anchor rod drilling machine

Abstract

A borehole and rock drill comprising a turntable rotatable about a turntable axis and comprising a plurality of stations configured to support a plurality of consumables, one or more actuators, and a position sensor connected to the turntable. The one or more actuators are configured to rotate the turntable about the turntable axis. The borehole and rock drill further comprises an electronic processor connected to the one or more actuators and the position sensor. The electronic processor is configured to detect a rotational position of the turntable using the position sensor, and to rotate the turntable using the one or more actuators based on the rotational position of the turntable.

Description

[0001] Cross-references to related applications This application claims priority to co-pending U.S. Provisional Patent Application No. 63 / 086,392, filed October 1, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to drilling rigs, and more specifically to underground drilling rigs.

[0003] In underground mining and construction, drilling rigs perform drilling and anchoring operations. A common use of drilling rigs is to reinforce roof or wall sections with reinforcing members, such as steel anchor bolts. Drilling operations require a supply of consumables. Summary of the Invention

[0004] In one aspect, this disclosure provides a drilling and anchoring rig for performing drilling and anchoring operations. The drilling and anchoring rig includes: a magazine for storing consumables; a feeder supporting a drill bit for movement relative to a working surface; and a loader configured to retrieve the consumables from the magazine and load them into the drill bit. The loader includes an arm operable to engage the consumables. The arm is supported for rotational and translational movements.

[0005] In some respects, the consumable is at least one of a variety of consumables, and the variety of consumables includes at least two of a drillbit, a resin cartridge, a resin injector, a first anchor, a second anchor, an adapter, and an extension rod.

[0006] In some aspects, the storage bin includes a carousel rotatable about a first axis to selectively place the consumable into a loading position in which the consumable can be retrieved by a loader, and the carousel is responsive to a first actuator rotating about the first axis.

[0007] In some aspects, the loader includes a loading arm rotatable about a second axis offset relative to the first axis, and the loading arm is configured to remove consumables from the loading position on the turntable and move the consumables to position one end of the consumables in the drill bit.

[0008] In some respects, the feeder may extend along a drill axis that is oriented parallel to at least one of the first axis and the second axis.

[0009] In some respects, the drive unit is operable to apply the required consumables to the working surface, and the loading arm is rotatable about the second axis to retrieve the consumables from the drill bit.

[0010] In some respects, the storage box includes a turntable rotatable about an axis, and the distance between the rotation axes of the drill bit and the loading arm is equal to the distance between the rotation axis of the loading arm and the axis about which the turntable rotates.

[0011] In some respects, the rotation of the turntable is automated by a controller to define at least a portion of a drilling cycle in which consumables retrieved from the loading position on the turntable are replaced with another consumable by rotating other consumables to the loading position.

[0012] In some respects, the rotation of the loading arm is automated by the controller, and one consumable is selectively replaced with another.

[0013] In some respects, one consumable includes a drill tip, and the other consumable includes a resin cartridge.

[0014] In some respects, other consumables include anchor bolts, and the loading arm is automated by the controller to deliver the anchor bolts to the drive unit, which inserts the anchor bolts into the resin in the working surface during anchor bolt cycles.

[0015] In some respects, the drilling cycle, the resin cycle, and the bolt cycle are automated by the controller, eliminating the need for manual interaction by human operators for underground mining and construction drilling rig operations.

[0016] In some respects, the turntable supports each of the plurality of consumables at a predetermined position, and the turntable includes a feature that aligns with one of the plurality of consumables, which engages a bypass actuator to modify the movement path of the loading arm when one of the plurality of consumables is aligned with the loading arm.

[0017] In some respects, the feature is a protrusion located on a portion of the turntable, and the bypass actuator is connected to a valve, the actuation of which causes fluid flow to bypass a hydraulic circuit associated with an extension of the loading arm.

[0018] In some aspects, the loader includes a support member, a loading arm supported for rotation relative to the support member, and a gripper supported on the loading arm. The support member includes a first port, and the loading arm includes a second port in fluid communication with the first port, while the loading arm rotates to provide pressurized fluid to an actuator that operates at least one of the loading arm and the gripper.

[0019] In some aspects, the loader includes a support member, a loading arm supported for rotation relative to the support member, and a clamp supported on the loading arm. The support member includes a mast, a sleeve slidably supported on the mast, and a key extending through the sleeve and engaging the mast to guide the sliding movement of the loader. The support member further includes a retainer for retaining the key engaged with the mast, the retainer including a first portion extending around a first peripheral portion of the sleeve and a second portion extending around a second peripheral portion of the sleeve.

[0020] In another aspect, this disclosure provides a drilling and anchoring rig for performing automated drilling and anchoring operations. The drilling and anchoring rig includes: a storage cassette supporting consumables; a feeder movably supporting a drive relative to a working surface; a loader including an arm configured to transfer the consumables from the storage cassette to the drive; and a washer loader configured to transfer washers from a washer storage cassette to a location adjacent to the consumables. The washers include holes configured to receive through the consumables.

[0021] In some respects, the gasket reservoir is arranged in a refillable stack.

[0022] In some aspects, the washer loader includes a carrier arm having portions configured to magnetically engage a single washer from the washer reservoir.

[0023] In some aspects, drilling and anchoring rigs for performing automated drilling and anchoring operations further include a support configured to hold the gasket in a predetermined position relative to the consumable when the consumable and gasket are transferred to the drive.

[0024] In some aspects, the gasket loader includes a carrier arm, and the gasket loader further includes a protrusion extending from the carrier arm for guiding the gasket as the consumable and gasket are transferred to the driver.

[0025] In some respects, when the consumables are transported to the drive via the loader, the gasket loader can optionally bypass the placement of at least one gasket in the gasket reservoir.

[0026] In some aspects, the consumable is one of a plurality of consumables supported by the storage box, the plurality of consumables including at least two of a drill tip, a resin cartridge, a resin injector, a first anchor, a second anchor, an adapter, and an extension rod.

[0027] In some respects, drilling and anchoring rigs for performing automated drilling and anchoring operations further include a controller configured to automate the operation of the storage bin, the loader, the feeder, and the washer loader, such that the drill tip, anchor bolt, and washer are transported to the working surface without manual interaction by a human operator.

[0028] In some aspects, the washer loader includes a carrier arm configured to engage the washer and a carrier actuator supporting the carrier arm. The washer loader further includes a guide groove connected to one of the carrier arm and the carrier actuator, and a guide member connected to the other of the carrier arm and the carrier actuator, the guide member being received within the guide groove. Operation of the actuator causes the guide member to move along the guide groove to move the carrier arm along a predetermined path.

[0029] In some respects, at least a portion of the guide groove is curved, and movement of the guide member in the guide groove causes the support arm to rotate in response to the operation of the support actuator.

[0030] In some aspects, the guide groove includes a first groove portion and a second groove portion releasably fixed relative to the first groove portion, wherein the position of the first groove guide portion relative to the second groove guide portion can be adjusted to adjust at least one of the starting position and the ending position of the support arm.

[0031] In some aspects, the washer loader includes a carrier arm configured to engage the washer, the carrier arm being rotatable about an axis by a first carrier actuator and movable in a radial direction relative to the axis by a second carrier actuator.

[0032] In some aspects, the washer loader includes a carrier arm configured to engage the washer, the carrier arm extending along a first axis via a first carrier actuator and movable along a second axis offset relative to the first axis via a second carrier actuator, and the carrier arm being movable along at least one of the first and second axes to move the washer.

[0033] In another aspect, this disclosure provides a drilling and anchoring rig for performing automated drilling and anchoring operations. The drilling and anchoring rig includes a storage bin comprising a mast, a turntable rotatable about a turntable axis relative to the mast and including a plurality of stations, at least some of which are configured to support consumables, the plurality of stations being positioned about the mast, and an actuator positioned within the mast, the actuator being configured to rotate the turntable about the turntable axis. The drilling and anchoring rig includes a storage bin, the storage bin further including a loader configured to retrieve at least one of the consumables from the storage bin and transfer the consumables to a drive unit.

[0034] In some aspects, the drilling and anchoring rig further includes a feeder that supports the drive unit for longitudinal movement relative to the working surface, and the longitudinal direction is parallel to the turntable axis.

[0035] In some aspects, the drilling and anchor bolting rig further includes a controller configured to operate the loader to retrieve the consumables from the storage bin and deliver the consumables to the drive unit, and configured to operate the drive unit and the feeder to insert the consumables into the working surface without manual interaction by a human operator.

[0036] In another aspect, this disclosure provides a storage container for storing consumables used in drilling and anchor bolting rigs. The storage container includes a mast, a turntable supported for rotation about an axis relative to the mast, and clips supported on the turntable. The clips are configured to hold consumables. The clips are removably connected to the turntable.

[0037] In some aspects, the storage cassette further includes an actuator for rotating the turntable about the axis. The actuator is located within the mast.

[0038] In some aspects, the clip includes biasing fingers that provide a biasing force configured to hold the consumable within a slot, the biasing fingers being deformable in response to a force applied to the fingers to allow removal of the consumable from the slot.

[0039] In some respects, the clip is one of a plurality of clips, and the turntable includes at least one bracket configured to support the plurality of clips, the clip being detachably connected to the bracket by fasteners.

[0040] In some respects, multiple clips are arranged circumferentially around the axis.

[0041] In some respects, the clip is configured to engage a first type of consumable, and the clip may be replaced by a clip configured to engage a second type of consumable.

[0042] In some respects, a portion of the clip configured to engage the consumable includes an abrasion-resistant member along which the consumable can slide when it is inserted into or removed from the clip.

[0043] In some aspects, the turntable is rotatable to position the clamp in a loading position, in which the loader is configured to engage the consumable. The loader is configured to remove the consumable from the clamp and deliver the consumable to the feeder.

[0044] In another aspect, this disclosure provides a drilling and anchor bolting rig comprising: a drill bit for driving consumables into a working surface; a feeder supporting the drill bit for movement relative to the working surface; and a hydraulic circuit including at least one auxiliary flow control valve for selectively controlling pressurized fluid flow to one of a first hydraulic component and a second hydraulic component, and a main flow control valve for controlling pressurized fluid flow to the at least one auxiliary flow control valve. The at least one auxiliary flow control valve and the main flow control valve are movable between a first configuration and a second configuration. When the at least one auxiliary flow control valve and the main flow control valve are in the first configuration, pressurized fluid is provided to operate the first hydraulic component. When the at least one auxiliary flow control valve and the main flow control valve are in the second configuration, pressurized fluid is provided to operate the second hydraulic component.

[0045] In some respects, the first hydraulic component is operable to perform one of the following functions: indexing the feeder in a left / right direction; indexing the feeder in a front / back direction; rotating the consumable storage container; raising / lowering the loading arm for loading the consumables; rotating the loading arm; opening / closing the jaws for clamping the consumables; and operating the washer loading arm for loading washers.

[0046] In some respects, the second hydraulic component is operable to perform another of the following functions: indexing the feeder in a left / right direction; indexing the feeder in a front / back direction; rotating the consumable storage container; raising / lowering the loading arm for loading the consumables; rotating the loading arm; opening / closing the grippers for holding the consumables; and operating the washer loading arm for loading washers.

[0047] In some respects, a first hydraulic component is operable to drive a portion of the feeder, and a second hydraulic component is operable to drive a portion of the storage hopper.

[0048] In some respects, a first hydraulic component is operable to drive a portion of the feeder, and a second hydraulic component is operable to drive a portion of the loading arm for transferring consumables from the storage bin to the drill bit.

[0049] In some aspects, the drilling and anchoring rig further includes a loader configured to retrieve the consumables from a storage bin and load the consumables into the drill bit. The loader includes an arm operable to engage the consumables. The arm is supported for rotational and translational movements.

[0050] In some aspects, the hydraulic circuit further includes a function selection line that selectively provides pressurized fluid to move the at least one auxiliary flow control valve between the first configuration and the second configuration.

[0051] In some respects, the function selection line is capable of switching between a first pressure condition in which the at least one auxiliary flow control valve is in a first position and a second pressure condition in which the at least one auxiliary flow control valve is in a second position.

[0052] In some aspects, the at least one auxiliary flow control valve includes a first auxiliary flow control valve associated with the first hydraulic component and a second auxiliary flow control valve associated with the second hydraulic component. Both the first auxiliary flow control valve and the second auxiliary flow control valve are movable between a first position and a second position.

[0053] In some respects, the first auxiliary flow control valve and the second auxiliary flow control valve are neutrally biased toward the first position, in which pressurized fluid is directed to operate the first hydraulic component, and movement of the first auxiliary flow control valve and the second auxiliary flow control valve toward the second position causes pressurized fluid to be directed to operate the second hydraulic component.

[0054] In some respects, the first hydraulic component is part of a first sub-circuit, and the second hydraulic component is part of a second sub-circuit arranged in parallel with the first sub-circuit.

[0055] In some respects, the main flow control valve is a three-position electromagnetically actuated electronically controlled valve, and the at least one auxiliary flow control valve is a two-position hydraulic valve.

[0056] In some respects, the at least one auxiliary flow control valve is biased to an intermediate position, in which pressurized fluid is directed to operate the first hydraulic component.

