An automatic control system for a hydraulic drilling rig in a coal mine

Abstract

This invention discloses an automatic control system for a hydraulic drilling rig in coal mines, relating to the field of fully automatic hydraulic drilling technology in coal mines. The system includes: a solenoid valve group, a controller group, a sensor group, and an actuator. The sensor group monitors data from the actuator and transmits it to the controller group. The controller group controls the actuator through the solenoid valve group, using the data from the actuator transmitted by the sensor group and preset control parameters within the controller group to control the drilling process. This invention requires only simple parameter settings, allowing the machine to automatically complete drilling, core sampling, and other tasks. Furthermore, the hydraulic drilling rig control system can detect and adjust drilling parameters, drill rod quantity, and other information in real time. Fully automated operation significantly saves manpower and time costs, greatly reduces operational errors, and improves working accuracy.

Description

Technical Field

[0001] This invention relates to the field of hydraulic fully automatic drilling technology for coal mines, and more specifically to an automatic control system for a hydraulic drilling rig for coal mines. Background Technology

[0002] Based on the actual needs of underground coal mine operations, drilling is being used more and more frequently in the underground environment. However, because underground drilling often takes place in high-temperature, high-pressure, and toxic gas environments, it poses a significant threat to the safety of underground drilling workers, while also increasing their labor intensity and reducing work efficiency. Therefore, it is necessary to design a fully automated device for underground drilling to address the safety and efficiency issues faced by underground workers. Summary of the Invention

[0003] In view of this, the present invention provides an automatic control system for hydraulic drilling rigs in coal mines, which solves the safety and efficiency problems of underground construction personnel by automating the hydraulic drilling rigs in coal mines.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An automatic control system for a hydraulic drilling rig in a coal mine includes: a solenoid valve group, a controller group, a sensor group, and an actuator. The sensor group monitors the data of the actuator and transmits it to the controller group. The controller group controls the actuator through the solenoid valve group, and controls the drilling by using the data of the actuator transmitted by the sensor group and preset control parameters inside the controller group.

[0006] Preferably, the actuator includes a swing mechanism cylinder, a manipulator assembly cylinder, a pallet assembly cylinder, a support leg assembly cylinder, a jacking assembly cylinder, a power head propulsion cylinder, and a gripper assembly cylinder. The solenoid valve group includes several solenoid valves, each corresponding to a specific number of cylinders in the actuator. Each solenoid valve controls the movement of its cylinder by controlling the flow of internal hydraulic oil. The swing mechanism cylinder controls the swing of the hydraulic drilling rig, the manipulator assembly cylinder controls the movement of each manipulator, the pallet assembly cylinder clamps and fixes the pallet assembly, the support leg assembly cylinder controls the extension and retraction and fixation of the hydraulic drilling rig's support legs, the jacking assembly cylinder controls the jacking movement of the hydraulic drilling rig, the power head propulsion cylinder controls the forward and backward movement of the power head, and the gripper assembly cylinder controls the clamping and releasing of the gripper.

[0007] Preferably, the manipulator assembly cylinders include a main manipulator telescopic cylinder, a main manipulator clamping cylinder, a secondary manipulator translation cylinder, a secondary manipulator lifting cylinder, and a secondary manipulator clamping cylinder. The main manipulator telescopic cylinder controls the main manipulator to extend and retract, the main manipulator clamping cylinder controls the main manipulator to clamp the drill rod, the secondary manipulator translation cylinder controls the secondary manipulator to move horizontally, the secondary manipulator lifting cylinder controls the secondary manipulator to rise and fall vertically, and the secondary manipulator clamping cylinder controls the secondary manipulator to clamp the drill rod. The pallet assembly cylinders include a pallet assembly telescopic cylinder and a pallet assembly clamping cylinder. The pallet assembly telescopic cylinder controls the pallet assembly to extend and retract horizontally, and the pallet assembly clamping cylinder clamps the pallet assembly. The gripper assembly cylinders include a front gripper cylinder, a front gripper swing cylinder, and a rear gripper cylinder. Both the front gripper cylinder and the rear gripper cylinder are used to clamp the drill rod, and the front gripper swing cylinder is used to control the front gripper to swing horizontally.

