Stable-transmission hydraulic directional drilling machine for coal mine

Abstract

The invention relates to the technical field of hydraulic directional drilling machines, in particular to a stable-transmission hydraulic directional drilling machine for a coal mine, which comprises a drill bit and further comprises a crawler-type power source and a hydraulic directional drilling machine, and the drilling power source comprises a push rod used for pushing the drill rod to advance. Through a coal seam hardness detection mechanism, when a coal seam becomes soft, a permanent magnet plate drives a conducting strip to slide through the change of the overflow hydraulic oil amount of a hydraulic motor, the resistance of a slide rheostat is changed, a PLC detects current to judge the coal seam softening degree, and then the power of a first hydraulic pump and the power of a second hydraulic pump are adjusted to change the propelling and rotating speed; when the coal seam hardens, high-pressure hydraulic oil pushes the piston head to squeeze redundant hydraulic oil into the detection box, the moving distance of the squeezing plate is detected through the infrared distance meter, the PLC calculates and judges the coal seam hardening degree, the power of the hydraulic pump is adjusted to achieve parameter adjustment, and then real-time change can be achieved according to the coal seam hardness.

Description

Technical Field

[0001] This invention relates to the field of hydraulic directional drilling technology, and more specifically to a hydraulic directional drilling machine for coal mines with stable transmission. Background Technology

[0002] In the coal mining industry, hydraulic directional drilling rigs serve as key equipment, undertaking the important task of efficient drilling operations. With the continuous growth in demand for coal resources and the increasing depth and complexity of mining operations, higher requirements are placed on the performance and reliability of hydraulic directional drilling rigs. Traditional coal mine hydraulic directional drilling rigs mainly rely on hydraulic systems to drive the drill rod to rotate and advance, achieving the drilling function. The application of tracked walking mechanisms enables the drilling rig to move flexibly in the complex underground environment of coal mines, allowing it to quickly reach the designated working position to carry out operations.

[0003] Existing drilling rigs typically operate at a constant rotational speed and feed rate, making it difficult to automatically and precisely adjust drilling parameters, such as feed rate and drill bit speed, based on real-time changes in coal seam hardness. In soft coal seams, excessive feed rate can cause the drill bit to "cut too deep," leading to stuck drill bit or borehole collapse. In hard coal seams, excessive drill bit speed can cause drill rod twisting, hydraulic system overload, and increase equipment failure risk and maintenance costs, making it impossible to achieve efficient drilling while ensuring equipment safety. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a hydraulic directional drilling rig for coal mines with stable transmission, which can effectively solve the problem that existing drilling rigs usually drill holes at a constant rotation speed and advance speed.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a hydraulic directional drilling rig for coal mines with stable transmission, including a drill bit, and further comprising: A tracked power source, wherein a mounting base is fixedly provided at the top of the tracked power source; A drilling power source includes a push rod for pushing the drill rod forward. A circular plate is fixedly connected to the front end of the push rod. A hydraulic motor for driving the drill rod to rotate is fixedly connected to the outer wall of the circular plate. An oil inlet pipe is fixedly connected to the oil inlet of the hydraulic motor. The other end of the oil inlet pipe is fixedly connected to a first hydraulic pump. A coal seam hardness testing mechanism, wherein the coal seam hardness testing mechanism provides feedback on the coal mine hardness based on the amount of hydraulic oil overflowing from the hydraulic motor; The fixing mechanism includes multiple limiting plates fixedly connected to the outer wall of the mounting base. The top of each limiting plate has a limiting hole, and a fixing cylinder is movably disposed within the limiting hole. The fixing cylinder moves up and down while rotating.

[0006] Preferably, the drilling power source further includes a hydraulic oil tank and a fixing plate fixedly connected to the top of the mounting base. A hydraulic cylinder is fixedly connected to the outer wall of the fixing plate. Two support blocks for supporting the hydraulic cylinder are fixedly connected to the top of the mounting base. The inner wall of the hydraulic cylinder is airtightly slidably connected to the outer wall of the push rod. A transition connector is provided between the output end of the hydraulic motor and the drill bit. The transition connector is splinedly connected to the hydraulic motor and the drill bit.

[0007] Preferably, an extension plate is fixedly connected to the outer wall of the fixed plate, and a second hydraulic pump is fixedly connected to the top of the extension plate. The output end of the second hydraulic pump is connected to the inside of the hydraulic cylinder, and the oil suction end of the second hydraulic pump is connected to the inside of the hydraulic tank. A first return oil pipe is fixedly connected between the bottom of the hydraulic cylinder and the hydraulic tank, and a solenoid valve is installed in the first return oil pipe.