[0057] In one aspect, this disclosure provides a drilling and anchor bolting rig comprising: a rotary table rotatable about a rotary table axis and including a plurality of stations configured to support various consumables; one or more actuators configured to rotate the rotary table about the rotary table axis; a position sensor connected to the rotary table; and an electronic processor connected to the one or more actuators and the position sensor. The electronic processor is configured to use the position sensor to detect the rotational position of the rotary table; and to use the one or more actuators to rotate the rotary table based on the rotational position of the rotary table.

[0058] In some respects, the position sensor is a magnetic rotary encoder.

[0059] In some respects, the position sensor includes a Hall sensor.

[0060] In some respects, the position sensor is an inherently safe position sensor and includes an encoder housing, which is fixed to the turntable such that the Hall sensor extends into the turntable and is in close proximity to a magnet connected to the turntable.

[0061] On the other hand, this disclosure provides a control panel for an automatic anchor drilling rig, comprising: a keypad including an overlay; a plurality of buttons disposed on the keypad and configured to control various functions of the drilling rig; a plurality of force-sensing resistor materials corresponding to the plurality of buttons disposed beneath the overlay, wherein a decrease in resistance of the force-sensing resistor materials corresponds to a force applied to a corresponding button of the plurality of buttons; and a display and a speaker disposed on the keypad. The plurality of buttons are divided among a plurality of control button groups, each of the plurality of control button groups corresponding to a specific component of the drilling rig.

[0062] In some aspects, the coating has a thickness between 0.15 mm and 3 mm.

[0063] In some aspects, the control panel further includes a first light-emitting diode (LED) and a second LED corresponding to a first operation and a second operation of the drilling rig. The first LED provides a status indication of the first operation, and the second LED provides a status indication of the second operation. Both the first and second LEDs are multi-color LEDs.

[0064] In some aspects, the control panel further includes a first marker disposed between a first control button group and a second control button group of the plurality of control button groups.

[0065] In some respects, the control panel further includes a second set of markers positioned around the first and second buttons of the first control button group.

[0066] In some respects, the control panel further includes a third marker surrounding a third button of the first control button group and a fourth button without a marker positioned below the third button.

[0067] In some respects, the first landmark, the second set of landmarks, and the third landmark are raised landmarks.

[0068] In some respects, the second set of landmarks and the third set of landmarks are carved landmarks.

[0069] In some respects, the first button is positioned above the second button, wherein the second set of markers are directional markers indicating the upward and downward directions around the first button and the second button, respectively, wherein the first button and the second button control the upward and downward movement of the components of the drilling rig, respectively.

[0070] In some respects, the third marker is a directional marker indicating the upward direction around the third button, wherein the third button and the fourth button control the clockwise and counterclockwise rotation of the components of the drilling rig, respectively.

[0071] In some respects, the control panel further includes a bounding box surrounding the first group of control buttons.

[0072] In some respects, the control panel further includes a connector that allows connection to a second control panel configured to remotely control the automatic bolt drill.

[0073] In another aspect, this disclosure provides a method for fully automated operation of a drilling rig for an automatic anchor drilling rig, the method comprising: receiving a fully automated mode request using a controller of the drilling rig; automatically performing a drilling operation on a working surface using the drilling rig in response to receiving the fully automated mode request; automatically performing a resin injection operation on the working surface using the drilling rig after the drilling operation; and automatically performing an anchoring operation on the working surface using the drilling rig after the resin injection operation.

[0074] In some aspects, the method further includes using the controller to determine whether an error has occurred during one of the automated drilling operation, automated resin injection operation, and automated anchoring operation; when an error has occurred, instructing the user to manually perform the operation; receiving user input corresponding to the operation via the control panel; and performing the operation using the controller based on the user input.

[0075] In some aspects, the method further includes using the controller to determine whether an error has been resolved; using the controller to generate an alarm instructing the drilling rig to prepare for automated operation; receiving input via the control panel to resume automated operation; and using the controller to resume one of drilling operations, resin injection operations, and anchoring operations.

[0076] In some respects, performing an automated drilling operation, an automated resin injection operation, and an automated anchoring operation includes rotating the turntable to one of a drill bit loading position, a resin cartridge loading position, an anchor bolt loading position, and an adapter loading position.

[0077] In some aspects, rotating the turntable to one of the drill bit loading position, the resin cartridge loading position, the anchor bolt loading position, and the adapter loading position further includes using the controller to control the first actuator based on a rotational position signal received from the intrinsically safe rotary encoder of the turntable.

[0078] In another aspect, this disclosure provides a drilling rig for an automated anchor drilling machine, comprising: a rotary table rotatable about an axis and configured to store one or more consumables; a drill bit configured to apply one or more consumables to a working surface; and a loading assembly. The loading assembly includes a loading arm configured to move laterally between the rotary table and the drill bit, and a clamp at one end of the loading arm configured to secure one or more consumables. The drilling rig further includes a controller connected to the rotary table, the drill bit, and the loading assembly. The controller is configured to receive a fully automated mode request; automatically perform drilling operations on the working surface in response to receiving the fully automated mode request; automatically perform a resin injection operation on the working surface after the drilling operation; and automatically perform an anchoring operation on the working surface after the resin injection operation.

[0079] In some aspects, to automate the anchoring operation, the controller is further configured to: rotate the turntable to the anchor loading position using a first actuator; secure the anchor from the turntable to the loading arm; load the anchor onto the drill bit using the loading arm; align the anchor with a hole in the working surface using the drill bit; rotate the turntable to the adapter loading position using the first actuator; secure the adapter from the turntable to the loading arm; load the adapter onto the drill bit using the loading arm; drive the anchor into the working surface using the drill bit and the adapter; secure the adapter from the drill bit to the loading arm; and unload the adapter onto the turntable using the loading arm.

[0080] In some aspects, the controller is further configured to determine whether an error occurs during one of the automatic drilling operation, the automatic resin injection operation, and the automatic anchoring operation; when an error occurs, to instruct the user to perform the operation manually; to receive user input corresponding to the operation via the control panel; and to perform the operation based on the user input.

[0081] In some respects, the controller is further configured to determine whether an error has been resolved; generate an alarm instructing the drilling rig to prepare for automated operation; receive input via the control panel to resume automated operation; and resume one of the drilling operation, the resin injection operation, and the anchoring operation.

[0082] In some aspects, the drilling rig further includes a first actuator configured to rotate a rotary table about an axis; and an intrinsically safe rotary encoder mounted on the rotary table and configured to provide a rotational position signal corresponding to a rotational position of the rotary table. A controller is connected to the first actuator and the intrinsically safe rotary encoder, and the controller is further configured to control the first actuator to rotate the rotary table to one of the borehole loading position, the resin cartridge loading position, the anchor bolt loading position, and the adapter loading position based on the rotational position signal received from the intrinsically safe rotary encoder.

[0083] Other aspects of this disclosure will become apparent from consideration of the detailed description and accompanying drawings. Attached Figure Description

[0084] Figure 1 A perspective view of a drilling rig according to an embodiment of the present disclosure; Figure 2 for Figure 1 Another perspective view of the drilling rig; Figure 3 for Figure 1 A top view of the drilling rig; Figure 4 for Figure 1 A perspective view of the drilling rig, showing the rotary table; Figure 5 for Figure 4 A partial perspective view of the turntable; Figure 6 for Figure 1 A partial perspective view of the drilling rig, showing the actuator mounted on the rotary table; Figure 7 for Figure 4 A partial perspective view of the turntable, showing multiple clips on the turntable; Figure 8 for Figure 7A perspective view of one of the multiple clips; Figure 9A for Figure 1 A perspective view of the drilling rig, showing the washer loader; Figure 9B for Figure 1 Another perspective view of the drilling rig shows a cam engaged with a valve actuator; Figure 10 for Figure 9A A perspective view of the washer loader, showing a portion of the transparent actuator cylinder; Figure 11A yes Figure 9A A perspective view of the bearing arm of the washer loader; Figure 11B for Figure 1 A partial perspective view of the drilling rig; Figure 12A It can be used Figure 1 A perspective view of an alternative washer loader for a drilling rig, showing the alternative washer loader in the loading position; Figure 12B for Figure 12A A perspective view of the alternative washer loader, showing the alternative washer loader in the raised position; Figure 12C for Figure 12A A perspective view of the alternative washer loader, showing the alternative washer loader in the raised and retracted positions; Figure 12D for Figure 12A A perspective view of an alternative washer loader, showing the alternative washer loader in the drill bit receiving position; Figure 13A for Figure 1 A partial perspective view of the drilling rig, showing the loading arm assembly; Figure 13B For along Figure 13A Section line 13B-13B is taken Figure 13A A top-cross-section view of a portion of the loading arm assembly; Figure 14A for Figure 13A A perspective view of the loading arm assembly; Figure 14B for Figure 14A Partial exploded perspective view of the oil connector and support of the loading arm; Figure 14C for Figure 14B A cross-sectional side view of the support member; Figure 15 for Figure 1 The hydraulic circuit of the drilling rig; Figure 15Afor Figure 15 An enlarged view of part of the hydraulic circuit; Figure 16A-16O for Figure 1 A schematic diagram of a drilling rig performing a drilling cycle; Figures 17A-17H for Figure 1 A schematic diagram of the drilling rig performing resin circulation; Figure 18A-18M for Figure 1 A schematic diagram of the drilling rig performing anchor bolt circulation; Figure 19 To show Figure 1 A block diagram of the drilling rig's controller; Figure 20 for Figure 1 A perspective view of the intrinsically safe position detector of the drilling rig; Figure 21 for Figure 20 Intrinsically safe position detectors in conjunction with Figure 4 A perspective view of the turntable connection; Figure 22 for Figure 4 A plan view of the turntable, showing its loaded state; Figure 23 It shows Figure 1 An example control panel for a drilling rig; Figure 23A It shows Figure 23 An example button layout for a control panel; Figure 24 It shows Figure 1 An example control panel for a drilling rig; Figure 25 It shows Figure 1 An exemplary user interface during drilling operations of a drilling rig; Figure 26A and Figure 26B It shows Figure 1 An exemplary user interface during resin operation of a drilling rig; Figure 27A and Figure 27B It shows Figure 1 An exemplary user interface during the anchoring operation of a drilling rig;

[0085] Figure 28 It is used for operation in automatic mode. Figure 1 A flowchart of the drilling method; Figure 29 For use in automatic mode control Figure 1 A flowchart of the drilling operation method of the drilling rig; Figure 30 It is used for control in automatic mode. Figure 1A flowchart of the resin operation method for drilling rigs; Figure 31 It is used for control in automatic mode. Figure 1 A flowchart of the anchoring operation method for drilling rigs; Figure 32 For use in automatic mode control Figure 1 A flowchart of the error handling procedures for drilling rigs. Detailed Implementation

[0086] Before providing a detailed description of any embodiment, it should be understood that the application of this disclosure is not limited to the details of the construction and arrangement of the components set forth in the following description or shown in the following drawings. This disclosure is capable of other embodiments and can be practiced or performed in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes only and should not be considered limiting. As used herein, “including” and “comprising” and variations thereof mean to cover all items listed thereafter and their equivalents, as well as additional items. As used herein, “consisting of” and variations thereof mean to cover only the items listed thereafter and their equivalents. Unless otherwise stated or limited, the terms “mounted,” “connected,” “supported,” and “linked,” and variations thereof are used extensively and cover both direct and indirect mounting, connection, support, and linking.

[0087] Furthermore, it should be understood that embodiments may include hardware, software, and electronic components or modules, which, for the purposes of discussion, may be illustrated and described as if most components were implemented solely in hardware. However, based on reading this detailed description, those skilled in the art will recognize that in at least one embodiment, these aspects may be implemented using software (e.g., stored on a non-transitory computer-readable medium) executable by one or more processing units, such as microprocessors, application-specific integrated circuits (“ASICs”), or other electronic devices. Therefore, it should be noted that multiple hardware- and software-based devices and multiple different structural components may be used to implement the invention. For example, a “controller” described in the specification may include one or more electronic processors or processing units, one or more computer-readable medium modules, one or more input / output interfaces, and various connections (e.g., system buses) connecting these components.

[0088] refer to Figure 1-3 The drilling rig 10 (i.e., a borehole drill, bolt drill) is operable to drill into or bolt into a working surface (e.g., mine sidewall, mine roof, etc.). The drilling rig 10 includes a storage or hopper assembly (e.g., rotary table assembly 14), such as... Figure 4As shown, the assembly includes consumables 18 (e.g., drill tips, anchor bolts, resin cartridges, adapters, consumables, self-drilling anchor bolts, combination anchor bolts, resin-type anchor bolts, extension drill rods, etc.) carried on a rotating storage hopper or turntable 22. The drill rig 10 also includes a loading assembly 26 with a loading arm 30 that retrieves one of the consumables 18 from the turntable 22 and loads the consumable 18 into a drive (e.g., drill bit 34). The drill bit 34 and consumables 18 are then fed into or driven onto the work surface as the drill bit 34 translates along the drill axis 36 on the track assembly 38. The drill rig 10 includes a controller 40 and is capable of automated operation. In some embodiments, for example, complete drilling cycles, resin cycles, and anchor bolt cycles can be performed continuously by the drill rig 10 without manual interaction with a human operator. As explained in more detail below, the automated drill rig 10 offers improvements in overall efficiency, safety, and compactness.

