Coal mine underground drilling robot automatic rod feeding calibration tool and calibration method

Abstract

The application relates to a coal mine underground drilling robot automatic rod feeding calibration tool and a calibration method. The calibration tool comprises a calibration sleeve and a calibration probe. The calibration sleeve comprises a radial sleeve and an axial sleeve. The calibration sleeve is fixedly installed on a driving drill rod. The radial sleeve is used for realizing radial sleeve calibration to obtain automatic rod feeding radial target position parameters. The axial sleeve is used for realizing axial sleeve calibration to obtain automatic rod feeding axial target position parameters. The automatic rod feeding radial target position parameters and the automatic rod feeding axial target position parameters are used for determining the automatic rod feeding target position. The application can simply and reliably detect the target rod feeding position of the coal mine underground drilling robot in the pose, provide accurate and reliable data basis for target position correction, and finally enable the coal mine underground drilling robot to accurately and efficiently perform automatic rod feeding operation in the underground environment, thereby greatly improving the safety and efficiency of drilling operation.

Description

Technical Field

[0001] This application relates to the field of automation of underground drilling rigs in coal mines, specifically to an automatic rod feeding calibration fixture and calibration method for underground drilling robots in coal mines. Background Technology

[0002] Drilling robots play a crucial role in underground coal mine drilling operations, improving efficiency and reducing potential risks to workers. However, due to factors such as errors in parts processing and assembly, significant deviations can occur between the automatic drill rod delivery position and the target position, causing drill rod delivery failures and highlighting the continued challenges in automating underground drilling robot operations.

[0003] Currently, the automatic rod feeding position calibration of drilling robots in coal mines is a key technical issue. Automatic rod feeding refers to the industrial robot removing the drill rod from the drill rod box and accurately feeding it into the target position at the drilling rig's power head. The drill rod is then connected together by the power head, achieving automatic rod feeding. During unloading, the industrial robot grabs the drill rod at the target position and places it back into the drill rod box, achieving automatic rod unloading. However, in actual operation, due to factors such as machining errors, component assembly errors, equipment wear, and accumulated errors, significant deviations often occur between the target position and the actual feeding position during rod feeding and unloading. This can lead to rod feeding or unloading failures, and may even cause equipment damage or accidents.

[0004] Therefore, developing a tooling system capable of accurately calibrating the automatic rod feeding and unloading positions of underground drilling robots in coal mines is crucial. This tooling needs to precisely measure the target position and, through analysis and calculation of positional differences, compensate for and calibrate positional errors during the robot's rod feeding process. In this way, underground drilling robots in coal mines will be able to maintain accurate rod feeding operations even under constantly changing posture conditions, delivering the drill rod to the designated target position, thereby improving drilling quality and work efficiency.

[0005] In the existing technology, some methods attempt to use devices such as cameras, laser rangefinders or sensors to monitor the target position of the drill rod, but these methods have problems such as inaccurate positioning, high complexity and high cost, and these devices do not have explosion-proof functions. Summary of the Invention

[0006] To overcome at least one deficiency in the prior art, this application provides an automatic rod feeding calibration fixture and calibration method for a coal mine underground drilling robot.

[0007] In a first aspect, an automatic rod feeding calibration fixture for a coal mine underground drilling robot is provided, comprising: a calibration sleeve and a calibration probe, wherein the calibration sleeve includes a radial sleeve and an axial sleeve; the calibration sleeve is fixedly installed on the active drill rod.

[0008] The radial sleeve is used to perform radial sleeve calibration to obtain the radial target position parameters of the automatic rod feeder; the axial sleeve is used to perform axial sleeve calibration to obtain the axial target position parameters of the automatic rod feeder; the radial target position parameters and the axial target position parameters of the automatic rod feeder are used to determine the target position of the automatic rod feeder.

[0009] In one embodiment, the radial sleeve includes a secondary coaxial calibration of the radial sleeve, a primary coaxial calibration of the radial sleeve, a radial sleeve observation window, and a radial sleeve depth calibration block; the secondary coaxial calibration of the radial sleeve is located at the top of the radial sleeve, the primary coaxial calibration of the radial sleeve is located at the lower end of the secondary coaxial calibration of the radial sleeve, the radial sleeve observation window is located between the primary coaxial calibration of the radial sleeve and the radial sleeve depth calibration block, and the radial sleeve depth calibration block is located at the bottom of the radial sleeve.

[0010] In one embodiment, the secondary coaxial calibration of the radial sleeve includes a secondary coaxial calibration segment A, a secondary coaxial calibration segment M, and a secondary coaxial calibration segment B. The secondary coaxial calibration segment A is located at the upper end of the secondary coaxial calibration, the secondary coaxial calibration segment B is located at the lower end of the secondary coaxial calibration, and the remaining segment is the secondary coaxial calibration segment M.

[0011] In one embodiment, the radial sleeve primary coaxial calibration includes radial sleeve primary coaxial calibration segment A, radial sleeve primary coaxial calibration segment B, and radial sleeve primary coaxial calibration segment M; radial sleeve primary coaxial calibration segment A is located at the upper end of the radial sleeve primary coaxial calibration, radial sleeve primary coaxial calibration segment B is located at the lower end of the radial sleeve primary coaxial calibration, and the remaining segment is radial sleeve primary coaxial calibration segment M.

[0012] In one embodiment, the radial sleeve depth calibration block includes a radial sleeve depth calibration plane and a radial sleeve depth plane, wherein the radial sleeve depth calibration plane is located at the center of the radial sleeve depth plane.

[0013] In one embodiment, the axial sleeve includes a secondary coaxial calibration of the axial sleeve, a primary coaxial calibration of the axial sleeve, an observation window of the axial sleeve, and a depth calibration block of the axial sleeve; the secondary coaxial calibration of the axial sleeve is located at the top of the axial sleeve, the primary coaxial calibration of the axial sleeve is located at the lower end of the secondary coaxial calibration of the axial sleeve, the observation window of the axial sleeve is located between the primary coaxial calibration of the axial sleeve and the depth calibration block of the axial sleeve, and the depth calibration block of the axial sleeve is located at the bottom of the axial sleeve.

[0014] In one embodiment, the secondary coaxial calibration of the axial sleeve includes a secondary coaxial calibration segment A, a secondary coaxial calibration segment M, and a secondary coaxial calibration segment B. The secondary coaxial calibration segment A is located at the upper end of the secondary coaxial calibration, the secondary coaxial calibration segment B is located at the lower end of the secondary coaxial calibration, and the remaining segment is the secondary coaxial calibration segment M.

