A coal mine all-directional automatic drilling machine

Abstract

The application discloses a kind of coal mine with all-around automatic drilling machine, including tracked vehicle, drill rod automatic access device, drilling device and automatic control system, one end of tracked vehicle is sequentially embedded from outside to inside with oil tank and pump station, and the other end is provided with first rotary platform;First rotary platform is sequentially provided with drill rod automatic access device and drilling device from inside to outside, and automatic control system includes electric control box and control console;The top of the rear side of oil tank is sequentially provided with control console and electric switch from inside to outside, and the top of front side is provided with electric control box.The drill rod box and drilling device are integrated on the same rotary platform in the application, which improves the drill rod grabbing efficiency;The partition of half-box frame is designed as multi-section insertion type, which facilitates to change the distance of partition according to the drilling depth or drill rod size, and whether to load the lower half partition or full load;The oil tank and pump station are embedded into the tracked vehicle body, and the electric switch, control console and electric control box are integrated on the top of oil tank, which facilitates to reduce the gravity center of the whole machine.

Description

Technical Field

[0001] This invention relates to the field of drilling equipment technology, specifically to an all-around automatic drilling rig for coal mines. Background Technology

[0002] In coal mine drilling operations, tracked fully automatic drilling rigs are increasingly being used. Typically, a drill rod box is installed on the tracked vehicle, and a multi-degree-of-freedom manipulator is usually set between the drill rod box and the drilling device. The manipulator needs to perform actions such as lifting, horizontal rotation, and vertical rotation between the drill rod box and the clamp set at the front end of the drilling rig, to take the drill rod out of the drill rod box and send it to the clamp, or to grab the drill rod that needs to be removed from the clamp and put it back into the drill rod box.

[0003] The drill rod box, located on the tracked vehicle, is used for temporary storage of drill rods and needs to be easy to store and retrieve. However, existing tracked drilling rigs have the following drawbacks:

[0004] 1. For drilling devices with omnidirectional drilling capabilities, the drilling device is usually placed on a separate rotary platform, which means that the drill rod box and the drilling device are not on the same platform, resulting in lower efficiency for the robotic arm to grasp the drill rod.

[0005] 2. The height of the drill rod box is fixed, which means that the robot arm has to be raised to a greater height to retrieve or store drill rods. The partition is fixed, so it can only store drill rods of a certain size.

[0006] 3. Tracked drilling rigs used in coal mines typically have the oil tank, drilling equipment, pump station, electrical switch, electrical control box, instrument rack, etc., distributed on the platform of the tracked vehicle. This results in a relatively long tracked vehicle and a high center of gravity. For omnidirectional automatic drilling rigs, drill rod boxes and drill rod conveying and recovery devices are also required, making the entire tracked vehicle even longer.

[0007] 4. The working environment underground is extremely harsh, with a lot of dust and stones. It is difficult to clean the dust and stones on the surface or inside of the recovered drill pipe, and the drill pipe is easy to get stuck. Workers need to clean the drill pipe box from time to time.

[0008] 5. The working environment downhole is extremely harsh. Dust and stones can easily accumulate in the gaps between the chuck or clamping slips. In order to clamp the drill pipe, manual cleaning and rinsing are required regularly.

[0009] To address the aforementioned issues, an all-around automatic drilling rig for coal mines was designed. The drill rod box and drilling device are integrated onto the same rotating platform, employing a single multi-degree-of-freedom manipulator to significantly improve drill rod gripping efficiency. The partitions of the semi-box frame are designed as multi-segment inserts, allowing for adjustments to the partition spacing and the installation of either the lower or full partitions based on drilling depth or drill rod size. The oil tank and pump station are embedded within the tracked vehicle body, with an integrated electrical switch, control panel, and electrical control box on top of the oil tank to lower the overall center of gravity. A cleaning device is added to the drilling frame to facilitate cleaning the outer wall and core of the drill rod before retrieval. It also features a function for cleaning the chuck or gripper. Summary of the Invention

[0010] In view of this, the purpose of this invention is to provide an all-around automatic drilling rig for coal mines, which integrates the drill rod box and drilling device on the same rotating platform, and adopts a single manipulator with multiple degrees of freedom to greatly improve the drill rod grasping efficiency; the partitions of the half-box frame are designed as multi-segment inserts, which facilitates changing the spacing of the partitions according to the drilling depth or drill rod size, and whether to install the lower half of the partitions or the entire half; the oil tank and pump station are embedded in the tracked vehicle body, and the electric switch, control panel and electrical control box are integrated on the top of the oil tank to facilitate lowering the center of gravity of the whole machine; at the same time, a cleaning device is added to the drilling frame to facilitate cleaning the outer wall and core of the drill rod before drill rod retrieval; it also has the function of cleaning the chuck or clamp.