[0089] refer to Figure 3 and 4 The turntable 22 of the turntable assembly 14 is rotatable about a turntable axis 42. In the illustrated embodiment, the turntable assembly 14 includes various consumables 18 (e.g., drill tips 18A, resin cartridges 18B, anchor bolts 18C, adapters 18D, consumables, etc.) carried on the turntable 22. The consumables 18 have various sizes (i.e., different lengths, different diameters) and shapes. In the illustrated embodiment, the turntable assembly 14 includes six consumables 18: one drill tip 18A, two resin cartridges 18B, two anchor bolts 18C, and one adapter 18D. In other embodiments, the turntable assembly 14 includes any number of consumables or any type of consumables. In the illustrated embodiment, the turntable 22 is circular. In other embodiments, the turntable is non-circular (e.g., elliptical). The turntable 22 is rotatable about the turntable axis 42 to place the desired consumables at a location where the loading assembly 26 can retrieve them. Figure 3 and 4 In the illustrated embodiment, the turntable 22 is shown with the drill tip 18A in the loading position, allowing the loading assembly 26 to access and load the drill tip 18A into the drill bit 34. As the turntable 22 is rotated, other consumables can be rotated into the loading position.

[0090] refer to Figure 5 Actuator 46 (e.g., a hydraulic actuator) is located within turntable 22 and aligned with turntable axis 42. Sensor 50 (e.g., a position sensor, rotation sensor, etc.) is connected to hydraulic actuator 46 and is also aligned with turntable axis 42. Figure 5 In the illustrated embodiment, sensor 50 is encoder 50 (e.g., rotary encoder). In the illustrated embodiment, actuator 46 and encoder 50 are coaxially positioned with respect to turntable axis 42. Specifically, also as Figure 4As shown, actuator 46 is located inside the lower mast 54 of turntable 22, and encoder 50 is located inside housing 58 (in Figure 5 (Shown transparently in the middle). Encoder 50 may be an optical sensor, a magnetic sensor, or any other suitable type of sensor, configured to detect the rotational position of actuator 46 or turntable 22. Encoder 50 may be further configured to detect the axial or translational position of actuator 46 and / or turntable 22. In some embodiments, a plurality of actuators 46 may be positioned together with turntable 22. Turntable 22 may be supported on housing 58, actuator 46, and / or lower mast 54 by bearings or base rack 60 surrounding actuator 46.

[0091] refer to Figure 6 and Figure 9B The turntable assembly 14 further includes an arm or cam 62 supported on the turntable 22 for rotating with the turntable 22. Figure 9B In some embodiments, cam 62 is supported on a post or support connected to turntable 22. In the illustrated embodiment, cam 62 is located above adapter 18D (e.g., relative to the axial direction), but in other embodiments it may be axially located below adapter 18D. When adapter 18D is in the loaded position (e.g.) Figure 9A As shown), cam 62 is positioned to engage a corresponding valve actuator 70 configured to actuate a hydraulic valve (e.g., push-button solenoid valve, switching valve, etc.). Figure 9B In the illustrated embodiment, the valve actuator 70 is supported on the valve manifold 72 (see [link]). Figure 9B The valve manifold 72 can also accommodate and / or support fluid circuits and multiple other valves, cylinders, reservoirs, etc., such as hydraulic valves.

[0092] In response to the actuation (e.g., depressing) of the valve actuator 70 by the cam 62, the valve can alter the fluid flow path of the hydraulic circuit. In the illustrated embodiment, actuation of the valve actuator 70 causes the hydraulic circuit responsible for raising the loading arm 30 to be bypassed. In other words, actuation of the valve actuator 70 can deactivate a portion of the hydraulic circuit responsible for a specific function of the loading assembly 26 (e.g., raising and lowering). For example, engagement of the valve actuator 70 causes the loading arm 30 to not raise or lower, but only rotate. Because the adapter 18D has a much shorter length than other consumables, bypassing the raise / lower actuator of the loading assembly 26 can facilitate the transfer of the adapter 18D to the feeder and / or simplify the path of the loading arm. In the illustrated embodiment, the cam 62 is positioned toward the upper portion of the turntable 22. In other embodiments, the cam 62 and the valve actuator 70 may be located in the lower or bottom portion of the turntable 22.

[0093] refer to Figure 7Multiple clamp brackets 74 are connected to the turntable 22 at spaced intervals along the turntable axis 42. Each of the clamp brackets 74 is configured to accommodate multiple clamps 78 positioned around the turntable axis 42 (see [link to original text]). Figure 5 In the illustrated embodiment, clip 78 is received within a recess 82 formed in clip holder 74. Consumable 18 is removably attached to clip 78 carried on turntable 22. In other words, consumable 18 can be selectively attached to or removed from clip 78 by overcoming bias forces. Clip 78 is elastically deformable to facilitate easy pushing in and easy pulling out of consumable 18 from clip 78. In some embodiments, clip 78 may include a gripping member or a removable lock configured to retain consumable 18 in the respective clip 78.

[0094] See further Figure 7 The clip 78 is at least partially received within the recess 82 and secured to the clip holder 74 by a fastener 86. Depending on the required quantity and type of consumable 18 or when the clip 78 wears out, the clip 78 can be easily replaced or removed from the clip holder 74. In the illustrated embodiment, the fastener 86 is a threaded bolt. In other embodiments, another type of fastener (e.g., locking bolts, nuts, screws, magnets, clamps, etc.) may be used.

[0095] refer to Figure 8 The clip 78 includes a base 90 and deflectable fingers 94 defining an opening 98 therein for receiving consumable 18. In some embodiments, the base 90 and fingers 94 are formed of an elastically deformable material, such as an elastically deformable plastic. The base 90 includes two holes 102 configured to receive fasteners 86 (see [link to relevant documentation]). Figure 7 When the base 90 of the clip 78 is located within the recess 82, the fastener 86 secures the clip 78 to the clip holder 74 (see...). Figure 7 The clip 78 further includes abrasion strips 106 located near the opening 98. The abrasion strips 106 provide a durable surface against which the consumable 18 can slide as it moves into and out of the opening 98. In the illustrated embodiment, the clip 78 includes two abrasion strips 106 molded (i.e., insert-molded) within the base 90 and the fingers 94, and the abrasion strips 106 may be formed of spring steel. The abrasion strips 106 protect the base 90 and the fingers 94 from excessive wear during normal operation. In other configurations, one or more abrasion strips 106 are omitted, and the clip 78 itself is formed from or has a durable surface similar to that of the abrasion strips 106. In some embodiments, the abrasion strips 106 may provide additional resilient clamping force.

[0096] During operation of the turntable assembly 14, the actuator 46 can be activated by the controller 40 based on feedback from the encoder 50 to rotate the turntable 22 about its axis 42. The turntable 22 is positioned in the desired orientation (e.g., the indexing position) to place the desired consumable 18 in a loading position, where it can be retrieved by the loading assembly 26. Figure 9B As shown, when the rotary table 22 is in the loaded position with adapter 18D, cam 62 engages valve actuator 70 to deactivate a portion of the hydraulic circuit of loading assembly 26. Consumable 18 is selectively connected to the rotary table 22 via clamp 78, and is released from the rotary table 22 when loading assembly 26 overcomes the threshold force required by deflection finger 94. Further details of the operation of rotary table assembly 14 will be described below with reference to the overall operation of drilling rig 10.

[0097] For details, please refer to the following: Figure 1 and 9A -11B, the drilling rig 10 includes a washer loader assembly 110 configured to load washers 114 onto consumables 18 (e.g., drill tip 18A). The washer loader assembly 110 includes a plurality of washers 122 stored in the axial end 118 (e.g., upper end) of the rotary table assembly 14 (see...). Figure 10 This forms a stack 122 of washers. The stack 122 of washers is aligned (i.e., coaxial) with the axis 42 of the turntable. In the illustrated embodiment, the stack 122 of washers is located on a plate 126, which is located near the upper end of the turntable 22.

[0098] like Figure 1-3 As shown in 9A-11B, the gasket loader assembly 110 also includes a support arm 130 configured to move a single gasket 114 from the gasket stack 122 and to coaxially position the gasket 114 with the consumable 18 connected to the loading assembly 26, as explained in more detail below.

[0099] See details Figure 10 The support arm 130 is connected to the actuator 138 at its first end 134. The actuator 138, together with the support arm 130, is configured to extend and rotate relative to the fixed housing 142 (see also...). Figure 9A Specifically, actuator 138 defines an axis 146, extends along axis 146, and rotates about axis 146. In the illustrated embodiment, a support post or sleeve 150 is located between housing 142 and actuator 138. Sleeve 150 includes a recess 154 that captures a corresponding pin 158 formed on actuator 138. As actuator 138 extends from housing 142, pin 158 moves within recess 154.

[0100] In the illustrated embodiment, sleeve 150 may be a two-piece sleeve comprising a first sleeve (e.g., an upper sleeve) 150A and a second sleeve (e.g., a lower sleeve) 150B, wherein a groove 154 extends in the upper sleeve 150A and the lower sleeve 150B. The groove 154 includes a flare 156 that allows for slight relative rotation between sleeves 150A and 150B. The flare 156 may have a generally rhomboid shape and is positioned at a junction 157 between the first sleeve 150A and the second sleeve 150B. In the illustrated embodiment, sleeves 150A and 150B are allowed to rotate relative to each other by approximately (+ / -) 5 degrees. Providing minimal relative rotation between sleeves 150A and 150B allows for individual position adjustment of the first sleeve 150A and the second sleeve 150B. Hydraulic devices can be applied to sleeve 150 to improve control during the movement of actuator 138 and arm 130.

[0101] Continue to refer to Figure 10 The groove 154 includes a straight portion 162 and a curved portion 166 located on both sides of the flare 156. When the pin 158 moves along the straight portion 162 of the groove 154, the actuator 138 extends away from the housing 142 and translates along axis 146. When the pin 158 moves along the curved portion 166 of the groove 154, the actuator 138 extends away from the housing 142 along axis 146 and rotates about axis 146 relative to the housing 142. As the pin 158 passes between sleeves 150A and 150B, the flare 156 allows the pin 158 to deviate slightly from the straight portion 162 and the curved portion. In other words, as the pin 158 moves through the flare 156 and through the curved portion 166 of the groove 154 in the sleeve 150, the actuator 138 simultaneously extends and rotates. As a result, when the actuator 138 is activated, the support arm 130 is lifted away from the stack 122 of washers and rotates relative to the stack 122 of washers. In the illustrated embodiment, the position of the groove 154 above the flare 156 can be adjusted relative to the position of the groove 154 below the flare 156, thereby adjusting the start or end position of the support arm 130.

[0102] refer to Figure 10 In embodiment 11, the support arm 130 includes a forked portion 170 located at a second end 174 opposite the first end 134. The forked portion 170 defines an opening 178 through which one of the consumables 18 can pass, as explained in more detail below. The support arm 130 also includes one or more magnets 182 (i.e., magnetic connections) located near the surface 186 of the stack 122 facing the gasket. In the illustrated embodiment, the magnet 182 is a permanent magnet located within one or more recesses 183 on the arm 130. In other embodiments, the magnet 182 is a permanent magnet located adjacent to the opening 178.

[0103] During operation of the washer loader assembly 110, a magnet 182 on the carrier arm 130 is capable of magnetically attaching one of the washers from the stack 122 to the carrier arm 130. The carrier arm 130 is then raised and rotated by an actuator 138 to reposition the single washer 114 from its stored position on the stack 122 to its mounting position. In the mounting position, the washer 114 is aligned with the consumable 18 carried by the loading assembly 26 and is configured to receive the consumable 18 controlled by the loading assembly 26 (e.g., ...). Figure 16D-16F In other words, when washer 114 is in the installation position ( Figure 16D Consumable 18 is translated by the loading assembly 26 through the center hole in the washer 114. Figure 16E Then, the loading assembly 26 moves the consumable 18 and the washer 114 away from the support arm 130, thereby breaking the magnetic connection between the support arm 130 and the washer 114. Figure 16D-16F As consumable 18 and gasket 114 move away from the support arm 130, consumable 18 moves through the opening 178 formed in the support arm 130.

[0104] refer to Figure 2 , 9A Along with 11B, the balance bar 190 is connected to the loading assembly 26 and configured to support the washer 114 once it is loaded onto the drill tip 18A. As described in more detail below, as the loading assembly 26 moves the drill tip 18A, the balance bar 190 supports the washer 114 in place on the drill tip 18A until the drill tip 18A has been connected to the drill bit 34. Once the drill tip 18A has been connected to the drill bit 34, the washer 114 is received within a recess 194 formed in the top plate 198 of the drill rig 10. The top plate 198 includes an opening or hole 200 through which consumables can be driven. The drill bit axis 36 is aligned with the hole 200. In the illustrated embodiment, the recess 194 is circular and aligned with the drill bit axis 36. The top plate 198 and the recess 194 include a portion 202 that has been removed (i.e., cut off) to allow the consumable 18 to be translated into and out of the hole in the top plate 198.