[0008] Preferably, a horizontal plate is fixedly connected to the side wall of the circular plate, and the outer wall of the horizontal plate is fixedly connected to the first hydraulic pump. The oil sucker end of the first hydraulic pump is fixedly connected to a first telescopic flexible tube, and the other end of the first telescopic flexible tube passes through the fixed plate and communicates with the interior of the hydraulic oil tank. The oil outlet end of the hydraulic motor is fixedly connected to an extension tube, and the other end of the extension tube is fixedly connected to a second telescopic flexible tube. The other end of the second telescopic flexible tube passes through the fixed plate and communicates with the interior of the hydraulic oil tank.

[0009] Preferably, the coal seam hardness testing mechanism includes a testing tube fixedly connected at the bend of the oil inlet pipe, an adjustment box fixedly connected to the other end of the testing tube, the adjustment box being fixedly connected to the outer wall of the horizontal plate, an electromagnetic plate being fixedly connected to the inner wall of the adjustment box, a permanent magnet plate being slidably connected to the inner wall of the adjustment box, a non-magnetic spring being fixedly connected between the permanent magnet plate and the electromagnetic plate, the electromagnetic plate and the permanent magnet plate being magnetically repelled, an electric telescopic rod being fixedly connected to the outer wall of the permanent magnet plate, a piston head being fixedly connected to the telescopic end of the electric telescopic rod, and the piston head being airtightly slidably connected to the inner wall of the testing tube.

[0010] Preferably, the inner wall of the detection tube is fixedly connected to an oil outlet pipe, and the other end of the oil outlet pipe is fixedly connected to a detection box. The detection box is fixedly connected to the outer wall of the horizontal plate. The inner wall of the detection box is airtightly slidably connected to a squeezing plate. A detection spring is fixedly connected between the squeezing plate and the inner top wall of the detection box. An infrared rangefinder is provided at the top of the squeezing plate and the inner top wall of the detection box. An air outlet is provided at the top of the detection box. The infrared rangefinder is electrically connected to a PLC controller to form a first detection circuit. The PLC controller is electrically connected to an electromagnetic plate to form a first adjustment circuit. The PLC controller is electrically connected to a first hydraulic pump, a second hydraulic pump, and an electric telescopic rod to form a second adjustment circuit. A second return oil pipe is fixedly connected between the inner bottom wall of the detection box and the first telescopic flexible tube. Electromagnetic one-way valves are provided in the first telescopic flexible tube, the second telescopic flexible tube, and the second return oil pipe.

[0011] Preferably, a resistance plate is fixedly connected to the inner wall of the adjustment box, and a magnetic shielding plate is fixedly connected between the resistance plate, the electromagnetic plate, and the permanent magnet plate. A sliding groove is formed on the outer wall of the magnetic shielding plate, and a magnetic shielding block is fixedly connected to the outer wall of the permanent magnet plate. A conductive sheet that slides in contact with the outer wall of the magnetic shielding block is fixedly connected to the outer wall of the resistance plate. The conductive sheet and the resistance plate are electrically connected to the PLC controller to form a second detection circuit. The conductive sheet and the resistance plate constitute a sliding rheostat. During the sliding process of the conductive sheet on the resistance plate toward the detection tube, the resistance of the sliding rheostat in the second detection circuit gradually decreases.

[0012] Preferably, the fixing mechanism further includes a plurality of L-shaped plates fixedly connected to the top of the mounting base, and the L-shaped plates are vertically corresponding to the limiting plate. A motor is fixedly connected to the top of the L-shaped plate, and a threaded rod is fixedly connected to the output end of the motor. A threaded ring is threaded on the outer wall of the threaded rod. A limiting rod is fixedly connected between the L-shaped plate and the limiting plate, and the limiting rod slides through the threaded ring. The outer wall of the threaded rod has two symmetrical limiting grooves. The inner wall of the limiting groove is slidably connected to a sliding block. The outer wall of the sliding block is fixedly connected to the inner circumferential wall of the fixed cylinder. The bottom end of the threaded ring is fixedly connected to multiple fixed rods. The other end of the fixed rod is fixedly connected to a rotating ring. The bottom end of the rotating ring is rotatably connected to the top end of the fixed cylinder. The PLC controller is connected to the motor electrical signal and forms a fixed circuit.