[0011] This invention is achieved through the following technical solution:

[0012] A coal mine omnidirectional automatic drilling rig includes a tracked vehicle, an automatic drill rod storage and retrieval device, a drilling device, and an automatic control system. An oil tank and a pump station are sequentially embedded at one end of the tracked vehicle from the outside in, and a first rotating platform is located at the other end. The automatic drill rod storage and retrieval device and the drilling device are sequentially arranged from the inside out on the first rotating platform. The automatic control system includes an electrical control box and a control panel. The control panel and an electrical switch are sequentially arranged at the top rear side of the oil tank from the inside out, and the electrical control box is located at the top front side.

[0013] The automatic drill pipe storage and retrieval device includes a drill pipe box disposed on the first rotary platform, a second guide rail disposed on the side wall of the drill pipe box, a manipulator slidably disposed on the second guide rail, and a second drive mechanism for moving the manipulator.

[0014] The robotic arm includes a liftable robotic arm, a robotic arm beam located at the top of the robotic arm, a robotic arm forearm located on the robotic arm beam, a wrist located at the lower end of the robotic arm forearm, and a gripping mechanism located on the wrist.

[0015] The drilling device includes an anchoring mechanism, a drilling frame, a clamp disposed at one end of the drilling frame, a power head slidably disposed at the other end of the drilling frame, and a propulsion cylinder disposed in the drilling frame for moving the power head.

[0016] The anchoring mechanism includes two anchoring support cylinders, a sliding frame slidably mounted on the two anchoring support cylinders, a sliding cylinder mounted between the sliding frame and the first rotary platform, and a second rotary platform mounted on the sliding frame for connecting the drilling frame.

[0017] The drilling frame is also equipped with a cleaning device for cleaning the drill rod, clamp and power head;

[0018] The cleaning device includes a detachable cleaning frame mounted on the drilling frame, a third guide rail mounted on the cleaning frame, a telescopic longitudinal arm slidably mounted on the third guide rail, a cleaning moving mechanism for moving the telescopic longitudinal arm slidably mounted on the third guide rail, a telescopic vertical arm mounted on the telescopic longitudinal arm, a cleaning rotary mechanism mounted at the lower end of the telescopic vertical arm, and a cleaning mechanism mounted on the cleaning rotary mechanism.

[0019] The automatic control system is electrically connected to the drill pipe automatic storage and retrieval device and the drilling device, and is used to control the drilling device to automatically drill / retract the drill pipe and the drill pipe automatic storage and retrieval device to automatically store and retrieve the drill pipe.

[0020] Furthermore, it also includes a sensor system, which includes a first rotary encoder, a second rotary encoder, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a fifth displacement sensor, a speed sensor, and a pressure sensor.

[0021] Furthermore, the second guide rail is slidably connected to the two sides by a second slider and a first rack is provided on the second guide rail; one end of the two second sliders is provided with the second drive mechanism and the other end is provided with the robotic arm.

[0022] Furthermore, the wrist includes a lateral rotating part connected to the forearm of the robotic arm for driving the clamping mechanism to rotate in a vertical plane, and a longitudinal rotating part disposed on the lateral rotating part for driving the clamping mechanism to rotate in a horizontal plane.

[0023] The transverse rotating part is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism includes an arc-shaped stop block provided on the outer shell of the transverse rotating part and a limiting block provided on the first bowl shaft of the transverse rotating part.

[0024] Furthermore, the clamping mechanism includes a clamping connecting sleeve connected to the second wrist, a fixed clamping seat disposed on the clamping connecting sleeve, a movable clamping block rotatably disposed on the fixed clamping seat, and a clamping cylinder disposed on the fixed clamping seat for pushing the movable clamping block to rotate.