[0105] Therefore, in the drilling cycle of drilling rig 10 ( Figure 16A-16O During this process, washer 114 is automatically loaded onto drill tip 18A. Therefore, drill rig 10 automatically adds washer 114 to consumables 18A, whereas otherwise washer 114 would be manually loaded into consumables. Drill rig 10 also maintains the ability to override or temporarily stop the operation of washer loader 110 to selectively allow the operator to load and / or unload washer 114 into consumables 18A.

[0106] As explained in more detail below, the washer loader assembly 110 automatically loads the washer 114 onto the required consumable 18A, but not onto other consumables 18B, 18C, 18D that do not require a washer. The washer 114 is supported on the consumable 18A by the stabilizer bar 190 until the consumable 18A is loaded into the drill bit 34, and the washer 114 is received in the recess 194 formed in the top plate 198.

[0107] refer to Figure 12A-12D The alternative washer loader assembly 110a, which can be used with drill rig 10, eliminates the need for the counterweight bar 190 connected to the loading assembly 26. Instead of positioning the counterweight bar 190 on the loading assembly 26 to temporarily support the washer 114, the washer 114 is centered on the consumable 18A before the consumable 18A is centered in the drill bit 34. Apart from eliminating the counterweight bar 190, the alternative washer loader assembly 110a operates in a similar or common manner to the washer loader assembly 100, as described below.

[0108] Figure 12A An alternative washer loader assembly 110a in the loading position is shown, wherein the loading arm 130a of the alternative washer loader assembly 110a extends along the washer loader axis 112.

[0109] Figure 12B An alternative washer loader assembly 110a in a raised position is shown, wherein the loading arm 130a of the alternative washer loader assembly 110a extends along the washer loader axis 112 and is raised along the washer loader axis 146a. The loading arm 130a is raised above the upper end of the consumable 18A supported on the turntable 22.

[0110] Figure 12C An alternative washer loader assembly 110a in both raised and retracted positions is shown, wherein the loading arm 130a of the alternative washer loader assembly 110a is retracted relative to the extended position along the washer loader axis 112. The loading arm 130a remains raised above the upper end of the consumable 18A such that when the loading arm 130a is retracted, the center of the washer 114 passes over the center of the consumable 18A. The consumable 18A is offset relative to the washer 114 such that retracting the loading arm 130a centers the washer 114 on the consumable 18A.

[0111] Figure 12D An alternative washer loader assembly 110a is shown in the drill bit receiving position, wherein the loading arm 130a of the alternative washer loader assembly 110a is retracted along the washer loader axis 112 and raised along the axis 146a. Figure 12DThe consumable 18A is further shown being lifted into the gasket 114. The alternative gasket loader assembly 110a further includes a guide protrusion 113 that extends from the alternative gasket loader assembly 110a adjacent to the loading arm 130a.

[0112] like Figure 12A-12D As shown, the guide protrusion 113 is partially bent to roughly correspond to the bending movement of the loading assembly 26. The guide protrusion 113 is located on the alternative washer loader assembly 110a such that as the loading assembly 26 rotates the consumable 18A and washer 114 out of / away from the loading arm 130a, the washer 114 is guided into the drill bit 34. In other words, the guide 113 extends sufficiently away from the loading arm 130a that the washer 114 does not fall from the consumable 18A across the drill bit 34.

[0113] refer to Figure 13A , 13B In 14A, loading assembly 26 is shown with loading arm 30 located near turntable assembly 14. Specifically, loading arm 30 may be located near consumable 18 (e.g., adapter 18D) carried on turntable 22 when in the loading position. Loading assembly 26 includes a first actuator 206 configured to raise and lower loading arm 30 and a second separate actuator 210 configured to rotate loading arm 30. The first actuator 206 defines a first axis 214, and the second actuator 210 defines a second axis 218. In the illustrated embodiment, the first axis 214 is spaced apart and oriented parallel to the second axis 218. The first actuator 206 and the second actuator 210 allow loading arm 30 to be raised and lowered independently of rotation. In other words, loading arm 30 can be raised or lowered (i.e., translated along the first axis 214) without rotation (i.e., rotated about the second axis 218). Similarly, loading arm 30 can be rotated about the second axis 218 without being raised or lowered along the first axis 214. Independent control of the movement of the loading arm 30 provides greater flexibility in controlling the loading assembly 26 to perform various tasks.

[0114] Continue to refer to Figure 13A The loading arm 30 has a fixed length. The loading arm 30 does not need to extend to move the consumable 18 from the turntable 22 or load the consumable 18 into the drill bit 34. In other words, no separate actuator is needed to translate the loading arm in a direction transverse to the second axis 218. In other words, the distance between the drill bit 34 and the second axis 218 is equal to the distance between the consumable 18 in its loading position on the turntable 22 and the second axis 218. Therefore, the distance between the drill bit 34 and the second axis 218 is equal to the distance between the second axis 218 and the turntable assembly 14.

[0115] refer to Figure 13B and14A The loading arm 30 includes two clamps 222, which are configured in the open position ( Figure 13B and 14A The clamp 222 moves between a closed position and a closed position, in which the clamp 222 is positioned around and secured to the consumable 18. In the illustrated embodiment, each clamp 222 includes a recess 226 in which the consumable 18 is received when in the closed position. The movement of the clamp 222 and the shape of the recess 226 in the clamp 222 are configured to capture consumables of various diameters. The loading arm 30 also includes a sensor 230 located near the clamp 222 (see [link to sensor 230]). Figure 14A ).like Figure 13B As shown, clamp actuator 225 can be operated to move clamp 222, as detailed below. In some embodiments, actuator 210 can be operated to move clamp 222.

[0116] refer to Figure 13B The clamp actuator 225 is operable to drive a piston located within the actuator housing 225b. The rod of the piston 225a is secured to a connecting plate 225d (e.g., via an anchor rod having a head 225c). The connecting plate 225d is connected to the clamping plate 222 via a linkage 225e, for example, one or more connectors 225f. The linkage or bar arrangement of the plate 225d, the linkage 225e, and the clamping plate 222 converts linear or axial movement of a portion of the actuator 225 (e.g., the piston 225a) into rotational movement of the clamping plate 222. In the illustrated embodiment, the plate 225d is connected to two clamping plates 222. In some embodiments, more than one linkage 225e may be connected between the plate 225d and the clamping plate 222.

[0117] In some embodiments, such as Figure 14BAs shown, pressurized fluid can be supplied to actuators on the loading arm (e.g., actuators for moving clamp 222) via fluid connector 232. The loading arm 30 is supported for rotation relative to fluid connector 232, such that the lubricant supply hose does indeed need to rotate with the loading arm 30. Instead, fluid connector 232 supports a lubricated bearing or tapered shape adapted for fluid delivery to the rotating portions of clamp 222 and loading arm 30. Fluid connector 232 includes multiple cavities 232a, such as tunnels, channels, etc. Cavities 232a are located around the circumference of fluid connector 232 to supply fluid to loading arm 30. In the illustrated embodiment, cavities 232a extend radially outward and are located around approximately half of the outer circumference of fluid connector 232. In other embodiments, cavities 232a are located around more than half (e.g., 75%, 100%, etc.) of the outer circumference of fluid connector 232. In some embodiments, cavity 232a is capped or blocked at one end and pressurized to provide pressurized fluid to loading arm 30 and clamp actuator 225. Loading arm 30 includes a plurality of complementary receptacles configured to contain fluid from cavity 232a. In other words, cavity 232a on fluid connector 232 provides a first port, and the complementary receptacles on loading arm 30 provide a second port to maintain fluid communication with the first port throughout the rotational movement of loading arm 30. Lubricant may be supplied to components on loading arm 30 in a similar manner.

[0118] like Figure 14B and 14C As shown, a portion of the loading arm 30 can be supported by a keying device 233, which is adapted to sliding movement of the loading arm 30 (e.g., along axis 218). The keying device 233 includes a supporting mast or axially fixed shaft 233a, two keys 233b receivable in a portion of the supporting mast 233a, and an inner shaft 233c receivable in the supporting mast 233a and axially movable (e.g., slidable) relative to, for example, an oil connector 232. The keys 233b are held to the supporting mast 233a by a carrier 233d (e.g., a wear-resistant carrier 233d for separating the belts). The carrier 233d is a two-piece carrier supporting one or more wear-resistant belts 233e. The keys 233b are sized and shaped to contact a grooved surface on the inner shaft 233c to prevent relative rotation between the supporting mast 233a and the inner shaft 233c. Key 233b thus supports the axial movement of the loading arm 30 and prevents wear or damage between shafts 233a and 233c during movement.

[0119] The loading arm 30 is further supported for rotation on the outer shaft 233g, which slides together with the inner shaft 233c. In the illustrated embodiment, the inner shaft 233c and the outer shaft 233g do not move axially relative to each other, and both shafts 233c and 233g move axially relative to the support mast 233a. The outer shaft 233g supports the rotation of the loading arm 30 specifically by a wear-resistant belt 233e surrounding the wear-resistant belt carrier 233d. The wear-resistant belt 233e contacts the outer shaft 233g and accommodates protected relative rotation between the key 233b and the loading arm 30 on the outer shaft 233g. In other words, the wear-resistant belt 233e helps prevent wear in the loading assembly 26 (e.g., between worn surfaces or contact surfaces) as the loading arm 30 rotates or translates. During the installation of the key assembly 233, the key 233b is inserted into the support mast 233a, and a portion of the carrier 233d is located around the key 233b. The wear-resistant belt 233e is pressed or forced onto the carrier 233d to hold the belt 233e, the carrier 233d and the key 233b to the support mast 233a.

[0120] In the illustrated embodiment, the wear-resistant band 233e is made of a polymer (such as polyester). The wear-resistant band carrier 233d is made of a metal (such as cast iron, steel, stainless steel, etc.). In other embodiments, the wear-resistant band carrier 233d is made of a rigid polymer. In the illustrated embodiment, the carrier 233d is made of steel. The key 233b is also made of a metal (such as brass, copper, aluminum, etc.). In the illustrated embodiment, the key 233b is brass.

[0121] In the illustrated embodiment, sensor 230 is a proximity sensor that detects when consumable 18 is gripped by loading arm 30 (i.e., positioned between clamps 222). In some embodiments, sensor 230 is a sensing sensor that detects the presence of metallic material. A clamp actuator 225 (see [link to documentation]) is used. Figure 14A (e.g., hydraulic actuators, motors, electromagnetic coils, etc.) move the two clamps 222 between the open and closed positions. The clamp actuator 225 is part of the drive motor and actuator 332 controlled by the controller 40, as described in detail below.

[0122] refer to Figure 15The drilling rig 10 includes a hydraulic circuit 234 to drive various functions on the drilling rig 10. The hydraulic circuit 234 includes a main pressure source 238 and a main return line 242. The hydraulic circuit 234 also includes a function selection hydraulic line 246 and a hydraulic return line 250 (i.e., a second hydraulic return line). The hydraulic circuit 234 also includes a main flow valve 254 and a flow divider valve 258 fluidly connected to a hydraulic function 262 on the drilling rig 10. In some embodiments, the hydraulic function 262 includes left / right indexing tilt; rotary table rotation; forward / backward indexing tilt; rotating the loading arm; raising / lowering the loading arm; opening / closing the gripper; a washer loader; auxiliary functions; or any other suitable hydraulic function on the drilling rig 10. The hydraulic function 262 may include various hydraulic components, such as actuators; cylinders; hydraulic motors; pressure compensation valves; and check valves.

[0123] Continue to refer to Figure 15 Hydraulic functions 262 are paired together to create a hydraulic sub-circuit 266, which includes a main hydraulic function 270 and a secondary hydraulic function 274. A main pressure source 238 and a main return line 242 are in fluid communication with each of the parallel hydraulic sub-circuits 266. A second hydraulic return line 250 is fluidly connected to each flow divider valve 258. Similarly, a function selection hydraulic line 246 is fluidly connected to each flow divider valve 258. In the illustrated embodiment, the main flow valve 254 is a three-position, electromagnetically actuated, electronically controlled hydraulic valve. In the illustrated embodiment, the flow divider valve 258 is a two-position hydraulic valve with a spring-biased intermediate position.

[0124] refer to Figure 15A Each hydraulic subcircuit 266 includes a first diverter valve 258A, a second diverter valve 258B, and a main flow valve 254. The input side 278 of the main flow valve 254 is connected to a main pressure source 238 and a main return line 242. The main flow valve 254 has a closed intermediate position and is electronically controlled by a solenoid coil between two open positions to provide directional control of the hydraulic function 262. For example, the main flow valve 254 is controlled to move to a first open position to rotate the turntable 22 about the turntable axis 42 in a first direction (e.g., clockwise), and the main flow valve 254 is controlled to move to a second open position to rotate the turntable 22 in a second direction opposite to the first direction (e.g., counterclockwise). The output side 282 of the main flow valve 254 is in fluid communication with the inlet sides 286 of the first diverter valve 258A and the second diverter valve 258B. The second hydraulic return line 250 is also in fluid communication with the inlet sides 286 of the first diverter valve 258A and the second diverter valve 258B. The output side 290 of each diverter valve 258 is fluidly connected to the main hydraulic function 270 and the auxiliary hydraulic function 274.