[0008] Preferably, the sensor group includes an encoder, a pressure sensor group, a proximity switch group, a speed sensor, and a displacement sensor, wherein the pressure sensor group contains a plurality of pressure sensors;

[0009] The power head propulsion cylinder is equipped with the speed sensor and the displacement sensor, which are used to measure the rotational speed and travel displacement of the power head.

[0010] The encoder is mounted on the hydraulic cylinder of the swing mechanism to obtain the rotation angle;

[0011] The main manipulator telescopic cylinder is equipped with a proximity switch from the proximity switch group and a pressure sensor, which are used for positioning the main manipulator.

[0012] The main and auxiliary manipulator gripping cylinders, the auxiliary manipulator gripping cylinder, the pallet assembly gripping cylinder, the support leg assembly cylinder, the support assembly cylinder, the front gripper cylinder, and the rear gripper cylinder are all equipped with pressure sensors to measure the pressure of each cylinder during operation.

[0013] The auxiliary manipulator lifting cylinder is equipped with a proximity switch from the proximity switch group to detect whether the manipulator has reached the designated position.

[0014] Preferably, it also includes a remote controller and a receiver. The remote controller is connected to the controller group via the receiver. The remote controller presets control parameters and transmits them to the controller group, or the controller can be manually operated via the remote controller.

[0015] Preferably, it also includes an anchoring component cylinder and a lifting frame cylinder. The remote control controls the controller group to use the anchoring component cylinder to fix the hydraulic drilling rig and to use the lifting frame cylinder to lift the hydraulic drilling rig to a designated position.

[0016] Preferably, it also includes a water supply component, which is equipped with a water pressure sensor to monitor the water pressure of the water supply component in real time, and is used to provide water flow to the power head of the hydraulic drilling rig for cooling.

[0017] As can be seen from the above technical solution, compared with the prior art, this invention discloses an automatic control system for a hydraulic drilling rig in coal mines, realizing fully automated operation. Operators only need to set simple parameters, and the machine can automatically complete drilling, core sampling, and other tasks. Furthermore, the hydraulic drilling rig control system can detect and adjust drilling parameters, drill rod quantity, and other information in real time. Fully automated operation significantly saves manpower and time costs, greatly reduces operational errors, and improves work accuracy. The control system's working mode can be easily switched, allowing for selection of both automatic drilling / unloading and manual drilling / unloading modes. In manual mode, the hydraulic drilling rig can be operated arbitrarily via remote control, thus enabling personalized control based on specific site conditions and requirements, offering high flexibility and applicability to various emergencies. In automatic mode, drilling / unloading is achieved with a single button press on the remote control, thus realizing a fully automated overall function, significantly reducing time costs and improving work efficiency. Furthermore, the hydraulic drilling rig seamlessly switches between manual and automatic modes throughout its operation, improving its overall fault tolerance. This control system also endows the hydraulic drilling rig with versatility and expandability, enabling it to perform not only traditional drilling operations but also various attachments for multiple functions. For example, it can be equipped with rock drill bits for rock drilling, core extractors for soil sampling, or vibratory hammers for foundation treatment. This makes the hydraulic drilling rig more flexible and efficient in other construction scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 The attached figure is a schematic diagram of the structure provided by the present invention.

[0020] Figure 2 The attached figure is a flowchart of the drilling steps provided by the present invention.

[0021] Figure 3 The attached figure is a flowchart of the unloading steps provided by the present invention.

[0022] Figure 4The attached figure is a master-slave station topology diagram provided by the present invention.

[0023] Figure 5 The attached figure is a circuit diagram of the master station provided by the present invention.

[0024] Figure 6 The attached figure is a circuit diagram of slave station 1 provided by the present invention.