[0025] Furthermore, a water supply transmission device is fixed in the output spindle of the power head;

[0026] The water supply transmission device includes a transmission rod assembly disposed in the output main shaft of the power head and a water supply assembly disposed in the transmission rod assembly;

[0027] The transmission rod assembly includes a rod body and a detachable connector at one end of the rod body;

[0028] The water supply assembly includes a water supply sleeve detachably connected to the rod body, a water supply shaft rotatably disposed in the water supply sleeve, and a water distribution seat rotatably disposed at the outer end of the water supply shaft extending from the water supply sleeve.

[0029] Furthermore, multiple drilling frame anchoring cylinders are provided at both ends of the drilling frame.

[0030] Furthermore, the drill pipe box includes a box base and two detachable box frames disposed on the box base; each box frame includes a half box frame and a plurality of partitions inserted into the half box frame;

[0031] The semi-box frame includes a semi-box frame body and a plurality of partitions inserted into the semi-box frame body;

[0032] The semi-box frame includes an integrally set frame bottom plate, frame upright plate and two side plate.

[0033] Furthermore, the cleaning mechanism includes a water spray frame disposed on the rotating part of the cleaning rotary mechanism, a nozzle disposed on the water spray frame, and a water distribution connector disposed on the fixed part of the cleaning rotary mechanism.

[0034] The beneficial effects of this invention are as follows:

[0035] First, the drill rod box and drilling device are integrated on the same rotary platform. The drill rod box and drilling device rotate synchronously, and the straight-line distance between the drill rod box and the drilling device remains unchanged. The drilling device rotates only in a plane perpendicular to the axial movement direction of the manipulator. A single multi-degree-of-freedom manipulator is set up. By setting a wrist in the manipulator, the manipulator becomes more flexible and versatile. Compared with other drilling rigs (which use dual or triple manipulators), the number of manipulators is reduced, and the drill rod gripping efficiency is greatly improved.

[0036] Secondly, this application adopts a structure of single clamp + active drill pipe + built-in water gate + chuck, which has high efficiency in disassembling and adding drill pipe (compared to double clamp) and strong ability to handle faults, such as stuck drill and stuck thread.

[0037] Third, by setting up a cleaning device, when cleaning the outer wall of the drill pipe, the cleaning moving mechanism drives the cleaning mechanism to move along the third guide rail to flush the outer wall of the drill pipe. After the outer wall is flushed, the drill pipe is clamped by the robot arm and rotated at a certain angle; at the same time, the telescopic vertical arm is raised to a certain height, and the cleaning rotary mechanism is rotated to align the cleaning mechanism with the inner hole of the drill pipe for flushing; when it is necessary to flush the clamp or chuck, the cleaning rotary mechanism is rotated to the corresponding direction, and the telescopic vertical arm is used to lower the cleaning mechanism to the cleaning position.

[0038] Fourth, the fuel tank and pump station are embedded into the tracked vehicle body, and the electric switch, control panel and electrical control box are integrated on the top of the fuel tank, which makes it easier to lower the center of gravity of the whole machine.

[0039] Fifth, the partition of the drill rod box is designed to be detachable, making it easy to add partitions according to the size of the drill rod; at the same time, the partition is set into two parts, upper and lower, so that partitions can be added according to different drilling depths, and the lifting height of the robot can be reduced when the drilling depth is not deep. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0041] Figure 2 This is a bottom view of the present invention;

[0042] Figure 3 This is a layout diagram of the automatic drill pipe storage and retrieval device and the drilling device of the present invention.

[0043] Figure 4 This is a schematic diagram of the automatic access device of the present invention;

[0044] Figure 5 This is a schematic diagram of the partition plate of the insertion part in the drill pipe box of the present invention;

[0045] Figure 6 This is a schematic diagram of the first driving mechanism of the present invention;

[0046] Figure 7 This is a schematic diagram of the wrist and clamping mechanism of the present invention;

[0047] Figure 8 This is a schematic diagram of the water supply transmission device of the present invention assembled in the power head;

[0048] Figure 9 This is a schematic diagram of the transmission rod assembly of the present invention;

[0049] Figure 10This is a schematic diagram of the water supply component of the present invention;

[0050] Figure 11 This is a schematic diagram of the cleaning device of the present invention;