[0015] In one embodiment, the axial sleeve primary coaxial calibration includes axial sleeve primary coaxial calibration segment A, axial sleeve primary coaxial calibration segment B, and axial sleeve primary coaxial calibration segment M; axial sleeve primary coaxial calibration segment A is located at the upper end of the axial sleeve primary coaxial calibration, axial sleeve primary coaxial calibration segment B is located at the lower end of the axial sleeve primary coaxial calibration, and the remaining segment is axial sleeve primary coaxial calibration segment M.

[0016] In one embodiment, the axial sleeve depth calibration block includes an axial sleeve depth calibration plane and an axial sleeve depth plane, wherein the axial sleeve depth calibration plane is located at the center of the axial sleeve depth plane.

[0017] In one embodiment, the central axis of the radial sleeve and the central axis of the axial sleeve intersect at point O. The distance L1 from the top end face of the radial sleeve to point O is equal to the distance L2 from the top end face of the axial sleeve to point O. The distance L3 from the top end face of the radial sleeve to the radial sleeve depth calibration plane is equal to the distance L4 from the top end face of the axial sleeve to the axial sleeve depth calibration plane.

[0018] In one embodiment, the calibration probe includes a calibration probe, a calibration rod, a coaxial calibration rod, a probe extension rod, and a positioning connection flange; the calibration probe is located at the top of the calibration rod, the calibration rod is located between the calibration probe and the coaxial calibration rod, the coaxial calibration rod is located between the calibration rod and the probe extension rod, and the probe extension rod is located between the coaxial calibration rod and the positioning connection flange.

[0019] In one embodiment, the calibration probe includes a calibration probe first calibration section A, a calibration probe first calibration section B, and a calibration probe first calibration remaining section; the calibration probe first calibration section A is located at the bottom of the calibration probe, the calibration probe first calibration section B is located at the top of the calibration probe, and the remaining section is the calibration probe first calibration remaining section.

[0020] In one embodiment, the coaxial calibration rod includes a secondary calibration section A, a secondary calibration section B, and a remaining section of the secondary calibration. The secondary calibration section A is located at the bottom of the coaxial calibration rod, the secondary calibration section B is located at the top of the coaxial calibration rod, and the remaining section is the remaining section of the secondary calibration.

[0021] In one embodiment, the diameter of the calibration probe is smaller than the primary coaxial calibration diameter of the axial sleeve and smaller than the primary coaxial calibration diameter of the radial sleeve; the distance L0 from the top of the calibration probe to the calibration probe depth measurement plane is greater than the distance between the radial sleeve depth measurement plane and the radial sleeve depth calibration plane, and is also greater than the distance between the axial sleeve depth measurement plane and the axial sleeve depth calibration plane.

[0022] In one embodiment, the diameter of the coaxial calibration rod is smaller than the secondary coaxial calibration diameter of the axial sleeve and smaller than the secondary coaxial calibration diameter of the radial sleeve; the distance between the top of the calibration probe and the bottom of the coaxial calibration rod is greater than the distance between the top of the primary coaxial calibration of the axial sleeve and the depth calibration block of the axial sleeve, and greater than the distance between the top of the primary coaxial calibration of the radial sleeve and the depth calibration block of the radial sleeve.

[0023] In one embodiment, a leveling instrument is also included, which is placed on the axial sleeve positioning reference plane or the radial sleeve positioning reference plane to perform level adjustment detection.

[0024] Secondly, an automatic rod-feeding calibration method for a coal mine underground drilling robot is also provided, including:

[0025] Step 1: Install and fix the calibration fixture, including fixing the calibration sleeve to the active drill rod at the front end of the power head, so that the connecting surface of the active drill rod and the connecting end face of the calibration sleeve are in close contact; check the coaxiality of the axial sleeve center axis and the rotation center axis of the active drill rod, which should be less than the set value; fix the calibration probe to the end of the industrial robot.

[0026] Step 2, horizontal adjustment measurement, includes adjusting the hole opening position of the underground drilling robot in the coal mine to zero-degree horizontal using the hole opening posture adjustment device, placing the horizontal detector on the axial sleeve positioning reference plane or the radial sleeve positioning reference plane, rotating the active drill rod of the power head so that the horizontal detector detects 0 degrees in the horizontal direction perpendicular to the active drill rod; fixing the power head so that the active drill rod does not rotate.

[0027] Step 3: Radial sleeve calibration to obtain the radial target position parameters of the automatic rod feeder, including secondary coaxial calibration of the radial sleeve, primary coaxial calibration of the radial sleeve, radial sleeve depth calibration, radial sleeve measurement verification, and recording of radial sleeve calibration results.

[0028] Step 4: Axial sleeve calibration to obtain the axial target position parameters of the automatic feed rod, including secondary coaxial calibration of the axial sleeve, primary coaxial calibration of the axial sleeve, axial sleeve depth calibration, axial sleeve measurement verification, and recording of axial sleeve calibration results.

[0029] Step 5, data processing, includes determining the target position of the automatic rod feeder based on the radial target position parameters and the axial target position parameters of the automatic rod feeder.

[0030] In one embodiment, determining the target position of the automatic rod feeder based on the radial target position parameters and the axial target position parameters of the automatic rod feeder includes:

[0031] The target position of the automatic pole delivery includes position coordinates (x, y, z) and pose coordinates (a, b, c);

[0032] If, in step 2, the leveling instrument is placed on the axial sleeve positioning reference plane 715A for level adjustment and testing, then:

[0033]

[0034]

[0035] If in step 2 the leveling instrument is placed on the radial sleeve positioning reference plane for level adjustment and testing, then:

[0036]

[0037]

[0038] Where (X, Y, Z) are the position coordinates obtained from the axial sleeve calibration, (A, B, C) are the pose coordinates obtained from the axial sleeve calibration, (X′, Y′, Z′) are the position coordinates obtained from the radial sleeve calibration, and (A′, B′, C′) are the pose coordinates obtained from the radial sleeve calibration.

[0039] Compared with the prior art, this application has the following beneficial effects:

[0040] 1. This application can easily and reliably detect the target rod delivery position of a coal mine drilling robot in a given pose. It provides an accurate and reliable data foundation for target position correction, ultimately enabling the coal mine drilling robot to perform automatic rod delivery operations precisely and efficiently in the underground environment, greatly improving the safety and efficiency of drilling operations.

[0041] 2. This application will bring significant technological progress to the automated operation of underground drilling robots in coal mines. This technology has been tested and verified on a new generation of underground drilling robots in coal mines and is expected to be widely used in the mining industry. This application has important economic and environmental significance and will provide a more sustainable, efficient and safe solution for mining operations. Attached Figure Description

[0042] This application can be better understood by referring to the description given below in conjunction with the accompanying drawings, which, together with the detailed description below, are incorporated in and form part of this specification. In the drawings:

[0043] Figure 1 An assembly diagram of the automatic rod feeding calibration fixture for a coal mine underground drilling robot according to an embodiment of this application is shown.