[0025] Figure 7 The attached figure is a circuit diagram of slave station 2 provided by the present invention. Detailed Implementation

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] This invention discloses an automatic control system for a hydraulic drilling rig used in coal mines, such as... Figure 1 As shown, it includes: a solenoid valve group, a controller group, a sensor group, and an actuator. The sensor group monitors the data of the actuator and transmits it to the controller group. The controller group controls the actuator through the solenoid valve group, and controls the drilling by using the data of the actuator transmitted by the sensor group and the preset control parameters inside the controller group.

[0028] In one specific embodiment, the actuator includes a swing mechanism cylinder, a manipulator component cylinder, a pallet component cylinder, a support leg component cylinder, a jacking component cylinder, a power head propulsion cylinder, and a gripper component cylinder. The solenoid valve group contains several solenoid valves, each corresponding to a cylinder in the actuator. Each solenoid valve controls the movement of its cylinder by controlling the flow of internal hydraulic oil. The swing mechanism cylinder controls the swing of the hydraulic drilling rig, the manipulator component cylinder controls the movement of each manipulator, the pallet component cylinder clamps and fixes the pallet component, the support leg component cylinder controls the extension and retraction and fixation of the hydraulic drilling rig's support legs, the jacking component cylinder controls the jacking movement of the hydraulic drilling rig, the power head propulsion cylinder controls the forward and backward movement of the power head, and the gripper component cylinder controls the clamping and releasing of the gripper.

[0029] In one specific embodiment, the manipulator assembly cylinders include a main manipulator telescopic cylinder, a main manipulator clamping cylinder, a secondary manipulator translation cylinder, a secondary manipulator lifting cylinder, and a secondary manipulator clamping cylinder. The main manipulator telescopic cylinder controls the main manipulator to extend and retract, the main manipulator clamping cylinder controls the main manipulator to clamp the drill rod, the secondary manipulator translation cylinder controls the secondary manipulator to move horizontally, the secondary manipulator lifting cylinder controls the secondary manipulator to rise and fall vertically, and the secondary manipulator clamping cylinder controls the secondary manipulator to clamp the drill rod. The pallet assembly cylinders include a pallet assembly telescopic cylinder and a pallet assembly clamping cylinder. The pallet assembly telescopic cylinder controls the pallet assembly to extend and retract horizontally, and the pallet assembly clamping cylinder clamps the pallet assembly. The gripper assembly cylinders include a front gripper cylinder, a front gripping swing cylinder, and a rear gripper cylinder. Both the front and rear gripper cylinders are used to clamp the drill rod, and the front gripping swing cylinder is used to control the front gripper to swing horizontally. (The main function of the front and rear clamps is to uncouple the drill pipe. The front and rear clamps and the front clamp swing cylinder work together to complete the uncoupling action: the front and rear clamps clamp two adjacent drill pipes respectively, then the front clamp swing cylinder swings to reduce the tightness of the connection between the two adjacent drill pipes, then the rear clamp is released, and the power head reverses to uncouple the drill pipe.)

[0030] In one specific embodiment, the sensor group includes an encoder, a pressure sensor group, a proximity switch group, a speed sensor, and a displacement sensor, wherein the pressure sensor group contains several pressure sensors.

[0031] The power head propulsion cylinder is equipped with a speed sensor and a displacement sensor to measure the rotational speed and travel displacement of the power head.

[0032] An encoder is installed on the hydraulic cylinder of the swing mechanism to obtain the rotation angle;

[0033] The main manipulator's telescopic cylinder is equipped with a proximity switch and a pressure sensor from the proximity switch group, which are used for positioning the main manipulator.

[0034] Pressure sensors are installed in the main and auxiliary manipulator gripping cylinders, auxiliary manipulator gripping cylinders, pallet assembly gripping cylinders, outrigger assembly cylinders, support assembly cylinders, front gripper cylinders, and rear gripper cylinders to measure the pressure of each cylinder during operation.

[0035] The auxiliary robotic arm lifting cylinder is equipped with a proximity switch from the proximity switch group to detect whether the robotic arm has reached the designated position.