[0051] Figure 12 This is a schematic diagram of the cleaning mechanism of the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0057] like Figure 1-12As shown, an all-around automatic drilling rig for coal mines includes a tracked vehicle 1, an automatic drill rod storage and retrieval device 2, a drilling device 3, and an automatic control system 4. One end of the tracked vehicle 1 has an oil tank 11 and a pump station 12 sequentially embedded from the outside in, and the other end has a first rotating platform 13. The automatic drill rod storage and retrieval device 2 and the drilling device 3 are sequentially arranged from the inside out on the first rotating platform 13. The automatic control system 4 includes an electrical control box 41 and a control panel 42. The control panel 42 and an electrical switch 43 are sequentially arranged from the inside out on the top rear side of the oil tank 11, and the electrical control box 41 is arranged on the top front side. In practice, the tracked vehicle mainly includes a tracked vehicle body 14 and walking devices 15 on both sides.

[0058] The drill pipe automatic storage and retrieval device 2 includes a drill pipe box 21 mounted on the first rotary platform 13, a second guide rail 22 mounted on the side wall of the drill pipe box 21, a robot arm 23 slidably mounted on the second guide rail 22, and a second drive mechanism 24 for moving the robot arm.

[0059] The robotic arm 23 includes a liftable robotic arm 231, a robotic arm beam 232 mounted on the top of the robotic arm, a robotic arm forearm 233 mounted on the robotic arm beam 232, a wrist 234 mounted on the lower end of the robotic arm forearm 233, and a gripping mechanism 235 mounted on the wrist. In implementation, the drill rod box and the drilling device are integrated on the same rotary platform. The drill rod box and the drilling device rotate synchronously, and the straight-line distance between the drill rod box and the drilling device remains unchanged. The drilling device rotates only in a plane perpendicular to the axial movement direction of the robotic arm. A single multi-degree-of-freedom robotic arm is provided. By setting a wrist in the robotic arm, the robotic arm becomes more flexible and versatile. Compared with other drilling rigs (which use dual or triple robotic arms), the number of robotic arms is reduced, and the drill rod gripping efficiency is greatly improved.

[0060] The drilling device 3 includes an anchoring mechanism 31, a drilling frame 32, a clamp 33 set at one end of the drilling frame 32, a power head 34 slidably set at the other end of the drilling frame 32, and a propulsion cylinder 35 set in the drilling frame 32 for moving the power head 34. In implementation, it adopts a structure of single clamp + active drill rod + built-in water chuck + chuck, which has high efficiency in disassembling and adding drill rods (compared to double clamps) and strong ability to handle faults, such as stuck drill and thread jamming.

[0061] Anchoring mechanism 31 includes two anchoring support cylinders 311, a sliding frame 312 slidably mounted on the two anchoring support cylinders 311, a sliding cylinder 313 mounted between the sliding frame 312 and the first rotary platform 13, and a second rotary platform 314 mounted on the sliding frame 312 for connecting the drilling frame 32.

[0062] The drilling frame is also equipped with a cleaning device 6 for cleaning the drill rod, chuck and power head;

[0063] The cleaning device 6 includes a detachable cleaning frame 61 mounted on the drilling frame 32, a third guide rail 62 mounted on the cleaning frame 61, a telescopic longitudinal arm 63 slidably mounted on the third guide rail 62, a cleaning moving mechanism 64 slidably mounted on the third guide rail 62 for moving the telescopic longitudinal arm 63, a telescopic vertical arm 65 mounted on the telescopic longitudinal arm 63, a cleaning rotary mechanism 66 mounted at the lower end of the telescopic vertical arm 65, and a cleaning mechanism 67 mounted on the cleaning rotary mechanism. The cleaning moving mechanism facilitates driving the cleaning mechanism to move along the third guide rail to flush the outer wall of the drill rod. After the outer wall is flushed, the drill rod is gripped by a robotic arm and rotated at a certain angle. At the same time, the telescopic vertical arm is raised to a certain height, and the cleaning rotary mechanism is rotated to align the cleaning mechanism with the inner hole of the drill rod for flushing. When it is necessary to flush the gripper or chuck, the cleaning mechanism is rotated to the corresponding direction by the cleaning rotary mechanism, and the cleaning mechanism is lowered to the cleaning position by the telescopic vertical arm.