[0013] The technical solution provided by this invention has the following advantages compared with the known prior art: The coal seam hardness detection mechanism works as follows: When the coal seam softens, the change in the amount of hydraulic oil overflowing from the hydraulic motor causes the permanent magnet plate to slide, altering the resistance of the sliding rheostat. The PLC controller detects the current to determine the degree of softening and adjusts the power of the first and second hydraulic pumps to change the propulsion and rotation speed. When the coal seam hardens, high-pressure hydraulic oil pushes the piston head to squeeze excess hydraulic oil into the detection box. The distance the extrusion plate moves is detected by an infrared rangefinder, and the PLC controller calculates and determines the degree of hardness. Similarly, the power of the hydraulic pumps is adjusted to regulate parameters. Thus, the propulsion speed and drill bit speed can be automatically and accurately adjusted according to the real-time changes in coal seam hardness. "Light pressure and fast rotation" is used in soft coal seams, and "heavy pressure and slow rotation" is used in hard coal seams, improving drilling efficiency and ensuring equipment safety.

[0014] Using a fixing mechanism, the PLC controller controls the motor to drive the threaded rod to rotate, causing the threaded ring to move up and down along the limit rod. Through the fixing rod and the rotating ring, the fixing cylinder moves up and down and rotates, descending to the ground and drilling into the ground for fixation. After the coal seam hardens, the PLC controller controls the motor to start again, allowing the fixing cylinder to drill further into the ground for reinforcement, ensuring the stability of the drilling rig under different working conditions. Before drilling operations and after the coal seam hardens, it can effectively fix the drilling rig, avoiding the impact of shaking on drilling accuracy and operational safety, and resisting the reaction force caused by changes in the coal seam. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial three-dimensional structural schematic diagram of the present invention; Figure 3 This is a three-dimensional cross-sectional view of the adjustment box of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the three-dimensional structure of part A in the middle; Figure 5 This is a three-dimensional cross-sectional structural diagram of the detection box of the present invention; Figure 6 This is a three-dimensional structural diagram of the fixing mechanism of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the three-dimensional structure of part B.

[0017] Reference numerals: 1. Tracked power source; 2. Mounting base; 3. Drill bit; 4. Drilling power source; 41. Push rod; 42. Circular plate; 43. Hydraulic motor; 44. Oil inlet pipe; 45. First hydraulic pump; 46. Hydraulic oil tank; 47. Fixing plate; 48. Hydraulic cylinder; 49. Support block; 410. Extension plate; 411. Second hydraulic pump; 412. First return oil pipe; 413. Horizontal plate; 414. First telescopic flexible pipe; 415. Extension pipe; 416. Second telescopic flexible pipe; 417. Second return oil pipe; 5. Coal seam hardness testing mechanism; 51. Testing pipe; 52. Adjustment box; 53. Electromagnetic plate; 54. 55. Permanent magnet plate; 56. Non-magnetic spring; 57. Electric telescopic rod; 58. Piston head; 59. Oil outlet pipe; 50. Detection box; 510. Extrusion plate; 511. Detection spring; 512. Infrared rangefinder; 513. Air outlet; 514. Resistance plate; 515. Magnetic shielding plate; 516. Sliding groove; 517. Magnetic shielding block; 518. Conductive sheet; 61. Fixing mechanism; 62. Limiting plate; 63. Limiting hole; 64. Fixing cylinder; 65. L-shaped plate; 66. Motor; 67. Threaded rod; 68. Threaded ring; 69. Limiting rod; 610. Sliding block; 611. Fixing rod; 612. Rotary ring. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] The present invention will be further described below with reference to embodiments.

[0020] Example: Refer to Figures 1 to 7 A hydraulic directional drilling rig for coal mines with stable transmission, including a drill bit 3, and further comprising: Tracked power source 1, with a mounting base 2 fixedly installed at the top of the tracked power source 1; Drilling power source 4 includes a push rod 41 for pushing the drill rod forward. A circular plate 42 is fixedly connected to the front end of the push rod 41. A hydraulic motor 43 for driving the drill rod to rotate is fixedly connected to the outer wall of the circular plate 42. An oil inlet pipe 44 is fixedly connected to the oil inlet of the hydraulic motor 43. The other end of the oil inlet pipe 44 is fixedly connected to a first hydraulic pump 45. The drilling power source 4 also includes a hydraulic oil tank 46 and a fixing plate 47 fixedly connected to the top of the mounting base 2. A hydraulic cylinder 48 is fixedly connected to the outer wall of the fixing plate 47. Two support blocks 49 for supporting the hydraulic cylinder 48 are fixedly connected to the top of the mounting base 2. The inner wall of the hydraulic cylinder 48 is airtightly slidably connected to the outer wall of the push rod 41. A transition connector is provided between the output end of the hydraulic motor 43 and the drill bit 3. The transition connector is splinedly connected to the hydraulic motor 43 and the drill bit 3.