[0036] In one specific embodiment, the system also includes a remote controller and a receiver. The remote controller is connected to the controller group via the receiver. The remote controller presets control parameters and transmits them to the controller group, or the controller can be manually operated via the remote controller.

[0037] In one specific embodiment, the system also includes an anchoring component cylinder and a lifting frame cylinder. The remote control controls the controller group to use the anchoring component cylinder to fix the hydraulic drilling rig and to use the lifting frame cylinder to lift the hydraulic drilling rig to a designated position.

[0038] In one specific embodiment, a water supply assembly is also included, which is equipped with a water pressure sensor to monitor the water pressure of the water supply assembly in real time, and is used to provide water flow to the power head of the hydraulic drilling rig for cooling.

[0039] In one specific embodiment, such as Figure 2 As shown, the automatic drilling process utilizes hydraulic cylinders within the actuator to control various components: First, the operator initiates the automatic drilling command, performing initial state checks on the gripper assembly, robotic arm assembly, and pallet assembly. The auxiliary robotic arm checks the remaining drill rods in the drill rod box, determining the first drill bit to be installed on the power head (or manually installed on the front gripper). The support and outriggers extend and simultaneously anchor the entire assembly. The appropriate drilling position is determined via the swing mechanism and lifting frame. The power head rotates forward and advances, the front gripper clamps the first drill bit, and the power head retracts. The auxiliary robotic arm detects the drill rod position using a displacement sensor. The auxiliary robotic arm translation cylinder controls its horizontal movement, the auxiliary robotic arm lifting cylinder controls its vertical movement, the auxiliary robotic arm clamping cylinder controls its clamping of the drill rod and placement on the pallet, the pallet assembly clamping cylinder clamps the drill rod, and the pallet assembly extends... The retraction cylinder controls the tray assembly to extend horizontally to the designated position. The tray assembly clamping cylinder releases, the main robot arm extension cylinder controls the main robot arm to extend, the main robot arm clamping cylinder controls the main robot arm to clamp the drill rod and remove the drill rod from the tray, the tray assembly extension cylinder controls the tray to retract, the main robot arm reaches the designated position, the rear gripper cylinder controls the rear gripper to clamp the drill rod, the main robot arm clamping cylinder controls the main robot arm to release, the main robot arm extension cylinder controls the main robot arm to return to the designated position, the power head push cylinder controls the power head to rotate forward and advance to the designated position, the rear gripper has a small clamping force and the front gripper has a large clamping force, the power head continues to rotate and advance forward through the power head push cylinder, the front gripper swing cylinder controls the front gripper to swing, the pressure sensor on the front gripper cylinder detects that the pressure reaches the designated value and controls the front gripper to release, the power head rotates forward and performs drilling. During the entire drilling process, the water pressure sensor will detect the changes in water pressure of the water supply component in real time to ensure that the pressure is sufficient to spray water to the drill bit position of the power head. If the pressure is insufficient, drilling will stop immediately.

[0040] In one specific embodiment, such as Figure 3As shown, the automatic drill unloading process works as follows: First, the operator initiates the automatic drill unloading command to perform initial state checks. The gripper assembly, robotic arm assembly, and pallet assembly undergo initial position self-checks. The auxiliary robotic arm detects the remaining drill rods in the drill rod box (a proximity switch at the end of the auxiliary robotic arm automatically detects whether there are drill rods at its position; the initial state defaults to a full drill rod box, and the drill rod clamping order is from front to back and from high to low (front-to-back priority is higher than high-to-low priority). Finally, the remaining drill rod count is obtained from the three-dimensional position of the auxiliary robotic arm's end, fed back by a displacement sensor). The front gripper cylinder controls the front gripper to clamp the drill rods, and the front clamping swing cylinder controls the front gripper to swing, resulting in a high clamping force. The rear gripper cylinder controls the rear gripper to clamp the drill rods, resulting in a low clamping force. The head push cylinder controls the power head to reverse and retreat to the designated position, the rear gripper clamps, the power head retreats to the rearmost end, the main robot arm extension cylinder controls the main robot arm to extend, the main robot arm clamping cylinder controls the main robot arm to clamp the drill rod, the rear gripper cylinder controls the rear gripper to release, the pallet assembly extension cylinder controls the pallet to extend, the main robot arm extension cylinder controls the main robot arm to extend and retract, the main robot arm clamping cylinder controls the main robot arm to clamp the drill rod and place it into the pallet; the auxiliary robot arm translation cylinder controls the auxiliary robot arm to move horizontally, the auxiliary robot arm lifting cylinder controls the auxiliary robot arm to lift and lower vertically, the auxiliary robot arm clamping cylinder controls the auxiliary robot arm to clamp the drill rod, remove the drill rod from the pallet and place it into the designated position in the drill rod box, thus completing the task of unloading one drill rod.

