A ground drilling device for coal mine grouting filling area

Abstract

This invention belongs to the field of drilling equipment technology, specifically referring to a surface drilling device for grouting and filling areas in coal mines. It includes a main frame, a posture adjustment mechanism, a drilling control mechanism, and an auxiliary grouting mechanism. The posture adjustment mechanism is located on the side wall of the main frame, the drilling control mechanism is located on the side wall of the main frame, and the auxiliary grouting mechanism is located on the drilling control mechanism. Through innovative design, this invention significantly improves the stability, accuracy, and efficiency of drilling operations. The fixed support mechanism ensures the equipment remains stable even when drilling at an angle, avoiding the tendency to tilt that is common with traditional equipment. The adaptive angle adjustment mechanism enables omnidirectional adjustment of the drilling frame in both horizontal and vertical directions, meeting the drilling needs under complex geological conditions. The drilling control mechanism, combined with monitoring technology, precisely controls the drilling process, effectively preventing drilling that is too deep or too shallow. The auxiliary grouting mechanism ensures the safety and efficiency of grouting operations through precise pressure and flow control.

Description

Technical Field

[0001] The invention belongs to the technical field of drilling equipment, and in particular refers to ground drilling equipment in a coal mine grouting filling area. Background Art

[0002] In the process of coal mining, as the coal seam is continuously mined, the overlying rock strata will move and deform, forming a separation space. If these separation spaces are not effectively treated, they may cause surface collapse, affecting the safety of surface buildings and the ecological environment. Traditional treatment methods often have problems such as low efficiency, high cost, and unstable results. Therefore, it is particularly important to develop an efficient, economical, and reliable ground drilling equipment for coal mine grouting filling areas.

[0003] The existing grouting filling technology mainly utilizes the separation gaps formed during the movement of the rock formation, and injects the filling slurry into it at high pressure through drilling to achieve support and reinforcement of the rock formation. However, in practical applications, the accuracy and efficiency of drilling directly affect the grouting effect. Therefore, it is of great significance to develop a ground drilling equipment that can accurately control the drilling position, depth and angle, and can complete the drilling operation quickly and efficiently, in order to improve the effect of grouting filling technology.

[0004] Therefore, a ground drilling device for a coal mine grouting filling area is now proposed. Summary of the invention

[0005] In order to solve the above-mentioned existing problems, the present invention provides a ground drilling equipment in a coal mine grouting filling area. The present invention significantly improves the stability, accuracy and efficiency of the drilling operation through innovative design. The fixed support mechanism ensures that the equipment remains stable during inclined drilling, avoiding the problem of easy tilting of traditional equipment. The adaptive angle adjustment mechanism realizes all-round adjustment of the drilling frame in the horizontal and vertical directions to meet the drilling needs under complex geological conditions. The drilling control mechanism is combined with intelligent monitoring technology to accurately control the drilling process and effectively prevent drilling too deep or too shallow. The auxiliary grouting mechanism ensures the safety and efficiency of the grouting operation through precise pressure and flow control. In addition, the fully automated and mechanized operation mode and remote control function not only reduce the risk of manual operation, but also significantly improve the operation efficiency and accuracy.

[0006] The technical solution adopted by the present invention is as follows: This solution provides a ground drilling equipment for a coal mine grouting filling area, including a main frame, a posture adjustment mechanism, a drilling control mechanism and an auxiliary grouting mechanism, wherein the posture adjustment mechanism is arranged on the side wall of the main frame, the drilling control mechanism is arranged on the side wall of the main frame, the auxiliary grouting mechanism is arranged on the drilling control mechanism, the posture adjustment mechanism includes a fixed support mechanism and an adaptive angle adjustment mechanism, the fixed support mechanism is arranged on the side wall of the main frame, the adaptive angle adjustment mechanism is arranged on the main frame, the drilling control mechanism includes a detection mechanism and a drilling mechanism, the drilling mechanism is arranged on the main frame, and the detection mechanism is arranged on the drilling mechanism.