[0125] Continue to refer to Figure 15AThe diverter valve 258 has a first spring-biased open position and a second open position. The position of the diverter valve 258 is determined by the pressure in the function selection hydraulic line 246. For example, when the pressure in the function selection hydraulic line 246 is low or close to atmospheric pressure, the first diverter valve 258A and the second diverter valve 258B are spring-biased to the first open position, such as... Figure 15A As shown, this activates the main hydraulic function 270 and deactivates the auxiliary hydraulic function 274. Conversely, when the pressure in the function selection hydraulic line 246 is high, the first diverter valve 258A and the second diverter valve 258B are forced into a second open position (against spring bias), thereby activating the auxiliary hydraulic function 274 and deactivating the main hydraulic function 270. In other words, the pressure in the function selection hydraulic line 246 switches between high and low to determine whether to activate the main function 270 or the auxiliary function 274 by being positioned in fluid communication with the main pressure source 238 and the main return line 242. The deactivated hydraulic function is positioned in fluid communication with the second hydraulic return line 250 to release any stored pressure. In some embodiments, the two diverter valves 258A and 258B are combined into a single six-way two-position directional control valve (e.g., model KVH-6 / 2-8 directional valve available from Porclain Hydraulics or model DNDY valve available from Sun Hydraulics).

[0126] The flow divider valve 258 is smaller, thus reducing the overall size of the drilling rig 10. In other words, the flow divider valve 258 is smaller than an additional solenoid-operated directional control valve, which would also require additional electromagnetic and electrical components. Furthermore, the flow divider valve 258 is hydraulically actuated by the function selection hydraulic line 246 and is not electronically controlled, thus reducing the complexity of the electronics. In other words, the flow divider valve 258 replaces an electronically controlled solenoid valve. A single solenoid-actuated flow valve 254 can fluidly connect the main pressure source 238 and the main return line 242 to two different hydraulic functions (i.e., the main function 270 and the secondary function 274). In this sense, the hydraulic circuit 234 provides dual functionality for each flow valve 254.

[0127] refer to Figure 16A-16O , Figures 17A-17H and Figure 18A-18M The diagram illustrates a complete automated operating cycle for drilling rig 10. In the illustrated embodiment, the complete automated operating cycle includes a drilling cycle (…). Figure 16A-16O ), resin recycling ( Figures 17A-17H ) and anchor circulation ( Figure 18A-18MThe drill rig 10 automatically performs a drilling cycle, followed by a resin cycle, and then an anchor bolt cycle. In other embodiments, the drill rig 10 can perform any number of required cycles in any desired order, and / or may perform only some cycles. In the illustrated embodiment, the working surface 294 is the roof of an underground mine. As mentioned above, the working surface can also be, for example, the wall of an underground mine, and the drill rig 10 can be oriented accordingly. In other words, the drill rig 10 is operable in more than one orientation (e.g., vertical orientation and horizontal orientation).

[0128] refer to Figure 16A-16O The diagram shows the drilling cycle of the drilling rig 10. Figure 16A The drill 10 is shown in the starting position relative to the working surface 294. In the starting position, the drill bit 34 is positioned to receive the consumable 18, and the top plate 198 is retracted.

[0129] Figure 16B Consumables 18 and washers 114 (e.g., stack of washers 122) are shown loaded into rotary table assembly 14 and drill rig 10.

[0130] Figure 16C The diagram shows the drill rig 10 moving to the starting position after being loaded with consumable 18 and washer 114. The actuator 138 of the washer loader assembly 110 retracts and rotates, causing the carrier arm 130 to magnetically engage with the washer 114. The turntable assembly 14 is rotated to position the desired consumable (i.e., drill tip 18A) in the loading position so that it can be loaded into the loading arm 30.

[0131] Figure 16D A washer loader assembly 110 is shown, in which an actuator 138 and a carrier arm 130 extend and rotate. The carrier arm 130 holds the washer 114 in a position aligned with the drill tip 18A, which is now secured to the loading arm 30.

[0132] Figure 16E The loading arm 30 and the drill tip 18A are shown extending (i.e. rising) along axis 214 such that the drill tip 18A passes through the center hole of the washer 114.

[0133] Figure 16F The loading arm 30 and drill tip 18A are shown, wherein the washer 114 rotates about the second axis 218 so that the drill tip 18A is aligned with the drill bit 34.

[0134] Figure 16G A drill bit 34 is shown translated along the drill axis 36 to accommodate the drill tip 18A within the drill bit 34 (i.e., within the chuck). Figure 16F-16G During the steps shown, the balance bar 190 contacts the washer 114 and holds the washer 114 in place relative to the drill tip 18A.

[0135] Figure 16H-16J The drill tip 18A, drill bit 34, and top plate 198 are shown to translate along the drill axis 36 such that the drill tip 18A drills a hole in the working surface 294, and the top plate 198 with a washer 114 abuts the working surface 294.

[0136] Figure 16K-16O The diagram illustrates the end of a drilling cycle, where drill tip 18A and drill bit 34 retract away from the working surface 294, and drill tip 18A returns to turntable 22 via loading arm 30. In the illustrated embodiment, at the end of the drilling cycle, top plate 198 and washer 114 remain pressed against the working surface 294. Figure 16O ).

[0137] Figures 17A-17H The resin circulation of the drill rig 10 is shown. The resin circulation is similar to the drilling circulation, but the resin cartridge 18B is selected from the rotary table assembly 14 via the loading arm 30 instead of the drill tip 18A. In other words, the loading arm 30 moves the resin cartridge 18B from the rotary table assembly 14 to the drill bit 34. Figures 17A-17D ); Resin cartridge 18B is inserted into working surface 294 ( Figure 17E-17F ); and resin cylinder 18B returns to turntable assembly 14 via loading arm 30 ( Figure 17G-17H Before the resin cartridge 18B is returned to the turntable assembly 14, resin is discharged from the resin cartridge 18B and enters the hole drilled by the drill tip 18A. Resin can be discharged from the resin cartridge 18B via a resin inserter or an ejector. In the illustrated embodiment, a fluid such as water, oil, or a water-oil mixture is pressurized in the inserter to expel or squeeze the resin from the resin cartridge 18B.

[0138] Figure 18A-18M The anchor bolt cycle of drill rig 10 is shown. The anchor bolt cycle is similar to the drilling cycle, but instead of drill tip 18A, the anchor bolt 18C (and optionally, adapter 18D) is selected from rotary table assembly 14 via loading arm 30. First, the anchor bolt 18C is loaded into drill bit 34 and partially inserted into working surface 294. Figures 18A-18E Next, retract drill bit 34, with anchor bolt 18C held in place. Figure 18F In the illustrated embodiment, the anchor bolt 18C is held in place by the top plate 198. In some embodiments, the top plate 198 includes a clamp for holding the anchor bolt 18C in place. The loading arm 30 then moves the adapter 18D from the turntable 22 to the drill bit 34. Figure 18G-18I ).

[0139] When adapter 18D is loaded, loading arm 30 does not rise or fall because cam 62 and valve actuator 70 are disengaged from first actuator 206. Instead, drill bit 34 is moved to accommodate loading adapter 18D into drill bit 34, and adapter 18D is held in place. Adapter 18D is then used to complete the insertion of anchor bolt 18C into working surface 294. Figure 18J-18K ), and adapter 18D returns to turntable 22 ( Figure 18L-18M In some embodiments, the anchor bolt 18C can be loaded and driven by the drill bit 34 without using the adapter 18D.

[0140] Reference Figure 19 The drilling rig system 300 and controller 40 are shown in more detail. Controller 40 is electrically and / or communicatively connected to various modules or components of the drilling rig system 300. For example, controller 40 may be connected to user interface 304, integrated controller 306, network switch 308 (via integrated controller 306), central controller 312 (via network switch 308), network 316 (via network switch 308), power module 320 (e.g., an AC power module receiving AC grid power), one or more sensors 324 associated with the drilling rig system 300, database 328 (e.g., for storing data, images, and / or video related to the drilling rig system 300, component overview, etc.), and / or one or more drive motors and actuators 332 of the drilling rig system 300.

[0141] One or more drive motors and actuators 332 include one or more motors and actuators of the drilling rig 10. For example, one or more drive motors and actuators 332 include an actuator 46 (i.e., a first actuator) configured to rotate the turntable 22, an actuator 138 (i.e., a second actuator) configured to extend and rotate the load arm 130 relative to the fixed housing 142, an actuator 206 (i.e., a third actuator) configured to raise and lower the load arm 30, an actuator 210 (i.e., a fourth actuator) configured to rotate the load arm 30, and a clamp actuator 225 (i.e., a fifth actuator) configured to open and close the clamp 222. Sensors 324 may include one or more sensors of the drilling rig 10. For example, sensors 324 may include an encoder 50 configured to detect the rotational position of the turntable 22 and a sensor 230 for detecting consumables near the load arm 30. In addition to encoder 50 and sensor 230, sensor 324 may include feeder pressure sensor, fine-tuning feeder speed sensor, rotary pressure sensor, rotary speed sensor, inclinometer and / or flow sensor.

[0142] The controller 40 includes a combination of hardware and software operable to control the operation of the drilling rig 10, communicate with the central controller 312 or via network 316, and perform other functions, among others. In some embodiments, the controller 40 includes a plurality of electrical and electronic components that provide power, operational control, and protection to components and modules within the controller 40 and / or the drilling rig 10. For example, the controller 40 includes a processing unit 336 (e.g., a microprocessor, microcontroller, or other suitable programmable device), a memory 340, an input unit 344, and an output unit 348, among others. The processing unit 336 includes a control unit 352, an arithmetic logic unit (“ALU”) 356, and a plurality of registers 360 (in Figure 19 The components (shown as a set of registers) and others are implemented using known computer architectures (e.g., modified Harvard architecture, von Neumann architecture, etc.). The processing unit 336, memory 340, input unit 344, and output unit 348, as well as various modules connected to the controller 40, are connected via one or more control and / or data buses (e.g., common bus 364). For illustrative purposes, the control and / or data buses are generally located in... Figure 19 As shown in the image.

[0143] Memory 340 is a non-transitory computer-readable medium and includes, for example, a program storage area and a data storage area. The program storage area and data storage area may include combinations of different types of memory, such as ROM, RAM (e.g., DRAM, SDRAM, etc.), EEPROM, flash memory, hard disk, SD card, or other suitable magnetic storage device, optical storage device, physical storage device, or electronic storage device. Processing unit 336 is connected to memory 340 and executes software instructions that can be stored in the RAM of memory 340 (e.g., during execution), the ROM of memory 340 (e.g., on a generally permanent basis), or another non-transitory computer-readable medium such as another memory or disk. Software included in the implementation of drill rig 10 may be stored in memory 340 of controller 40. This software includes, for example, firmware, one or more application programs, program data, filters, rules, one or more program modules, image processing software, and other executable instructions. Controller 40 is configured to retrieve and execute instructions related to the control processes and methods described herein, among others, from memory 340. In other configurations, controller 40 includes additional components, fewer components, or different components. In some embodiments, the software included in the implementation of the drilling rig 10 may be stored in the memory of the central controller 312. In such embodiments, the central controller 312 is configured to retrieve from the memory and execute instructions related to the control processes and methods described herein.

[0144] In mining environments, electrical components are required to be inherently safe. For a device to be certified as inherently safe, each electrical component must perform according to prescribed inherently safe standards. Rotary encoders present a barrier to this certification. Multi-turn and optical encoders, commonly used in mining equipment, are too large and difficult to configure as inherently safe. An alternative solution to multi-turn and optical encoders is to use mechanical encoders that do not use electronic components. However, mechanical encoders are generally unreliable, subject to wear, and face issues with connection alignment and assembly.

[0145] Figure 20 An intrinsically safe rotary encoder 50 is shown, configured to detect the rotational position of a turntable 22. In the example shown, the intrinsically safe rotary encoder 50 is a magnetic position sensor comprising one or more Hall effect sensors that detect a permanent magnet connected to the turntable 22. Figure 20 As shown, encoder 50 includes a position sensor 384 (e.g., a Hall sensor) located on the top portion of housing 392. Housing 392 is formed of a protective material configured to house the position sensor 384. In some embodiments, housing 392 is a stainless steel or other metal housing configured to block any flame or cut off the oxygen supply to any flame generated within the housing. Magnetic rotary encoders offer significant temperature advantages over multi-turn and optical encoders. The Hall sensor output operates at a power level of less than 1 watt (W), with minimal heat loss. Such a low power level generates minimal heat, making it easier to meet inherently safe limitations. Despite the significant advantages offered by magnetic rotary encoders compared to other types of encoders, they are not currently widely used in the mining industry. Magnetic rotary encoders provide a non-contact position detection mechanism. Magnetic encoders need to be placed very close to the sensing element to provide accurate measurements. Furthermore, the output signal provided by typically available Hall sensors is incompatible with the communication and sensing technologies used by the control systems of mining machines.