[0041] In one specific embodiment, the controller group of the hydraulic drilling rig adopts a master-slave design, such as... Figures 4-7 As shown, the control system is divided into two parts: the upper structure and the main control unit. The CPU is located inside the main control unit's enclosure, while the upper structure mainly acts as a relay for reading information and issuing commands from the power unit. It establishes a connection with the main control unit via 485 communication. This makes the entire control system architecture clear and concise, and the vehicle's wiring more organized and streamlined.

[0042] The solenoid valve assembly includes a proportional valve and a switching valve. The switching valve controls whether each cylinder actuates, while the proportional valve controls the speed at which the cylinders actuate. Figure 4 The liquid level and temperature sensor, electromagnetic starter, emergency stop valve, and all proportional valves are directly connected to the master station; the power failure device, pressure sensor, and power head valves are connected to slave station 1; the encoder, displacement sensor, proximity switch, and some vehicle valves are connected to slave station 2. Sensors of the same type are connected to the same slave station, which greatly simplifies the wiring and component layout within the enclosure.

[0043] The system employs a master-slave station structure, with the master and slave stations connected via communication lines, significantly reducing the amount of cabling used in the vehicle and resulting in a simpler overall structure. Slave station 1 primarily connects to devices such as switching valves, pressure sensors, and power-off devices. Slave station 2 primarily connects to devices such as switching valves, encoders, displacement sensors, and proximity switches. The master station connects to both slave stations, as well as proportional valves, level and temperature sensors, starters, and emergency stop devices. The slave stations only transmit information; data processing and command transmission are handled by the master station. The proportional valves, level and temperature sensors, starters, and emergency stop devices are all commonly used components in existing equipment.

[0044] In the main site, such as Figure 5 As shown, position 1 connects to a 24V power supply; positions 2 and 3 both connect to communication or mining network cables; position 4 connects to the emergency stop button; position 5 connects to the liquid level and temperature sensor; position 6 connects to the starter; position 7 controls the hydraulic cylinder operating parameters of the outriggers, support, lifting frame, and auxiliary manipulator; position 8 controls the hydraulic cylinder operating parameters of the lifting frame, upper structure, and main manipulator; position 9 controls the hydraulic cylinder operating parameters of the pallet assembly, anchoring assembly, and clamping assembly; position 10 controls the forward and backward operating parameters of the power head; position 11 controls the forward and backward operating parameters of the left track of the drilling rig; position 12 controls the forward and backward operating parameters of the right track of the drilling rig; position 13 controls the forward and reverse operating parameters of the power head; and position 14 controls the parameters of the displacement torque or backup circuit.

