Integrated Drilling Robot with Automatic Blowout Preventer System and Control Method

Abstract

The present invention discloses an integrated drilling robot with an automatic blowout prevention system and a control method, which includes a three-degree-of-freedom main machine, a drill pipe box, a six-degree-of-freedom robotic arm and an end gripper, a normally closed blowout prevention system, and a main controller installed on a crawler vehicle body; the six-degree-of-freedom robotic arm can take out or send back the drill pipe from the drill pipe box, and according to the spatial positioning coordinates of the three-degree-of-freedom main machine, place or take out the drill pipe from the clamping center of the main machine to complete the automatic drill pipe adding and unloading operation, and the drilling rig realizes automatic drilling; during the drilling construction, the normally closed orifice blowout prevention device of the normally closed blowout prevention system quickly opens, which does not affect the normal drilling. When the drilling stops, the orifice blowout prevention device automatically closes to prevent the gas in the hole from leaking. The present invention realizes full-automatic drilling and normally closed orifice blowout prevention, with a simple system and wide applicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of gas drainage prevention and control equipment, and relates to an integrated drilling robot with an automatic blowout prevention system and a control method. Background Technique

[0002] In outburst mines, coal mine gas accidents are a common disaster. During the gas control process, the main measure is to extract the gas in the coal seam after drilling construction to reduce the gas content in the coal seam. However, due to the excessive gas pressure in the coal seam and the soft coal quality, the phenomenon of hole spraying often occurs during the drilling construction process. When hole spraying occurs, a large amount of coal slag, water, and gas will gush out from the drill hole, generating a huge dynamic phenomenon, causing gas overrun accidents and seriously threatening the safety of the drilling construction personnel at the operation site.

[0003] Traditional hydraulic drills have problems such as the operator being close to the drill hole during the walking and construction of the drill, being prone to drill jamming, being prone to loosening during the drilling construction process, and the labor intensity of manually loading and unloading drill pipes being large. There is not much research on domestic automated drills, and only a small number are applied. At present, the existing fully automated drills mainly achieve the automated processes of the drill during the drilling transportation or construction process, such as automatic loading and unloading of drill pipes, automatic amplitude change and stabilization, automatic hole opening and positioning, and autonomous navigation, etc., improving the mechanization efficiency of the drill and eliminating the potential hidden danger of direct contact between the moving machinery and construction personnel. However, there is little research and application on the automatic blowout prevention control of the hole opening during the drilling construction process. For drilling robots with unmanned or few-person control, safety hazards such as hole spraying and gas overrun still exist and need to be solved urgently.

[0004] Due to the complex underground geological conditions, gas overrun and outburst accidents often occur during the construction of gas drainage boreholes. In the lightest case, it affects the performance of the drill rig sensors and precision components, and in the worst case, it causes damage to the lives and safety of the construction personnel in the drill site. For the existing orifice anti-blowout systems of gas drainage drill rigs, one is a simple orifice multi-way device. Manually insert the orifice pipe at the front end of the orifice multi-way into the hole. The coal powder and gas in the hole enter the orifice multi-way through the orifice pipe. The gas is sucked into the filtering device through the negative pressure pipe and sent into the negative pressure pipeline, and the coal powder naturally falls through the opening at the bottom. However, in actual borehole construction, due to the annular space left between the drill pipe and the orifice pipe for slag discharge, the gas cannot be completely sealed. At the same time, when the gas gushes out instantaneously, the amount of gas, coal powder, and rock powder gushing out is large, and it cannot be extracted in time, resulting in gas overrun near the construction drill rig. The other is a normally open orifice anti-blowout system. When the gas in the drill site exceeds the limit, the gas sensor needs to alarm and transmit a signal to the anti-blowout control center. The anti-blowout control center then controls power sources such as water valves or gas valves to provide kinetic energy to the orifice device and closes the orifice to achieve anti-blowout. Its control process is complex and there is a lag effect. It cannot block the orifice in time, the control system is complex, and the cost performance is low. At the same time, due to the normally open structure of the orifice device, it is impossible to achieve real-time isolation between the orifice and the outside world during the waiting interval between each drilling cycle, and the safety is not high. The existing orifice anti-blowout systems are all independently controlled from the drill rig. The orifice device is often hung on the orifice, unable to be linked with the real-time drilling conditions of the drill rig. The anti-blowout effect is not good, and it is not flexible to move and has poor adaptability to different working conditions. When the gas exceeds the limit and the operator does not notice or the drill rig cannot automatically stop, it is easy to cause safety accidents. Summary of the Invention

[0005] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide an integrated drilling robot with an automatic anti-blowout system and a control method, which can realize linkage with the electro-hydraulic control system of the gas drainage borehole construction equipment in coal mines, and can realize the rapid automatic locking function of the orifice in three states: when drilling stops, when the gas exceeds the limit, and when the drill rig makes an emergency stop, prevent the occurrence of coal and gas outburst accidents, and significantly improve the safety of underground gas drainage borehole construction.

[0006] To solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0007] An integrated drilling robot with an automatic anti-blowout system includes a three-degree-of-freedom main machine, a drill pipe box, a six-degree-of-freedom robotic arm and an end gripper, a normally closed anti-blowout system, and a main controller installed on a crawler vehicle body;

[0008] The three-degree-of-freedom main unit includes a feed body, a pipe tong, a front gripper, a rear gripper, a power head, a feed oil cylinder, a carriage, a translation oil cylinder, a translation clamping plate, a feed displacement wire rope sensor assembly, a translation displacement wire rope sensor assembly, and a luffing stabilizing device; the luffing stabilizing device is installed on the crawler vehicle platform through a lifting oil cylinder, and the slewing bearing of the luffing stabilizing device is connected to one side of the feed body; the translation of the translation oil cylinder, the lifting of the lifting oil cylinder of the luffing stabilizing device, and the rotation of the slewing bearing can realize the adjustment of three degrees of freedom of the drill pipe.

[0009] The drill pipe box includes a box body support, a drill pipe limiting frame, a stop bar, a backing plate, a front hatch, a baffle assembly, and a rear hatch; the pipe box has a space for accommodating drill pipes with multiple layers and multiple columns, and can adapt to drill pipes with different diameters by adjusting the side backing plate and the bottom drill pipe limiting frame.

[0010] The six-degree-of-freedom robotic arm includes a base, an arm body, and a servo motor; the rotation angle range of the arm body on the base is -180° to +180°, and the servo motor can control the sequential or synchronous movement of the arm body to realize the change of the end position, and is used to grab the drill pipe from the pipe box to the drill pipe placement position of the three-degree-of-freedom main unit.

[0011] The normally closed blowout prevention system includes an orifice blowout prevention device and a gas sensor; the orifice blowout prevention device is installed at the front end of the three-degree-of-freedom main unit, and includes an adapter bracket, a drill pipe sealing unit, an orifice multi-pass, a hole wall sealing cylinder, and a slag leakage sealing unit; the rear end of the adapter bracket is screwed to the front gripper through a connecting piece, and the central hole on the adapter bracket is coaxial with the front gripper. The drill pipe sealing unit, the orifice multi-pass, and the hole wall sealing cylinder that are coaxial with the central hole and connected to each other are sequentially arranged from the front end of the adapter bracket to the orifice direction. The adapter bracket is connected to the orifice multi-pass through its push oil cylinder, and the axial positions of the drill pipe sealing unit, the orifice multi-pass, and the hole wall sealing cylinder are controlled by the push oil cylinder so that the hole wall sealing cylinder is closely attached to the hole wall. The slag leakage sealing unit is arranged at the lower end of the orifice multi-pass; the gas sensor is installed beside the drilling orifice to monitor the gas concentration in the drill field.

[0012] The main controller is installed on the bracket behind the crawler vehicle body and is bolted to the crawler vehicle platform, and can control the self-leveling, self-stabilization of the crawler vehicle body, the automatic addition and removal of drill pipes, the automatic adjustment of the hole-opening attitude, and the automatic drilling.

[0013] The present invention further includes the following technical features:

[0014] Specifically, the crawler vehicle body includes a crawler vehicle body platform and the traveling crawler assemblies on both sides thereof; it further includes a mine intrinsically safe biaxial inclination sensor, a hoisting tackle, a console valve group, a pressure transmitter assembly, and a junction box assembly installed on the crawler vehicle body platform; the mine intrinsically safe biaxial inclination sensor can achieve the automatic positioning and automatic stabilization of the crawler vehicle body; the hoisting tackle is welded to the side of the crawler vehicle body platform to meet the hoisting requirements during the assembly or transportation of the drill rig; the console valve group is connected to the crawler vehicle body platform by bolts and controls and executes the various actions of the drill rig through an explosion-proof remote controller; the pressure transmitter assembly is used to detect in real time the working pressures of the drill rig during feeding, pulling out, forward rotation, reverse rotation, and oil return, and at the same time display them on the control interface of the explosion-proof remote controller for the convenience of construction operators to observe; the junction box assembly is screwed to the crawler vehicle body platform.

[0015] Specifically, the shackle, the front gripper, and the rear gripper of the three-degree-of-freedom main unit are screwed to the mounting plate of the feed body and cooperate with the power head to realize the automatic loading and unloading of drill pipes; the power head is connected to the carriage through a pin shaft, the carriage is connected to the cylinder barrel of the feed cylinder and moves with the cylinder barrel of the feed cylinder, and the power head and the carriage slide on the feed body as the feed cylinder extends and retracts, realizing the drilling and pipe pulling of the drill rig; one end of the feed cylinder is connected to the front end of the feed body, and the other end is fixed to the rear end of the feed body; one end of the feed displacement wire rope sensor assembly is fixed to the feed body, and the other end is fixed to the carriage, and it detects and feeds back the stroke position of the feed cylinder in real time; one end of the translation cylinder is hinged to the front end of the feed body, and the other end is hinged to the rear end of the feed body, and the cylinder barrel is connected to the translation clamping plate, and the front and rear movement of the feed body is driven by the telescopic movement of the translation cylinder to adjust the distance between the feed body and the borehole orifice; one end of the translation displacement wire rope sensor assembly is fixed to the feed body, and the other end is fixed to the translation clamping plate, and it detects and feeds back the translation amount of the translation cylinder.

[0016] Specifically, the luffing and stabilizing device includes a column cylinder slide rail assembly, a slewing bearing, an encoder, a lifting cylinder, a lifting displacement wire rope sensor assembly, a lower column stabilizing assembly, and a rotary upper stabilizing assembly;

[0017] The column cylinder slide rail assembly is sleeved on the two lower column stabilizing assemblies, the front wall of the column cylinder slide rail assembly is installed with a slewing bearing, the slewing bearing is connected to the feed body of the main unit through an L-shaped support plate, and the rotating turbine of the slewing bearing can drive the L-shaped support plate and the feed body to rotate; a braking member is installed in the slewing bearing, and the braking member can perform hydraulic braking and locking on the rotating turbine; the encoder is connected to the braking member through a mounting seat, and the inner shaft of the encoder is connected to the L-shaped support plate through a transmission shaft to realize the direct measurement of the drilling inclination angle.

[0018] The lower end of the lifting oil cylinder is screwed to the crawler vehicle body platform, and the upper end of the lifting oil cylinder is screwed to the rear wall of the column oil cylinder slide rail assembly. The telescopic movement of the lifting oil cylinder enables the feed body to move along the column oil cylinder, realizing the adjustment of the drilling rig's opening height.