[0044] Figure 2 This shows a partially enlarged view of the automatic rod feeding calibration tool used in a coal mine underground drilling robot.

[0045] Figure 3 A schematic diagram of the radial sleeve structure is shown;

[0046] Figure 4 A schematic diagram of the axial sleeve structure is shown;

[0047] Figure 5 A schematic diagram of the calibration probe is shown.

[0048] Figure label:

[0049] 1-Calibrating sleeve square shaft; 2-Calibrating sleeve connecting thread; 3-Industrial robot; 4-Power head; 5-Active drill rod; 50-Male thread; 51-Active drill rod connecting face; 52-Active drill rod body; 6-Level measuring instrument; 7-Automatic rod feeding calibration fixture for underground drilling robot in coal mine; 70-Calibrating sleeve; 71-Axial sleeve; 72-Calibrating probe; 73-Radial sleeve; 8-Calibrating sleeve connecting end face.

[0050] 710 - Axial sleeve depth measurement plane; 711 - Axial sleeve secondary coaxial calibration; 711A - Axial sleeve secondary coaxial calibration section A; 711M - Axial sleeve secondary coaxial calibration intermediate section; 711B - Axial sleeve secondary coaxial calibration section B; 712 - Axial sleeve primary coaxial calibration; 712A - Axial sleeve primary coaxial calibration section A; 712M - Axial sleeve primary coaxial calibration intermediate section; 712B - Axial sleeve primary coaxial calibration section B; 713 - Axial sleeve observation window; 714 - Axial sleeve depth calibration block; 714A - Axial sleeve depth calibration plane; 714C - Axial sleeve depth plane; 715A - Axial sleeve positioning reference plane.

[0051] 720 - Calibration probe depth measurement plane; 721 - Calibration probe; 722 - Calibration probe rod; 722A - Calibration probe rod for primary calibration of section A; 722B - Calibration probe rod for primary calibration of section B; 722M - Calibration probe rod for primary calibration of the remaining section; 723 - Coaxial calibration rod; 723A - Coaxial calibration rod for secondary calibration of section A; 723B - Coaxial calibration rod for secondary calibration of section B; 723M - Coaxial calibration rod for secondary calibration of the remaining section; 724 - Probe extension rod; 725 - Positioning connection flange.

[0052] 730 - Radial sleeve depth measurement plane; 731 - Radial sleeve secondary coaxial calibration; 731A - Radial sleeve secondary coaxial calibration section A; 731M - Radial sleeve secondary coaxial calibration intermediate section; 731B - Radial sleeve secondary coaxial calibration section B; 732 - Radial sleeve primary coaxial calibration; 732A - Radial sleeve primary coaxial calibration section A; 732M - Radial sleeve primary coaxial calibration intermediate section; 732B - Radial sleeve primary coaxial calibration section B; 733 - Radial sleeve observation window; 734 - Radial sleeve depth calibration block; 734A - Radial sleeve depth calibration plane; 734C - Radial sleeve depth plane; 715B - Radial sleeve positioning reference plane. Detailed Implementation

[0053] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the actual embodiments are described in the specification. However, it should be understood that many embodiment-specific decisions can be made in the development of any such actual embodiment to achieve the developer’s specific objectives, and these decisions may vary as the embodiments differ.

[0054] It should also be noted that, in order to avoid obscuring this application with unnecessary details, only the device structure closely related to the solution according to this application is shown in the accompanying drawings, while other details that are not closely related to this application are omitted.

[0055] It should be understood that this application is not limited to the described embodiments by virtue of the following description with reference to the accompanying drawings. In this document, embodiments may be combined with each other, features may be substituted or borrowed between different embodiments, and one or more features may be omitted in one embodiment, where feasible.

[0056] The underground drilling robot in coal mine mainly consists of a tracked vehicle platform, drill rods, an industrial robot, a hole-opening posture adjustment device, a power head, and an active drill rod. Here, the hole-opening posture adjustment device is installed at the front end of the tracked vehicle platform, and a drill rod hopper is installed at the rear end; multiple drill rods are placed inside the drill rod hopper; the industrial robot is installed in the middle of the tracked vehicle platform; the power head is installed on the hole-opening posture adjustment device, and the front end of the power head is connected to the active drill rod.

[0057] The automatic rod feeding mechanism of the underground drilling robot in coal mine refers to the industrial robot grabbing the drill rod from the drill rod hopper and placing it at the front end of the power head, coaxial with the active drill rod and maintaining a certain distance. The automatic rod unloading mechanism of the underground drilling robot in coal mine refers to the industrial robot moving to the front end of the power head, grabbing the drill rod, and placing it into the drill rod hopper.

[0058] The target position for automatic rod delivery by the underground drilling robot in coal mines refers to the placement of the drill rod at the front end of the power head, coaxial with the active drill rod, and maintaining a specified distance from the end face of the active drill rod.

[0059] The actual rod delivery position of a coal mine drilling robot refers to the actual pose coordinates of the industrial robot after it executes its actions following the issuance of an automatic rod delivery target position command during rod delivery operations.

[0060] The automatic rod feeding calibration fixture for underground drilling robots in coal mines refers to the fixture used when manually measuring the target position of the automatic rod feeding, in order to accurately measure the target position of the automatic rod feeding.

[0061] This application provides an automatic rod feeding calibration fixture and method for underground drilling robots in coal mines, enabling the rapid, reliable, and accurate acquisition of the target position for automatic rod feeding by underground drilling robots in coal mines. Figure 1 This paper shows an assembly drawing of the automatic rod feeding calibration fixture for a coal mine underground drilling robot according to an embodiment of this application. See also: Figure 1 The automatic rod feeding calibration fixture 7 for underground drilling robots in coal mines includes a calibration sleeve 70 and a calibration probe 72. The calibration sleeve 70 includes a radial sleeve 73 and an axial sleeve 71.

[0062] Figure 2 This shows a partially enlarged view of the automatic rod feeding calibration fixture used in a coal mine underground drilling robot. (See attached image) Figure 2 The calibration sleeve 70 of the automatic rod feeding calibration fixture 7 for the underground drilling robot in the coal mine is fixedly installed on the active drill rod 5 at the front end of the power head 4. The calibration probe 72 is connected to the end of the industrial robot 3 through the positioning connecting flange 725. The active drill rod 5 includes an active drill rod connecting surface 51 and an active drill rod body 52. ​​The active drill rod connecting surface 51 is provided with a male thread 50.