[0021] An extension plate 410 is fixedly connected to the outer wall of the fixed plate 47. A second hydraulic pump 411 is fixedly connected to the top of the extension plate 410. The output end of the second hydraulic pump 411 is connected to the inside of the hydraulic cylinder. The oil suction end of the second hydraulic pump 411 is connected to the inside of the hydraulic oil tank 46. A first return oil pipe 412 is fixedly connected between the bottom position inside the hydraulic cylinder 48 and the hydraulic oil tank 46. A solenoid valve is installed inside the first return oil pipe 412.

[0022] A horizontal plate 413 is fixedly connected to the side wall of the circular plate 42. The outer wall of the horizontal plate 413 is fixedly connected to the first hydraulic pump 45. The oil sucking end of the first hydraulic pump 45 is fixedly connected to the first telescopic flexible tube 414. The other end of the first telescopic flexible tube 414 passes through the fixed plate 47 and is connected to the interior of the hydraulic oil tank 46. The oil outlet end of the hydraulic motor 43 is fixedly connected to the extension tube 415. The other end of the extension tube 415 is fixedly connected to the second telescopic flexible tube 416. The other end of the second telescopic flexible tube 416 passes through the fixed plate 47 and is connected to the interior of the hydraulic oil tank 46.

[0023] The coal seam hardness testing mechanism 5 provides feedback on the coal seam hardness based on the amount of hydraulic oil overflowing from the hydraulic motor 43. The coal seam hardness testing mechanism 5 includes a testing tube 51 fixedly connected at the bend of the oil inlet pipe 44. The other end of the testing tube 51 is fixedly connected to an adjustment box 52. The adjustment box 52 is fixedly connected to the outer wall of the horizontal plate 413. An electromagnetic plate 53 is fixedly connected to the inner wall of the adjustment box 52. A permanent magnet plate 54 is slidably connected to the inner wall of the adjustment box 52. A non-magnetic spring 55 is fixedly connected between the permanent magnet plate 54 and the electromagnetic plate 53. The electromagnetic plate 53 and the permanent magnet plate 54 are magnetically repelled. An electric telescopic rod 56 is fixedly connected to the outer wall of the permanent magnet plate 54. A piston head 57 is fixedly connected to the telescopic end of the electric telescopic rod 56. The piston head 57 is airtightly slidably connected to the inner wall of the testing tube 51.

[0024] An oil outlet pipe 58 is fixedly connected to the inner wall of the detection tube 51. The other end of the oil outlet pipe 58 is fixedly connected to a detection box 59. The detection box 59 is fixedly connected to the outer wall of the horizontal plate 413. An extrusion plate 510 is airtightly slidably connected to the inner wall of the detection box 59. A detection spring 511 is fixedly connected between the extrusion plate 510 and the inner top wall of the detection box 59. An infrared rangefinder 512 is jointly installed at the top of the extrusion plate 510 and the inner top wall of the detection box 59. An air outlet 513 is opened at the top of the detection box 59. The infrared rangefinder 512 is electrically connected to a PLC controller to form a first detection circuit. The PLC controller is electrically connected to the electromagnetic plate 53 to form a first adjustment circuit. The PLC controller is electrically connected to the first hydraulic pump 45, the second hydraulic pump 411, and the electric telescopic rod 56 to form a second regulating circuit. The inner bottom wall of the detection box 59 is fixedly connected to the first telescopic flexible tube 414 by a second return oil pipe 417. The first telescopic flexible tube 414, the second telescopic flexible tube 416, and the second return oil pipe 417 are all equipped with electromagnetic check valves. After the detection is completed, the PLC controller controls the electromagnetic check valve in the second return oil pipe 417 to open, so that the hydraulic oil in the detection box 59 enters the first telescopic flexible tube 414. The electromagnetic check valves in the first telescopic flexible tube 414 and the second telescopic flexible tube 416 are normally open.