[0019] One end of the lifting displacement cable tension sensor assembly is screwed to the column oil cylinder slide rail assembly, and the other end is screwed to the crawler vehicle body platform, for detecting and feeding back the displacement of the lifting oil cylinder.

[0020] Specifically, there are two lower column stabilizing components which are parallel to each other. The lower column stabilizing component includes a lower column and a lower top hydraulic cylinder below its interior. A magnetostrictive displacement telescopic sensor is provided inside the piston rod of the lower top hydraulic cylinder.

[0021] There are two rotary upper stabilizing components which are both parallel to the lower column stabilizing components. The rotary upper stabilizing components are connected to the lower column stabilizing components through the rotary sleeves at their lower parts. The rotary upper stabilizing components include upper columns and upper top hydraulic cylinders above their interiors. A limit pin is provided at the lower end of the rotary upper stabilizing components. During transportation, the rotary upper stabilizing components are fixed to the crawler vehicle body platform by the limit pins, so that the upper stabilizing components are retracted to be consistent with the vehicle body width.

[0022] During the construction and stabilizing state, the limit pins are pulled out and the two rotary upper stabilizing components are both rotated outward by 90° to the outside of the vehicle body, that is, on both sides of the lower column stabilizing components, to increase the stabilizing distance and improve the stabilizing reliability. During transportation, the piston rods of the upper top hydraulic cylinders of the rotary upper stabilizing components extend upward and the piston rods of the lower top hydraulic cylinders of the lower column stabilizing components extend downward respectively to perform the stabilizing operation on the drilling rig.

[0023] Specifically, the box body support of the drill pipe box includes a square bottom frame and four side plates at the four corner positions. The square bottom frame includes two parallel side beams and two parallel end beams. Two vertical side plates are provided on each side beam to enclose the drill pipes. There are two drill pipe limiting frames which are parallel to each other and are both vertically connected between the two side beams. Arc-shaped grooves are arranged at equal intervals on the drill pipe limiting frames to stack the drill pipes to ensure that the drill pipes are stacked and arranged at a fixed interval, and the drill pipes are placed perpendicular to the drill pipe limiting frames. The stop bars are detachably arranged between two opposite side plates and are parallel to the drill pipe limiting frames to prevent the drill pipes from falling due to vibration during the transportation of the whole box of drill pipes. When the drilling rig is working, the stop bars are removed and placed in the two groups of support through holes behind the box body support. The pads are screwed to the side plates. By adjusting the thickness of the pads and replacing the drill pipe limiting frames, drill pipes of different diameters can be satisfied and different forms of hand grabs can be adapted. The front hatch and the rear hatch are parallel and opposite to each other and are respectively arranged between the two side plates above the two end beams. After the front hatch is screwed together with the baffle assembly, it is then screwed to the two parallel and opposite side plates and is removed from the box body support during the operation of the drilling rig, for axially limiting the drill pipes in the drill pipe box when the drilling rig is walking.

[0024] Specifically, the arm body of the six-degree-of-freedom robotic arm can rotate horizontally with the base as the center, and the base is provided with a 0 reference; the arm body includes a shoulder, a large arm, a small arm, and a wrist connected in sequence. The lower end of the shoulder is connected to the base, and the upper end of the shoulder is connected to one end of the large arm through a shoulder joint controlled by a servo motor. The other end of the large arm is connected to one end of the small arm through an elbow joint controlled by a servo motor. The other end of the small arm is connected to the upper part of the wrist through a wrist joint controlled by a servo motor, and the lower end of the wrist is connected to a gripper.

[0025] Specifically, the adapter bracket includes a bracket, a connecting piece, a mounting pad assembly, a flat push oil cylinder, an inclined support rod, and a brake valve assembly; a central hole is provided at the center of the upper part of the bracket for the drill pipe to pass through. There are two flat push oil cylinders located on both sides of the central hole. The flat push oil cylinders are perpendicular to the bracket, and the cylinder barrels of the flat push oil cylinders penetrate through the bracket and are fixedly connected to the bracket. The rod ends of the flat push oil cylinders are located in front of the bracket and are connected to the ear seats at both ends of the multi-pass at the hole opening. The connecting piece is fixed on the rear end face of the bracket and is coaxial with the central hole, and the connecting piece can be screwed to the front gripper. The mounting pad assembly is fixed at the lower part of the rear end face of the bracket and can be connected to the front end of the three-degree-of-freedom main body. The brake valve assembly is arranged on the bracket to control the opening and closing of the flat push oil cylinder, the clamping hydraulic cylinder of the drill pipe sealing unit, and the opening and closing hydraulic cylinder of the slag leakage sealing unit. The two ends of the inclined support rod are hinged to the front part of the flat push oil cylinder and the bracket below the flat push oil cylinder.

[0026] Specifically, the drill pipe sealing unit includes an end ring, a mounting cylinder, an end cover, a clamping hydraulic cylinder, an arc-shaped clamping plate, an arc-shaped sealing rubber cylinder, and an end cover; the end ring and the end cover are arranged at both ends of the mounting cylinder, and the central through holes of the three are coaxially communicated. A plurality of clamping hydraulic cylinders are evenly distributed along the circumferential direction of the mounting cylinder, and each clamping hydraulic cylinder is arranged radially along the mounting cylinder. The push rod of each clamping hydraulic cylinder penetrates through the mounting cylinder, and its end is connected to an arc-shaped clamping plate. An arc-shaped sealing rubber cylinder is attached to the inner wall of the arc-shaped clamping plate. The cylindrical clamping space formed by a plurality of arc-shaped clamping plates is coaxial with the mounting cylinder; a ring-shaped sealing gasket is attached to the front wall of the end ring for sealing connection with the rear end of the multi-pass at the hole opening.

[0027] Specifically, the multi-pass at the hole opening includes a cylindrical multi-pass cavity, an air extraction port, and a slag leakage port; the multi-pass cavity is of a cylindrical structure. The air extraction port is located at the upper end of the multi-pass cavity and penetrates radially along the multi-pass cavity. The slag leakage port is located at the lower end of the multi-pass cavity and penetrates radially along the multi-pass cavity. The front end face of the multi-pass cavity is provided with a mounting hole for connecting with the hole wall sealing cylinder, the rear end face of the multi-pass cavity is provided with a mounting hole for connecting with the drill pipe sealing unit, and the lower end face of the slag leakage port is provided with a mounting hole for connecting with the slag leakage sealing unit.

[0028] Specifically, the hole wall sealing cylinder includes a conical corrugated sealing cylinder, a connecting end provided at the small end of the conical corrugated sealing cylinder, and a soft rubber cylinder provided at the large end of the conical corrugated sealing cylinder; the connecting end can be connected to the front end of the multi-pass at the hole opening, and the soft rubber cylinder can be abutted against the hole wall.

[0029] Specifically, the slag leakage sealing unit includes a primary slag discharge pipe, a secondary slag discharge pipe, a door panel, an opening and closing hydraulic cylinder and a self-locking spring lock; the upper end of the primary slag discharge pipe is sealed and connected to the slag leakage port with multiple orifices, the lower end of the primary slag discharge pipe is sealed and connected to the upper end of the secondary slag discharge pipe, and the primary slag discharge pipe and the secondary slag discharge pipe are connected by a self-locking spring lock, the door panel is sealed at the upper part of the primary slag discharge pipe, and the opening and closing hydraulic cylinder is arranged outside the primary slag discharge pipe and can control the opening and closing of the door panel.

[0030] Specifically, the cylinder barrel of the opening and closing hydraulic cylinder is hinged to the outer wall of the first-level slag discharge pipe, the cylinder rod of the opening and closing hydraulic cylinder is hinged to one end of the connecting rod, the other end of the connecting rod is sleeved on one end of the waist-shaped long axis, the other end of the waist-shaped long axis penetrates into the first-level slag discharge pipe and is connected to the door panel, and a torsion spring is provided between the door panel and the waist-shaped long axis; the opening and closing hydraulic cylinder can push the door panel to open and close, and when the opening and closing hydraulic cylinder is not moving, the door panel can be closed under the action of the torsion spring.

[0031] Specifically, a rubber plate is provided on the door panel to play a sealing and buffering role when the door panel is closed, thereby blocking gas leakage from the primary slag discharge pipe to the secondary slag discharge pipe; a sealing gasket is provided between the primary slag discharge pipe and the secondary slag discharge pipe; a water sprinkling pipe is installed on the outer wall of the primary slag discharge pipe and the water sprinkling pipe is close to the water permeable hole on the side wall of the primary slag discharge pipe to reduce dust.

[0032] A blowout prevention method for an integrated drilling robot with an automatic blowout prevention system, the method being implemented by the integrated drilling robot with an automatic blowout prevention system, comprising the following steps:

[0033] (1) Under normal drilling conditions, during each single drilling interval, when loading the drill pipe, the clamp clamps the drill pipe in the hole, the orifice blowout prevention device also holds the drill pipe tightly for sealing, and the door plate of the slag leakage sealing unit is closed to prevent gas from blowing out when drilling is temporarily stopped;

[0034] (2) When the gas at the orifice or drilling site exceeds the limit, the gas sensor will send an interruption command to the power supply, the power supply will be shut down immediately, all drilling rig actions will stop, and the orifice blowout preventer will immediately hold the drill pipe tightly to prevent further gas leakage in the hole. At this time, only the gas is extracted from the upper end of the orifice multi-channel exhaust port of the orifice blowout preventer. The power supply can be restored only when the gas concentration reaches the standard. Otherwise, it cannot be started. The orifice blowout preventer always maintains a sealed state of holding the drill pipe tightly;

[0035] (3) When an emergency occurs during construction, the operator presses the emergency stop button on the remote control, the drilling rig is in a standby unloading state, and the orifice blowout preventer is immediately closed to block the orifice and the orifice multi-channel slag leakage port, realizing the orifice locking function in the standby state.

[0036] The control method of the integrated drilling robot with an automatic blowout prevention system, the drilling process of the method comprises the following steps:

[0037] Step a1: Initialize the six-degree-of-freedom robotic arm and the three-degree-of-freedom main unit. Both the six-degree-of-freedom robotic arm and the three-degree-of-freedom main unit return to the calibration zero point. The shackle opener closes, the rear gripper opens, and the power head is at the calibration position.

[0038] Step a2: Input the construction target hole parameters into the three-degree-of-freedom main unit using the explosion-proof remote control.

[0039] Step a3: The three-degree-of-freedom main unit moves to the specified position according to the calculation result and feeds back the coordinate position to the controller.

[0040] Step a4: Send a rod-adding instruction to the three-degree-of-freedom main unit and the six-degree-of-freedom robotic arm using the explosion-proof remote control.

[0041] Step a5: The three-degree-of-freedom main unit waits for the rod to be added, and the six-degree-of-freedom robotic arm and its end gripper pick up the rod.

[0042] Step a6: The six-degree-of-freedom robotic arm grabs the drill pipe according to the coordinate value fed back by the three-degree-of-freedom main unit and places it at the set position of the gripper.

[0043] Step a7: The gripper clamps and sends a message to the gripper to control it to release.

[0044] Step a8: The six-degree-of-freedom robotic arm moves to the specified safe position and sends a message to the three-degree-of-freedom main unit.

[0045] Step a9: The power head rotates and feeds until the pressure reaches the set value.

