the fixed body 413. The gland 414 presses the bearing 412 to secure it. The electric push rod 416 is fixedly connected with the bottom plate of the trolley body 43, one end of the connecting rod 415 is hinged with the rotating body 411, and the other end of the connecting rod 415 is hinged with the electric push rod 416. When the electric push rod is extended or retracted, the connecting rod 415 is driven to push and pull the rotating body 411 to rotate around the fixed body 413.

The travelling carriage 4 carries the bar 5 from the initial position to the final position, and then the rotating means 41 rotate the bar 5 from the initial position to the final position, i.e. rotate the bar 5 with its centre coinciding with the centre of the stand-by position of the taphole drilling machine. The lifting device 42 lifts the rod piece 5 from the final position to a rod piece 5 replacement height, so that the rod piece 5 is aligned with the connecting sleeve of the rod piece replacement device (taphole drilling machine). When the battery capacity of the movable trolley 4 is insufficient, the movable trolley 4 moves from the initial position to the charging position, and the charging pile is automatically connected to start automatic charging.

Referring to fig. 1, 2, 3, 8 and 9, the selecting device 2 includes a walking module 23, a walking rail beam 24, a lifting module 22 and a suction module 21; the walking module 23 is arranged on the walking rail beam 24, the walking module 23 reciprocates between the rest stand 1 and the movable trolley 4 along the walking rail beam 24, and the walking rail beam 24 is arranged on the ground; the lifting module 22 is arranged between the walking module 23 and the suction module 21, and the lifting module 22 drives the suction module 21 to ascend or descend; the suction module 21 sucks one bar 5 and places it on the traveling carriage 4.

The traveling rail beam 24 is at least provided with a first station, a second station and a third station, the first station is positioned right above the first working position corresponding to the movable trolley 4, the second station is positioned right above the first frame body 11 of the rest frame 1 corresponding to the second working position, and the third station is positioned right above the second frame body 12 of the rest frame 1 corresponding to the third working position; the traveling module 23 reciprocates between stations along the traveling rail beam 24.

The suction module 21 is provided with a travel switch, (1) when the walking module 23 is positioned at the second station or the third station, the lifting module 22 drives the suction module 21 to fall until the travel switch stops falling after acting, then the suction module 21 sucks one rod piece 5, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the walking module 23 moves to the first station; (2) when the traveling module 23 is located at the first station, the lifting module 22 drives the suction module 21 to fall until the traveling trolley 4 is reached and then stops falling, then the suction module 21 stops sucking the rod 5 and places the rod 5 on the traveling trolley 4, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the traveling trolley 4 moves to the second working station.

With continuing reference to fig. 8 and 9, the walking module 23 includes a walking trolley 231, a connecting shaft 232 and a power mechanism; the traveling trolley 231 is mounted on the traveling rail beam 24, the traveling trolley 231 is connected with the power mechanism, and the power mechanism drives the traveling trolley 231 to reciprocate along the traveling rail beam 24; the connecting shaft 232 is installed at the bottom of the walking trolley 231, the connecting shaft 232 is connected with the top end of the lifting module 22, and the suction module 21 is installed at the bottom end of the lifting module 22.

The power mechanism drives the traveling trolley 231 to travel from the standby position to the picking position indicated by the travel switch, and since the lifting module 22 is connected with the traveling trolley 231 through the connecting shaft 232, the lifting module 22 also travels with the traveling trolley 231 from the standby position to the picking position indicated by the travel switch.

With continued reference to fig. 8 and 9, the lifting module 22 includes a lifting beam 221, a lifter 222, and a driving mechanism 223; the lifting beam 221 is suspended at the bottom of the walking module 23, the lifter 222 is mounted on the lifting beam 221, and the lifter 222 is also connected with the suction module 21; the driving mechanism 223 is fixed on the lifting beam 221, and a driving part of the driving mechanism 223 is connected with the lifter 222; the driving mechanism 223 drives the hoist 222 to ascend or descend along the hoist beam 221.

After the lifting module 22 starts to work, the lifting machine 222 in the lifting module 22 operates corresponding to a motor, the T-shaped nut of the driving mechanism 223 moves downwards to drive the walking trolley 231 to move downwards to drive the suction module 21 to move downwards, when the lifting machine is close to the rod piece 5 (drill rod or impact rod), the travel switch operates, the lifting module 22 stops working, the electromagnet operates to suck the rod piece 5 (drill rod or impact rod), after the suction work is completed, the lifting machine 222 operates corresponding to the motor, the T-shaped nut moves upwards to drive the walking trolley 231 to move upwards to drive the suction module 21 to move upwards, and after the T-shaped nut reaches the standby position, the lifting machine 222 stops operating corresponding to the motor.