[0025] A resistance plate 514 is fixedly connected to the inner wall of the adjustment box 52. A magnetic shielding plate 515 is fixedly connected between the resistance plate 514, the electromagnetic plate 53, and the permanent magnet plate 54. A sliding groove 516 is opened on the outer wall of the magnetic shielding plate 515. A magnetic shielding block 517 is fixedly connected to the outer wall of the permanent magnet plate 54. A conductive sheet 518 that slides in contact with the outer wall of the resistance plate 514 is fixedly connected to the outer wall of the magnetic shielding block 517. The conductive sheet 518 and the resistance plate 514 are electrically connected to the PLC controller to form a second detection circuit. The conductive sheet 518 and the resistance plate 514 constitute a sliding rheostat. During the sliding process of the conductive sheet 518 on the resistance plate 514 toward the detection tube 51, the resistance of the sliding rheostat in the second detection circuit gradually decreases.

[0026] The fixing mechanism 6 includes multiple limiting plates 61 fixedly connected to the outer wall of the mounting base 2. The top of the limiting plate 61 is provided with a limiting hole 62, and a fixing cylinder 63 is movably provided in the limiting hole 62. The fixing cylinder 63 moves up and down while rotating.

[0027] The fixing mechanism 6 also includes a plurality of L-shaped plates 64 fixedly connected to the top of the mounting base 2, and the L-shaped plates 64 are vertically corresponding to the limiting plate 61. A motor 65 is fixedly connected to the top of the L-shaped plate 64, and a threaded rod 66 is fixedly connected to the output end of the motor 65. A threaded ring 67 is threaded on the outer wall of the threaded rod 66. A limiting rod 68 is fixedly connected between the L-shaped plate 64 and the limiting plate 61, and the limiting rod 68 slides through the threaded ring 67. Two symmetrical limiting grooves 69 are provided on the outer wall of the threaded rod 66. A sliding block 610 is slidably connected to the inner wall of the limiting groove 69. The outer wall of the sliding block 610 is fixedly connected to the inner circumferential wall of the fixed cylinder 63. Multiple fixing rods 611 are fixedly connected to the bottom end of the threaded ring 67. A rotating ring 612 is fixedly connected to the other end of the fixing rod 611. The bottom end of the rotating ring 612 is rotatably connected to the top end of the fixed cylinder 63. The PLC controller is electrically connected to the motor 65 to form a fixed circuit.