[0146] To overcome the aforementioned challenges, position sensor 384 is exposed from housing 392, allowing it to be positioned in close contact with the magnet of the turntable. Specifically, position sensor 384 is disposed on the outer periphery of housing 392. (Refer to...) Figure 21An intrinsically safe rotary encoder 50 is disposed at the bottom of the turntable 22. In some embodiments, the rotary encoder 50 may be disposed at the top of the turntable 22. The housing 392 of the rotary encoder 50 is secured to the housing of the turntable 22 using fasteners. Gaskets or seals may be provided between the rotary encoder 50 and the turntable 22 to provide an airtight and / or watertight seal. As described above, a position sensor 384 is exposed from the housing 392 such that the position sensor 384 extends into the housing of the turntable 22. The rotary encoder 50 is secured to the turntable such that the position sensor 384 is very close to a magnet fixed to the rotational shaft of the turntable 22. The magnet includes at least two magnetic poles (a north pole and a south pole), which are detected by the position sensor 384. The detection signal is then forwarded to the controller 40 to indicate the rotational position of the turntable 22. In some embodiments, the magnet may include additional magnetic poles (e.g., two or more north poles and two or more south poles) to provide additional granularity in the rotational position measurement. In some embodiments, the position sensor 384 may be disposed within the periphery of the housing 392, and the magnet of the turntable may extend into the housing 392 of the rotary encoder 50 to place the magnet near the position sensor 384.

[0147] Depending on the type of magnetic encoder used, the rotary encoder 50 can provide analog output, pulse width modulation (PWM) output, serial peripheral interface output, etc. Therefore, an analog-to-digital converter (ADC) or a universal asynchronous receiver-transmitter (UART) converts the output signal from one form (e.g., analog) to another form (UART), allowing the rotary encoder 50 to be integrated with other components of the drilling rig 10.

[0148] Figure 22 An exemplary configuration of the turntable 22 is shown. The turntable 22 includes one or more stations 400 for loading one or more consumables 18. For example, such as Figure 22 As shown, the first station 400A is equipped with a drill tip 18A. The second station 400B and the third station 400C are each equipped with a resin cylinder 18B. The fourth station 400D and the fifth station 400E are each equipped with an anchor bolt 18C. The sixth station 400F is equipped with an adapter 18D. The currently selected station 400 of the turntable 22 can be determined by the intrinsically safe position detector 50. The angular position of the turntable 22 can be identified by the rotary encoder 50 based on a magnet, target, or some other object mounted on the turntable 22. For example, as... Figure 22 As shown, the turntable is at 0°.

[0149] The drilling rig 10 further includes an intrinsically safe control panel 420. The control panel 420 is part of the user interface 304 and is connected to the controller 40. Figure 23 and 24A first exemplary embodiment of a control panel 420A for controlling a drilling rig 10 and a second exemplary embodiment of a control panel 420B are shown. The first control panel 420A and the second control panel 420B include a display screen 424, a speaker 428, and one or more buttons (e.g., multiple buttons). One or more buttons are provided as a keyboard 430. The keyboard 430 has a thickness between 0.15 mm and 1 mm. One or more buttons include a combination of a single-press on / off button that toggles a state when pressed and a proportional input button that provides a signal to the controller proportional to the force applied to the button. When one or more buttons include proportional input buttons, a force-sensing resistor material is provided beneath the plastic cover of each proportional input button. The force applied to one or more buttons is transmitted to the force-sensing resistor material, causing a drop in resistance in the force-sensing resistor. This drop in resistance is detected to determine the magnitude of the force applied to the one or more buttons. Because one or more buttons use resistive technology instead of capacitive touch technology, contact with human skin is not required to activate one or more buttons. One or more buttons can be activated even when a person is wearing gloves, which is necessary for operators in mining environments.

[0150] Electrically detected signals from one or more buttons are sent to controller 40, which then sends corresponding signals to controller 40. Controller 40 then executes the functions assigned to the one or more buttons based on the received signals. The one or more buttons include, for example, a stop button 432, an isolation button 436, one or more navigation buttons 440, a home and / or selection button 444, and / or one or more control button groups 456A–F. A first control panel 420A includes an anchor light-emitting diode (LED) 448 (e.g., a first LED) and a drilled LED 452 (e.g., a second LED). A second control panel 420B includes a tri-color LED 460. In some embodiments, such as... Figure 23 In the illustrated embodiment, one or more buttons include text labels describing the function of the buttons. In other embodiments, such as Figure 24 In the illustrated embodiment, one or more buttons include icons corresponding to their functions. A stop button 432 allows the user to stop the operation of the drill rig 10. When the stop button 432 is pressed, the controller 40 stops all mechanical functions of the drill rig 10. One or more navigation buttons 440 and a home and / or selection button 444 allow the user to navigate the options on the display 424. Anchor LED 448 and borehole LED 452 are each, for example, multi-color LEDs, providing status indications for anchoring operations (e.g., the first operation) and borehole operations (e.g., the second operation), respectively.

[0151] Each of one or more control button groups 456A–F includes one or more control buttons for manually controlling the operation of the drilling rig 10. For example, as Figure 23As shown, the first control button group 456A includes control buttons for controlling the drill bit 34 and the jack for beam erection. The first control button group 456A includes a clockwise rotation button, a counter-clockwise rotation button, a feeder up button, and a feeder down button. When the controller 40 determines that the clockwise rotation button is pressed (i.e., the controller 40 receives input to rotate the drill bit 34 clockwise), the controller 40 controls the actuator (e.g., a motor) of the drill bit 34 to rotate the drill bit 34 clockwise. When the controller 40 determines that the counter-clockwise rotation button is pressed (i.e., the controller 40 receives input to rotate the drill bit 34 counter-clockwise), the controller 40 controls the actuator of the drill bit 34 to rotate the drill bit 34 counter-clockwise. When the controller 40 determines that the feeder up button is pressed (i.e., the controller 40 receives input to move the drill bit 34 upwards), the controller 40 controls the actuator of the drill bit 34 to move the drill bit 34 upwards toward the roof. When controller 40 determines that the feeder up button has been pressed (i.e., controller 40 receives input to move drill bit 34 downward), controller 40 controls the actuator of drill bit 34 to move drill bit 34 downward away from the roof. The first control button group 456A also includes a jack up button and a jack down button, which similarly control the jack to move upward (e.g., to support the roof) and downward (e.g., after anchoring operations). In some embodiments, the buttons provided in the first control button group 456A are proportional input buttons, such that the force applied to the button determines the speed of the corresponding operation.

[0152] The second control button group 456B includes control buttons for controlling the positions of the turntable 22, the loading arm 30, and the carrying arm 130. The second control button group 456B includes a turntable clockwise rotation button, a turntable counter-clockwise rotation button, an arm feed button, an arm disengagement feed button, a washer loader raise button, and a washer loader lower button. When the controller 40 determines that the turntable clockwise rotation button is pressed (i.e., the controller 40 receives input to rotate the turntable 22 clockwise), the controller 40 controls the actuator 46 to rotate the turntable clockwise. When the controller 40 determines that the turntable counter-clockwise rotation button is pressed (i.e., the controller 40 receives input to rotate the turntable 22 counter-clockwise), the controller 40 controls the actuator 46 to rotate the turntable counter-clockwise. When the controller 40 determines that the arm feed button is pressed (i.e., the controller 40 receives input to move the loading arm 30 to the turntable 22), the controller 40 controls the second actuator 206 to move the loading arm 30 to the turntable 22. When controller 40 determines that the arm-away feed button has been pressed (i.e., controller 40 receives input to move the loading arm 30 away from turntable 22), controller 40 controls the second actuator 206 to move the loading arm 30 away from turntable 22. When controller 40 determines that the washer loader raise button has been pressed (i.e., controller 40 receives input to raise the load arm 130), controller 40 controls actuator 136 to raise the load arm 130. When controller 40 determines that the washer loader lower button has been pressed (i.e., controller 40 receives input to lower the load arm 130), controller 40 controls actuator 130 to lower the load arm 130. In some embodiments, the buttons provided in the second control button group 456B are proportional input buttons, such that the force applied to the button determines the speed of the corresponding operation.

[0153] The third control button group 456C includes control buttons for opening / closing the arm gripper. When the controller 40 determines that the arm gripper open button has been pressed (i.e., the controller receives input to open the gripper 222), the controller 40 controls the gripper actuator to open the gripper 222. When the controller 40 determines that the arm gripper close button has been pressed (i.e., the controller receives input to close the gripper 222), the controller 40 controls the gripper actuator to close the gripper 222.

[0154] The fourth control button group 456D includes an anchor button for initiating anchoring operations (see, for example, see...). Figure 31 ), and a resin button for initiating the resin injection operation (see, for example) Figure 30 The fifth control button group 456E includes control buttons for selecting the automation status of the drilling rig 10. The fifth control button group 456E also includes a semi-automatic / fully automatic button for selecting the semi-automatic / fully automatic mode of the drilling rig 10 (see, for example...). Figure 28The sixth control button group 456F includes a pause / resume automatic button for pausing or resuming the automatic operation of the drilling rig 10. The sixth control button group 456F includes buttons for controlling the drilling operation of the drilling rig 10. The sixth control button group 456F includes a drilling button for starting the drilling operation (see, for example...). Figure 29 The control includes: plus (+) and minus (-) buttons for controlling the intensity or speed of drilling operations; a water button for controlling the cooling water flow rate of drilling operations; and an enhancement button for providing power boost to drilling operations. In some embodiments, the buttons provided in the sixth control button group 456F are proportional input buttons, such that the force applied to the button determines the speed of the corresponding operation.

[0155] The various control buttons in the control button groups 456A–F provide control for activating, deactivating, pausing, or resuming the automatic operation of the drilling rig 10. The various control buttons in the control button groups 456A–F also provide control for the manual operation of the drilling rig 10. For example, in response to an error detected during the automatic operation of the drilling rig 10, the drilling rig 10 can request the operator to manually control the drilling rig 10 as a fail-safe measure.

[0156] In some embodiments, various landmarks may be provided between the different button groups 456A-F and around one or more buttons so that users can easily locate the button groups 456A-F based on touch. In a mining environment, there may not always be sufficient light for operators to easily identify the different buttons. Figure 23AAn example of markers provided on a control panel 420A is shown. A first marker 460 is positioned between a first control button group 456A and a second control button group 456B. The first marker 460 can be an engraved marker or a raised marker, such that the user can feel the first marker 460 when moving their hand from the first control button group 456A to the second control button group 456B. An engraved marker is a feature pressed into a surface membrane keyboard, and a raised marker is a feature raised above the surface of the membrane keyboard. A second set of markers 464 is provided around the first button 468 and the second button 472 of the first control button group 456A. ​​In the example shown, the second set of markers 464 are directional markers indicating upward and downward directions around the first button 468 and the second button 472, respectively. The second set of markers 464 can include engraved markers or raised markers, such that the user can feel the second set of markers 464 when moving their hand over it. The first button 468 is a feeder up button for moving the component upwards, and the second button 472 is a feeder down button for moving the component downwards. Therefore, a second set of markers 464 indicates to the user that the first button 468 and the second button 472 are the up and down buttons of the respective button groups 456A-F. A third marker 476 is provided around the third button 480. The third marker 476 is also a directional marker indicating the upward direction; however, the third marker 476 is not provided as a set. Therefore, the third marker 476 is provided to indicate that the corresponding button 480 is a rotary button. In the illustrated example, the third button 480 is a clockwise rotary button, and a fourth button 484 is positioned below the third button 480. The fourth button 484 is a counter-clockwise rotary button. In some embodiments, a fourth set of markers may also be provided around the buttons for lateral movement. The fourth set of markers is a directional marker on the control panel 420A indicating the left and right directions. In some embodiments, one or more of the control button groups 456A-F also include a bounding box 488 to visually distinguish the different buttons. A bounding box is also provided around each of one or more buttons. In some embodiments, the intrinsically safe control panel 420 further includes a connector that allows connection to a second intrinsically safe control panel. The second intrinsically safe control panel 420 can be configured to control the drilling rig 10 from a remote location (e.g., remotely or from a remote location). The connector can be a wireless connector or a wired connector. In embodiments where the connector is a wireless connector, the wireless connector can be a Wi-Fi connector, a Bluetooth connector, a satellite connector, a cellular network connector, a radio transceiver, a combination thereof, etc.

[0157] Display 424 is used to display a graphical user interface, such as Figure 25-27B The functional interface shown is 500. Figure 25A drilling function interface 500A is shown. The drilling function interface 500A includes a drilling view tab 502, a resin view tab 504, and an anchor bolt view tab 506. The drilling function interface 500A further includes a previous automatic status indicator 508 for indicating the previous automatic task performed by the drilling rig 10 in fully automatic mode, a current automatic status indicator 510 for indicating the current automatic task performed by the drilling rig 10 in fully automatic mode, and a next automatic status indicator 512 for indicating the next automatic task performed by the drilling rig 10 in fully automatic mode. The drilling function interface 500A also includes an instrument panel 514 and a status panel 538a.