[0046] Step a10: Judge that the make-up is completed by the sudden change of pressure, and the gripper releases.

[0047] Step a11: Full-automatic adaptive drilling: Drill with set parameters or in a set gear. According to the drilling parameters, automatically increase or decrease the feed pressure and the rotary pressure.

[0048] Step a12: When it is detected that the power head feeds to the calibration position, the three-degree-of-freedom main unit stops operating, the shackle opener clamps, and the rear end of the shackle is removed.

[0049] Step a13: After judging that the shackle removal is completed by the sudden change of pressure, judge whether the number of drill pipes reaches the required designed hole depth. If so, stop the operation. If not, return to step a4 for the next cycle.

[0050] The control method of the integrated drilling robot with an automatic blowout prevention system. The drill pipe lifting process of this method includes the following steps:

[0051] Step b1: Initialize the six-degree-of-freedom robotic arm, and at the same time detect the state of the three-degree-of-freedom main unit. It is in the state of waiting for the rod to be removed, where the active drill pipe is separated from the drill pipe, the front gripper clamps the drill pipe and closes, and the rear gripper opens.

[0052] Step b2: The power head feeds to the calibrated position and fastens the upper rear end;

[0053] Step b3: The power head rotates and feeds. After judging that the make-up is completed by the sudden change in pressure, the front gripper is released;

[0054] Step b4: The power head pulls out to the calibrated position, the front gripper clamps, and the front end fastener is removed;

[0055] Step b5: The power head rotates and pulls out. After judging that the unthreading is completed by the sudden change in pressure, the power head pulls out to the calibrated position;

[0056] Step b6: The rear gripper clamps, and the rear end fastener is removed;

[0057] Step b7: The power head rotates and pulls out. After judging that the unthreading is completed by the sudden change in pressure, the power head pulls out to the calibrated position, sends the current position coordinates to the main controller, and at the same time sends a signal waiting for rod removal to the six-degree-of-freedom robotic arm;

[0058] Step b8: The six-degree-of-freedom robotic arm and its end gripper clamp the drill pipe, the rear gripper is released, the six-degree-of-freedom robotic arm places the drill pipe at the set position in the rod box, the six-degree-of-freedom robotic arm moves to the designated safe position and sends information to the three-degree-of-freedom main unit;

[0059] Step b9: Judge whether the number of drill pipes lifted during drilling reaches the requirement. If the drilling is completed, stop the operation. If the drilling is not completed, return to step b1 for the next cycle.

[0060] Compared with the prior art, the present invention has the following technical effects:

[0061] The integrated drilling robot with an automatic blowout prevention system and the control method thereof according to the present invention are applicable to underground gas drainage drilling construction. Based on a three-degree-of-freedom main unit, an explosion-proof six-degree-of-freedom robot loading and unloading system, a drill pipe box, as well as an automatic control system and a normally closed blowout prevention system, full-automatic drilling and normally closed blowout prevention are realized, achieving the effect of "dual control and dual increase" in the construction efficiency and safety of the drilling rig.

[0062] The explosion-proof six-degree-of-freedom robotic arm loading and unloading system of the present invention can take out or return the drill pipe from the drill pipe box, and place or take out the drill pipe from the center of the main unit clamping device according to the spatial positioning coordinates of the three-degree-of-freedom main unit, completing the automatic rod addition and removal operation. The drilling rig starts automatic drilling according to the set program; the drilling system of the drilling rig and the explosion-proof six-degree-of-freedom robotic arm loading and unloading system are liquid-driven and electric-driven separate control systems, which can operate alternately in construction to improve the action efficiency.

[0063] The normally-closed blowout preventer system of the present invention is linked with the hydraulic system of the drilling rig, with fast action response and remarkable blowout prevention effect, significantly improving the construction safety. It can be linked with the power supply system to achieve power-off locking at the orifice when the gas exceeds the limit, blocking the gas ejection. It can also be linked with the automatic control system of the drilling rig to achieve automatic or manual orifice locking when the drilling rig is on standby. During the construction of the drilling rig, the normally-closed orifice blowout preventer device is fixed directly in front of the main body of the drilling rig and coincides with the center of the rotary table. The orifice blowout preventer device itself has the function of moving back and forth, and can push itself to the orifice for sealing. Among them, the drill pipe sealing device is of a normally-closed structure, clamping the drill pipe under normal conditions to prevent the gas in the hole from leaking from the gap between the drill pipe and the normally-closed orifice blowout preventer device, and having the function of sealing the annulus of the drill pipe. The slag discharge device at the lower cavity of the multi-way orifice is also of a normally-closed structure, with a sealing door inside. The sealing door is closed under normal conditions to prevent the gas from leaking from the slag discharge port, and having the function of sealing the slag discharge pipe. The upper end of the multi-way orifice is provided with a gas extraction port, and the extracted gas enters the negative pressure pipe. The front end of the orifice blowout preventer device is provided with a hole wall sealing cylinder, which is pressed against the hole wall under the action of the horizontal push hydraulic cylinder to prevent the gas from leaking from its gap.

[0064] The control method of the present invention adopts linkage control with the hydraulic system of the drilling rig to achieve that during the drilling construction, the normally-closed orifice blowout preventer device is quickly opened without affecting the normal drilling, and the normally-closed orifice blowout preventer device automatically closes when the drilling stops to prevent the gas in the hole from leaking. When the gas sensor in the drilling area monitors that the gas concentration exceeds the standard, it immediately issues an instruction to the power supply of the drilling rig to cut off the power of the drilling rig, and the normally-closed orifice blowout preventer device can also immediately close automatically. After the gas concentration in the drilling area is drained to meet the standard, the construction continues, effectively avoiding the occurrence of underground gas overrun accidents. Description of the Drawings

[0065] Figure 1 is the overall structure schematic diagram of the present invention;

[0066] Figure 2 is the installation schematic diagram of the three-degree-of-freedom main body and the normally-closed blowout preventer system of the present invention;

[0067] Figure 3 is the structure schematic diagram of the luffing and stabilizing device of the present invention;

[0068] Figure 4 is the structure schematic diagram of the crawler vehicle body of the present invention;

[0069] Figure 5 is the structure schematic diagram of the drill pipe box of the present invention;

[0070] Figure 6 is the structure schematic diagram of the six-degree-of-freedom robotic arm and its end gripper of the present invention;

[0071] Figure 7 is the structure schematic diagram of the orifice blowout preventer device of the present invention;

[0072] Figure 8is Figure 7 The left view of

[0073] Figure 9 is the schematic structural view of the adapter bracket of the present invention;

[0074] Figure 10 is Figure 9 The left view of

[0075] Figure 11 is the schematic structural view of the drill pipe sealing unit of the present invention;

[0076] Figure 12 is Figure 11 The A - A sectional view of

[0077] Figure 13 is the schematic structural view of the multi - way structure at the hole opening of the present invention;

[0078] Figure 14 is Figure 13 The left view of

[0079] Figure 15 is the schematic structural view of the slag leakage sealing unit of the present invention;

[0080] Figure 16 is Figure 15 The left view of

[0081] Figure 17 is the schematic structural view of the hole wall sealing cylinder of the present invention;

[0082] Figure 18 is Figure 17 The left view of

[0083] Figure 19 is the working principle diagram of the brake valve assembly of the blowout preventer device at the hole opening of the present invention;

[0084] Figure 20 is the schematic view of the blowout prevention method of the present invention.

[0085] Meanings of the reference numerals in the drawings:

[0086] 1. Three - degree - of - freedom main unit, 2. Crawler vehicle body, 3. Pressure gauge assembly, 4. Valve group, 5. Rod box, 6. Total fuel tank assembly, 7. Total cooler assembly, 8. Mine - used flame - proof emergency stop button, 9. Motor - pump unit, 10. Main controller, 11. Six - degree - of - freedom robotic arm, 12. End - effector; 13. Feed body, 14. Uncapper and front gripper, 15. Rear gripper, 16. Luffing stabilizing device, 17. Power head, 18. Feed oil cylinder, 19. Slide plate, 20. Translation oil cylinder, 21. Translation clamping plate, 22. Feed displacement wire rope sensor assembly, 23. Translation displacement wire rope sensor assembly; 24. Slewing bearing, 25. Encoder, 26. Lifting displacement wire rope sensor assembly, 27. Lifting oil cylinder, 28. Column oil cylinder slide rail assembly, 29. Lower column stabilizing assembly, 30. Rotary upper stabilizing assembly; 31. Crawler vehicle body platform, 32. Traveling crawler assembly, 33. Mine - used intrinsically - safe biaxial inclinometer, 34. Lifting sling, 35. Console valve group, 36. Pressure transmitter assembly, 37. Junction box assembly; 38. Box support, 39. Drill pipe limit frame, 40. Stop bar, 41. Base plate, 42. Front hatch, 43. Baffle assembly, 44. Rear hatch; 45. Base, 46. Arm body, 47. Servo motor; 48. Normally - closed blowout - preventer system, 49. BOP at wellhead, 50. Gas sensor, 51. Adapter bracket, 52. Drill pipe seal unit, 53. Wellhead multi - way, 54. Hole wall seal cylinder, 55. Slag leakage seal unit; 56. Bracket, 57. Connector, 58. Mounting pad assembly, 59. Push - flat oil cylinder, 60. Diagonal brace rod, 61. Brake valve assembly, 611. Pressure reducing valve, 612. Hydraulically - controlled directional valve, 613. Globe valve, 62. Central hole; 63. End ring, 64. Mounting cylinder, 65. End cover, 66. Clamping hydraulic oil cylinder, 67. Arc - shaped clamping plate, 68. Arc - shaped sealing rubber cylinder; 70. Multi - way cavity, 71. Air extraction port, 72. Slag leakage port; 73. Conical corrugated seal cylinder, 74. Connection end, 75. Soft rubber cylinder; 76. Primary slag discharge pipe, 77. Secondary slag discharge pipe, 78. Door panel, 79. Opening - closing hydraulic oil cylinder, 791. Connecting rod, 80. Self - locking spring lock; 81 Power supply. Detailed implementation manners

[0087] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and any equivalent transformation based on the technical solutions of this application falls within the protection scope of the present invention.

[0088] Embodiment 1:

[0089] This embodiment provides an integrated drilling robot with an automatic blowout - preventer system. As Figures 1 to 20 shown, it includes a three - degree - of - freedom main unit 1, a drill pipe box 5, a six - degree - of - freedom robotic arm 11 and an end - effector 12, a normally - closed blowout - preventer system 48, and a main controller 10 installed on the crawler vehicle body 2;

[0090] The three - degree - of - freedom main unit 1 includes a feed body 13, a pipe - uncoupling device, a front gripper 14, a rear gripper 15, a power head 17, a feed oil cylinder 18, a carriage 19, a translation oil cylinder 20, a translation clamping plate 21, a feed displacement wire rope sensor assembly 22, a translation displacement wire rope sensor assembly 23, and a luffing stabilizing device 16; the luffing stabilizing device 16 is installed on the crawler vehicle platform 31 through a lifting oil cylinder 27, and the slewing support 24 of the luffing stabilizing device 16 is connected to one side of the feed body 13; the translation of the translation oil cylinder 20, the lifting of the lifting oil cylinder 27 of the luffing stabilizing device 16, and the rotation of the slewing support 24 can realize the adjustment of three degrees of freedom of the drill pipe.