[0063] The calibration sleeve 70 is fixedly installed on the active drill rod 5 via the calibration sleeve square shaft 1. Specifically, one end of the calibration sleeve square shaft 1 is provided with a calibration sleeve connecting thread 2 for threaded connection with the active drill rod 5. The large end of the calibration sleeve connecting thread 2 is tightly fitted with the active drill rod connecting surface 51 via the calibration sleeve connecting end face 8 to ensure that the calibration sleeve 70 and the active drill rod 5 are properly tightened.

[0064] In the above embodiments, the radial sleeve 73 is used to perform radial sleeve calibration to obtain the radial target position parameters of the automatic rod feeder; the axial sleeve 71 is used to perform axial sleeve calibration to obtain the axial target position parameters of the automatic rod feeder; the radial target position parameters and the axial target position parameters of the automatic rod feeder are used to determine the target position of the automatic rod feeder.

[0065] In one embodiment, Figure 3 A schematic diagram of the radial sleeve is shown; see [link / reference]. Figure 3 The radial sleeve 73 includes a secondary coaxial calibration 731, a primary coaxial calibration 732, an observation window 733, and a depth calibration block 734. The secondary coaxial calibration 731 is located at the top of the radial sleeve 73, the primary coaxial calibration 732 is located at the bottom of the secondary coaxial calibration 731, the observation window 733 is located between the primary coaxial calibration 732 and the depth calibration block 734, and the depth calibration block 734 is located at the bottom of the radial sleeve 73.

[0066] Furthermore, both the secondary coaxial calibration 731 and the primary coaxial calibration 732 of the radial sleeve adopt a 1 / 4 semi-circular structure, and the coaxiality of the central axis of the secondary coaxial calibration 731 and the primary coaxial calibration 732 of the radial sleeve is required to be less than 0.005mm.

[0067] Specifically, the radial sleeve secondary coaxial calibration 731 includes radial sleeve secondary coaxial calibration section A 731A, radial sleeve secondary coaxial calibration section M 731M, and radial sleeve secondary coaxial calibration section B 731B. Radial sleeve secondary coaxial calibration section A 731A is located at the upper end of radial sleeve secondary coaxial calibration 731, radial sleeve secondary coaxial calibration section B 731B is located at the lower end of radial sleeve secondary coaxial calibration 731, and the remaining section is radial sleeve secondary coaxial calibration section M 731M.

[0068] Furthermore, the radial sleeve secondary coaxial calibration 731 has a diameter greater than 15mm and a length-to-diameter ratio greater than 3.

[0069] Specifically, the radial sleeve primary coaxial calibration 732 includes radial sleeve primary coaxial calibration section A 732A, radial sleeve primary coaxial calibration section B 732B, and radial sleeve primary coaxial calibration section M 732M; radial sleeve primary coaxial calibration section A 732A is located at the upper end of radial sleeve primary coaxial calibration 732, radial sleeve primary coaxial calibration section B 732B is located at the lower end of radial sleeve primary coaxial calibration 732, and the remaining section is radial sleeve primary coaxial calibration section M 732M.

[0070] Furthermore, the diameter of the radial sleeve primary coaxial calibration 732 is greater than 7 mm and smaller than the diameter of the radial sleeve secondary coaxial calibration 731, with a length-to-diameter ratio greater than 3.

[0071] Furthermore, the radial sleeve observation window 733 adopts a large-angle opening, which can clearly observe the radial sleeve depth calibration block 734.

[0072] Specifically, the radial sleeve depth calibration block 734 includes a radial sleeve depth calibration plane 734A and a radial sleeve depth plane 734C. The radial sleeve depth calibration plane 734A is located at the center of the radial sleeve depth plane 734C and is mainly used to cooperate with the calibration probe 721 of the calibration probe 72 to ensure the dimensions in the depth direction.

[0073] Furthermore, the flatness of the radial sleeve depth calibration block 734 is required to be less than 0.005 mm, the perpendicularity to the center axis of the radial sleeve secondary coaxial calibration 731 is less than 0.005 mm, and the perpendicularity to the center axis of the radial sleeve primary coaxial calibration 732 is less than 0.005 mm.

[0074] Figure 4 A schematic diagram of the axial sleeve is shown; see [link / reference]. Figure 4 The axial sleeve 71 includes a secondary coaxial calibration 711, a primary coaxial calibration 712, an observation window 713, and a depth calibration block 714. The secondary coaxial calibration 711 is located at the top of the axial sleeve 71, the primary coaxial calibration 712 is located at the lower end of the secondary coaxial calibration 711, the observation window 713 is located between the primary coaxial calibration 712 and the depth calibration block 714, and the depth calibration block 714 is located at the bottom of the axial sleeve 71.

[0075] Furthermore, both the secondary coaxial calibration 711 and the primary coaxial calibration 712 of the axial sleeve adopt a 1 / 4 semi-circular structure, and the coaxiality of the central axis of the secondary coaxial calibration 711 and the primary coaxial calibration 712 of the axial sleeve is required to be less than 0.005mm.

[0076] Specifically, the secondary coaxial calibration of the axial sleeve 711 includes secondary coaxial calibration section A 711A, secondary coaxial calibration section M 711M, and secondary coaxial calibration section B 711B. Secondary coaxial calibration section A 711A is located at the upper end of the secondary coaxial calibration of the axial sleeve 711, secondary coaxial calibration section B 711B is located at the lower end of the secondary coaxial calibration of the axial sleeve 711, and the remaining section is secondary coaxial calibration section M 711M.

[0077] Furthermore, the axial sleeve secondary coaxial calibration 711 has a diameter greater than 15mm and a length-to-diameter ratio greater than 3.

[0078] Specifically, the axial sleeve primary coaxial calibration 712 includes axial sleeve primary coaxial calibration section A 712A, axial sleeve primary coaxial calibration section B 712B, and axial sleeve primary coaxial calibration section M 712M; axial sleeve primary coaxial calibration section A 712A is located at the upper end of axial sleeve primary coaxial calibration 712, axial sleeve primary coaxial calibration section B 712B is located at the lower end of axial sleeve primary coaxial calibration 712, and the remaining section is axial sleeve primary coaxial calibration section M 712M.

[0079] Furthermore, the diameter of the primary coaxial calibration 712 of the axial sleeve is greater than 7 mm and smaller than the diameter of the secondary coaxial calibration 711 of the axial sleeve, with a length-to-diameter ratio greater than 3.

[0080] Furthermore, the axial sleeve observation window 713 adopts a large-angle opening, which can clearly observe the axial sleeve depth calibration block 714.

[0081] Specifically, the axial sleeve depth calibration block 714 includes an axial sleeve depth calibration plane 714A and an axial sleeve depth plane 714C. The axial sleeve depth calibration plane 714A is located at the center of the plane of the axial sleeve depth plane 714C and is mainly used to cooperate with the calibration probe 721 of the calibration probe 72 to ensure the dimension in the depth direction.