According to the walking module 23, the picking position is used for walking to the working position indicated by the travel switch, the hoister 222 in the hoisting module 22 runs corresponding to the motor, the T-shaped nut moves downwards to drive the walking trolley 231 to move downwards to drive the suction module 21 to move downwards, when the hoisting module of the moving trolley 4 is reached, the hoisting module 22 stops working, the electromagnet stops sucking work, and a drill rod or a ram is placed.

After the placement work is completed, the elevator 222 runs corresponding to the motor, the T-shaped nut moves upwards to drive the walking trolley 231 to move upwards to drive the suction module 21 to move upwards, and after the T-shaped nut reaches the standby position, the elevator 222 stops running corresponding to the motor. The walking module 23 walks from the working position to the standby position indicated by the travel switch, and the automatic selection module finishes the work and waits for the next command.

The buffer module plays a role in buffering when the walking trolley 231 runs to the standby position and the working position, and the carrier roller module plays a role in preventing unbalance loading in the running process of the walking trolley 231.

With continued reference to fig. 8 and 9, the suction module 21 includes a connection support 211 and a plurality of electromagnetic chucks 212; the connecting support 211 is fixedly connected with a lifter 222 of the lifting module 22; the connecting support 211 is provided with a plurality of connecting rods 213, and the length direction of the connecting support 211 is consistent with the length direction of the rod piece 5; each electromagnetic chuck 212 corresponds to one connecting rod 213, and the electromagnetic chucks 212 are fixed at the bottom ends of the connecting rods 213; the plurality of electromagnetic chucks 212 suck different portions of the same rod 5.

In the disclosure, (1) the walking control module 23 moves from other stations to a second station or a third station along the walking rail beam 24, the other stations are positions other than the first to third stations on the walking rail beam 24, the second station corresponds to a position right above the first frame body 11 of the shelving frame 1, and the third station corresponds to a position right above the second frame body 12 of the shelving frame 1; (2) the lifting module 22 drives the suction module 21 to fall until the travel switch of the selection device 2 is close to the rod 5 placed at the topmost end of the rest stand 1, the travel switch sends a signal to the control module, the control module controls the lifting module 22 to stop falling, and the travel switch is arranged below the suction module 21; (3) the suction module 21 sucks the topmost rod 5; (4) the lifting module 22 drives the suction module 21 and the rod 5 to rise to the maximum height; (5) the walking module 23 drives the lifting module 22, the sucking module 21 and the rod piece 5 to move to a first station, and the first station is positioned right above the first working position corresponding to the movable trolley 4; (6) the lifting module 22 drives the suction module 21 and the rod piece 5 to fall until the movable trolley 4 is reached and then the falling is stopped; (7) the suction module 21 stops sucking the rod 5 after placing the rod 5 on the movable trolley 4; (8) the lifting module 22 drives the suction module 21 to rise to the maximum height.

Referring to fig. 10, an embodiment of the present disclosure further provides a control system of an automatic rod picking and delivering machine, where the automatic rod picking and delivering machine is the above-mentioned automatic rod picking and delivering machine, the control system includes a control module, a first limit module and a second limit module, and the control module controls start and stop of a moving trolley and a selecting device; the first limiting module is arranged on the track and connected with the control module, the first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state; the second limiting module is installed on the selecting device and connected with the control module, the second limiting module detects the motion state of the selecting device in real time and sends the motion state to the control module, and the control module controls the selecting device to change the motion state.

The first limiting module comprises a first limiting switch and a second limiting switch, the first limiting switch corresponds to a first working position of the track, and the second limiting switch corresponds to a second working position of the track. The first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state, which can be specifically understood as follows: when the moving trolley moves from the second working position to the first working position, the moving trolley triggers the first limit switch to act along with the fact that the moving trolley gradually approaches the first limit switch, the first limit switch sends a signal that the moving trolley reaches the first working position to the control module, and the control module controls the moving trolley to stop moving. When the movable trolley moves from the first working position to the second working position after the rod piece is loaded, the movable trolley triggers the second limit switch to act along with the gradual approach of the movable trolley to the second limit switch, the second limit switch sends a signal that the movable trolley reaches the second working position to the control module, and the control module controls the movable trolley to stop moving.