[0091] The drill pipe box 5 includes a box body support 38, a drill pipe limiting frame 39, a stop bar 40, a backing plate 41, a front hatch 42, a baffle assembly 43, and a rear hatch 44; the pipe box 5 has a space for accommodating drill pipes with multiple layers and multiple columns, and can adapt to drill pipes of different diameters by adjusting the side backing plate 41 and the bottom drill pipe limiting frame 39.

[0092] The six - degree - of - freedom robotic arm 11 includes a base 45, an arm body 46, and a servo motor 47; the rotation angle range of the arm body 46 on the base 45 is - 180° to + 180°, and the servo motor 47 can control the sequential or synchronous movement of the arm body 46 to realize the change of the end position, and is used to grab the drill pipe from the pipe box 5 to the drill pipe placement position of the three - degree - of - freedom main unit 1.

[0093] The normally - closed blowout - preventer system 48 includes an orifice blowout - preventer device 49 and a gas sensor 50; the orifice blowout - preventer device 49 is installed at the front end of the three - degree - of - freedom main unit 1, and includes an adapter bracket 51, a drill pipe sealing unit 52, an orifice multi - way 53, a hole - wall sealing cylinder 54, and a slag - leakage sealing unit 55; the rear end of the adapter bracket 51 is screwed to the front gripper through a connecting piece, and the central hole on the adapter bracket 51 is coaxial with the front gripper. In the direction from the front end of the adapter bracket 51 to the orifice, there are successively arranged a drill pipe sealing unit 52, an orifice multi - way 53, and a hole - wall sealing cylinder 54 that are coaxial with the central hole and are connected to each other. The adapter bracket 51 is connected to the orifice multi - way 53 through its push - rod oil cylinder, and the axial positions of the drill pipe sealing unit 52, the orifice multi - way 53, and the hole - wall sealing cylinder 54 are controlled by the push - rod oil cylinder so that the hole - wall sealing cylinder 54 closely adheres to the hole wall. The slag - leakage sealing unit 55 is arranged at the lower end of the orifice multi - way 53; the gas sensor 50 is installed beside the drilling orifice to monitor the gas concentration in the drill field.

[0094] The main controller 10 is installed on the bracket behind the crawler vehicle platform 31 and is bolt - connected to the crawler vehicle platform 31, and can control the self - leveling, self - stabilization of the crawler vehicle 2, the automatic addition and removal of drill pipes, the automatic adjustment of the hole - opening attitude, and the automatic drilling.

[0095] The crawler vehicle body 2 includes a crawler vehicle body platform 31, a traveling crawler assembly 32, a mine intrinsically safe biaxial inclination sensor 33, a hoisting sling 34, a console valve group 35, a pressure transmitter assembly 36, and a junction box assembly 37; the traveling crawler assembly 32 is arranged on the left and right sides of the crawler vehicle body platform 31; the mine intrinsically safe biaxial inclination sensor 33 is arranged on the crawler vehicle body platform 31 and together with the control part of the crawler vehicle body 2 forms a self-leveling and self-stabilizing system to realize the automatic positioning and automatic stabilization of the crawler vehicle body 2. The stable crawler vehicle body platform 31 is a prerequisite for the drill rig to work, enabling the three-degree-of-freedom main machine 1 installed on the crawler platform to work stably and accurately according to the set requirements; the hoisting sling 34 is welded to the side of the crawler vehicle body platform 31 to meet the hoisting requirements during the assembly or transportation of the drill rig; the console valve group 35 is connected to the vehicle body platform by bolts. By applying a valve combination and controlling it through an explosion-proof remote controller, the control of each action of the drill rig and the linkage function between the actuators are realized. The protective cover wraps the 4 console valves to ensure the neatness and beauty of the drill rig and prevent misoperation. When performing maintenance, debugging, or when the control system fails, it is necessary to install the solenoid valve handle first and then perform manual operation; the pressure transmitter assembly 36 is used to detect the working pressures of the main pump, auxiliary pump, feeding, pulling, forward rotation, reverse rotation, and oil return of the drill rig in real time, and at the same time display them on the pressure gauge assembly 3 and the explosion-proof remote controller control interface, facilitating the construction operators to observe. The junction box assembly 37 is screwed to the crawler vehicle body platform 31 and is used to connect the main controller 10 and the pressure transmitter assembly 36.

[0096] The six-degree-of-freedom robotic arm 11 can meet the arm reach and end load required for adding and removing drill pipes, and realize the addition and removal of drill pipes within the working space of the three-degree-of-freedom main machine 1 through control; the gripper 12 is a multi-directional passive compliance device with a simple structure and strong applicability, which protects the rigid robotic arm; the pipe box 5 has a space for accommodating drill pipes in multiple layers and columns, and can be adjusted to adapt to drill pipes of different diameters; by controlling the six-degree-of-freedom robotic arm 11 and the gripper 12, the task of adding and removing drill pipes between the pipe box 5 and the three-degree-of-freedom main machine 1 is completed; since each component is installed on the same vehicle body platform, the distances between the six-degree-of-freedom robotic arm 11, the pipe box 5, and the three-degree-of-freedom main machine 1 are relatively fixed; during commissioning, the robotic arm is zeroed, the three-degree-of-freedom main machine 1 is zeroed, and the relative coordinate values between the drill pipe box 5 and the robotic arm, and the zero-point main machine and the robotic arm are measured. During operation, the change in the coordinate value of the three-degree-of-freedom main machine 1 is transmitted to the controller through three sensors on the main machine, and then the controller sends a command to the robotic arm, and the robotic arm sends the drill pipe to the specified position; when the robotic arm grabs the drill pipe from the drill pipe box 5, because the drill pipes are arranged according to fixed row and column pitches, the current grabbing coordinate value is calculated through the palletizing algorithm based on the previous coordinate value each time, so as to accurately grab; and within the specified number of drill pipe addition and removal times, the mean value method is used to obtain the error mean value and automatically compensate.

[0097] The shackle, front gripper 14 and rear gripper 15 of the three-degree-of-freedom mainframe 1 are screwed onto the mounting plate of the feed body 13 and cooperate with the power head 17 to achieve automatic loading and unloading of drill pipes. The power head 17 is connected to the carriage 19 by a pin shaft. The carriage 19 is connected to the cylinder barrel of the feed cylinder 18 and moves with the cylinder barrel of the feed cylinder 18. The power head 17 and the carriage 19 slide on the feed body 13 with the extension and retraction of the feed cylinder 18 to realize the drilling and pipe pulling of the drill rig. A rotational speed sensor is installed on the rear end cover of the power head 17 to detect the rotational speed in real time. One end of the feed cylinder 18 is connected to the front end of the feed body 13, and the other end is fixed to the rear end of the feed body 13. One end of the feed displacement wire rope sensor assembly 22 is fixed on the feed body 13, and the other end is fixed on the carriage 19 to detect and feedback the stroke position of the feed cylinder 18 in real time. One end of the double-acting translation cylinder 20 is hinged to the front end of the feed body 13, and the other end is hinged to the rear end of the feed body 13. The cylinder barrel is connected to the translation clamping plate 21. The feed body 13 is driven to move back and forth by the expansion and contraction of the translation cylinder 20 to adjust the distance between the feed body 13 and the drilling hole orifice. One end of the translation displacement wire rope sensor assembly 23 is fixed on the feed body 13, and the other end is fixed on the translation clamping plate 21 to detect and feedback the translation amount of the translation cylinder 20. The luffing and stabilizing device 16 is installed on the crawler vehicle platform 31 through the lifting cylinder 27. The slewing support 24 of the luffing and stabilizing device 16 is connected to one side of the feed body 13. The translation of the translation cylinder 20, the lifting of the lifting cylinder 27 of the luffing and stabilizing device 16, and the rotation of the slewing support 24 can realize the adjustment of three degrees of freedom of the drill pipe and full-section drilling.

[0098] The luffing and stabilizing device 16 includes a column cylinder slide rail assembly 28, a slewing support 24, an encoder 25, a lifting cylinder 27, a lifting displacement wire rope sensor assembly 26, a column lower stabilizing assembly 29, and a rotary upper stabilizing assembly 30;

[0099] The column cylinder slide rail assembly 28 is sleeved on two column lower stabilizing assemblies 29. The front wall of the column cylinder slide rail assembly 28 is installed with a slewing support 24 (realizing the inclination adjustment range of the feed body 13 from -90° to +90°, and various adjustments are convenient and reliable). The slewing support 24 is connected to the feed body 13 of the mainframe through an L-shaped support plate. The rotating turbine of the slewing support 24 can drive the L-shaped support plate and the feed body 13 to rotate. A braking member is installed in the slewing support 24, and the braking member can perform hydraulic braking and locking on the rotating turbine. The encoder 25 is connected to the braking member through a mounting seat, and the inner shaft of the encoder 25 is connected to the L-shaped support plate through a transmission shaft to realize the direct measurement of the drilling inclination angle. This structural setting can significantly improve the stability of the mainframe operation and the safety factor of the operation;

[0100] The lower end of the lifting oil cylinder 27 is screwed to the crawler vehicle body platform 31, and the upper end of the lifting oil cylinder 27 is screwed to the rear wall of the column oil cylinder slide rail assembly 28. The telescopic movement of the lifting oil cylinder 27 enables the feed body 13 to move along the column oil cylinder, realizing the adjustment of the drilling rig's opening height;

[0101] One end of the lifting displacement cable tension sensor assembly 26 is screwed to the column oil cylinder slide rail assembly 28, and the other end is screwed to the crawler vehicle body platform 31, used to detect and feedback the displacement of the lifting oil cylinder 27;

[0102] There are two column lower stabilizing components 29 which are parallel to each other. The column lower stabilizing component 29 includes a lower column and a lower top hydraulic cylinder below its interior. A magnetostrictive displacement telescopic sensor is provided inside the piston rod of the lower top hydraulic cylinder, which can monitor the elevation of the front end of the drilling rig body platform in real time. The upper half of the interior of the column lower stabilizing component 29 is a hollow structure, which can reduce the mass of the column itself while ensuring the structural strength. The signal wire of the magnetostrictive displacement telescopic sensor passes through the hollow part of the column to the top end cover, and through holes for installing set screws are provided on the side of the column for fixing the displacement sensor;

[0103] There are two rotary upper stabilizing components 30 which are both parallel to the column lower stabilizing component 29. The rotary upper stabilizing component 30 is connected to the column lower stabilizing component 29 through a rotary sleeve at its lower part. The rotary upper stabilizing component 30 includes an upper column and an upper top hydraulic cylinder above its interior. A limit pin is provided at the lower end of the rotary upper stabilizing component 30; during transportation, the rotary upper stabilizing component 30 is fixed to the crawler vehicle body platform 31 using the limit pin, so that the upper stabilizing component is retracted to be consistent with the vehicle body width;

[0104] In the construction stable state, pull out the limit pins and rotate both rotary upper stabilizing components 30 outward by 90° to the outside of the vehicle body, i.e., both sides of the column lower stabilizing component 29 (limited by limit blocks), and align the pin holes at both ends of the connecting plate with the pin holes of the rotary upper stabilizing component 30 and the vehicle body platform, and insert the pin shafts respectively to restrict their degrees of freedom, increase the stabilizing distance, improve the stabilizing reliability, and at the same time make it easier for the manipulator to hold the drill pipe and pass through between the two stabilizing columns; during transportation, the piston rod of the upper top hydraulic cylinder of the rotary upper stabilizing component 30 extends upward and the piston rod of the lower top hydraulic cylinder of the column lower stabilizing component 29 extends downward respectively to perform a stabilizing operation on the drilling rig, increasing the distance between the upper stabilizations, leaving enough space for the automatic drill pipe loading and unloading system, and at the same time increasing the lower stabilizing range and the stabilizing area, thereby enhancing the stability of the drilling construction.