[0082] Furthermore, the flatness requirement of the axial sleeve depth calibration plane 714A is less than 0.005mm, the perpendicularity with the center axis of the secondary coaxial calibration 711 of the axial sleeve is less than 0.005mm, and the perpendicularity with the center axis of the primary coaxial calibration 712 of the axial sleeve is less than 0.005mm.

[0083] Specifically, the central axis of the radial sleeve 73 and the central axis of the axial sleeve 71 intersect at point O. The distance L1 from the top end face of the radial sleeve 73 to point O is equal to the distance L2 from the top end face of the axial sleeve 71 to point O. The distance L3 from the top end face of the radial sleeve 73 to the radial sleeve depth calibration plane 734A is equal to the distance L4 from the top end face of the axial sleeve 71 to the axial sleeve depth calibration plane 714A.

[0084] Furthermore, the length error between L1 and L2 is less than 0.005 mm, and the length error between L3 and L4 is less than 0.005 mm; the perpendicularity between the center axis of the axial sleeve 71 and the center axis of the radial sleeve 73 is less than 0.005 mm.

[0085] In one embodiment, Figure 5 A schematic diagram of the calibration probe is shown. (See attached diagram) Figure 5The calibration probe 72 includes a calibration probe 721, a calibration rod 722, a coaxial calibration rod 723, a probe extension rod 724, and a positioning connection flange 725. The calibration probe 721 is located at the top of the calibration rod 722, the calibration rod 722 is located between the calibration probe 721 and the coaxial calibration rod 723, the coaxial calibration rod 723 is located between the calibration rod 722 and the probe extension rod 724, and the probe extension rod 724 is located between the coaxial calibration rod 723 and the positioning connection flange 725. Further, the coaxiality of the central axes of the calibration rod 722, the coaxial calibration rod 723, and the positioning connection flange 725 is less than 0.005 mm. Here, the calibration probe 721 is made of hard steel and is designed as a standard spherical structure.

[0086] Specifically, the calibration probe 722 includes calibration probe primary calibration section A 722A, calibration probe primary calibration section B 722B, and calibration probe primary calibration remaining section 722M; calibration probe primary calibration section A 722A is located at the bottom of calibration probe 722, calibration probe primary calibration section B 722B is located at the top of calibration probe 722, and the remaining section is calibration probe primary calibration remaining section 722M.

[0087] Specifically, the coaxial calibration rod 723 includes a secondary calibration section A 723A, a secondary calibration section B 723B, and a remaining section 723M of the secondary calibration rod. The secondary calibration section A 723A is located at the bottom of the coaxial calibration rod 723, the secondary calibration section B 723B is located at the top of the coaxial calibration rod 723, and the remaining section is the remaining section 723M of the secondary calibration rod.

[0088] Specifically, the diameter of the calibration probe 722 is smaller than the diameter of the axial sleeve primary coaxial calibration 712 and smaller than the diameter of the radial sleeve primary coaxial calibration 732. Here, the diameter difference can be 0.4 mm. The distance L0 from the top of the calibration probe 721 to the calibration probe depth measuring plane 720 is greater than the distance between the radial sleeve depth measuring plane 730 and the radial sleeve depth calibration plane 734A, and greater than the distance between the axial sleeve depth measuring plane 710 and the axial sleeve depth calibration plane 714A.

[0089] Specifically, the diameter of the coaxial calibration rod 723 is smaller than the diameter of the axial sleeve secondary coaxial calibration 711 and smaller than the diameter of the radial sleeve secondary coaxial calibration 731. Here, the diameter difference can be 2 mm. The distance between the top of the calibration probe 721 and the bottom of the coaxial calibration rod 723 is greater than the distance between the top of the axial sleeve primary coaxial calibration 712 and the axial sleeve depth calibration block 714, and greater than the distance between the top of the radial sleeve primary coaxial calibration 732 and the radial sleeve depth calibration block 734.

[0090] Furthermore, the automatic rod feeding calibration fixture for the underground drilling robot in coal mine also includes a level detector 6, which is placed on the axial sleeve positioning reference plane 715A or the radial sleeve positioning reference plane 715B to achieve level adjustment detection.

[0091] This application also provides an automatic rod feeding calibration method for a coal mine underground drilling robot. This method is based on the aforementioned automatic rod feeding calibration fixture for a coal mine underground drilling robot, and includes:

[0092] Step 1: Install and fix the calibration fixture. Fix the calibration sleeve 70 onto the active drill rod 5 at the front end of the power head 4, ensuring that the connecting surface 51 of the active drill rod is tightly fitted with the connecting end face 8 of the calibration sleeve. Check the coaxiality of the axial sleeve 73 center axis LZ of the calibration sleeve 70 with the rotation center axis of the active drill rod 5; the coaxiality should be less than 0.05mm. Fix the calibration probe 72 onto the end of the industrial robot 3, using the positioning pin for positioning, ensuring a secure installation.

[0093] Step 2, Horizontal Adjustment Measurement. Adjust the drilling robot's opening position to zero degrees using the opening posture adjustment device. Place the horizontal measuring instrument 6 on the axial sleeve positioning reference plane 715A or the radial sleeve positioning reference plane 715B. Rotate the active drill rod 5 of the power head 4 until the horizontal measuring instrument 6 measures 0 degrees in the direction perpendicular to the active drill rod 5. Fix the power head 4 to ensure the active drill rod 5 does not rotate.

[0094] Step 3, Radial Sleeve Calibration. Radial sleeve 73 calibration is performed, primarily using industrial robot 3 to obtain the radial target position parameters of the automatic feed rod. The operation steps mainly include secondary coaxial calibration of the radial sleeve, primary coaxial calibration of the radial sleeve, radial sleeve depth calibration, radial sleeve measurement verification, and recording of the radial sleeve calibration results.

[0095] Step 3.1, Secondary coaxial calibration of the radial sleeve. Adjust the position of the industrial robot to a suitable position to ensure that the secondary coaxial calibration 731 of the radial sleeve 73 and the coaxial calibration rod 723 of the calibration probe 72 are on the same axis; use a plug gauge to measure the gap between the secondary coaxial calibration section A 731A and the secondary calibration section A 723A of the coaxial calibration rod at surface a of the radial sleeve 73, and record it as △A. 2a1 The gap between the radial sleeve 73 at surface a of surface a and the secondary coaxial calibration section B 731B of the radial sleeve 73 and the secondary calibration section B 723B of the coaxial calibration rod is marked as △A. 2a2 According to △A 2a1 △A 2a2 Adjust the value of ΔA between the calibration probe 72 and the radial sleeve secondary coaxial calibration 731, and ensure that ΔA is adjusted accordingly. 2a1 △A 2a2 It is 1mm.