[0158] The instrument panel 514 displays the feed pressure gauge 516 and feed pressure target indicator 518, the rotary pressure gauge 520 and rotary pressure target indicator 522, the azimuth index 524 including north / south value 526 and east / west value 528, the jack pressure gauge 530, the flow rate gauge 532, and the water pressure gauge 534 including the selector button 536.

[0159] The status panel 538A displays information associated with the automatic drilling function, such as the target hole depth value 540, the current hole depth indicator 542, the feed speed indicator 544, the rotation direction indicator 546, the jack indicator 548, the turntable position indicator 550, the drill rod indicator 552, the washer loader indicator 554, the washer loader working position indicator 556, the washer loader original position indicator 558, and the top claw reflection indicator 560.

[0160] Figure 26A The resin function interface 500B is shown during the automatic resin function at a first moment. The resin function interface includes tabs and panels similar to those in the drilling function interface 500A. The resin function interface 500B further includes a status panel 538B. The status panel 538B displays information related to the automatic resin function, such as the resin inserter indicator 562, resin indicator 564, turntable index indicator 566, loader arm indicator 568, middle jaw indicator 570, and top jaw indicator 572. Figure 26B The resin function interface 500B is shown at a second time, later than the first time, during the automatic resin function. The resin function interface 500B remains largely unchanged, except that the resin indicator 564 and the loader arm indicator 568 are displayed in different positions on the status panel 538B. This indicates that the automatic resin operation was successful.

[0161] Figure 27AAn anchor bolt function interface 500C is shown during the automated anchor bolting function at a specific time. The anchor bolt function interface 500C includes tabs and panels similar to those in the drilling function interface 500A. The anchor bolt function interface 500C also includes a status panel 538C. The status panel 538C displays information related to the automated resin function, such as drill pipe tank indicator 574, resin tank indicator 576, anchor bolt tank indicator 578, trolley tank indicator 580, and anchor bolt indicator 582. Figure 27B The anchor bolting interface 500C is shown at a second time, later than the first time, during the automated anchor bolting operation. The anchor bolting interface 500C remains largely unchanged, except for the anchor bolt indicator 564 and the loader arm indicator 568 being displayed in different positions on the status panel 538C. This indicates that the automated anchoring operation was successful.

[0162] Figure 28 This is a flowchart illustrating an exemplary method 600 for fully automated operation of drilling rig 10. In the example shown, method 600 includes receiving a fully automated mode request at controller 40 (at block 606). For example, a user or operator of drilling rig 10 may press a fully automatic / semi-automatic button from button group 456F. In some embodiments, the request may be received from a central controller 312. Method 600 includes automatically performing calibration operations on one or more sensors of drilling rig 10 (at block 608). For example, the sensors may be... Figure 19 Sensor 324. The calibration operation may include calibrating the feed pressure of the actuator used to actuate various features of the drill rig 10. The calibration operation may also include rotational pressure calibration. In some embodiments, the calibration operation may not be performed for each instance of method 600. The calibration operation may be performed at predetermined intervals, for example, after every ten operations of the drill rig 10. Method 600 also includes automatically performing a drilling operation (at block 610) in response to receiving a request for full automation. The drilling operation may include controlling the drill rig 10 to drill a hole in the surface of the working area 294. (Refer to...) Figure 29 The drilling operation is further described. Method 600 further includes automatically performing a resin injection operation (at block 612) after the drilling operation. For example, the resin injection operation may include injecting resin into a hole in the surface of the drilled working area 294. (See reference...) Figure 30 The resin injection operation is further described. Method 600 also includes automatically performing an anchoring operation (at box 614) after the resin injection operation. For example, the anchoring operation may include inserting an anchor bolt into a hole in the surface of the drilling work area 294. (See reference...) Figure 31The anchoring operation is further described. After the anchoring operation, drilling rig 10 can enter standby mode until it moves to the next anchor position. If drilling rig 10 encounters an error while executing any of blocks 608-614, it can exit fully automated mode and instruct the user to manually perform the next step. This process... Figure 32 Further details will be provided later.

[0163] Figure 29 This is a flowchart illustrating an exemplary method 800 for automating drilling operations. The blocks described in method 800 may be executed in a different order than those described herein. Method 800 begins when the drilling rig 10 receives a control signal to start an automated drilling operation (e.g., in...). Figure 28 (Box 610). In the example shown, method 800 includes rotating turntable 22 to the drill loading position (at box 802) using actuator 46. The drill loading position is the position where the drill tip 18A is aligned with the loading arm 30 (e.g., as shown in box 610). Figure 16B (As shown). Controller 40 controls actuator 46 to rotate turntable 22 such that drill tip 18A is in the loading position based on a rotational position signal received from encoder 50. Specifically, controller 40 uses actuator 46 to continue rotating turntable 22 until encoder 50 indicates that the turntable is in the drill loading position. Method 800 also includes securing drill tip 18A from turntable 22 to loading arm 30 for loading drill tip 18A onto drill bit 34 (at block 804). Controller 40 controls clamp actuator to close clamp 222 around drill tip 18A, as... Figure 16D As shown. The controller 40 determines that the drill tip 18A is aligned with the loading arm 30, so that the clamp 222 can grasp the drill tip 18A based on the signal received from the sensor 230.

[0164] Method 800 also includes loading a washer 114 onto a drill tip 18A (at block 806) using a washer loader assembly 110. As described with reference to Figures 9-12, controller 40 controls the washer loader assembly 110 to load the washer 114 onto the drill tip 18A. Controller 40 controls actuator 138 to place a support arm 130 onto a stack 122 of washers, as... Figure 16B and 16C As shown. A magnet 182 below the support arm 130 secures a single washer 114. Once the washer 114 is secured to the support arm 130, the controller 40 controls the actuator 138 to raise the support arm 130 with the washer 114. The controller 40 aligns the loading arm 30 with the support arm 130 such that when the loading arm 30 is raised, the drill tip 18A passes through the opening in the washer 114 and the support arm 130, as... Figure 16D and 16E As shown. Controller 40 controls the first actuator 206 to lift the loading arm 30, so that the drill tip 18A passes through the opening of the washer 114.

[0165] Method 800 includes loading a drill tip 18A into a drill bit 34 (at block 808) using a loading arm 30. A controller 40 controls a second actuator 210 to rotate the loading arm such that the drill tip 18A is positioned above the drill bit 34. The controller 40 then controls a first actuator 206 to lower the drill tip 18A into the drill bit 34. In some embodiments, instead of lowering the loading arm 30, the drill bit 34 may be raised to accommodate the drill tip 18A. The drill bit 34 may include a chuck controlled by the controller 40 to hold the drill tip 18A onto the drill bit 34. Once the drill tip 18A is loaded into the drill bit 34, the controller 40 uses the second actuator 206 to rotate the loading arm away from the drill bit 34. Simultaneously with loading into the drill bit 34, the drill tip 18A is also loaded into a top plate 198. The top plate 198 is axially aligned with the drill bit 34 such that the drill tip 18A is received simultaneously in both the drill bit 34 and the top plate 198. As the loading arm 30 moves away from the drill bit 34, the washer 114 slides down along the drill tip 18A and lands on the top plate 198.

[0166] Method 800 includes using drill bit 34 to drill drill tip 18A into working surface 294 to form a drill hole (at frame 810). Controller 40 translates drill bit 34 and top plate such that top plate 198 and washer 114 contact working surface 294, as... Figure 16I As shown. Controller 40 operates drill bit 34 to drill a hole in working surface 294 using drill tip 18A, as... Figure 16J As shown.

[0167] Method 800 further includes securing drill tip 18A from drill bit 34 to loading arm 30 for unloading drill tip 18A (at block 812). Controller 40 retracts drill bit 34 to its original position after drilling. Controller 40 controls second actuator 210 to move loading arm 30 to drill bit 34 and controls clamp actuator 225 to close clamp 222 around drill tip 18A. For example, drill bit 34 is separated from drill tip 18A by rotating the chuck of drill bit 34. Method 800 further includes unloading drill tip 18A onto turntable 22 (at block 814) using loading arm 30. Controller 40 controls second actuator to move loading arm 30 from drill bit 34 to turntable 22. Controller 40 controls clamp actuator 225 to open clamp 222, such that drill tip 18A is placed back into turntable 22, as... Figure 16O As shown. Drilling rig 10 can wait for a control signal to proceed with the next automated operation (e.g., automated resin injection or automated anchoring). If drilling rig 10 encounters an error while executing any of blocks 802-814, it can exit fully automated mode and instruct the user to manually perform the next step. This process is... Figure 32 Further details will be provided later.

[0168] Figure 30 This is a flowchart of an exemplary method 900 for performing an automated resin injection operation. The blocks described in method 900 may be performed in a different order than those described herein. Method 900 begins when the drilling rig 10 receives a control signal to start the automated resin injection operation (e.g., in...). Figure 28 (at box 612). In the example shown, method 900 includes rotating turntable 22 to the resin cartridge loading position (at box 902) using actuator 46. The resin cartridge loading position is the position where the resin cartridge 18B is aligned with the loading arm 30 (e.g., as shown in box 612). Figure 17A (As shown). Controller 40 controls actuator 46 to rotate turntable 22 based on a rotational position signal received from encoder 50, so that resin cartridge 18B is in the loading position. Specifically, controller 40 uses actuator 46 to continue rotating turntable 22 until encoder 50 indicates that the turntable is in the resin cartridge loading position. Method 900 also includes securing resin cartridge 18B from turntable 22 to loading arm 30 for loading resin cartridge 18B onto drill bit 34 (at block 904). Controller 40 controls clamp actuator to close clamp 222 around resin cartridge 18B. Controller 40 determines that resin cartridge 18B is aligned with loading arm 30 such that clamp 222 can grip resin cartridge 18B based on a signal received from sensor 230.

[0169] Method 900 includes loading a resin cartridge 18B into a drill bit 34 (at block 906) using a loading arm 30. A controller 40 controls a second actuator 210 to rotate the loading arm such that the resin cartridge 18B is positioned above the drill bit 34. The controller 40 then controls a first actuator 206 to lower the resin cartridge 18B into the drill bit 34. In some embodiments, instead of lowering the loading arm 30, the drill bit 34 may be raised to receive the resin cartridge 18B. Once the resin cartridge 18B is loaded into the drill bit 34, the controller 40 uses the second actuator 206 to rotate the loading arm 30 away from the drill bit 34.

[0170] Method 900 involves injecting resin into a hole drilled in the working surface 294 (at frame 908) using a resin cartridge 18B. The controller 40 translates the drill bit 34 such that the resin opening of the resin cartridge 18B is inserted into the top plate 198, as... Figure 17E As shown. The controller 40 operates the drill bit 34 to start the resin cartridge 18B and inject resin into the hole drilled in the working surface 294.

[0171] Method 900 further includes securing the resin cartridge 18B from the drill bit to the loading arm 30 for unloading the resin cartridge 18B (at frame 910). After resin injection, the controller 40 retracts the drill bit 34 to its original position. The controller 40 controls the second actuator 210 to move the loading arm 30 to the drill bit 34 and controls the clamp actuator 225 to close the clamp 222 around the used resin cartridge 18B. Method 900 further includes unloading the used resin cartridge 18B onto the turntable 22 (at frame 912) using the loading arm 30. The controller 40 controls the second actuator 210 to move the loading arm 30 from the drill bit 34 to the turntable 22. The controller 40 controls the clamp actuator 225 to open the clamp 222, such that the resin cartridge 18B is placed back into the turntable 22, as... Figure 17H As shown. In some embodiments, the loading arm 30 can unload the used resin cylinder 18B to a different location. Then, the resin injection operation ends. The drill rig 10 can wait for a control signal to proceed with the next automated operation (e.g., automated anchoring operation). If the drill rig 10 encounters an error while executing any of blocks 902-912, the drill rig 10 can exit fully automated mode and instruct the user to manually perform the next step. This process is in Figure 32 Further details will be provided later.

[0172] Figure 31 This is a flowchart of an exemplary method 1000 for performing automated anchoring operations. The blocks described in method 100 may be performed in a different order than those described herein. Method 1000 includes rotating a turntable 22 to an anchor bolt loading position (at block 1002) using an actuator 46. The anchor bolt loading position is where the anchor bolt 18C is aligned with the loading arm 30 (e.g., as shown in the diagram). Figure 18A (As shown). Controller 40 controls actuator 46 to rotate turntable 22 based on rotational position signals received from encoder 50, so that anchor bolt 18C is in the loading position. Specifically, controller 40 uses actuator 46 to continue rotating turntable 22 until encoder 50 indicates that turntable 22 is in the anchor bolt loading position. Method 1000 also includes securing anchor bolt 18C from turntable 22 to loading arm 30 for loading anchor bolt 18C onto drill bit 34 (at block 1004). Controller 40 controls clamp actuator to close clamp 222 around anchor bolt 18C. Controller 40 determines that anchor bolt 18C is aligned with loading arm 30 such that clamp 222 can grip anchor bolt 18C based on signals received from sensor 230.