[0105] The box support 38 of the drill pipe box 5 includes a square chassis and four side plates at the four corners. The square chassis includes two parallel side beams and two parallel end beams. Two vertical side plates are provided on each side beam to enclose the drill pipes. There are two drill pipe limit frames 39 which are parallel to each other and are both perpendicularly connected between the two side beams. The drill pipe limit frames 39 are provided with arc grooves arranged at equal intervals for stacking the drill pipes to ensure that the drill pipes are stacked and arranged at a fixed interval. The drill pipes are placed perpendicular to the drill pipe limit frames 39. The stop bar 40 is detachably arranged between two opposite side plates and is parallel to the drill pipe limit frames 39 to prevent the drill pipes from falling due to vibration during the transportation of a whole box of drill pipes. When the drill rig is working, the stop bar 40 is removed and placed in the two sets of support through holes behind the box support 38. The cushion plate 41 is screwed on the side plate. By adjusting the thickness of the cushion plate 41 and replacing the drill pipe limit frames 39, drill pipes of different diameters can be accommodated and different types of grippers can be adapted. The front hatch 42 and the rear hatch 44 are parallel and opposite to each other and are respectively arranged between the two side plates above the two end beams. The front hatch 42 is screwed to the baffle assembly 43 and then screwed to the two parallel and opposite side plates. It is removed from the box support 38 during the operation of the drill rig to limit the axial position of the drill pipes in the drill pipe box 5 when the drill rig is moving. The drill pipe box 5 has multiple layers and multiple columns of spaces for accommodating drill pipes, and can adapt to drill pipes of different diameters by adjusting the side cushion plates 41 and the bottom drill pipe limit frames 39.

[0106] The arm body 46 of the six-degree-of-freedom robotic arm 11 can rotate horizontally with the base 45 as the center. The base 45 is provided with a 0 reference. The rotation angle range of the arm body 46 is -180° to +180°. The arm body 46 includes a shoulder, a large arm, a small arm and a wrist connected in sequence. The lower end of the shoulder is connected to the base 45. The upper end of the shoulder is connected to one end of the large arm through a shoulder joint controlled by a servo motor 47. The other end of the large arm is connected to one end of the small arm through an elbow joint controlled by a servo motor 47. The other end of the small arm is connected to the upper part of the wrist through a wrist joint controlled by a servo motor 47. The lower end of the wrist is connected to the gripper 12. Six mine explosion-proof servo motors 47 are used for the control of the joint parts, enabling the six serial axes of the manipulator to move sequentially or synchronously, realizing the change of the position of the end gripper 55, and being used to grab the drill pipes from the pipe bin to the drill pipe placement position of the main machine. The overall protection level of the explosion-proof six-degree-of-freedom manipulator is IP54, meeting the operation requirements in complex environments such as wet and dusty conditions in coal mines.

[0107] The transfer support 51 includes a support 56, a connecting member 57, a mounting pad assembly 58, a flat push oil cylinder 59, an inclined support rod 60, and a brake valve assembly 61. A central hole 62 is provided at the center of the upper part of the support 56 for the drill pipe to pass through. There are two flat push oil cylinders 59 located on both sides of the central hole 62. The flat push oil cylinder 59 is perpendicular to the support 56, and the cylinder barrel of the flat push oil cylinder 59 penetrates through the support 56 and is fixedly connected to the support 56. The rod end of the flat push oil cylinder 59 is located in front of the support 56 and is connected to the ear seats at both ends of the multi-pass 53. The connecting member 57 is fixed on the rear end face of the support 56 and is coaxial with the central hole 62. The connecting member 57 can be screwed to the front gripper. The mounting pad assembly 58 is fixed to the lower part of the rear end face of the support 56 and can be connected to the front end of the three-degree-of-freedom main machine 1. The brake valve assembly 61 is provided on the support 56 to control the flat push oil cylinder 59, the clamping hydraulic cylinder of the drill pipe sealing unit 52, and the opening and closing hydraulic cylinder of the slag leakage sealing unit 55. Both ends of the inclined support rod 60 are hinged to the front part of the flat push oil cylinder 59 and the support 56 below the flat push oil cylinder 59.

[0108] The drill pipe sealing unit 52 includes an end ring 63, a mounting cylinder 64, an end cover 65, a clamping hydraulic cylinder 66, an arc-shaped clamping plate 67, and an arc-shaped sealing rubber cylinder 68. The end ring 63 and the end cover 65 are provided at both ends of the mounting cylinder 64, and the central through holes of the three are coaxially communicated. A plurality of clamping hydraulic cylinders 66 are evenly distributed along the circumferential direction of the mounting cylinder 64, and each clamping hydraulic cylinder 66 is arranged radially along the mounting cylinder 64. The push rod of each clamping hydraulic cylinder 66 penetrates through the mounting cylinder 64, and its end is connected to an arc-shaped clamping plate 67. An arc-shaped sealing rubber cylinder 68 is attached to the inner wall of the arc-shaped clamping plate 67. The cylindrical clamping space formed by a plurality of arc-shaped clamping plates 67 is coaxial with the mounting cylinder 64. A ring-shaped sealing gasket is attached to the front wall of the end ring 63 for sealing connection with the rear end of the multi-pass 53. Under normal conditions, the clamping hydraulic cylinder clamps the arc-shaped clamping plate in three directions under the action of the internal spring force, which can ensure that the arc-shaped sealing rubber cylinder is evenly stressed around and there is no air leakage at individual points. During operation, the clamping hydraulic cylinder quickly opens under the action of hydraulic oil, and the arc-shaped sealing rubber cylinder restores by its own elastic deformation without affecting normal drilling construction.

[0109] The multi-pass 53 includes a cylindrical multi-pass cavity 70, an air extraction port 71, and a slag leakage port 72. The multi-pass cavity 70 is a cylindrical structure. The air extraction port 71 is located at the upper end of the multi-pass cavity 70 and penetrates radially along the multi-pass cavity 70. The slag leakage port 72 is located at the lower end of the multi-pass cavity 70 and penetrates radially along the multi-pass cavity 70. The front end face of the multi-pass cavity 70 is provided with a mounting hole for connecting with the hole wall sealing cylinder 54. The rear end face of the multi-pass cavity 70 is provided with a mounting hole for connecting with the drill pipe sealing unit 52. The lower end face of the slag leakage port 72 is provided with a mounting hole that can be connected to the slag leakage sealing unit 55.

[0110] The hole wall sealing cylinder 54 includes a conical corrugated sealing cylinder 73, a connecting end 74 provided at the small end of the conical corrugated sealing cylinder 73, and a soft rubber cylinder 75 provided at the large end of the conical corrugated sealing cylinder 73; the connecting end 74 can be connected to the front end of the multi-port 53 at the hole opening, and the soft rubber cylinder 75 can abut against the hole wall.

[0111] The slag leakage sealing unit 55 includes a primary slag discharge pipe 76, a secondary slag discharge pipe 77, a door plate 78, an opening and closing hydraulic cylinder 79, and a self-locking spring lock 80; the upper port of the primary slag discharge pipe 76 is hermetically communicated with the slag leakage port 73 of the multi-port 53 at the hole opening, the lower end of the primary slag discharge pipe 76 is hermetically communicated with the upper end of the secondary slag discharge pipe 77, and the primary slag discharge pipe 76 and the secondary slag discharge pipe 77 are connected by a self-locking spring lock 80 (which can be quickly disassembled and the direction of the secondary slag discharge pipe can be reversed to adapt to the orientation of the slag discharge port under different working conditions for convenient slag discharge), the door plate 78 is blocked in the upper part of the primary slag discharge pipe 76, and the opening and closing hydraulic cylinder 79 is provided outside the primary slag discharge pipe 76 and can control the opening and closing of the door plate 78.

[0112] The cylinder barrel of the opening and closing hydraulic cylinder 79 is hinged to the outer wall of the primary slag discharge pipe 76, the cylinder rod of the opening and closing hydraulic cylinder 79 is hinged to one end of a connecting rod 791, the other end of the connecting rod 791 is sleeved on one end of a waist-shaped long shaft, the other end of the waist-shaped long shaft penetrates into the primary slag discharge pipe 76 and is connected to the door plate 78, and a torsion spring is provided between the door plate 78 and the waist-shaped long shaft; the opening and closing hydraulic cylinder 79 can push the door plate 78 to open and close, and when the opening and closing hydraulic cylinder 79 has no action, the door plate 78 can be closed under the action of the torsion spring.

[0113] A rubber plate is provided on the door plate 78 to play a sealing and buffering role when the door plate 78 is closed, blocking the leakage of gas from the primary slag discharge pipe 76 to the secondary slag discharge pipe 77; a sealing gasket is provided between the primary slag discharge pipe 76 and the secondary slag discharge pipe 77; a water spraying pipe is installed on the outer wall of the primary slag discharge pipe 76 and the water spraying pipe is close to the water permeable holes on the side wall of the primary slag discharge pipe 76 to play a role in reducing dust.

[0114] The main controller 10 is installed on the bracket behind the crawler vehicle body platform 31 and is connected to the crawler vehicle body platform 31 by bolts; during transportation, the bracket and the main controller 10 can be removed to reduce the length dimension of the crawler vehicle body platform 31; the controller is the control center of the drill and the integrated processing center of operation instructions, receives and processes various signals sent by the sensor group, and packs the information to be displayed according to the communication protocol and transmits it outward through the wireless network transceiver module; the controller also receives and processes the control signals received by the wireless network transceiver module, controls the current values of various explosion-proof electric control valve groups 4, hydraulic valve groups 4, sensor systems, digital valves, and explosion-proof servo motors 47 of the console valve group 35 through program control, and further controls the commutation and valve opening of the proportional solenoid valve, the digital valve, and the rotation speed and rotation direction of the explosion-proof servo motor 47 to achieve the purpose of controlling the self-leveling, self-stabilization of the crawler vehicle body 2, automatic addition and removal of drill pipes, automatic adjustment of the hole opening attitude, and automatic drilling.

[0115] The integrated drilling robot with an automatic blowout preventer system of the present invention further includes a fuel tank assembly 6, a cooler assembly 7, a mining flameproof emergency stop button 8, a motor pump unit 9, a main controller 10 and an explosion-proof remote controller. The main controller 10 and the explosion-proof remote controller are connected through a wireless network module.

[0116] The fuel tank assembly 6 is screwed to the crawler vehicle body platform 31 and includes an oil return filter, an air filter, a wireless network module for communicating with the explosion-proof remote controller, a mining intrinsically safe temperature transmitter, an intrinsically safe liquid level sensor, a self-sealing suction oil filter, and a high-pressure filter, which can transmit the oil temperature and the liquid level height in the fuel tank to the main controller 10 in real time; the self-sealing suction oil filter does not require discharging hydraulic oil, the oil circuit is automatically sealed, and the filter element can be directly pulled out for replacement.