[0007] Furthermore, the fixed support mechanism includes an extension groove, an extension servo motor, an extension threaded rod, an extension frame, a support hydraulic pressure device and a support base plate, the extension groove array is opened on the side wall of the main frame, the extension servo motor is fixed on the inner wall of the extension groove, the extension threaded rod is coaxially fixed on the output end of the extension servo motor, the extension frame is slidably arranged on the inner wall of the extension groove, the side wall of the extension frame is sleeved on the outer wall of the extension threaded rod, the support hydraulic pressure device is fixed on the bottom end of the extension frame, and the support base plate is rotatably arranged on the bottom end of the support hydraulic pressure device.

[0008] Furthermore, the adaptive angle adjustment mechanism includes a rotating frame, a rotating servo motor, a rotating gear, a rotating gear tooth, a drilling frame and an adjusting hydraulic device. The rotating frame is rotatably arranged at the top of the main frame, the rotating servo motor is fixedly arranged at the top of the main frame, the rotating gear is coaxially fixedly arranged at the output end of the rotating servo motor, the rotating gear tooth array is arranged on the circumferential outer wall of the rotating frame, the drilling frame is rotatably arranged on the inner wall of the rotating frame, the adjusting hydraulic device is rotatably arranged in pairs at the top of the rotating frame, and the adjusting hydraulic device is rotatably connected to the side wall of the drilling frame.

[0009] Furthermore, the drilling mechanism includes a drilling servo motor, a drilling threaded rod, a drilling frame, a drill rod, a drill bit, a spiral propulsion piece, a drilling servo motor, a transmission gear 1 and a transmission gear 2, the drilling servo motor array is fixedly arranged at the top of the inner wall of the drilling frame, the drilling threaded rod is coaxially fixedly arranged at the output end of the drilling servo motor, the drilling frame is slidably arranged on the inner wall of the drilling frame, the drilling threaded rod passes through the drilling frame, the drill rod is rotatably arranged on the drilling frame, the drill bit is coaxially fixedly arranged at the bottom end of the drill rod, the spiral propulsion piece is fixedly arranged on the outer wall of the drill rod, the drilling servo motor is fixedly arranged at the top of the drilling frame, the transmission gears are coaxially fixedly arranged at the output end of the drilling servo motor, and the transmission gear 2 is coaxially fixedly arranged at the top of the drill rod.

[0010] Furthermore, the detection mechanism includes a pressure sensor and an ultrasonic detector, the pressure sensor is fixed on the drill bit, and the ultrasonic detector is fixed on the drill bit.

[0011] Furthermore, the auxiliary grouting mechanism includes a pressure relief channel, an electrically controlled pressure relief valve, a flow monitor 1, a grouting pipe, an electrically controlled valve and a flow monitor 2, the pressure relief channel is opened inside the drill rod, one end of the pressure relief channel is located at the top of the drill rod, and the other end of the pressure relief channel is located at the bottom side wall of the drill rod, the electrically controlled pressure relief valve is fixedly arranged on the inner wall of one end of the pressure relief channel located at the bottom side wall of the drill rod, the flow monitor 1 is fixedly arranged on one end of the pressure relief channel located at the top of the drill rod, the grouting pipe is opened inside the drill rod, one end of the grouting pipe is located at the top of the drill rod, and the other end of the grouting pipe is located at the bottom side wall of the drill rod, the electrically controlled valve is fixedly arranged on the inner wall of one end of the grouting pipe located at the bottom side wall of the drill rod, and the flow monitor 2 is fixedly arranged on one end of the grouting pipe located at the top of the drill rod.

[0012] Furthermore, the extension servo motor, support hydraulic, rotation servo motor, adjustment hydraulic, drilling servo motor, drilling servo motor, pressure sensor, ultrasonic detector, electronically controlled pressure relief valve, flow monitor 1, electronically controlled valve and flow monitor 2 are electrically connected to an external electronic control system via wires.

[0013] Furthermore, the stretching threaded rod is connected to the stretching frame by threads, the rotating gear is meshed with the rotating gear teeth, the drilling frame is connected to the drilling threaded rod by threads, and the transmission gear 1 is meshed with the transmission gear 2.

[0014] Furthermore, the rotating frame is arranged in a circular ring, and the pressure relief channel is located at one end of the bottom side wall of the drill rod and is arranged above one end of the grouting pipe located at the bottom side wall of the drill rod.