[0045] From station 1, such as Figure 6As shown, position #1 connects to a 24V power supply; positions #2 and #3 both connect to communication or mining network cables; position #4 connects to pressure sensor P1-8; position #5 connects to pressure sensor P9-16; position #6 connects to a power-off device; position #7 controls the auxiliary robot's translation cylinder to move forward; position #8 controls the auxiliary robot's translation cylinder to move backward; position #9 controls the auxiliary robot's lifting cylinder to rise; position #10 controls the auxiliary robot's lifting cylinder to descend; position #11 controls the auxiliary robot's clamping cylinder to clamp; position #12 controls the auxiliary robot's clamping cylinder to release; and position #13 controls the pallet assembly's telescopic cylinder. Extend, position 14 controls the retraction cylinder of the pallet assembly to retract, position 15 controls the clamping cylinder of the pallet assembly to clamp, position 16 controls the clamping cylinder of the pallet assembly to release, position 17 controls the tilting increase of the main robot arm, position 18 controls the tilting decrease of the main robot arm (the tilting increase and decrease operations of the main robot arm at positions 17 and 18 are both controlled by a rotary reducer, which is existing technology and is not specifically limited here). The rotary reducer and the rotary cylinder work together to control the main robot arm; position 19 controls the main robot arm to tilt upwards, position 20 controls the main robot arm to tilt downwards (positions 19 and 20...). The main robotic arm's tilting and lowering operations are controlled by rotary cylinders (rotary cylinders are existing technology and are not specifically limited here). Position 21 controls the main robotic arm's extension cylinder to extend; position 22 controls the main robotic arm's extension cylinder to retract; position 23 controls the main robotic arm's clamping cylinder to clamp; position 24 controls the main robotic arm's clamping cylinder to release; position 25 controls the lifting frame to rotate upwards; position 26 controls the lifting frame to rotate downwards; position 27 controls the upper structure to rotate left; position 28 controls the upper structure to rotate right; position 29 controls the lifting frame to rise; and position 30 controls the lifting frame to descend. Position 31 controls the extension of the right hind leg; position 32 controls the retraction of the right hind leg; position 33 controls the extension of the left hind leg; position 34 controls the retraction of the left hind leg; position 35 controls the extension of the right front leg; position 36 controls the retraction of the right front leg; position 37 controls the extension of the left front leg; position 38 controls the retraction of the left front leg; position 39 controls the extension of the right support; position 40 controls the retraction of the right support; position 41 controls the extension of the left support; position 42 controls the retraction of the left support; position 43 controls the propulsion overflow; position 44 controls the torque overflow; position 45 controls high and low speeds; position 46 is reserved.

[0046] From station 2, such as Figure 7As shown, position 1# is connected to a 24V power supply; positions 2# and 3# are both connected to communication or mining network cables; position 4# is connected to an encoder for the lifting frame; position 5# is connected to an encoder for the main manipulator; positions 6#, 7#, 8#, and 9# are all connected to displacement sensors; position 10# is connected to a proximity switch for a speed sensor; position 11# is connected to a proximity switch for the lifting cylinder of the auxiliary manipulator; position 12# is connected to a proximity switch for the telescopic cylinder of the main manipulator; position 13# controls the clamping of the front gripper cylinder; position 14# controls the release of the front gripper cylinder; position 15# controls the clamping of the rear gripper cylinder; position 16# controls the release of the rear gripper cylinder; position 17# controls the release of the front gripper; position 18# controls the upright swing of the front gripper; position 19# controls the extension of the left anchor; position 20# controls the retraction of the left anchor; position 21# controls the extension of the right anchor; position 22# controls the retraction of the right anchor; and position 23# controls the rapid retraction of the power head.

[0047] This invention designs an automatic hydraulic drilling rig control system based on the functions of underground hydraulic drilling rigs in coal mines. By designing an automatic hydraulic drilling rig control system, the problem of automation control of existing hydraulic drilling rigs is solved, the labor intensity of operators is reduced, operators can be kept away from the drilling rig, the safety factor of drilling construction is improved, and the drilling and unloading operations in drilling construction are automatically completed through the control system. It also provides support for the automation technology of hydraulic drilling rigs and improves the working efficiency of underground coal mines.