[0064] The automatic control system 4 is electrically connected to the drill pipe automatic storage and retrieval device 2 and the drilling device 3, and is used to control the drilling device to automatically drill / retract the drill pipe and the drill pipe automatic storage and retrieval device to automatically store and retrieve the drill pipe.

[0065] In this embodiment, a sensor system is also included, which includes a first rotary encoder 44, a second rotary encoder 45, a first displacement sensor 47, a second displacement sensor 48, a third displacement sensor 49, a fourth displacement sensor 50, a fifth displacement sensor 51, a speed sensor 52, and a pressure sensor 46.

[0066] The first rotary encoder is positioned between the wrist and the clamping mechanism to detect the rotation angle of the clamping mechanism;

[0067] The second rotary encoder is installed in the second rotary platform and is used to detect the rotation angle of the drilling device;

[0068] The first displacement sensor is installed on the drilling frame to detect the movement position of the power head;

[0069] The second displacement sensor is mounted on the sliding frame to detect the movement position of the sliding frame;

[0070] The third displacement sensor is mounted on the second guide rail and is used to detect the horizontal displacement of the robotic arm.

[0071] The fourth displacement sensor is installed on the robotic arm to detect the extension displacement of the robotic arm.

[0072] The fifth displacement sensor is installed on the forearm of the robotic arm to detect the extension displacement of the forearm.

[0073] A speed sensor is installed on the power head to detect the speed of the output spindle of the power head;

[0074] A pressure sensor is installed on the clamping mechanism to detect whether the drill pipe is clamped.

[0075] In this embodiment, the two sides of the second guide rail 22 are slidably connected to the second sliders 25 and the second guide rail 22 is provided with the first rack 26; one end of the two second sliders 25 is provided with the second drive mechanism 24 and the other end is provided with the robotic arm 231; in practice, the second drive mechanism 24 includes a drive box 241 connected to the second slider, a drive gear 241 provided on the drive box for meshing with the first rack, and a drive motor 243 provided on the drive box for driving the drive gear to rotate.

[0076] In this embodiment, the wrist 234 includes a transverse rotating part 2341 connected to the forearm 233 of the robotic arm for driving the clamping mechanism 235 to rotate in the vertical plane, and a longitudinal rotating part 2342 provided on the transverse rotating part for driving the clamping mechanism 235 to rotate in the horizontal plane.

[0077] A rotation angle limiting mechanism 236 is provided on the transverse rotation part 2341; the rotation angle limiting mechanism includes an arc-shaped stop 2361 provided on the outer shell of the transverse rotation part and a limiting block 2362 provided on the first bowl shaft of the transverse rotation part.

[0078] The clamping mechanism 235 includes a clamping connecting sleeve 2351 connected to the second wrist, a fixed clamping seat 2352 disposed on the clamping connecting sleeve 2351, a movable clamping block 2353 rotatably disposed on the fixed clamping seat 2352, and a clamping cylinder 2354 disposed on the fixed clamping seat 2352 for pushing the movable clamping block 2353 to rotate.

[0079] In this embodiment, a water supply transmission device 36 is fixed in the output spindle of the power head 34; during implementation, a first guide rail 321 is provided on both sides of the drilling frame 32, a first slider 322 is provided on the first guide rail 321, and a support plate 323 for connecting the power head 34 is provided on the first slider 322; the power head 34 includes a power head housing, a power head output spindle, a power head motor, a chuck, and a transmission structure provided between the power head motor and the power head output spindle;

[0080] The water supply transmission device 36 includes a transmission rod assembly 361 disposed in the output main shaft of the power head and a water supply assembly 362 disposed in the transmission rod assembly 361;

[0081] The transmission rod assembly 361 includes a rod body 3611 and a detachable connector 3612 at one end of the rod body 3611. By providing a detachable connector, when the threads of the connector wear out, only the connector needs to be replaced, avoiding the need to replace the entire transmission rod assembly.

[0082] The water supply assembly 362 includes a water supply sleeve 3621 detachably connected to the rod 3611, a water supply shaft 3622 rotatably disposed in the water supply sleeve, and a water distribution seat 3623 rotatably disposed at the outer end of the water supply shaft 3622 extending out of the water supply sleeve 3621.

[0083] In this embodiment, multiple drilling frame anchoring cylinders are provided at both ends of the drilling frame.