[0015] Furthermore, a movable wheel array is fixedly provided at the bottom end of the main frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The present invention innovatively designs a fixed support mechanism, which controls the flexible sliding of the extension frame in the extension groove and adjusts the extension length of each extension frame according to the drilling requirements to ensure that the center of gravity of the equipment is always located at the center of the four extension frames away from the end of the main frame. This design not only achieves stable support for the equipment during inclined drilling, but also effectively isolates the contact between the moving wheels and the ground by extending the support hydraulic press so that the support floor is close to the ground and the main frame is lifted, thereby firmly fixing the equipment and completely solving the problem that the main frame is difficult to fix stably and is easy to tilt during drilling in traditional technologies;

[0018] (2) The introduction of an adaptive angle adjustment mechanism, combined with the coordinated work of a rotating servo motor and an adjusting hydraulic device, enables flexible rotation and displacement of the drilling frame in the horizontal and vertical directions. The rotating servo motor drives the rotating gear and the rotating gear teeth to drive the drilling frame to rotate on the top of the main frame. At the same time, the asynchronous extension and retraction of the adjusting hydraulic devices on both sides further adjust the vertical angle of the drilling frame. The two work seamlessly together to ensure all-round and precise adjustment of the ground drilling angle, overcoming the limitation that traditional equipment cannot adjust the drilling angle.

[0019] (3) The drilling control mechanism integrates a drilling servo motor, an ultrasonic detector and a pressure sensor, realizing the automated drilling of the drill rod and drill bit and real-time monitoring of the underground space structure. The smooth sliding and rotation of the drill rod on the drilling frame, combined with the continuous scanning of the ultrasonic detector, ensures precise control of the drilling process. The addition of the pressure sensor provides instant feedback when encountering an absorptive space, preventing drilling too deep or too shallow, thereby improving the safety and efficiency of the operation.

[0020] (4) The auxiliary grouting mechanism achieves precise control of pressure balance and grouting volume during the grouting process through the precise coordination of the electric control valve, the electric control pressure relief valve and the flow detector. The external grouting equipment injects filling slurry into the abscission space through the grouting pipeline. At the same time, the pressure sensor and the flow detector monitor the internal pressure and fluid dynamics in real time, and intelligently adjust the valve opening to ensure the smooth progress of the grouting operation and avoid potential damage to the underground structure caused by internal pressure changes.

[0021] (5) The present invention adopts a fully automated and mechanized design mode, fully sealed operation, and supports remote control, which greatly reduces the risks and error rates of manual operation and ensures the personal safety of operators. At the same time, the efficient automated operation process significantly improves the accuracy and efficiency of drilling and promotes technological progress in the field of underground engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a front view of a ground drilling device for a coal mine grouting filling area proposed by the present invention;

[0023] Figure 2 A top view of a ground drilling device for a coal mine grouting filling area proposed by the present invention;

[0024] Figure 3 This is a right view of a ground drilling device for a coal mine grouting filling area proposed by the present invention;

[0025] Figure 4 A three-dimensional diagram of a ground drilling device for a coal mine grouting filling area proposed by the present invention;

[0026] Figure 5 for Figure 4 Enlarged view of part A in the middle;

[0027] Figure 6 for Figure 4 Enlarged view of middle part B;

[0028] Figure 7 This is a partial cross-sectional view of a ground drilling device for a coal mine grouting filling area proposed by the present invention;

[0029] Figure 8 for Figure 7 Enlarged view of middle C;

[0030] Fig. 9 This is a partial cross-sectional view of a fixed support mechanism of a ground drilling device for a coal mine grouting filling area proposed by the present invention.

[0031] Among them, 1. main frame, 2. posture adjustment mechanism, 3. drilling control mechanism, 4. auxiliary grouting mechanism, 210. fixed support mechanism, 220. adaptive angle adjustment mechanism, 310. detection mechanism, 320. drilling mechanism, 211. extension slot, 212. extension servo motor, 213. extension threaded rod, 214. extension frame, 215. support hydraulic device, 216. support base plate, 221. rotating frame, 222. rotating servo motor, 223. rotating gear, 224. rotating gear, 225. drilling frame, 2 26. Adjusting hydraulic pressure, 321. Drilling servo motor, 322. Drilling threaded rod, 323. Drilling frame, 324. Drill rod, 325. Drill bit, 326. Spiral propulsion piece, 327. Drilling servo motor, 328. Transmission gear one, 329. Transmission gear two, 311. Pressure sensor, 312. Ultrasonic detector, 401. Pressure relief channel, 402. Electric pressure relief valve, 403. Flow monitor one, 404. Grouting pipeline, 405. Electric control valve, 406. Flow monitor two, 101. Moving wheel.