[0028] The working principle of this invention is as follows: In coal mining operations, the tracked power source 1 moves to the designated working position, and then the various mechanisms work together to achieve efficient and stable drilling operations, while adaptively adjusting according to the hardness of the coal seam. First, after the drilling rig is started, the second hydraulic pump 411 draws oil from the hydraulic oil tank 46 and delivers the hydraulic oil to the hydraulic cylinder 48, pushing the push rod 41 forward, which in turn drives the circular plate 42, the hydraulic motor 43, and the drill bit 3 to advance into the coal seam. At the same time, the first hydraulic pump 45 draws oil from the hydraulic oil tank 46 through the first telescopic flexible pipe 414 and delivers the hydraulic oil to the hydraulic motor 43 through the oil inlet pipe 44, driving the hydraulic motor 43 to rotate (existing technology), which in turn drives the drill bit 3 to rotate and perform drilling operations. During the drilling process, the coal seam hardness detection mechanism 5 monitors the coal seam hardness in real time. When the coal seam softens, the resistance of the drill bit 3 decreases, the load of the hydraulic motor 43 decreases, and its internal pressure also decreases, resulting in a decrease in the hydraulic oil pressure in the oil inlet pipe 44. In the detection pipe 51, due to the decrease in hydraulic oil pressure, under the elastic force of the non-magnetic spring 55, the permanent magnet plate 54 drives the conductive sheet 518 to slide towards the detection pipe 51, so that the resistance of the sliding rheostat formed by the conductive sheet 518 and the resistance plate 514 in the second detection circuit gradually decreases. Then, the current through the sliding rheostat is detected by the current detection module in the PLC controller. The softness (softening degree) of the coal seam is judged by the change in current. The larger the current through the sliding rheostat, the softer the coal seam, and vice versa. When the coal seam is softer, a "light pressure, fast rotation" adjustment strategy should be adopted, that is, reduce the advance speed and increase the rotation speed of drill bit 3. Because soft coal seams have low hardness and are easy to cut, if the advance speed is too fast, drill bit 3 is prone to "digging too deep" and getting stuck, and may also squeeze the borehole wall and cause collapse, while increasing the load on the equipment. On the other hand, increasing the rotation speed of drill bit 3 can take advantage of the easy-to-break characteristics of soft coal to improve drilling efficiency and reduce drill bit 3 "slippage". Therefore, by using the PLC controller to increase the output power of the first hydraulic pump 45 and decrease the output power of the second hydraulic pump 411, the power of the first hydraulic pump 45 is increased as the coal seam becomes softer, thus increasing the supply of hydraulic oil; the power of the second hydraulic pump 411 is decreased as the supply of hydraulic oil is reduced, thereby reducing the advance speed of the drill bit 3 and increasing the rotation speed of the drill bit 3, so as to avoid the drill rod from deviating or the drill bit 3 being damaged due to excessive speed. After the above adjustments are completed, it is also necessary to adjust the repulsive force of the electromagnetic plate 53 on the permanent magnet plate 54 according to the degree of softening of the coal seam. When the coal seam softens, the load on the hydraulic motor 43 decreases, and the hydraulic oil pressure in the inlet pipe 44 decreases. If the repulsive force of the electromagnetic plate 53 remains unchanged at this time, the elastic force of the non-magnetic spring 55 will cause the permanent magnet plate 54 to drive the piston head 57 to move excessively, resulting in abnormal current through the sliding rheostat, which in turn causes the PLC controller to misjudge the hardness of the coal seam. Therefore, the repulsive force of the electromagnetic plate 53 is reduced, so the distance of the permanent magnet plate 54 will move towards the electromagnetic plate 53. This will open the inlet of the outlet pipe 58. Therefore, it is necessary to further control the movement of the electric telescopic rod 56 through the PLC controller until the piston head 57 returns to its initial state. This ensures that if the coal seam hardness changes again, the detection mechanism can promptly and accurately report the change in hydraulic oil pressure, providing a reliable judgment basis for the PLC controller and ensuring that the drilling rig always drills with appropriate working parameters. When the coal seam hardens, the resistance to drill bit 3 increases, the load on hydraulic motor 43 increases, and the hydraulic oil pressure in inlet pipe 44 increases. The high-pressure hydraulic oil pushes piston head 57 to overcome the elastic force of non-magnetic spring 55, causing piston head 57 to move closer to adjustment box 52. Excess hydraulic oil is squeezed into detection box 59 through outlet pipe 58. The increase in hydraulic oil in detection box 59 pushes extrusion plate 510 upward. The distance between extrusion plate 510 and the inner top wall of detection box 59 changes. When the extrusion plate 510 moves a longer distance, the coal seam is harder, and vice versa. The change in distance is then detected by infrared rangefinder 512 (after sensing the distance change, infrared rangefinder 512 sends an electrical signal to PLC controller after 1 minute. Then, PLC controller calculates the distance that hydraulic oil pushes extrusion plate 510 after entering detection box 59 within 1 minute, and then calculates the degree of coal seam hardening by using preset parameters in PLC controller).

[0029] The harder the coal seam, the lower the rotation speed of drill bit 3 should be and the appropriate increase in the feed speed should be. This is because hard coal seams have high shear strength and high cutting resistance of drill bit 3. Reducing the rotation speed can prevent drill rod twisting and hydraulic system overload caused by excessive torque. Appropriately increasing the feed speed allows drill bit 3 to cut into the coal seam with greater axial pressure, enhancing the rock breaking effect. The combination of the two can effectively improve the drilling efficiency of hard coal seams while ensuring equipment safety and preventing problems such as accelerated wear of drill bit 3 and stuck drill.

[0030] When the PLC controller receives a signal that the coal seam has hardened, it reduces the output power of the first hydraulic pump 45 and the speed of the hydraulic motor 43; it increases the output power of the second hydraulic pump 411 and accelerates the advance speed of the push rod 41 to ensure the smooth progress of the drilling operation. Conversely, when the coal seam hardens, the load on the hydraulic motor 43 increases, and the hydraulic oil pressure in the inlet pipe 44 rises. If the repulsive force is too small, the piston head 57 may easily move to its limit position due to the pressure, causing a large amount of hydraulic oil to flow rapidly into the detection box 59. This will also affect the accuracy of the infrared rangefinder 512, making it impossible for the PLC controller to accurately determine the hardness of the coal seam. By increasing the repulsive force of the electromagnetic plate 53, the constraint on the piston head 57 can be strengthened, making its movement under high pressure proportional to the actual pressure change. This ensures that the displacement change of the extrusion plate 510 truly reflects the hardness of the coal seam, providing a reliable adjustment basis for the PLC controller. Similarly, when the coal seam softens, it also needs to be adjusted by the electric telescopic rod 56.