The above list of details is only for the practical implementation of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the technical spirit of the present invention should be included in the scope of the present invention.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. An automatic rod taking and delivering machine is matched with an automatic rod disassembling and assembling device of a rod replacing device for use, and is characterized in that the automatic rod taking and delivering machine comprises a rest stand, a track, a moving trolley and a selecting device;

the rest stand is placed on the ground, and a plurality of rod pieces are placed on the rest stand;

the rail is arranged at the side between the rest stand and the equipment with the rod to be replaced;

the moving trolley is arranged on the track and moves back and forth along the track,

the selecting device is arranged close to the rest stand, and selects one rod piece and places the rod piece on the movable trolley.

2. The automatic rod taking and feeding machine according to claim 1, wherein the rest rack comprises a first rack body and a second rack body, the first rack body and the second rack body are arranged in parallel, and the rod pieces are placed on the first rack body and/or the second rack body;

the selecting device selects the rod piece from the first frame body and/or the second frame body.

3. The automatic pole picking and delivering machine of claim 1, wherein the moving cart comprises a rotating device, a lifting device and a cart body, the cart body is mounted on the rail, the rotating device and the lifting device are fixed inside the cart body, the lifting device is located above the rotating device, the lifting device is connected with the rotating device, and the lifting device rotates along with the rotating device;

the rod piece is placed on the lifting device by the selecting device, the rod piece is always higher than the trolley body when being placed on the movable trolley, and the drill rod is lifted along with the lifting device.

4. The automatic pole machine of claim 3, wherein the lifting device comprises: bracket, elevating platform and link that connect gradually, the link is connected rotary device, and the member is placed to the bracket, and the bracket is higher than the dolly body.

5. The automatic rod taking and feeding machine according to claim 3, wherein the rotating device comprises a rotating body, a bearing, a fixed body, a gland, a connecting rod and an electric push rod, the rotating body is connected with the fixed body through the bearing, the fixed body is positioned in the rotating body, and the fixed body and the electric push rod are both arranged in the trolley body;

the gland is arranged on the rotating body to compress the bearing, one end of the connecting rod is hinged with the rotating body, the other end of the connecting rod is hinged with the electric push rod, and the electric push rod drives the connecting rod to push and pull the rotating body to rotate around the fixed body when extending or retracting;

the rotating body is connected with the connecting frame of the lifting device.

6. The automatic pole picking and delivering machine of claim 1, wherein the selecting means comprises a walking module, a walking rail beam, a lifting module and a suction module;

the walking module is arranged on the walking rail beam, reciprocates between the rest stand and the movable trolley along the walking rail beam, and is arranged on the ground;

the lifting module is arranged between the walking module and the suction module and drives the suction module to ascend or descend;

the suction module sucks one rod piece and places the rod piece on the movable trolley.

7. The automatic pole picking and delivering machine of claim 6, wherein the walking module comprises a walking trolley, a connecting shaft and a power mechanism;

the walking trolley is arranged on the walking rail beam and is connected with the power mechanism, and the power mechanism drives the walking trolley to reciprocate along the walking rail beam;

the connecting shaft is installed in walking dolly bottom, and the top of lifting module is connected to the connecting shaft, and the bottom of lifting module is installed and is drawn the module.

8. The automatic pole machine of claim 6, wherein the lifting module comprises a lifting beam, a hoist, and a drive mechanism;

the lifting beam is suspended at the bottom of the walking module, the hoister is arranged on the lifting beam, and the hoister is also connected with the suction module;

the driving mechanism is fixed on the lifting beam, and a driving part of the driving mechanism is connected with the lifting machine;

the driving mechanism drives the hoister to ascend or descend along the hoisting beam.

9. The automatic pole machine of claim 6, wherein the suction module comprises a connection support and a plurality of electromagnetic chucks;

the connecting support is fixedly connected with a hoisting machine of the hoisting module;

the connecting support is provided with a plurality of connecting rods, and the length direction of the connecting support is consistent with that of the rod piece;

each electromagnetic chuck corresponds to one connecting rod, and the electromagnetic chucks are fixed at the bottom ends of the connecting rods;

and the plurality of electromagnetic chucks suck different parts of the same rod piece.

10. A control system of an automatic rod picking and delivering machine, wherein the automatic rod picking and delivering machine is the automatic rod picking and delivering machine according to any one of claims 1 to 9, the control system comprising:

the control module controls the start and stop of the mobile trolley and the selection device;

the first limiting module is arranged on a track and connected with the control module, the first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state;

the second limiting module is arranged on the selecting device and connected with the control module, the second limiting module detects the motion state of the selecting device in real time and sends the motion state of the selecting device to the control module, and the control module controls the selecting device to change the motion state.

Images