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail with reference to the accompanying drawings.

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown, the present scheme provides a ground drilling equipment for a coal mine grouting filling area, including a main frame 1, a posture adjustment mechanism 2, a drilling control mechanism 3 and an auxiliary grouting mechanism 4, the posture adjustment mechanism 2 is arranged on the side wall of the main frame 1, the drilling control mechanism 3 is arranged on the side wall of the main frame 1, the auxiliary grouting mechanism 4 is arranged on the drilling control mechanism 3, the posture adjustment mechanism 2 includes a fixed support mechanism 210 and an adaptive angle adjustment mechanism 220, the fixed support mechanism 210 is arranged on the side wall of the main frame 1, the adaptive angle adjustment mechanism 220 is arranged on the main frame 1, the drilling control mechanism 3 includes a detection mechanism 310 and a drilling mechanism 320, the drilling mechanism 320 is arranged on the main frame 1, and the detection mechanism 310 is arranged on the drilling mechanism 320.

[0035] Among them, the fixed support mechanism 210 includes an extension groove 211, an extension servo motor 212, an extension threaded rod 213, an extension frame 214, a support hydraulic machine 215 and a support base plate 216. The extension groove 211 array is opened on the side wall of the main frame 1, the extension servo motor 212 is fixed on the inner wall of the extension groove 211, the extension threaded rod 213 is coaxially fixed on the output end of the extension servo motor 212, the extension frame 214 is slidably arranged on the inner wall of the extension groove 211, the side wall of the extension frame 214 is sleeved on the outer wall of the extension threaded rod 213, the support hydraulic machine 215 is fixed on the bottom end of the extension frame 214, and the support base plate 216 is rotatably arranged on the bottom end of the support hydraulic machine 215.

[0036] Among them, the adaptive angle adjustment mechanism 220 includes a rotating frame 221, a rotating servo motor 222, a rotating gear 223, a rotating gear 224, a drilling frame 225 and an adjusting hydraulic pressure 226. The rotating frame 221 is rotatably arranged at the top of the main frame 1, the rotating servo motor 222 is fixedly arranged at the top of the main frame 1, the rotating gear 223 is coaxially fixed at the output end of the rotating servo motor 222, the rotating gear 224 array is arranged on the circumferential outer wall of the rotating frame 221, the drilling frame 225 is rotatably arranged on the inner wall of the rotating frame 221, the adjusting hydraulic pressure 226 is rotatably arranged in pairs at the top of the rotating frame 221, and the adjusting hydraulic pressure 226 is rotatably connected to the side wall of the drilling frame 225.

[0037] The drilling mechanism 320 includes a drilling servo motor 321, a drilling threaded rod 322, a drilling frame 323, a drill rod 324, a drill bit 325, a spiral propulsion piece 326, a drilling servo motor 327, a transmission gear 1 328 and a transmission gear 2 329. The drilling servo motor 321 is fixedly arranged on the top of the inner wall of the drilling frame 225, the drilling threaded rod 322 is coaxially fixedly arranged on the output end of the drilling servo motor 321, and the drilling frame 323 is slidably arranged on the drilling frame 225. The drilling threaded rod 322 penetrates the drilling frame 323 through the inner wall of the drilling frame 225, and the drill rod 324 is rotatably arranged on the drilling frame 323. The drill bit 325 is coaxially fixed on the bottom end of the drill rod 324, and the spiral propulsion piece 326 is fixed on the outer wall of the drill rod 324. The drilling servo motor 327 is fixed on the top of the drilling frame 323. The transmission gear 1 328 is coaxially fixed on the output end of the drilling servo motor 321, and the transmission gear 2 329 is coaxially fixed on the top of the drill rod 324.