[0117] The cooler assembly 7 is connected to the fuel tank assembly 6 and includes a cooler installation housing, a handle, a cooler core and a joint. The cooler core is fixed in the housing, and the housing is connected to the fuel tank assembly 6 by screwing, which is convenient for maintenance and replacement; the cooler assembly 7 is connected to the oil return of the system multi-way valve and the oil return of the gearbox to cool the hydraulic oil return and keep the oil temperature within the normal working range, reducing the aging and wear of hydraulic components.

[0118] The mining flameproof emergency stop button 8 can stop the drilling rig from working by quickly pressing this button when an emergency abnormal situation occurs, playing a protective role.

[0119] The motor pump unit 9 is the power source of the drilling rig and includes an explosion-proof motor, Pump I and Pump II; Pump I and Pump II are connected in series. To make full and reasonable use of space, the motor adopts an inner shaft type and is directly connected to Pump I through a spline, and is vertically screwed to the crawler vehicle body platform 31 through a pump seat. The motor pump unit 9 is embedded in the crawler vehicle body platform 31, and this installation method greatly increases the compactness of the drilling rig.

[0120] The explosion-proof remote controller is connected to the main controller 10 and includes a PLC module, a wireless network transceiver module II, a liquid crystal display screen, and an operation panel. The operation panel, the liquid crystal display screen, and the wireless network transceiver module II are respectively connected to the PLC module. The PLC module receives the instructions issued by the operation panel, packages the instructions according to the communication protocol, and then transmits them to the wireless network transceiver module II for sending. The wireless network transceiver module II receives the signals sent by the wireless network transceiver module and transmits the signals to the PLC module for processing. The liquid crystal display screen is used to display the motion states of the crawler vehicle body 2 and the drilling robot, the hydraulic system pressure, the drilling depth, the rotary speed of the drill pipe, the oil temperature, the drilling azimuth angle and the angle adjustment angle, the drill pipe diameter, and relevant warning prompt information. The operation panel includes left and right crawler travel control handles, self-leveling and self-stabilizing start / stop buttons, a one-key drilling button, single-action buttons for each actuator, function selection buttons, a digital input keyboard, etc. Among them, the processing values of the left and right crawler control handles are optimized for the throttle curve, enhancing the controllability of the crawler travel speed.

[0121] The drilling robot of the present invention can achieve the function of automatic control. Whether the sensor group can work stably and reliably is the key factor determining whether the system can work stably and reliably. The sensor group includes a magnetostrictive sensor installed inside the stabilizing oil cylinder (i.e., the lower jacking hydraulic oil cylinder) for detecting the extended length of the stabilizing oil cylinder; a pressure transmitter connected in the hydraulic pipeline for detecting the oil pressure; a biaxial inclination sensor installed on the crawler platform for detecting the inclination angle of the crawler platform; a wire rope sensor installed on the three-degree-of-freedom mainframe 1 for detecting the displacements of the feed oil cylinder 18, the translation oil cylinder 20, and the lifting oil cylinder 27; a multi-turn absolute encoder 25 installed on the angle adjustment device (i.e., the luffing and stabilizing device 16) for detecting the inclination angle of the mainframe; a speed sensor installed at the rear end of the power head 17 for detecting the rotation speed of the power head 17; a temperature sensor installed on the fuel tank for detecting the oil temperature and a liquid level sensor for detecting the height of the oil in the fuel tank; a proximity sensor installed at the end of the gripper for detecting whether the gripper is close to the drill pipe. These sensors transmit data to the main control station in the way of CAN bus. The sensor group also includes an absolute encoder 25 installed inside the explosion-proof servo motor 47 for feedback, and a working condition intelligent recognition module.

[0122] The calibration work includes robot zero calibration, zero calibration of the three-degree-of-freedom mainframe 1 (zero calibration of the multi-turn absolute encoder 25 for the inclination angle of the angle adjustment device mainframe, zero calibration of the initial position of the lifting oil cylinder 27, and zero calibration of the initial position of the translation oil cylinder 20), and calibration of the position of the displacement pull rope sensor of the feed oil cylinder 18 at Z1, Z2, Z3, Z4 (Position Z1: the foremost end of the movement of the power head 17, the minimum stroke of the feed oil cylinder 18, used for screwing the upper and rear ends during drilling; Position Z2: screwing the upper and front ends during automatic drilling (the thread between the intermediate drill pipe and the drill pipe at the hole opening) and unscrewing the front end during automatic drill lifting; Position Z3: screwing the upper and rear ends during automatic drilling and unscrewing the rear end during automatic drill lifting; Position Z4: the rearmost end of the movement of the power head 17, the maximum stroke of the feed oil cylinder 18, the waiting position for adding drill pipes, and avoiding drill pipes during adding drill pipes.)

[0123] Control principle of normally closed blowout preventer system: The orifice blowout preventer device is used in conjunction with the tunnel drilling rig for coal mine underground gas drainage borehole construction. Analyze its operating conditions, and in combination with the characteristics of the normally closed gripper of the drilling rig and the linkage hydraulic control principle of the drilling rig, connect the drill pipe sealing and clamping hydraulic cylinder of the orifice blowout preventer device, the opening and closing hydraulic cylinder for controlling the opening and closing of the slag leakage pipe to the opening oil circuit of the gripper. The high-pressure oil for opening the gripper enters the brake valve assembly (i.e., the control integrated valve) of the normally closed orifice blowout preventer device. The control integrated valve is provided with a pressure reducing valve, a hydraulic control directional valve, and a stop valve. The linkage control principle of the drilling rig mainly controls the linkage of the rotary table, the chuck, and the gripper. When the drilling rig is drilling, the rotary table and the chuck need to drive the drill pipe in the hole to rotate. The high-pressure oil of the hydraulic control linkage system of the drilling rig enters the main cylinder of the gripper to open the gripper. At the same time, a branch of high-pressure oil enters the control integrated valve of the orifice blowout preventer device. The high-pressure oil passes through the pressure reducing valve, and the outlet pressure is reduced to an appropriate value without affecting the pressure of the main oil circuit for opening the gripper. The reduced pressure is divided into two paths. One path goes to the inlet of the hydraulic control directional valve, and the other path pushes the spool of the directional valve to change direction. After changing direction, the inlet and outlet of the directional valve are connected. The high-pressure oil enters the parallel clamping cylinder and opening and closing cylinder through the normally open stop valve. Since both the gripper and the orifice device are arranged at the front end of the feed device of the drilling rig, they have the characteristics of short distance, small pressure loss, and small action stroke, and can realize the quick linkage opening of the orifice blowout preventer device and the gripper. Conversely, when the drilling rig stops drilling and the chuck needs to loosen the drill pipe and the gripper closes to clamp the drill pipe in the hole, the opening oil circuit of the gripper is unloaded. Since the unloading oil circuit of the gripper needs to return oil through the linkage logic valve group and the directional valve in the hydraulic system, there will be a certain delay due to the back pressure of the system, but there is also a delay in the unloading of the chuck. The two cooperate to clamp and loosen the drill pipe, and the accident of the drill pipe slipping will not occur. However, if there is a delay in the orifice blowout preventer device, the gas can be ejected instantly and cause a safety accident. The designed control integrated valve of the orifice blowout preventer device, when the drilling rig stops, its hydraulic control directional valve changes direction and returns to the initial position under the action of the spring force. The high-pressure chambers of the clamping hydraulic cylinder and the opening and closing hydraulic cylinder are connected to the oil tank. Without being affected by the back pressure, it can quickly reset under the action of the spring force, realizing the quick closing of the drill pipe sealing device and the slag leakage sealing device of the orifice blowout preventer device, and sealing the gas in the hole and the multi-pass cavity at the orifice. The stop valve is normally open and can be closed when the normally closed orifice blowout preventer device is opened, making the device in a normally open state, which is convenient to meet the use requirements of different working conditions such as debugging and maintenance.

[0124] Embodiment 2:

[0125] This embodiment provides a blowout prevention method for an integrated drilling robot with an automatic blowout prevention system. This method is realized by the integrated drilling robot with an automatic blowout prevention system in Embodiment 1, and includes the following steps:

[0126] (1) Under normal drilling conditions, during each single drilling interval, when loading the drill pipe, the clamp clamps the drill pipe in the hole, the orifice blowout prevention device also holds the drill pipe tightly for sealing, and the door plate of the slag leakage sealing unit is closed to prevent gas from blowing out when drilling is temporarily stopped;

[0127] (2) When the gas at the orifice or drilling site exceeds the limit, the gas sensor will send an interruption command to the power supply, the power supply will be shut down immediately, all drilling rig actions will stop, and the orifice blowout preventer will immediately hold the drill pipe tightly to prevent further gas leakage in the hole. At this time, only the gas is extracted from the upper end of the orifice multi-channel exhaust port of the orifice blowout preventer. The power supply can be restored only when the gas concentration reaches the standard. Otherwise, it cannot be started. The orifice blowout preventer always maintains a sealed state of holding the drill pipe tightly;

[0128] (3) When an emergency occurs during construction, the operator presses the emergency stop button on the remote control, all the electric control valves return to the middle position, the drilling rig is in the standby unloading state, and the orifice blowout preventer is immediately closed at the same time, blocking the orifice and the orifice multi-channel slag leakage port, realizing the orifice locking function in the standby state.

[0129] Embodiment 3:

[0130] This embodiment provides a control method for an integrated drilling robot with an automatic blowout prevention system, including a drilling process and a drilling process;

[0131] The drilling process includes the following steps:

[0132] Step a1: Initialize the six-degree-of-freedom robot and the three-degree-of-freedom host. The six-degree-of-freedom robot and the three-degree-of-freedom host return to the calibration zero point, the shackle is closed, the rear clamp is opened, and the power head is in the calibration position;

[0133] Step a2: The explosion-proof remote controller inputs the construction target hole parameters to the three-degree-of-freedom host;

[0134] Step a3: The three-degree-of-freedom host moves to the specified position according to the calculation results, and feeds back the coordinate position to the controller;

[0135] Step a4: The explosion-proof remote controller sends a rod adding command to the three-degree-of-freedom host and the six-degree-of-freedom robotic arm;

[0136] Step a5: The three-degree-of-freedom host waits for the rod to be added, and the six-degree-of-freedom robot arm and the hand at the end thereof take the rod. The six-degree-of-freedom robot arm and the hand at the end thereof grab the drill rod according to the stacking program written according to the distance between the drill rods and the arrangement rule of the drill rods;

[0137] Step a6: The six-degree-of-freedom robot arm grabs the drill rod and puts it into the set position of the clamper according to the motion trajectory planned by the polynomial interpolation algorithm according to the coordinate value fed back by the three-degree-of-freedom host;

[0138] Step a7: The gripper clamps and sends a message to the gripper to release it. At the same time, the gripper control program calls the passive compliance control program to avoid the impact damage to the six-degree-of-freedom robotic arm and its end gripper when the gripper clamps the drill pipe during the drill pipe loading and unloading operation;

[0139] Step a8: The six-degree-of-freedom robotic arm moves to the specified safe position according to the motion trajectory planned by the polynomial interpolation algorithm and sends a message to the three-degree-of-freedom main unit;

[0140] Step a9: The power head rotates and feeds until the pressure reaches the set value;

[0141] Step a10: Determine that the make-up is completed by the pressure mutation, and the gripper releases;