[0031] Before drilling, the drilling rig needs to be secured using the fixing mechanism 6. The PLC controller starts the motor 65, which drives the threaded rod 66 to rotate. The threaded ring 67 moves up and down along the limit rod 68 on the threaded rod 66, driving the fixed cylinder 63 to move up and down via the fixing rod 611 and the rotating ring 612. Because the threaded rod 66 has a limit groove 69, the sliding block 610 slides within the limit groove 69, allowing the fixed cylinder 63 to rotate while moving up and down. Once the fixed cylinder 63 descends to contact the ground, it continues to rotate and drill downwards into the ground, achieving a stable fixation of the drilling rig. This ensures the stability of the drilling rig during drilling, preventing drilling accuracy and operational safety from being affected by rig shaking. When the coal seam hardens, the PLC controller further controls the motor 65 to start, causing the fixed cylinder 63 to drill further into the ground, thus reinforcing the device and effectively resisting the large reaction force caused by the hardening of the coal seam, ensuring accurate drilling direction and guaranteeing smooth construction.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmission-stable hydraulic directional drilling rig for coal mines, comprising a drill head (3), characterized in that, Also include: Crawler power source (1), the top end of the crawler power source (1) is fixedly provided with a mounting seat (2); Drilling power source (4), the push rod (41) for pushing the drill rod forward, the front end of the push rod (41) is fixedly connected with a round plate (42), the outer wall of the round plate (42) is fixedly connected with a hydraulic motor (43) for driving the drill rod to rotate, the oil inlet of the hydraulic motor (43) is fixedly communicated with an oil inlet pipe (44), the other end of the oil inlet pipe (44) is fixedly communicated with a first hydraulic pump (45); Coal seam hardness detection mechanism (5), the coal seam hardness detection mechanism (5) is according to the feedback coal mine hardness of the hydraulic oil amount of hydraulic motor (43) overflow; Fixing mechanism (6), the fixing mechanism (6) includes a plurality of limiting plates (61) fixedly connected on the outer wall of the mounting seat (2), a limiting hole (62) is formed in the top end of the limiting plate (61), a fixing cylinder (63) is movably arranged in the limiting hole (62), and the fixing cylinder (63) moves up and down while rotating.

2. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 1, characterized in that, The drilling power source (4) further comprises a hydraulic oil tank (46) fixedly connected to the top end of the mounting seat (2), and a fixed plate (47) fixedly connected to the outer wall of the hydraulic oil tank (46).

3. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 2, characterized in that, The outer wall of the fixed plate (47) is fixedly connected with an extension plate (410), the top end of the extension plate (410) is fixedly connected with a second hydraulic pump (411), the output end of the second hydraulic pump (411) is communicated with the inside of the hydraulic cylinder, the oil extraction end of the second hydraulic pump (411) is communicated with the inside of the hydraulic oil tank (46), a first oil return pipe (412) is fixedly communicated between the position at the bottom of the hydraulic cylinder (48) and the hydraulic oil tank (46), and an electromagnetic valve is arranged in the first oil return pipe (412).

4. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 3, characterized in that, The side wall of the round plate (42) is fixedly connected with a horizontal plate (413), the outer wall of the horizontal plate (413) is fixedly connected with the first hydraulic pump (45), the oil extraction end of the first hydraulic pump (45) is fixedly communicated with a first telescopic flexible pipe (414), the other end of the first telescopic flexible pipe (414) penetrates through the fixed plate (47) and is communicated with the inside of the hydraulic oil tank (46), the oil outlet end of the hydraulic motor (43) is fixedly communicated with an extension pipe (415), the other end of the extension pipe (415) is fixedly communicated with a second telescopic flexible pipe (416), and the other end of the second telescopic flexible pipe (416) penetrates through the fixed plate (47) and is communicated with the inside of the hydraulic oil tank (46). The side wall of the round plate (42) is fixedly connected with a horizontal plate (413), the outer wall of the horizontal plate (413) is fixedly connected with the first hydraulic pump (45), the oil extraction end of the first hydraulic pump (45) is fixedly communicated with a first telescopic flexible pipe (414), the other end of the first telescopic flexible pipe (414) penetrates through the fixed plate (47) and is communicated with the inside of the hydraulic oil tank (46), the oil outlet end of the hydraulic motor (43) is fixedly communicated with an extension pipe (415), the other end of the extension pipe (415) is fixedly communicated with a second telescopic flexible pipe (416), and the other end of the second telescopic flexible pipe (416) penetrates through the fixed plate (47) and is communicated with the inside of the hydraulic oil tank (46).

5. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 1, characterized in that, The coal seam hardness detection mechanism (5) includes a detection pipe (51) fixedly connected at the bending position of the oil inlet pipe (44), one end of the detection pipe (51) is fixedly connected with an adjusting box (52), the adjusting box (52) is fixedly connected with the outer wall of the horizontal plate (413), the inner wall of the adjusting box (52) is fixedly connected with an electromagnetic plate (53), the inner wall of the adjusting box (52) is slidably connected with a permanent magnet plate (54), the permanent magnet plate (54) and the electromagnetic plate (53) are fixedly connected with a non-magnetic spring (55), the electromagnetic plate (53) and the permanent magnet plate (54) repel each other, the outer wall of the permanent magnet plate (54) is fixedly connected with an electric telescopic rod (56), the telescopic end of the electric telescopic rod (56) is fixedly connected with a piston head (57), and the piston head (57) is airtightly and slidably connected with the inner wall of the detection pipe (51).

6. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 5, characterized in that, The inner wall of the detection pipe (51) is fixedly connected with an oil outlet pipe (58), the other end of the oil outlet pipe (58) is fixedly connected with a detection box (59), the detection box (59) is fixedly connected with the outer wall of the horizontal plate (413), the inner wall of the detection box (59) is airtightly and slidably connected with a pressing plate (510), the detection spring (511) is fixedly connected between the pressing plate (510) and the inner top wall of the detection box (59), the top end of the pressing plate (510) and the inner top wall of the detection box (59) are provided with an infrared range finder (512) together, the top end of the detection box (59) is provided with an air outlet (513), the infrared range finder (512) is electrically connected with a PLC controller to form a first detection loop, the PLC controller is electrically connected with the electromagnetic plate (53) to form a first adjusting loop, and the PLC controller is electrically connected with the first hydraulic pump (45), the second hydraulic pump (411) and the electric telescopic rod (56) to form a second adjusting loop.

7. A transmission-stable hydraulic directional drilling rig for coal mines according to claim 6, characterized in that, The inner wall of the detection box (59) is fixedly connected with a resistance plate (514), the magnetic separation plate (515) is fixedly connected between the resistance plate (514) and the electromagnetic plate (53) and the permanent magnet plate (54), the outer wall of the magnetic separation plate (515) is provided with a sliding groove (516), the outer wall of the permanent magnet plate (54) is fixedly connected with a magnetic separation block (517), the outer wall of the magnetic separation block (517) is fixedly connected with a conductive sheet (518) which is in sliding contact with the outer wall of the resistance plate (514), the conductive sheet (518) and the resistance plate (514) are electrically connected with the PLC controller to form a second detection loop, the conductive sheet (518) and the resistance plate (514) constitute a sliding rheostat, and the resistance of the sliding rheostat in the second detection loop gradually decreases in the sliding process of the conductive sheet (518) on the resistance plate (514) towards the detection pipe (51).

8. The transmission-stable hydraulic directional drilling rig for coal mines according to claim 6, characterized in that, The fixing mechanism (6) further comprises a plurality of L-shaped plates (64) fixedly connected at the top end of the mounting base (2), and the L-shaped plates (64) correspond to the positions of the limiting plates (61) in up and down directions, the top end of the L-shaped plate (64) is fixedly connected with a motor (65), the output end of the motor (65) is fixedly connected with a threaded rod (66), the outer wall of the threaded rod (66) is threadedly sleeved with a threaded ring (67), and the L-shaped plate (64) and the limiting plate (61) are fixedly connected with a limiting rod (68) therebetween, and the limiting rod (68) slidably penetrates through the threaded ring (67); The outer wall of the threaded rod (66) is provided with two symmetrical limiting grooves (69), the inner wall of the limiting groove (69) is slidably connected with a sliding block (610), the outer wall of the sliding block (610) is fixedly connected with the inner circumferential wall of the fixing cylinder (63), the bottom end of the threaded ring (67) is fixedly connected with a plurality of fixing rods (611), the other end of the fixing rod (611) is fixedly connected with a rotating ring (612), the bottom end of the rotating ring (612) is rotatably connected with the top end of the fixing cylinder (63), and the PLC controller is electrically connected with the motor (65) and forms a fixed loop.

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