[0048] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0049] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic control system for a hydraulic drilling rig used in coal mines, characterized in that, include: The system includes a solenoid valve assembly, a controller assembly, a sensor assembly, and an actuator. The sensor assembly monitors the data from the actuator and transmits it to the controller assembly. The controller group controls the actuator through the solenoid valve group, and uses the data of the actuator transmitted by the sensor group and the preset control parameters inside the controller group to operate the drilling. The actuator includes a swing mechanism cylinder, a manipulator assembly cylinder, a pallet assembly cylinder, a support leg assembly cylinder, a jacking assembly cylinder, a power head propulsion cylinder, and a gripper assembly cylinder. The solenoid valve group contains several solenoid valves, each corresponding to a cylinder in the actuator. Each solenoid valve controls the movement of its cylinder by controlling the flow of internal hydraulic oil. The swing mechanism cylinder controls the swing of the hydraulic drilling rig; the manipulator assembly cylinder controls the movement of each manipulator; the pallet assembly cylinder clamps and fixes the pallet assembly; the support leg assembly cylinder controls the extension and retraction and fixation of the hydraulic drilling rig's support legs; the jacking assembly cylinder controls the jacking movement of the hydraulic drilling rig; the power head propulsion cylinder controls the forward and backward movement of the power head; and the gripper assembly cylinder controls the clamping and releasing of the gripper. The robotic arm component cylinders include a main robotic arm telescopic cylinder, a main robotic arm clamping cylinder, a secondary robotic arm translation cylinder, a secondary robotic arm lifting cylinder, and a secondary robotic arm clamping cylinder. The main robotic arm telescopic cylinder controls the main robotic arm to extend and retract, the main robotic arm clamping cylinder controls the main robotic arm to clamp the drill rod, the secondary robotic arm translation cylinder controls the secondary robotic arm to move horizontally, the secondary robotic arm lifting cylinder controls the secondary robotic arm to rise and fall vertically, and the secondary robotic arm clamping cylinder controls the secondary robotic arm to clamp the drill rod. The pallet assembly cylinders include a pallet assembly telescopic cylinder and a pallet assembly clamping cylinder. The pallet assembly telescopic cylinder controls the pallet assembly to extend and retract horizontally, and the pallet assembly clamping cylinder clamps the pallet assembly. The clamping assembly cylinder includes a front clamping cylinder, a front clamping swing cylinder, and a rear clamping cylinder. Both the front clamping cylinder and the rear clamping cylinder are used to clamp the drill pipe, and the front clamping swing cylinder is used to control the horizontal swing of the front clamping cylinder. The drilling process is automated, with each component controlled by a hydraulic cylinder within the actuator. First, the operator initiates the automatic drilling command, performing initial state checks. The gripper assembly, robotic arm assembly, and pallet assembly undergo initial position self-checks. The auxiliary robotic arm checks the remaining drill rods in the drill rod box, determining the first drill bit to be installed on the power head. The support and outriggers extend and are simultaneously anchored to secure the entire assembly. The swing mechanism and lifting frame determine the appropriate drilling position. The power head rotates forward, advancing, and the front gripper clamps the first drill bit. The power head then retracts. The auxiliary robotic arm detects the drill rod position using a displacement sensor. The auxiliary robotic arm's translation cylinder controls its horizontal movement, and its lifting cylinder controls its vertical movement. The auxiliary robotic arm's clamping cylinder controls its gripping of the drill rod and places it on the pallet. The pallet assembly's clamping cylinder clamps the drill rod, and the pallet assembly's extension cylinder controls the main robotic arm to extend. The main robotic arm's clamping cylinder controls its gripping of the drill rod. The drill rod is removed from the tray. The tray retracts using the tray assembly telescopic cylinder, and the main robotic arm reaches the designated position. The rear gripper cylinder clamps the drill rod, and the main robotic arm clamping cylinder releases it. The main robotic arm telescopic cylinder returns it to the designated position, and the power head propulsion cylinder rotates it forward to the designated position. The rear gripper has a lower clamping force, while the front gripper has a higher clamping force. The power head continues to rotate and propel forward via the power head propulsion cylinder. The front gripper swing cylinder swings the front gripper. When the pressure sensor on the front gripper cylinder detects that the pressure has reached a designated value, it releases the front gripper, and the power head rotates forward to drill. Throughout the drilling process, the water pressure sensor monitors the water pressure changes of the water supply assembly in real time to ensure sufficient pressure to spray water to the drill bit position of the power head. Drilling will stop immediately if the pressure is insufficient. Automatic Drill Unloading: First, the operator initiates the automatic drill unloading command to perform initial state checks. The gripper assembly, robotic arm assembly, and pallet assembly undergo initial position self-checks. The auxiliary robotic arm checks the remaining number of drill rods in the drill rod box. The front gripper cylinder controls the front gripper to clamp the drill rod, and the front gripper swing cylinder controls the front gripper to swing. The front gripper has a high clamping force. The rear gripper cylinder controls the rear gripper to clamp the drill rod. The rear gripper has a low clamping force. The power head advance cylinder controls the power head to reverse and retreat to the designated position. The rear gripper clamps the drill rod, and the power head retreats to the rearmost position. The main robotic arm extension cylinder controls the main robotic arm to extend. The main robotic arm clamping cylinder controls the main robotic arm to clamp the drill rod. The rear gripper cylinder controls the rear gripper to release. The pallet assembly extension cylinder controls the pallet to extend. The main robotic arm extension cylinder controls the main robotic arm to extend and retract. The main robotic arm clamping cylinder controls the main robotic arm to clamp the drill rod and place it into the pallet. The auxiliary manipulator translation cylinder controls the horizontal movement of the auxiliary manipulator, the auxiliary manipulator lifting cylinder controls its vertical movement, and the auxiliary manipulator clamping cylinder controls its clamping of the drill rod. The drill rod is then removed from the tray and placed into the designated position in the drill rod box, thus completing the task of unloading a drill rod.