[0096] The gap between the radial sleeve 73 at face b, secondary coaxial calibration section A 731A and secondary calibration section A 723A of the coaxial calibration rod, was measured using a plug gauge. The gap was marked as △A. 2b1 The gap between the radial sleeve secondary coaxial calibration section B 731B and the coaxial calibration rod secondary calibration section B 723B is marked as △A. 2b2 According to △A 2b1 △A 2b2 Adjust the value of ΔA between the calibration probe 72 and the radial sleeve secondary coaxial calibration 731, and ensure that ΔA is adjusted accordingly. 2b1 △A 2b2 All are 1mm.

[0097] Step 3.2, Radial Sleeve Primary Coaxial Calibration. Based on the secondary coaxial calibration of the radial sleeve, use a plug gauge to measure the gap between section A 732A of the primary coaxial calibration of the radial sleeve 73 and section A 722A of the primary calibration of the calibration probe at surface a. Mark the gap as ΔA. 1a1 ; Measure the gap between the radial sleeve 73 at surface a of the first coaxial calibration section B 732B and the calibration probe at the first calibration section B 722B, and mark the gap as △A. 1a2 According to △A 1a1 △A 1a2 Adjust the value of ΔA, and adjust the gap between calibration probe 72 and radial sleeve primary coaxial calibration 732. 1a1 △A 1a2 All are 0.2mm.

[0098] The gap between the radial sleeve 73 at face b and the radial sleeve coaxial calibration section A 732A and the calibration probe at face b of the radial sleeve 73 were measured using a plug gauge. The gap was marked as △A. 1b1 ; Measure the gap between the radial sleeve 73 at surface b of the first coaxial calibration section B 732B and the calibration probe at the first calibration section B 722B, and mark the gap as △A. 1b2 According to △A 1b1 △A 1b2 Adjust the value of ΔA, and adjust the gap between calibration probe 72 and radial sleeve primary coaxial calibration 732. 1b1 △A 1b2 All are 0.2mm.

[0099] Step 3.3, Radial Sleeve Depth Calibration. Based on the initial coaxial calibration of the radial sleeve, adjust the position of the industrial robot in the direction of the calibration probe 72 so that the calibration probe 721 of the calibration probe 72 is in contact with the radial sleeve depth calibration plane 734A. Use a plug gauge to measure and determine the gap △D between the calibration probe 721 and the radial sleeve depth calibration block 734. △D should be less than 0.2mm.

[0100] Step 3.4, Radial Sleeve Measurement Re-verification. After completing the secondary calibration, primary calibration, and depth calibration of the radial sleeve, the above-mentioned adjustment clearance parameters △A should be re-verified. 2a1 △A 2a2 △A 2b1 △A 2b2 △A 2b1 △A 2b2 △A 1b1 △A 1b2 The △D is re-inspected to ensure that the gaps are adjusted correctly and that the calibration probe 72 and the radial sleeve 73 are properly matched.

[0101] Step 3.5, Radial Sleeve Calibration Result Recording. Record the coordinate parameters X, Y, Z, A, B, and C of the industrial robot at this time. At this point, the calibration recording of one position point is completed, that is, the radial target position parameters of the automatic rod feeder are obtained.

[0102] Step 4, Axial Sleeve Calibration. The axial sleeve 71 is calibrated, primarily using an industrial robot to obtain the axial target position parameters of the automatic feed rod. The operation steps mainly include secondary coaxial calibration of the axial sleeve, primary coaxial calibration of the axial sleeve, axial sleeve depth calibration, axial sleeve measurement verification, and recording of the axial sleeve calibration results.

[0103] Step 4.1, secondary coaxial calibration of the axial sleeve. Adjust the position of the industrial robot to a suitable position to ensure that the secondary coaxial calibration 711 of the axial sleeve 71 and the coaxial calibration rod 723 of the calibration probe 72 are on the same axis; use a plug gauge to measure the gap between section A 711A of the secondary coaxial calibration of the axial sleeve 71 and section A 723A of the secondary calibration of the coaxial calibration rod at surface a of the axial sleeve 71, and record it as △A. 2a1 The gap between the secondary coaxial calibration section B 711B of the axial sleeve 71 at surface a and the secondary calibration section B 723B of the coaxial calibration rod is marked as △A. 2a2 ', according to △A 2a1 '、△A 2a2 Adjust the value of ', and adjust the gap between the calibration probe 72 and the secondary coaxial calibration 711 of the axial sleeve. The adjusted △A should be... 2a1 '、△A 2a2 'It is 1mm.

[0104] The gap between the secondary coaxial calibration section A 711A of the axial sleeve 71 and the secondary calibration section A 723A of the coaxial calibration rod at the b-face of the axial sleeve 71 was measured using a plug gauge and denoted as △A. 2b1 The gap between the secondary coaxial calibration section B 711B of the axial sleeve 71 at surface b and the secondary calibration section B 723B of the coaxial calibration rod is marked as △A. 2b2 ', according to △A 2b1 '、△A 2b2 Adjust the value of ' and the gap between calibration probe 72 and secondary coaxial calibration 711 of the axial sleeve. The adjusted value should be △A. 2b1 '、△A 2b2 'It is 1mm.

[0105] Step 4.2, primary coaxial calibration of the axial sleeve. Based on the secondary coaxial calibration of the axial sleeve, use a plug gauge to measure the gap between section A 712A of the primary coaxial calibration of the axial sleeve 71 and section A 722A of the primary calibration of the calibration probe at surface a. Mark the gap as ΔA. 1a1 '; Measure the gap between the first coaxial calibration section B 712B of the axial sleeve 71 at surface a and the first calibration section B 722B of the calibration probe, and mark the gap as △A. 1a2 ', according to △A 1a1 '、△A 1a2 Adjust the value of ', and adjust the gap between the calibration probe 72 and the axial sleeve coaxial calibration 712. The adjusted value should be △A. 1a1 '、△A 1a2 All are 0.2mm.

[0106] The gap between the axial sleeve 71 at face b, coaxial calibration section A 712A and calibration probe 722A, was measured using a plug gauge. The gap was marked as ΔA. 1b1 '; Measure the gap between the first coaxial calibration section B 712B of the axial sleeve 71 and the first calibration section B 722B of the calibration probe at the b-face of the axial sleeve 71, and mark the gap as △A. 1b2 ', according to △A 1b1 '、△A 1b2 Adjust the value of ', and adjust the gap between the calibration probe 72 and the axial sleeve coaxial calibration 712. The adjusted value should be △A. 1b1 '、△A 1b2 All are 0.2mm.