[0142] Step a11: Full-automatic adaptive drilling: Drill with set parameters or in set gears, and automatically increase or decrease the feed pressure and rotary pressure according to the drilling parameters;

[0143] Step a12: When it is detected that the power head feeds to the calibrated position, the three-degree-of-freedom main unit stops operating, the uncoupler clamps, and the rear end of the coupling is removed;

[0144] Step a13: After determining that the uncoupling is completed by the pressure mutation, determine whether the number of drill pipes reaches the required designed hole depth. If so, stop the operation. If not, return to step a4 for the next cycle;

[0145] The process of pulling out the drill pipe includes the following steps:

[0146] Step b1: Initialize the six-degree-of-freedom robotic arm. At the same time, detect the state of the three-degree-of-freedom main unit in the state of waiting for the drill pipe to be unloaded, where the active drill pipe is separated from the drill pipe, the front gripper clamps the drill pipe and closes, and the rear gripper opens;

[0147] Step b2: The power head feeds to the calibrated position and makes up the rear end of the coupling;

[0148] Step b3: The power head rotates and feeds. After determining that the make-up is completed by the pressure mutation, the front gripper releases;

[0149] Step b4: The power head pulls out to the calibrated position, the front gripper clamps, and the front end of the coupling is removed;

[0150] Step b5: The power head rotates and pulls out. After determining that the uncoupling is completed by the pressure mutation, the power head pulls out to the calibrated position Z3;

[0151] Step b6: The rear gripper clamps and the rear end of the coupling is removed;

[0152] Step b7: The power head rotates and pulls out. After determining that the uncoupling is completed by the pressure mutation, the power head pulls out to the calibrated position, sends the current position coordinates to the main controller, and at the same time sends a signal of waiting for the drill pipe to be unloaded to the six-degree-of-freedom robotic arm;

[0153] Step b8: The six-degree-of-freedom robotic arm and its end gripper clamp the drill pipe, the rear gripper releases, and the six-degree-of-freedom robotic arm places the drill pipe at the set position in the pipe box according to the set path trajectory planned by the polynomial interpolation algorithm. The six-degree-of-freedom robotic arm moves to the specified safe position and sends information to the three-degree-of-freedom main machine;

[0154] Step b9: Determine whether the number of drill pipes pulled out of the well reaches the requirement. If the drilling out is completed, stop the operation. If the drilling out is not completed, return to step b1 for the next cycle.

Claims

1. An integrated drilling robot with an automatic blowout prevention system, characterized in that It includes a three-degree-of-freedom main machine, a drill pipe box, a six-degree-of-freedom robotic arm and an end gripper, a normally-closed blowout preventer system, and a main controller installed on a crawler vehicle body; The three-degree-of-freedom main machine includes a feed body, a pipe uncoupler, a front gripper, a rear gripper, a power head, a feed oil cylinder, a carriage, a translation oil cylinder, a translation clamping plate, a feed displacement wire rope sensor assembly, a translation displacement wire rope sensor assembly, and a luffing and stabilizing device; the luffing and stabilizing device is installed on the crawler vehicle body platform through a lifting oil cylinder, and the slewing support of the luffing and stabilizing device is connected to one side of the feed body; the translation of the translation oil cylinder, the lifting of the lifting oil cylinder of the luffing and stabilizing device, and the rotation of the slewing support can realize the adjustment of three degrees of freedom of the drill pipe; The drill pipe box includes a box body support, a drill pipe limit frame, a stop bar, a backing plate, a front hatch, a baffle assembly, and a rear hatch; the drill pipe box has a space for accommodating drill pipes in multiple layers and columns, and can adapt to drill pipes of different diameters by adjusting the side backing plate and the bottom drill pipe limit frame; The six-degree-of-freedom robotic arm includes a base, an arm body, and a servo motor; the rotation angle range of the arm body on the base is -180° to +180°, and the servo motor can control the sequential or synchronous movement of the arm body to realize the change of the end position, and is used to grab the drill pipe from the drill pipe box to the drill pipe placement position of the three-degree-of-freedom main machine; The normally-closed blowout preventer system includes an orifice blowout preventer device and a gas sensor; the orifice blowout preventer device is installed at the front end of the three-degree-of-freedom main machine and includes a transfer bracket, a drill pipe sealing unit, an orifice multi-way, a hole wall sealing cylinder, and a slag leakage sealing unit; the rear end of the transfer bracket is screwed to the front gripper through a connecting piece, and the central hole on the transfer bracket is coaxial with the front gripper. The drill pipe sealing unit, the orifice multi-way, and the hole wall sealing cylinder that are coaxial with the central hole and connected to each other are sequentially arranged from the front end of the transfer bracket to the orifice direction. The transfer bracket is connected to the orifice multi-way through its push rod oil cylinder, and the axial positions of the drill pipe sealing unit, the orifice multi-way, and the hole wall sealing cylinder are controlled by the push rod oil cylinder so that the hole wall sealing cylinder is closely attached to the hole wall. The slag leakage sealing unit is arranged at the lower end of the orifice multi-way; the gas sensor is installed beside the drilling orifice to monitor the gas concentration in the drilling field; The main controller is installed on the bracket behind the crawler vehicle body and is bolted to the crawler vehicle body platform, and can control the self-leveling, self-stabilization of the crawler vehicle body, the automatic addition and removal of drill pipes, the automatic adjustment of the hole-opening posture, and the automatic drilling; The luffing and stabilizing device includes a column oil cylinder slide rail assembly, a slewing support, an encoder, a lifting oil cylinder, a lifting displacement wire rope sensor assembly, a lower column stabilizing assembly, and a rotary upper stabilizing assembly; The column oil cylinder slide rail assembly is sleeved on two lower column stabilizing assemblies, and the front wall of the column oil cylinder slide rail assembly is installed with a slewing support. The slewing support is connected to the feed body of the main machine through an L-shaped support plate. The rotating turbine of the slewing support can drive the L-shaped support plate and the feed body to rotate; a braking member is installed in the slewing support, and the braking member can perform hydraulic braking and locking on the rotating turbine; the encoder is connected to the braking member through a mounting seat, and the inner shaft of the encoder is connected to the L-shaped support plate through a transmission shaft to realize the direct measurement of the drilling inclination angle; The lower end of the lifting oil cylinder is screwed to the crawler vehicle body platform, and the upper end of the lifting oil cylinder is screwed to the rear wall of the column oil cylinder slide rail assembly. The telescopic movement of the lifting oil cylinder enables the feed body to move along the column oil cylinder, realizing the adjustment of the drilling rig's opening height; One end of the lifting displacement wire rope sensor assembly is screwed to the column oil cylinder slide rail assembly, and the other end is screwed to the crawler vehicle body platform, used to detect and feedback the displacement of the lifting oil cylinder; There are two column lower stabilizing components which are parallel to each other. The column lower stabilizing component includes a lower column and a lower top hydraulic cylinder below its interior. A magnetostrictive displacement telescopic sensor is provided inside the piston rod of the lower top hydraulic cylinder; There are two rotary upper stabilizing components which are both parallel to the column lower stabilizing components. The rotary upper stabilizing component is connected to the column lower stabilizing component through a rotary sleeve at its lower part. The rotary upper stabilizing component includes an upper column and an upper top hydraulic cylinder above its interior. A limit pin is provided at the lower end of the rotary upper stabilizing component; During transportation, the rotary upper stabilizing component is fixed to the crawler vehicle body platform by the limit pin, so that the upper stabilizing component is retracted to be consistent with the vehicle body width; In the construction stable state, pull out the limit pin and rotate both rotary upper stabilizing components outward by 90° to the outside of the vehicle body, that is, on both sides of the column lower stabilizing component, to increase the stable spacing and improve the stable reliability; During transportation, the piston rod of the upper top hydraulic cylinder of the rotary upper stabilizing component extends upward and the piston rod of the lower top hydraulic cylinder of the column lower stabilizing component extends downward respectively to perform the stabilizing operation on the drilling rig.

2. The integrated drilling robot with an automatic blowout prevention system according to claim 1, characterized in that The crawler vehicle body includes a crawler vehicle body platform and the traveling crawler assemblies on both sides thereof; It also includes a mine intrinsically safe biaxial inclination sensor, a hoisting rigging, a console valve group, a pressure transmitter assembly and a junction box assembly installed on the crawler vehicle body platform; The mine intrinsically safe biaxial inclination sensor can realize the automatic positioning and automatic stabilization of the crawler vehicle body; The hoisting rigging is welded to the side of the crawler vehicle body platform to meet the hoisting of the drilling rig during assembly or transportation; The console valve group is connected to the crawler vehicle body platform by bolts, and the control and execution of each action of the drilling rig are realized through the control of an explosion-proof remote controller; The pressure transmitter assembly is used to detect the working pressures of the drilling rig's feeding, pulling, forward rotation, reverse rotation and oil return in real time, and at the same time display them on the control interface of the explosion-proof remote controller for the convenience of construction operators to observe; The junction box assembly is screwed to the crawler vehicle body platform.

3. The integrated drilling robot with an automatic blowout prevention system according to claim 1, characterized in that, The shackle, front gripper and rear gripper of the three-degree-of-freedom main unit are screwed to the mounting plate of the feed body and cooperate with the power head to achieve automatic loading and unloading of drill pipes; the power head is connected to the carriage through a pin shaft, the carriage is connected to the cylinder barrel of the feed cylinder and moves with the cylinder barrel of the feed cylinder. The power head and the carriage slide on the feed body as the feed cylinder extends and retracts, realizing the drilling and hoisting of the drill rig; one end of the feed cylinder is connected to the front end of the feed body, and the other end is fixed to the rear end of the feed body; one end of the feed displacement wire rope sensor assembly is fixed to the feed body, and the other end is fixed to the carriage, real-time detecting and feeding back the stroke position of the feed cylinder; one end of the translation cylinder is hinged to the front end of the feed body, and the other end is hinged to the rear end of the feed body. The cylinder barrel is connected to the translation clamping plate, and the feed body moves back and forth by the telescopic movement of the translation cylinder to adjust the distance between the feed body and the borehole orifice; one end of the translation displacement wire rope sensor assembly is fixed to the feed body, and the other end is fixed to the translation clamping plate, detecting and feeding back the translation amount of the translation cylinder.

4. The integrated drilling robot with an automatic blowout prevention system according to claim 1, characterized in that, The box body support of the drill pipe box includes a square bottom frame and four side plates at the four corners. The square bottom frame includes two parallel side beams and two parallel end beams. Two vertical side plates are provided on each side beam to enclose the drill pipes; there are two drill pipe limit frames which are parallel to each other and are both perpendicularly connected between the two side beams. The drill pipe limit frames are provided with equally spaced arc-shaped grooves for stacking drill pipes to ensure that the drill pipes are stacked and arranged at a fixed interval, and the drill pipes are placed perpendicular to the drill pipe limit frames; the stop bars are detachably arranged between two opposite side plates and are parallel to the drill pipe limit frames to prevent the drill pipes from falling due to vibration during the transportation of the whole box of drill pipes. When the drill rig is working, the stop bars are removed and placed in the two groups of support through holes behind the box body support; the pads are screwed to the side plates, and by adjusting the thickness of the pads and replacing the drill pipe limit frames, drill pipes of different diameters can be accommodated and different forms of grippers can be adapted; the front hatch and the rear hatch are parallel and opposite to each other and are respectively arranged between the two side plates above the two end beams. After the front hatch is screwed to the baffle assembly, it is then screwed to the two parallel and opposite side plates and is removed from the box body support during the operation of the drill rig to limit the axial position of the drill pipes in the drill pipe box when the drill rig is moving.