2. The automatic control system for a hydraulic drilling rig in a coal mine according to claim 1, characterized in that, The sensor group includes an encoder, a pressure sensor group, a proximity switch group, a speed sensor, and a displacement sensor. The pressure sensor group contains several pressure sensors. The speed sensor and the displacement sensor are mounted on the power head propulsion cylinder to measure the rotational speed and travel displacement of the power head. The encoder is mounted on the hydraulic cylinder of the swing mechanism to obtain the rotation angle; The auxiliary manipulator translation cylinder is equipped with the pressure sensor and the displacement sensor to measure the pressure of the cylinder and the horizontal displacement of the auxiliary manipulator during operation. The main manipulator telescopic cylinder is equipped with a proximity switch from the proximity switch group and a pressure sensor, which are used for positioning the main manipulator. The main manipulator gripping cylinder, the auxiliary manipulator gripping cylinder, the pallet assembly gripping cylinder, the pallet assembly telescopic cylinder, the outrigger assembly cylinder, the support assembly cylinder, the front gripper cylinder, the front gripper swing cylinder, and the rear gripper cylinder are all equipped with pressure sensors to measure the pressure of each cylinder during operation. The auxiliary manipulator lifting cylinder is equipped with a proximity switch from the proximity switch group to detect whether the manipulator has reached the designated position.

3. The automatic control system for a hydraulic drilling rig in a coal mine according to claim 1, characterized in that, It also includes a remote controller and a receiver. The remote controller is connected to the controller group via the receiver. The remote controller includes a manual mode and an automatic mode. The automatic mode integrates automatic drilling and automatic drill unloading buttons. The manual mode allows manual operation of the controller group via the remote controller.

4. The automatic control system for a hydraulic drilling rig in a coal mine according to claim 3, characterized in that, It also includes anchoring component cylinders and lifting frame lifting cylinders. The remote control controls the controller group to use the anchoring component cylinders to fix the hydraulic drilling rig and use the lifting frame lifting cylinders to lift the hydraulic drilling rig to a designated position via the buttons in manual mode.

5. The automatic control system for a hydraulic drilling rig in a coal mine according to claim 1, characterized in that, It also includes a water supply assembly, which is equipped with a water pressure sensor to monitor the water pressure of the water supply assembly in real time, and is used to provide water flow to the power head of the hydraulic drilling rig for cooling.

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