[0084] In this embodiment, the drill pipe box 21 includes a box base 211 and two box frames that are detachably mounted on the box base 211; the box frame includes a half box frame 212 and a plurality of partitions 213 inserted into the half box frame 212.

[0085] The semi-box frame 212 includes a semi-box frame body and multiple partitions inserted into the semi-box frame body;

[0086] The semi-box frame includes an integrally set frame bottom plate, frame upright plate and two side plate.

[0087] In this embodiment, the cleaning mechanism 67 includes a water spray frame 671 disposed on the rotating part of the cleaning rotary mechanism 66, a nozzle 672 disposed on the water spray frame 671, and a water distribution connector 673 disposed on the fixed part of the cleaning rotary mechanism 66; used for rinsing the clamp and the power head; in practice, the water distribution connector is an integrally formed connecting plate, a water pipe connector disposed on one side of the connecting plate, and a water distribution pipe disposed on the other side of the water distribution plate, and a water distribution sealing ring is provided at the end of the water distribution pipe inserted into the water distribution frame.

[0088] In implementation, the automatic control system 4 consists of a PLC controller, a logic pressure measuring valve group, an explosion-proof electro-hydraulic valve group (drilling control electro-hydraulic valve group, anchoring control electro-hydraulic valve group, manipulator control electro-hydraulic valve group, walking control electro-hydraulic valve group), a sensor system, and an automatic control program library.

[0089] The PLC controller, installed in an explosion-proof electrical control enclosure, serves as the control center and integrated processing hub for operating commands of the drilling rig. The automatic control program library stores all automatic programs, including automatic drilling, automatic drill rod raising and lowering, and remote single-action control, and is installed in the explosion-proof electrical control enclosure via a storage medium. Explosion-proof electro-hydraulic valve assemblies control the hydraulic circuits to achieve the pressure, flow rate, and other parameters specified in the program. The sensor system includes various sensors, such as current and voltage monitoring systems, flow, pressure, position, and displacement sensors, providing comprehensive monitoring of the control system and actuators. The explosion-proof electrical control valve assemblies and sensor system are distributed and installed throughout the drilling rig according to the overall design requirements.

[0090] The sensor system mainly includes the following parts: current, voltage, flow, pressure, oil temperature and other sensors for monitoring the status of explosion-proof electro-hydraulic valve groups; sensors for monitoring the external environment (orifice gas concentration sensor, ambient temperature sensor, etc.); and sensors for monitoring the status of various actuators of the drilling rig (first rotary encoder, second rotary encoder, first displacement sensor, second displacement sensor, third displacement sensor, fourth displacement sensor, fifth displacement sensor, speed sensor and pressure sensor, etc.).

[0091] The drill rod box is used to store drill rods and has a multi-row, multi-layer box structure. The number of drill rods stored can be easily changed by adjusting the height of the drill rod box and the range of motion of the robot arm. It is mounted on the first rotary platform via a base and the drilling device. The partitions are set at certain intervals to divide the drill rod box into multiple rows for placing drill rods. Adjusting the intervals can accommodate drill rods of different diameters. The partitions are divided into upper and lower sections, and the height of the partitions can be changed according to the drilling depth. The first drive mechanism drives the robot arm to reciprocate along the second guide rail. The robot arm grabs the drill rods and sends them into the drilling device, or retrieves the drill rods from the drilling device and puts them into the drill rod box.

[0092] The automatic control system also includes a ground remote control station and an explosion-proof remote controller;