[0173] Method 1000 includes loading an anchor bolt 18C into a drill bit 34 (at block 1006) using a loading arm 30. A controller 40 controls a second actuator 210 to rotate the loading arm such that the anchor bolt 18C is positioned above the drill bit 34. The controller 40 then controls a first actuator 206 to lower the anchor bolt 18C into the drill bit 34. In some embodiments, instead of lowering the loading arm 30, the drill bit 34 may be raised to accommodate the anchor bolt 18C. Once the anchor bolt 18C is loaded into the drill bit 34, the controller 40 uses the second actuator 206 to rotate the loading arm 30 away from the drill bit 34.

[0174] Method 1000 includes aligning anchor bolt 18C with a drill hole on working surface 294 using drill bit 34 (at frame 1008). Controller 40 raises drill bit 34 so that anchor bolt 18C is received in top plate 198 and aligned with the drill hole in working surface 294. Top plate 198 secures anchor bolt 18C so that anchor bolt 18C can be removed from drill bit 34. Once anchor bolt 18C is secured by top plate, controller 40 lowers drill bit 34 away from anchor bolt 18C to its original position. Method 100 includes rotating turntable 22 to adapter loading position using actuator 46 (at frame 1010). Adapter loading position is where adapter 18D is aligned with loading arm 30 (e.g., as shown in the image). Figure 18F (As shown). Controller 40 controls actuator 46 to rotate turntable 22 such that adapter 18D is in a loading position based on a rotational position signal received from encoder 50. Specifically, controller 40 continues to rotate turntable 22 using actuator 46 until encoder 50 indicates that the turntable is in the adapter loading position. Method 1000 also includes securing adapter 18D from turntable 22 to loading arm 30 for loading adapter 18D onto drill bit 34 (at block 1012). Controller 40 controls clamp actuator to close clamp 222 around adapter 18D. Controller 40 determines that adapter 18D is aligned with loading arm 30 such that clamp 222 can grip adapter 18D based on a signal received from sensor 230. In some embodiments, blocks 1008-1012 may be performed simultaneously with blocks 1004 and 1006.

[0175] Method 1000 includes loading an adapter 18D into a drill bit 34 (at block 1014) using a loading arm 30. A controller 40 controls a second actuator 210 to rotate the loading arm such that the adapter 18D is positioned above the drill bit 34. The controller 40 then controls a first actuator 206 to lower the adapter 18D into the drill bit 34. In some embodiments, instead of lowering the loading arm 30, the drill bit 34 may be raised to accommodate the adapter 18D. Once the adapter 18D is loaded into the drill bit 34, the controller 40 uses the second actuator 206 to rotate the loading arm 30 away from the drill bit 34. Method 1000 further includes driving an anchor bolt 18C into a working surface 294 (at block 1016) using the drill bit 34 and the adapter 18D. The controller 40 controls the drill bit 34 to attach the adapter 18D to the anchor bolt 18C. Once the adapter 18D is connected to the anchor rod 18C, the controller 40 controls the drill bit 34 to insert the anchor rod 18C into a borehole in the working surface 294. The anchor rod 18C is held in place in the borehole, where resin has been pre-injected. The controller 40 then lowers the drill bit 34 back to its original position.

[0176] Method 1000 further includes securing adapter 18D from drill bit 34 to loading arm 30 for unloading adapter 18D (at block 1018). Controller 40 controls second actuator 210 to move loading arm 30 to drill bit 34 and controls clamp actuator 225 to close clamp 222 around adapter 18D. Method 1000 further includes unloading adapter 18D onto turntable 22 using loading arm 30 (at block 1020). Controller 40 controls second actuator 210 to move loading arm 30 from drill bit 34 to turntable 22. Controller 40 controls clamp actuator 225 to open clamp 222, such that adapter 18D is placed back into turntable 22, as... Figure 18M As shown. Then, the automatic anchoring operation ends. Drilling rig 10 can wait for a control signal to proceed with the next automatic operation (e.g., restart fully automated mode). If drilling rig 10 encounters an error while executing any of boxes 1004-1020, drilling rig 10 can exit fully automated mode and instruct the user to manually perform the next step. This process is in Figure 32 Further details will be provided later.

[0177] Figure 32 This is a flowchart illustrating an exemplary method 1100 for performing error handling operations on drilling rig 10. When performing any automatic operation (i.e., Figure 28 Frames 608-614 Figure 29 Frame 802-814 Figure 30 The frames 902-912 and Figure 31(Any of boxes 1002-1020) The drilling rig 10 may encounter an error. The drilling rig 10 may enter a fault-protected operating mode in response to an error to perform error handling operations. Method 1100 includes performing any automatic operations of the drilling rig 10 in fully automated mode (at box 1102). Automatic operations may be... Figure 28 Frames 608-614 Figure 29 Frame 802-814 Figure 30 The frames 902-912 and Figure 31 Any of boxes 1002-1020. Automated operation can also be another operation not listed above. The method also includes using controller 40 to determine whether an error has occurred during one of the automated operations (e.g., automated drilling operation, automated resin injection operation, and automated anchoring operation) (at box 1104). The error can be detected by sensor 324 of drill rig 10, the length of time since the last step was performed, or by some other means. When no error is detected, method 1100 returns to box 1102 (e.g., drill rig 10 performs the next automated operation). In response to the detection of an error, method 1100 includes instructing the user to perform the operation manually (at box 1106). For example, controller 40 displays an alarm on display 424 indicating that an error has occurred during the operation. In some embodiments, controller 40 may use multi-color LEDs 448 and 452 to display the error status. On display 424, controller 40 may provide instructions to the user to manually complete the remaining operation, for example, using... Figure 25-27B One of the displays shown.

[0178] Method 1100 includes receiving user input corresponding to the operation via control panel 420 (at box 1108). As mentioned above... Figure 23-24 The user can control the drilling rig 10 using one or more buttons located on the control panel 420. Specifically, the user presses one or more buttons to continue the current operation of the drilling rig 10. Method 100 also includes using the controller 40 to perform operations based on user input (at block 1110). As described above, the controller 40 receives user input from the control panel 420. The controller 40 then controls the corresponding components based on the user input.

[0179] Method 1100 includes using controller 40 to determine whether an error has been resolved (at block 1112). Controller 40 may determine whether an error has been resolved based on sensor 324. If the error has not been resolved, method 1100 returns to block 1108 to continue manual operation. If the error has been resolved, method 1100 includes using controller 40 to generate an alarm indicating that the drill is ready for automated operation (at block 1114). For example, controller 40 displays an alarm on display 424 indicating that the error has been resolved. In some embodiments, controller 40 may use multi-color LEDs 448 and 452 to display the error status.

[0180] Method 110 includes receiving input to resume automated operation via control panel 420 (at box 1116). For example, a user can press the Full Automation button on control panel 420A. Method 1100 further includes resuming the automated operation of the drilling rig using controller 40 (at box 1118). Automated operation may include one of drilling operations, resin injection operations, and anchoring operations. Controller 40 can resume operation from the point where manual operation stopped after an error is detected.

[0181] Therefore, the embodiments described herein provide systems and methods for performing fully automated operation of drilling rigs (such as bolt drilling rigs). Although various aspects have been described in detail with reference to certain preferred embodiments, variations and modifications exist within the scope and spirit of one or more independent aspects as described.

Claims

1. A drilling rig for use in automatic anchor drilling rigs, characterized in that, The drilling rig includes: A turntable, rotatable about an axis and configured to store one or more consumables; A drill bit configured to apply one or more consumables to a working surface; Loading component, the loading component includes: A loading arm configured to move laterally between the rotary table and the drill bit, and a clamp located at one end of the loading arm, the clamp being configured to secure the one or more consumables; A first actuator and a separate second actuator, the first actuator being configured to raise and lower the loading arm, and the second actuator being configured to rotate the loading arm, wherein the first actuator and the second actuator allow the loading arm to be raised and lowered independently of rotation; A controller, connected to the rotary table, the drill bit, and the loading assembly, is configured to: Receive a request for full automation mode; In response to receiving the fully automated mode request, drilling operations are automatically performed on the working surface; Following the drilling operation, a resin injection operation is automatically performed on the working surface; and Following the resin injection operation, an anchoring operation is automatically performed on the working surface. In order to automatically perform the anchoring operation, the controller is further configured to: The turntable is rotated to the anchor bolt loading position using a third actuator; Secure the anchor bolt from the turntable to the loading arm; The anchor bolt is fixed to the drill bit using the loading arm; Use the drill bit to align the anchor bolt with the hole in the working surface; The third actuator is used to rotate the turntable to the adapter loading position; Secure the adapter from the turntable to the loading arm; The adapter is loaded onto the drill bit using the loading arm, wherein the controller controls the second actuator to rotate the loading arm so that the adapter is positioned above the drill bit, and the controller then controls the first actuator to lower the adapter into the drill bit; The anchor bolt is driven into the working surface using the drill bit and the adapter; Secure the adapter from the drill bit to the loading arm; as well as The adapter is unloaded onto the turntable using the loading arm.

2. The drilling rig according to claim 1, characterized in that, In order to automate the resin injection operation, the controller is configured to: The third actuator is used to rotate the turntable to the resin cylinder loading position; Secure the resin cylinder from the turntable to the loading arm; The loading arm is used to load the resin cylinder into the drill bit; Resin is injected into holes drilled into the working surface; Secure the resin cartridge from the drill bit to the loading arm; and The used resin cylinder is unloaded onto the turntable using the loading arm.

3. The drilling rig according to claim 1, characterized in that, The controller is further configured to: Determine whether an error occurred during one of the drilling operation, the resin injection operation, and the anchoring operation; When the aforementioned error occurs, guide the user to perform the operation manually; The system receives user input corresponding to the operation via the control panel; as well as Execute operations based on user input.

4. The drilling rig according to claim 3, characterized in that, The controller is further configured to: Determine whether the error has been resolved; Generate an alarm indicating that the drilling rig is ready for automated operation; Input is received via the control panel to restore automated operation; as well as Resume one of the drilling operation, the resin injection operation, and the anchoring operation.

5. The drilling rig according to claim 3, characterized in that, The drilling rig also includes: The third actuator is configured to rotate the turntable about an axis; and An intrinsically safe rotary encoder, which is mounted on the turntable and configured to provide a rotational position signal corresponding to the rotational position of the turntable, The controller is connected to the third actuator and the intrinsically safe rotary encoder, and the controller is further configured to control the third actuator to rotate the turntable to one of the drill bit loading position, resin cylinder loading position, anchor bolt loading position, and adapter loading position based on the rotational position signal received from the intrinsically safe rotary encoder.

6. A method for fully automated operation of a drilling rig for an automatic anchor drilling rig as described in any one of claims 1 to 5, characterized in that, The method includes: The fully automated mode request is received through the controller of the drilling rig; In response to receiving the fully automated mode request, the drilling rig automatically performs drilling operations on the working surface; Following the drilling operation, the drilling rig automatically performs a resin injection operation on the working surface; and Following the resin injection operation, the drilling rig automatically performs an anchoring operation on the working surface. The automatic execution of the anchoring operation includes: The third actuator is used to rotate the turntable to the anchor bolt loading position; Secure the anchor bolt from the turntable to the loading arm; The anchor bolt is fixed to the drill bit using the loading arm; Use the drill bit to align the anchor bolt with the hole in the working surface; The third actuator is used to rotate the turntable to the adapter loading position; Secure the adapter from the turntable to the loading arm; The adapter is loaded onto the drill bit using the loading arm, wherein the controller controls the second actuator to rotate the loading arm so that the adapter is positioned above the drill bit, and the controller then controls the first actuator to lower the adapter into the drill bit; The anchor bolt is driven into the working surface using the drill bit and the adapter; Secure the adapter from the drill bit to the loading arm; as well as The adapter is unloaded onto the turntable using the loading arm.

7. The method according to claim 6, characterized in that, The method further includes: automatically performing the resin injection operation, including: The third actuator is used to rotate the drill rig's rotary table to the resin cylinder loading position; Secure the resin cylinder from the turntable to the loading arm of the drilling rig; The resin cylinder is loaded into the drill bit of the drilling rig using the loading arm. Resin is injected into holes drilled into the working surface; Secure the resin cartridge from the drill bit to the loading arm; and The used resin cylinder is unloaded onto the turntable using the loading arm.

8. The method according to claim 6, characterized in that, The method further includes: The controller is used to determine whether an error occurs during one of the drilling, resin injection, and anchoring operations. When an error occurs, guide the user to perform the operation manually; Receive user input corresponding to the operation via the control panel; and The controller is used to perform operations based on the user input.

9. The method according to claim 8, characterized in that, The method further includes: The controller is used to determine whether the error has been resolved; The controller is used to generate an alarm indicating that the drilling rig is ready for automated operation; Input is received via the control panel to restore automated operation; and The controller is used to restore one of the drilling operation, the resin injection operation, and the anchoring operation.

10. The method according to claim 6, characterized in that, Performing the automatic drilling operation includes rotating the rotary table to the drill bit loading position, and Performing the automatic anchoring operation includes rotating the turntable to one of the anchor loading position and the adapter loading position.

11. The method according to claim 10, characterized in that, Rotating the turntable to one of the drill bit loading position, the anchor bolt loading position, and the adapter loading position includes using the controller to control the third actuator based on the rotational position signal received from the intrinsically safe rotary encoder of the turntable.

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