[0038] The detection mechanism 310 includes a pressure sensor 311 and an ultrasonic detector 312 . The pressure sensor 311 is fixed on the drill bit 325 , and the ultrasonic detector 312 is fixed on the drill bit 325 .

[0039] The auxiliary grouting mechanism 4 includes a pressure relief channel 401, an electric pressure relief valve 402, a flow monitor 1 403, a grouting pipeline 404, an electric control valve 405 and a flow monitor 2 406. The pressure relief channel 401 is opened inside the drill rod 324, one end of the pressure relief channel 401 is located at the top of the drill rod 324, and the other end of the pressure relief channel 401 is located at the bottom side wall of the drill rod 324. The electric pressure relief valve 402 is fixedly arranged on the inner wall of one end of the pressure relief channel 401 located at the bottom side wall of the drill rod 324. A flow monitor 403 is fixedly arranged on one end of the pressure relief channel 401 located at the top of the drill rod 324, a grouting pipe 404 is opened inside the drill rod 324, one end of the grouting pipe 404 is located at the top of the drill rod 324, and the other end of the grouting pipe 404 is located at the bottom side wall of the drill rod 324, an electric control valve 405 is fixedly arranged on the inner wall of one end of the grouting pipe 404 located at the bottom side wall of the drill rod 324, and a flow monitor 406 is fixedly arranged on one end of the grouting pipe 404 located at the top of the drill rod 324.

[0040] Among them, the extension servo motor 212, the support hydraulic press 215, the rotation servo motor 222, the adjustment hydraulic press 226, the drilling servo motor 321, the drilling servo motor 327, the pressure sensor 311, the ultrasonic detector 312, the electronically controlled pressure relief valve 402, the flow monitor 1 403, the electronically controlled valve 405 and the flow monitor 2 406 are electrically connected to the external electronic control system through wires.

[0041] The extension threaded rod 213 is connected to the extension frame 214 by threads, the rotating gear 223 is meshed with the rotating gear 224, the drilling frame 323 is connected to the drilling threaded rod 322 by threads, and the transmission gear 1 328 is meshed with the transmission gear 2 329.

[0042] The rotating frame 221 is arranged in a circular ring, and the pressure relief channel 401 is located at one end of the bottom side wall of the drill rod 324 and above the grouting pipe 404 which is located at one end of the bottom side wall of the drill rod 324 .

[0043] Among them, a moving wheel 101 is fixedly arranged in an array at the bottom end of the main frame 1.

[0044] When in use, the device is first moved to the area where drilling is required, and the extension servo motor 212 is controlled to work through the external electric control system (this is the prior art and will not be described in detail here), and the extension frame 214 can be made to slide in the extension slot 211 through the extension threaded rod 213. Then, the user can adjust the inclination angle of the drilling hole as required. For example, when the top of the drilling frame 225 needs to be deflected in a certain direction later, one or two extension frames 214 in a certain direction can be controlled to extend outward to form a larger extension frame 214 than other extension frames 214, thereby ensuring that the center of gravity of the device is in the middle of the four extension frames 214 away from the end of the main frame 1, thereby ensuring the stability of the device when offset drilling is performed. Then, the user can control the support hydraulic press 215 to extend through the external electric control system, so that the support floor contacts the ground and drives the main frame 1 to lift up, and the moving wheel 101 is separated from the ground, thereby achieving the technical effect of fixing the device, effectively solving the technical problem that the main frame 1 cannot be stably fixed in the prior art, and avoiding the risk of overall tilting during drilling.

[0045] Then the user can control the rotation servo motor 222 and the adjustment hydraulic device 226 to work through the external electric control system. The rotation servo motor 222 works, and the rotation gear 223 and the rotation gear 224 are transmitted, so that the rotating frame 221 can rotate at the top of the main frame 1, thereby driving the drilling frame 225 to rotate. The two adjustment hydraulic devices 226 work, one adjustment hydraulic device 226 extends, and the other adjustment hydraulic device 226 retracts, which can control the drilling frame 225 to rotate on the inner wall of the rotating frame 221, thereby causing the drilling frame 225 to deviate in the vertical direction. The two cooperate to achieve the technical effect of all-round drilling angle adjustment on the ground, which effectively solves the technical problem that the drilling angle cannot be adjusted in the prior art;