[0093] The electrical control box is equipped with a PLC controller, a first wireless network transceiver module, and an Ethernet ring network. The PLC controller is connected to the explosion-proof remote controller through the first wireless network transceiver module, and the PLC controller is connected to the ground remote control station through the Ethernet ring network.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fully automatic drilling rig for coal mines, comprising a tracked vehicle, an automatic drill pipe storage and retrieval device, a drilling device, and an automatic control system, characterized in that: One end of the tracked vehicle is fitted with an oil tank and a pump station from the outside to the inside, and the other end is fitted with a first rotating platform; the first rotating platform is fitted with the drill rod automatic storage and retrieval device and the drilling device from the inside to the outside, and the automatic control system includes an electrical control box and a control panel; the control panel and an electric switch are fitted from the inside to the outside on the top of the rear side of the oil tank, and the electrical control box is fitted on the top of the front side; The automatic drill pipe storage and retrieval device includes a drill pipe box disposed on the first rotary platform, a second guide rail disposed on the side wall of the drill pipe box, a manipulator slidably disposed on the second guide rail, and a second drive mechanism for moving the manipulator. The robotic arm includes a liftable robotic arm, a robotic arm beam located at the top of the robotic arm, a robotic arm forearm located on the robotic arm beam, a wrist located at the lower end of the robotic arm forearm, and a gripping mechanism located on the wrist. The drilling device includes an anchoring mechanism, a drilling frame, a clamp disposed at one end of the drilling frame, a power head slidably disposed at the other end of the drilling frame, and a propulsion cylinder disposed in the drilling frame for moving the power head. The anchoring mechanism includes two anchoring support cylinders, a sliding frame slidably mounted on the two anchoring support cylinders, a sliding cylinder mounted between the sliding frame and the first rotary platform, and a second rotary platform mounted on the sliding frame for connecting the drilling frame. The drilling frame is also equipped with a cleaning device for cleaning the drill rod, clamp and power head; The cleaning device includes a detachable cleaning frame mounted on the drilling frame, a third guide rail mounted on the cleaning frame, a telescopic longitudinal arm slidably mounted on the third guide rail, a cleaning moving mechanism for moving the telescopic longitudinal arm slidably mounted on the third guide rail, a telescopic vertical arm mounted on the telescopic longitudinal arm, a cleaning rotary mechanism mounted at the lower end of the telescopic vertical arm, and a cleaning mechanism mounted on the cleaning rotary mechanism. The automatic control system is electrically connected to the drill pipe automatic storage and retrieval device and the drilling device, and is used to control the drilling device to automatically drill in / out of the drill pipe and the drill pipe automatic storage and retrieval device to automatically store and retrieve the drill pipe. The second guide rail is slidably connected to two sides by a second slider and a first rack is provided on the second guide rail; one end of the two second sliders is provided with the second drive mechanism and the other end is provided with the robotic arm. The wrist includes a lateral rotating part connected to the forearm of the robotic arm for driving the clamping mechanism to rotate in a vertical plane, and a longitudinal rotating part disposed on the lateral rotating part for driving the clamping mechanism to rotate in a horizontal plane. The transverse rotating part is provided with a rotation angle limiting mechanism; the rotation angle limiting mechanism includes an arc-shaped stop block provided on the outer shell of the transverse rotating part and a limiting block provided on the first bowl shaft of the transverse rotating part.

2. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: It also includes a sensor system, which includes a first rotary encoder, a second rotary encoder, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a fifth displacement sensor, a speed sensor, and a pressure sensor.

3. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: The clamping mechanism includes a clamping connecting sleeve connected to the second wrist, a fixed clamping seat disposed on the clamping connecting sleeve, a movable clamping block rotatably disposed on the fixed clamping seat, and a clamping cylinder disposed on the fixed clamping seat for pushing the movable clamping block to rotate.

4. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: A water supply transmission device is fixed in the output spindle of the power head; The water supply transmission device includes a transmission rod assembly disposed in the output main shaft of the power head and a water supply assembly disposed in the transmission rod assembly; The transmission rod assembly includes a rod body and a detachable connector at one end of the rod body; The water supply assembly includes a water supply sleeve detachably connected to the rod body, a water supply shaft rotatably disposed in the water supply sleeve, and a water distribution seat rotatably disposed at the outer end of the water supply shaft extending from the water supply sleeve.

5. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: Multiple drilling frame anchoring cylinders are installed at both ends of the drilling frame.

6. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: The drill pipe box includes a box base and two detachable box frames mounted on the box base; each box frame includes a half-box frame and multiple partitions inserted into the half-box frame. The semi-box frame includes a semi-box frame body and a plurality of partitions inserted into the semi-box frame body; The semi-box frame includes an integrally set frame bottom plate, frame upright plate and two side plate.

7. The omnidirectional automatic drilling rig for coal mines according to claim 1, characterized in that: The cleaning mechanism includes a water spray frame mounted on the rotating part of the cleaning rotary mechanism, a nozzle mounted on the water spray frame, and a water distribution connector mounted on the fixed part of the cleaning rotary mechanism.

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