[0107] Step 4.3, Axial sleeve depth calibration. Based on the initial coaxial calibration of the axial sleeve, adjust the position of the industrial robot in the direction of the calibration probe 72 so that the calibration probe 721 of the calibration probe 72 is in contact with the axial sleeve depth calibration plane 714A. Use a plug gauge to measure and determine the gap △D' between the calibration probe 721 and the axial sleeve depth calibration block 714. △D' should be less than 0.2mm.

[0108] Step 4.4, Axial sleeve measurement verification. After completing the secondary calibration, primary calibration, and depth calibration of the axial sleeve, the above adjustment clearance parameters △A should be checked. 2a1 '、△A 2a2 '、△A 2b1 '、△A 2b2 '、△A 2b1 '、△A 2b2 '、△A 1b1 '、△A 1b2 The ' and △D' are re-tested to ensure that the gaps are adjusted correctly and that the axial sleeve 71 of the calibration probe 72 and the calibration sleeve 70 are properly matched.

[0109] Step 4.5, Axial sleeve calibration result recording. Record the coordinate parameters X′, Y′, Z′, A′, B′, Z′ of the industrial robot at this time. At this point, the calibration recording of one position point is completed, that is, the axial target position parameters of the automatic delivery rod are obtained.

[0110] Step 5, Data Processing. Based on the radial target position parameters X, Y, Z, A, B, C and the axial target position parameters X′, Y′, Z′, A′, B′, Z′ of the automatic rod feeder, determine the target position of the automatic rod feeder, including position coordinates (x, y, z) and pose coordinates (a, b, c).

[0111] If, in step 2, the leveling instrument 6 is placed on the axial sleeve positioning reference plane 715A for level adjustment and testing, then:

[0112]

[0113]

[0114] If, in step 2, the leveling instrument 6 is placed on the radial sleeve positioning reference plane 715B for level adjustment and testing, then:

[0115]

[0116]

[0117] Where (X, Y, Z) are the position coordinates obtained from the axial sleeve calibration, (A, B, C) are the pose coordinates obtained from the axial sleeve calibration, (X′, Y′, Z′) are the position coordinates obtained from the radial sleeve calibration, and (A′, B′, C′) are the pose coordinates obtained from the radial sleeve calibration.

[0118] In summary, this application has the following technical effects:

[0119] 1. The automatic rod delivery position calibration fixture for underground drilling robots in coal mines disclosed in this application enables automatic rod delivery position calibration of underground drilling robots after manufacturing and subsequent replacement and maintenance. It can easily and reliably detect the target rod delivery position of the underground drilling robot in that pose. This provides an accurate and reliable data foundation for target position correction, ultimately enabling the underground drilling robot to perform automatic rod delivery operations accurately and efficiently in the underground environment, greatly improving the safety and efficiency of drilling operations. Compared with other calibration devices, this device can be used not only on the surface but also in the flammable and explosive environment of underground coal mines, effectively solving the technical problem of rod delivery target position calibration for underground drilling robots. This calibration fixture is simple and portable, easy to operate, provides accurate and reliable measurement results, and is characterized by its low price, high reliability, and strong applicability.

[0120] 2. The operation method of the automatic rod feeding position calibration tool for underground drilling robot in coal mines in this application ensures that the tool is feasible and can be applied in the field, and standardizes the operation process.

[0121] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic rod feeding calibration fixture for a coal mine underground drilling robot, characterized in that, include: The calibration sleeve (70) and calibration probe (72) are provided. The calibration sleeve (70) includes a radial sleeve (73) and an axial sleeve (71). The calibration sleeve (70) is fixedly installed on the active drill rod (5). The radial sleeve (73) is used to perform radial sleeve calibration to obtain the radial target position parameters of the automatic rod feeder; the axial sleeve (71) is used to perform axial sleeve calibration to obtain the axial target position parameters of the automatic rod feeder; the radial target position parameters and the axial target position parameters of the automatic rod feeder are used to determine the target position of the automatic rod feeder. The radial sleeve (73) includes a radial sleeve secondary coaxial calibration (731), a radial sleeve primary coaxial calibration (732), a radial sleeve observation window (733), and a radial sleeve depth calibration block (734); the radial sleeve secondary coaxial calibration (731) is located at the top of the radial sleeve (73), the radial sleeve primary coaxial calibration (732) is located at the lower end of the radial sleeve secondary coaxial calibration (731), the radial sleeve observation window (733) is located between the radial sleeve primary coaxial calibration (732) and the radial sleeve depth calibration block (734), and the radial sleeve depth calibration block (734) is located at the bottom of the radial sleeve (73); The axial sleeve (71) includes a secondary coaxial calibration (711), a primary coaxial calibration (712), an observation window (713), and a depth calibration block (714). The secondary coaxial calibration (711) is located at the top of the axial sleeve (71), the primary coaxial calibration (712) is located at the lower end of the secondary coaxial calibration (711), the observation window (713) is located between the primary coaxial calibration (712) and the depth calibration block (714), and the depth calibration block (714) is located at the bottom of the axial sleeve (71). The calibration probe (72) includes a calibration probe (721), a calibration rod (722), a coaxial calibration rod (723), a probe extension rod (724), and a positioning connection flange (725); the calibration probe (721) is located at the top of the calibration rod (722), the calibration rod (722) is located between the calibration probe (721) and the coaxial calibration rod (723), the coaxial calibration rod (723) is located between the calibration rod (722) and the probe extension rod (724), and the probe extension rod (724) is located between the coaxial calibration rod (723) and the positioning connection flange (725); The diameter of the calibration probe (722) is smaller than the diameter of the axial sleeve primary coaxial calibration (712) and smaller than the diameter of the radial sleeve primary coaxial calibration (732); the distance L0 from the top of the calibration probe (721) to the calibration probe depth measurement plane (720) is greater than the distance between the radial sleeve depth measurement plane (730) and the radial sleeve depth calibration plane (734A), and greater than the distance between the axial sleeve depth measurement plane (710) and the axial sleeve depth calibration plane (714A); The diameter of the coaxial calibration rod (723) is smaller than the diameter of the axial sleeve secondary coaxial calibration (711) and smaller than the diameter of the radial sleeve secondary coaxial calibration (731); the distance between the top of the calibration probe (721) and the bottom of the coaxial calibration rod (723) is greater than the distance between the top of the axial sleeve primary coaxial calibration (712) and the axial sleeve depth calibration block (714), and greater than the distance between the top of the radial sleeve primary coaxial calibration (732) and the radial sleeve depth calibration block (734).

2. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The radial sleeve secondary coaxial calibration (731) includes radial sleeve secondary coaxial calibration section A (731A), radial sleeve secondary coaxial calibration section M (731M), and radial sleeve secondary coaxial calibration section B (731B). The radial sleeve secondary coaxial calibration section A (731A) is located at the upper end of the radial sleeve secondary coaxial calibration (731), the radial sleeve secondary coaxial calibration section B (731B) is located at the lower end of the radial sleeve secondary coaxial calibration (731), and the remaining section is the radial sleeve secondary coaxial calibration section M (731M).

3. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The radial sleeve primary coaxial calibration (732) includes radial sleeve primary coaxial calibration section A (732A), radial sleeve primary coaxial calibration section B (732B), and radial sleeve primary coaxial calibration section M (732M). The radial sleeve primary coaxial calibration section A (732A) is located at the upper end of the radial sleeve primary coaxial calibration (732), the radial sleeve primary coaxial calibration section B (732B) is located at the lower end of the radial sleeve primary coaxial calibration (732), and the remaining section is the radial sleeve primary coaxial calibration section M (732M).

4. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The radial sleeve depth calibration block (734) includes a radial sleeve depth calibration plane (734A) and a radial sleeve depth plane (734C), with the radial sleeve depth calibration plane (734A) located at the center of the radial sleeve depth plane (734C).

5. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The axial sleeve secondary coaxial calibration (711) includes axial sleeve secondary coaxial calibration section A (711A), axial sleeve secondary coaxial calibration section M (711M), and axial sleeve secondary coaxial calibration section B (711B). The axial sleeve secondary coaxial calibration section A (711A) is located at the upper end of the axial sleeve secondary coaxial calibration (711), the axial sleeve secondary coaxial calibration section B (711B) is located at the lower end of the axial sleeve secondary coaxial calibration (711), and the remaining section is the axial sleeve secondary coaxial calibration section M (711M).

6. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The axial sleeve primary coaxial calibration (712) includes axial sleeve primary coaxial calibration section A (712A), axial sleeve primary coaxial calibration section B (712B), and axial sleeve primary coaxial calibration section M (712M). The axial sleeve primary coaxial calibration section A (712A) is located at the upper end of the axial sleeve primary coaxial calibration (712), the axial sleeve primary coaxial calibration section B (712B) is located at the lower end of the axial sleeve primary coaxial calibration (712), and the remaining sections are the axial sleeve primary coaxial calibration section M (712M).

7. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The axial sleeve depth calibration block (714) includes an axial sleeve depth calibration plane (714A) and an axial sleeve depth plane (714C), with the axial sleeve depth calibration plane (714A) located at the center of the axial sleeve depth plane (714C).

8. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The central axis of the radial sleeve (73) and the central axis of the axial sleeve (71) intersect at point O. The distance L1 from the top end face of the radial sleeve (73) to point O is equal to the distance L2 from the top end face of the axial sleeve (71) to point O. The distance L3 from the top end face of the radial sleeve (73) to the radial sleeve depth calibration plane (734A) is equal to the distance L4 from the top end face of the axial sleeve (71) to the axial sleeve depth calibration plane (714A).

9. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The calibration probe (722) includes a calibration probe primary calibration section A (722A), a calibration probe primary calibration section B (722B), and a calibration probe primary calibration remaining section (722M). The calibration probe primary calibration section A (722A) is located at the bottom of the calibration probe (722), the calibration probe primary calibration section B (722B) is located at the top of the calibration probe (722), and the remaining section is the calibration probe primary calibration remaining section (722M).

10. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, The coaxial calibration rod (723) includes a secondary calibration section A (723A), a secondary calibration section B (723B), and a remaining section of the secondary calibration rod (723M). The secondary calibration section A (723A) is located at the bottom of the coaxial calibration rod (723), the secondary calibration section B (723B) is located at the top of the coaxial calibration rod (723), and the remaining section is the remaining section of the secondary calibration rod (723M).

11. The automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, characterized in that, It also includes a leveling instrument (6), which is placed on the axial sleeve positioning reference plane (715A) or the radial sleeve positioning reference plane (715B) for leveling adjustment detection.

12. A method for automatic rod feeding calibration of a coal mine underground drilling robot, characterized in that, The method is based on the automatic rod feeding calibration fixture for underground drilling robots in coal mines as described in claim 1, and the method includes: Step 1: Install and fix the calibration fixture, including fixing the calibration sleeve (70) to the active drill rod (5) at the front end of the power head (4), so that the connecting surface (51) of the active drill rod is in close contact with the connecting end face (8) of the calibration sleeve; check the coaxiality between the radial sleeve (73) center axis of the calibration sleeve (70) and the rotation center axis of the active drill rod (5), which is required to be less than the set value; fix the calibration probe (72) to the end of the industrial robot (3); Step 2, horizontal adjustment measurement, including adjusting the hole opening position of the underground drilling robot in the coal mine to zero degree horizontal by using the hole opening posture adjustment device, placing the horizontal detector (6) on the axial sleeve positioning reference plane (715A) or the radial sleeve positioning reference plane (715B), rotating the active drill rod (5) of the power head (4) so ​​that the horizontal detector (6) detects 0 degrees in the direction perpendicular to the active drill rod (5); fixing the power head (4) so ​​that the active drill rod (5) does not rotate; Step 3: Radial sleeve calibration to obtain the radial target position parameters of the automatic rod feeder, including secondary coaxial calibration of the radial sleeve, primary coaxial calibration of the radial sleeve, radial sleeve depth calibration, radial sleeve measurement verification, and recording of radial sleeve calibration results. Step 4: Axial sleeve calibration to obtain the axial target position parameters of the automatic feed rod, including secondary coaxial calibration of the axial sleeve, primary coaxial calibration of the axial sleeve, axial sleeve depth calibration, axial sleeve measurement verification, and recording of axial sleeve calibration results. Step 5, data processing, includes determining the target position of the automatic rod delivery based on the radial target position parameters and the axial target position parameters of the automatic rod delivery.

13. The method as described in claim 12, characterized in that, Determining the target position of the automatic rod delivery system based on the radial target position parameters and the axial target position parameters includes: The target position of the automatic rod delivery includes position coordinates (x, y, z) and pose coordinates (a, b, c); If, in step 2, the leveling instrument (6) is placed on the axial sleeve positioning reference plane (715A) for leveling adjustment and testing, then: If, in step 2, the leveling instrument (6) is placed on the radial sleeve positioning reference plane (715B) for level adjustment and testing, then: Where (X, Y, Z) are the position coordinates obtained from the axial sleeve calibration, and (A, B, C) are the pose coordinates obtained from the axial sleeve calibration. The position coordinates obtained from the radial sleeve calibration, The pose coordinates obtained from the radial sleeve calibration.

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