[0046] The user can then control the drilling servo motor 321 and the drilling servo motor 327 to work through the external electric control system. The drilling servo motor 321 works, and the drilling threaded rod 322 drives the drilling frame 323 to slide downward on the side wall of the drilling frame 225, thereby driving the drill rod 324 and the drill bit 325 to slide downward, while the drilling servo motor 327 rotates, and the transmission gear 1 328 and the transmission gear 2 329 drive the drill rod 324 to rotate on the drilling frame 323. The two are carried out simultaneously, so that the drilling The rod 324 and the drill bit 325 drill into the ground. During the drilling process, the ultrasonic detector 312 (this is the prior art, which will not be described in detail here) will continuously detect the underground space structure, which is convenient for the operator to arrange the schedule. When drilling into the separation space, the pressure sensor 311 (this is the prior art, which will not be described in detail here) will detect the internal air pressure, and then the drilling will be stopped, thereby achieving the technical effect of detecting the separation space and drilling holes, which effectively solves the technical problem of drilling holes too shallow or too deep in the prior art;

[0047] Then, the output end of the external grouting equipment is connected to the grouting pipe 404, and then the opening of the electric control valve 405 and the opening of the electric control pressure relief valve 402 are controlled by the external electric control system. The external grouting equipment will fill the slurry into the delamination space through the grouting pipe 404. At this time, the pressure sensor 311 will monitor the internal pressure in real time, and the flow detector 1 and the flow monitor 2 406 can monitor the injection amount of the filling slurry and the internal air overflow in real time. At the same time, according to the changes of the pressure sensor 311, the opening size of the electric control valve 405 and the electric control pressure relief valve 402 is controlled, thereby achieving the technical effect of pressure balance in the delamination space, and effectively solving the technical problem of the internal pressure change during grouting in the prior art that the underground structure is damaged;

[0048] After the filling slurry fills the separation space, the drill rod 324 and the drill bit 325 can be controlled to be withdrawn, and the grouting is completed.

[0049] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0050] The present invention and its embodiments are described above, which is not restrictive. What is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and do not deviate from the purpose of the invention, they can creatively design structural methods and embodiments similar to the technical scheme, which should all fall within the scope of protection of the present invention.