5. The integrated drilling robot with an automatic blowout prevention system according to claim 1, characterized in that, The arm body of the six-degree-of-freedom robotic arm can rotate horizontally around the base, and the base is provided with a 0 reference; the arm body includes a shoulder, a large arm, a small arm and a wrist which are connected in sequence. The lower end of the shoulder is connected to the base, the upper end of the shoulder is connected to one end of the large arm through a shoulder joint controlled by a servo motor, the other end of the large arm is connected to one end of the small arm through an elbow joint controlled by a servo motor, the other end of the small arm is connected to the upper part of the wrist through a wrist joint controlled by a servo motor, and the lower end of the wrist is connected to a gripper.

6. The integrated drilling robot with an automatic blowout prevention system according to claim 1, characterized in that, The transfer support bracket includes a bracket, a connecting piece, a mounting pad assembly, a flat push oil cylinder, an inclined support rod, and a brake valve assembly; a central hole is provided at the center of the upper part of the bracket for the drill pipe to pass through. There are two flat push oil cylinders located on both sides of the central hole. The flat push oil cylinders are perpendicular to the bracket, and the cylinder barrels of the flat push oil cylinders penetrate through the bracket and are fixedly connected to the bracket. The rod ends of the flat push oil cylinders are located in front of the bracket and are connected to the lugs at both ends of the multi-way opening at the hole; the connecting piece is fixed on the rear end face of the bracket and is coaxial with the central hole, and the connecting piece can be screwed to the front gripper; the mounting pad assembly is fixed to the lower part of the rear end face of the bracket and can be connected to the front end of the three-degree-of-freedom main body; the brake valve assembly is arranged on the bracket to control the flat push oil cylinder, the clamping hydraulic cylinder of the drill pipe sealing unit, and the opening and closing hydraulic cylinder of the slag leakage sealing unit; both ends of the inclined support rod are hinged to the front part of the flat push oil cylinder and the bracket below the flat push oil cylinder.

7. The integrated drilling robot with an automatic blowout prevention system according to claim 6, characterized in that The drill pipe sealing unit includes an end ring, a mounting cylinder, an end cover, a clamping hydraulic cylinder, an arc-shaped clamping plate, an arc-shaped sealing rubber cylinder, and an end cover; the end ring and the end cover are arranged at both ends of the mounting cylinder, and the central through holes of the three are coaxially communicated. A plurality of clamping hydraulic cylinders are evenly distributed along the circumferential direction of the mounting cylinder, and each clamping hydraulic cylinder is arranged radially along the mounting cylinder. The push rod of each clamping hydraulic cylinder penetrates through the mounting cylinder, and its end is connected to an arc-shaped clamping plate. An arc-shaped sealing rubber cylinder is attached to the inner wall of the arc-shaped clamping plate. The cylindrical clamping space formed by a plurality of arc-shaped clamping plates is coaxial with the mounting cylinder; a ring-shaped sealing gasket is attached to the front wall of the end ring for sealing connection with the rear end of the multi-way opening at the hole.

8. The integrated drilling robot with an automatic blowout prevention system according to claim 7, wherein The multi-way opening at the hole includes a cylindrical multi-way cavity, an air extraction port, and a slag leakage port; the multi-way cavity is a cylindrical structure. The air extraction port is located at the upper end of the multi-way cavity and penetrates radially along the multi-way cavity. The slag leakage port is located at the lower end of the multi-way cavity and penetrates radially along the multi-way cavity; an installation hole for connecting with the hole wall sealing cylinder is provided on the front end face of the multi-way cavity, an installation hole for connecting with the drill pipe sealing unit is provided on the rear end face of the multi-way cavity, and an installation hole capable of connecting with the slag leakage sealing unit is provided on the lower end face of the slag leakage port.

9. The integrated drilling robot with an automatic blowout prevention system according to claim 8, characterized in that, The hole wall sealing cylinder includes a conical corrugated sealing cylinder, a connecting end provided at the small end of the conical corrugated sealing cylinder, and a soft rubber cylinder provided at the large end of the conical corrugated sealing cylinder; the connecting end can be connected to the front end of the multi-way opening at the hole, and the soft rubber cylinder can abut against the hole wall.

10. The integrated drilling robot with an automatic blowout prevention system according to claim 8, characterized in that, The slag leakage sealing unit includes a primary slag discharge pipe, a secondary slag discharge pipe, a door plate, an opening and closing hydraulic cylinder, and a self-locking spring lock; the upper port of the primary slag discharge pipe is hermetically communicated with the slag leakage port of the multi-way opening at the hole. The lower end of the primary slag discharge pipe is hermetically communicated with the upper end of the secondary slag discharge pipe, and the primary slag discharge pipe and the secondary slag discharge pipe are connected by a self-locking spring lock. The door plate blocks the upper part inside the primary slag discharge pipe. The opening and closing hydraulic cylinder is arranged outside the primary slag discharge pipe and can control the opening and closing of the door plate.

11. The integrated drilling robot with an automatic blowout prevention system according to claim 10, characterized in that, The cylinder barrel of the opening and closing hydraulic cylinder is hinged to the outer wall of the primary slag discharge pipe. The cylinder rod of the opening and closing hydraulic cylinder is hinged to one end of a connecting rod. The other end of the connecting rod is sleeved on one end of a waist-shaped long shaft. The other end of the waist-shaped long shaft penetrates into the primary slag discharge pipe and is connected to the door plate. A torsion spring is arranged between the door plate and the waist-shaped long shaft; the opening and closing hydraulic cylinder can push the door plate to open and close. When the opening and closing hydraulic cylinder has no action, the door plate can be closed under the action of the torsion spring.

12. The integrated drilling robot with an automatic blowout prevention system according to claim 11, characterized in that, A rubber plate is provided on the door panel to play a sealing and buffering role when the door panel is closed, thereby blocking gas leakage from the primary slag discharge pipe to the secondary slag discharge pipe; a sealing gasket is provided between the primary slag discharge pipe and the secondary slag discharge pipe; a water sprinkling pipe is installed on the outer wall of the primary slag discharge pipe and the water sprinkling pipe is close to the water permeable hole on the side wall of the primary slag discharge pipe to reduce dust.

13. The blowout prevention method of an integrated drilling robot with an automatic blowout prevention system, characterized in that, The method is implemented by the integrated drilling robot with an automatic blowout prevention system according to any one of claims 1 to 12, comprising the following steps: (1) Under normal drilling conditions, during each single drilling interval, when loading the drill pipe, the clamp clamps the drill pipe in the hole, the orifice blowout preventer also holds the drill pipe tightly for sealing, and the door plate of the slag leakage sealing unit is closed to prevent gas from blowing out when drilling is temporarily stopped; (2) When the gas at the orifice or drilling site exceeds the limit, the gas sensor will send an interruption command to the power supply, the power supply will be shut down immediately, all drilling rig actions will stop, and the orifice blowout preventer will immediately hold the drill pipe tightly to prevent further gas leakage in the hole. At this time, only the gas is extracted from the upper exhaust port of the orifice multi-way of the orifice blowout preventer. The power supply can be restored only when the gas concentration reaches the standard. Otherwise, it cannot be started. The orifice blowout preventer always maintains a sealed state of holding the drill pipe tightly; (3) When an emergency occurs during construction, the operator presses the emergency stop button on the remote control, the drilling rig is in standby unloading state, and the orifice blowout preventer is immediately closed at the same time, blocking the orifice and the orifice multi-channel slag leakage outlet, realizing the orifice locking function in the standby state.

14. The control method of the integrated drilling robot with an automatic blowout prevention system according to any one of claims 1 to 12, characterized in that, The drilling process of this method includes the following steps: Step a1: Initialize the six-degree-of-freedom robot and the three-degree-of-freedom host. The six-degree-of-freedom robot and the three-degree-of-freedom host return to the calibration zero point, the shackle is closed, the rear clamp is opened, and the power head is in the calibration position; Step a2: The explosion-proof remote controller inputs the construction target hole parameters to the three-degree-of-freedom host; Step a3: The three-degree-of-freedom host moves to the specified position according to the calculation results, and feeds back the coordinate position to the controller; Step a4: The explosion-proof remote controller sends a rod adding command to the three-degree-of-freedom host and the six-degree-of-freedom robotic arm; Step a5: The three-degree-of-freedom host waits for the rod to be added, and the six-degree-of-freedom robotic arm and the gripper at its end take the rod; Step a6: The six-degree-of-freedom robotic arm grabs the drill rod and puts it into the clamp to set the position according to the coordinate value fed back by the three-degree-of-freedom host; Step a7: The gripper clamps and sends information to the gripper to control the gripper to release; Step a8: The six-degree-of-freedom robotic arm moves to the specified safe position and sends information to the three-degree-of-freedom host; Step a9: The power head rotates and feeds until the pressure reaches the set value; Step a10: judging that the make-up is completed by the sudden change of pressure, the clamp is released; Step a11: Fully automatic adaptive drilling: set parameter drilling or set gear drilling, and automatically increase or decrease feed pressure and rotary pressure according to drilling parameters; Step a12: When the power head is detected to be fed to the calibration position, the three-degree-of-freedom main engine stops moving, the breaker is clamped, and the rear end breaker is detached; Step a13: After judging that the shackle is completed by the sudden change in pressure, it is judged whether the number of drill rods reaches the required designed hole depth, and the operation is stopped. If the designed hole depth is not reached, it returns to step a4 for the next cycle.

15. The control method of the integrated drilling robot with an automatic blowout prevention system according to any one of claims 1 to 12, characterized in that, The drilling process of the method includes the following steps: Step b1: Initialize the six-degree-of-freedom robotic arm, and simultaneously detect the status of the three-degree-of-freedom main unit. The robotic arm is in the state of waiting to unload the drill pipe, where the active drill pipe is separated from the drill pipe, the front gripper clamps the drill pipe and closes, and the rear gripper opens. Step b2: The power head feeds to the calibrated position and screws on the upper end connection. Step b3: The power head rotates and feeds. After determining that the screwing is complete by the sudden change in pressure, the front gripper releases. Step b4: The power head pulls out to the calibrated position, the front gripper clamps, and unscrews the front end connection. Step b5: The power head rotates and pulls out. After determining that the connection is unscrewed by the sudden change in pressure, the power head pulls out to the calibrated position. Step b6: The rear gripper clamps and unscrews the rear end connection. Step b7: The power head rotates and pulls out. After determining that the connection is unscrewed by the sudden change in pressure, the power head pulls out to the calibrated position, sends the current position coordinates to the main controller, and simultaneously sends a signal to wait for unloading the drill pipe to the six-degree-of-freedom robotic arm. Step b8: The six-degree-of-freedom robotic arm and its end gripper clamp the drill pipe, the rear gripper releases, the six-degree-of-freedom robotic arm places the drill pipe at the set position in the pipe bin, and the six-degree-of-freedom robotic arm moves to the designated safe position and sends information to the three-degree-of-freedom main unit. Step b9: Determine whether the number of drill pipes lifted during drilling reaches the requirement. If the drilling is completed, stop the operation. If the drilling is not completed, return to Step b1 for the next cycle.

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