Claims

1. A ground drilling device for coal mine grouting filling area, characterized in that: The invention comprises a main frame (1), a posture adjustment mechanism (2), a drilling control mechanism (3) and an auxiliary grouting mechanism (4), wherein the posture adjustment mechanism (2) is arranged on the side wall of the main frame (1), the drilling control mechanism (3) is arranged on the side wall of the main frame (1), and the auxiliary grouting mechanism (4) is arranged on the drilling control mechanism (3); the posture adjustment mechanism (2) comprises a fixed support mechanism (210) and an adaptive angle adjustment mechanism (220), the fixed support mechanism (210) is arranged on the side wall of the main frame (1), and the adaptive angle adjustment mechanism (220) is arranged on the main frame (1); the drilling control mechanism (3) comprises a detection mechanism (310) and a drilling mechanism (320), the drilling mechanism (320) is arranged on the main frame (1), and the detection mechanism (310) is arranged on the drilling mechanism (320); The fixed support mechanism (210) comprises an extension slot (211), an extension servo motor (212), an extension threaded rod (213), an extension frame (214), a support hydraulic device (215) and a support bottom plate (216); the extension slot (211) array is opened on the side wall of the main frame (1); the extension servo motor (212) is fixedly arranged on the inner wall of the extension slot (211); the extension threaded rod (213) is coaxially fixedly arranged on the output end of the extension servo motor (212); the extension frame (214) is slidably arranged on the inner wall of the extension slot (211); the side wall of the extension frame (214) is sleeved on the outer wall of the extension threaded rod (213); the support hydraulic device (215) is fixedly arranged on the bottom end of the extension frame (214); and the support bottom plate (216) is rotatably arranged on the bottom end of the support hydraulic device (215); The adaptive angle adjustment mechanism (220) comprises a rotating frame (221), a rotating servo motor (222), a rotating gear (223), a rotating gear (224), a drilling frame (225) and an adjusting hydraulic device (226); the rotating frame (221) is rotatably arranged at the top of the main frame (1); the rotating servo motor (222) is fixedly arranged at the top of the main frame (1); the rotating gear (223) is coaxially fixedly arranged at the output end of the rotating servo motor (222); an array of the rotating gear (224) is arranged on the circumferential outer wall of the rotating frame (221); the drilling frame (225) is rotatably arranged on the inner wall of the rotating frame (221); the adjusting hydraulic device (226) is rotatably arranged in pairs at the top of the rotating frame (221); and the adjusting hydraulic device (226) is rotatably connected to the side wall of the drilling frame (225); The drilling mechanism (320) comprises a drilling servo motor (321), a drilling threaded rod (322), a drilling frame (323), a drill rod (324), a drill bit (325), a spiral propulsion piece (326), a drilling servo motor (327), a transmission gear 1 (328) and a transmission gear 2 (329); the drilling servo motor (321) is fixedly arranged in an array on the top of the inner wall of the drilling frame (225); the drilling threaded rod (322) is coaxially fixedly arranged on the output end of the drilling servo motor (321); and the drilling frame (323) is slidably arranged on the drilling frame (225). 5) inner wall, the drilling threaded rod (322) passes through the drilling frame (323), the drill rod (324) is rotatably mounted on the drilling frame (323), the drill bit (325) is coaxially fixedly mounted on the bottom end of the drill rod (324), the spiral propulsion piece (326) is fixedly mounted on the outer wall of the drill rod (324), the drilling servo motor (327) is fixedly mounted on the top end of the drilling frame (323), the transmission gear 1 (328) is coaxially fixedly mounted on the output end of the drilling servo motor (321), and the transmission gear 2 (329) is coaxially fixedly mounted on the top end of the drill rod (324); The detection mechanism (310) comprises a pressure sensor (311) and an ultrasonic detector (312); the pressure sensor (311) is fixedly mounted on the drill bit (325); and the ultrasonic detector (312) is fixedly mounted on the drill bit (325); The auxiliary grouting mechanism (4) comprises a pressure relief channel (401), an electrically controlled pressure relief valve (402), a flow monitor 1 (403), a grouting pipeline (404), an electrically controlled valve (405) and a flow monitor 2 (406); the pressure relief channel (401) is opened inside the drill rod (324); one end of the pressure relief channel (401) is located at the top of the drill rod (324); the other end of the pressure relief channel (401) is located at the bottom side wall of the drill rod (324); the electrically controlled pressure relief valve (402) is fixedly arranged on the inner wall of one end of the pressure relief channel (401) located at the bottom side wall of the drill rod (324); The flow monitor 1 (403) is fixedly arranged on one end of the pressure relief channel (401) located at the top of the drill rod (324); the grouting pipe (404) is opened inside the drill rod (324); one end of the grouting pipe (404) is located at the top of the drill rod (324); the other end of the grouting pipe (404) is located at the bottom side wall of the drill rod (324); the electric control valve (405) is fixedly arranged on the inner wall of one end of the grouting pipe (404) located at the bottom side wall of the drill rod (324); and the flow monitor 2 (406) is fixedly arranged on one end of the grouting pipe (404) located at the top of the drill rod (324).

2. A ground drilling device for coal mine grouting filling area according to claim 1, characterized in that: The extension servo motor (212), the support hydraulic pressure device (215), the rotation servo motor (222), the adjustment hydraulic pressure device (226), the drilling servo motor (321), the drilling servo motor (327), the pressure sensor (311), the ultrasonic detector (312), the electronically controlled pressure relief valve (402), the first flow monitor (403), the electronically controlled valve (405) and the second flow monitor (406) are electrically connected to an external electronic control system via wires.

3. A ground drilling device for coal mine grouting filling area according to claim 2, characterized in that: The stretching threaded rod (213) is threadedly connected to the stretching frame (214), the rotating gear (223) is meshed with the rotating gear teeth (224), the drilling frame (323) is threadedly connected to the drilling threaded rod (322), and the transmission gear 1 (328) is meshed with the transmission gear 2 (329).

4. A ground drilling device for coal mine grouting filling area according to claim 3, characterized in that: The rotating frame (221) is arranged in a circular ring, and the pressure relief channel (401) is located at one end of the bottom side wall of the drill rod (324) and is arranged above one end of the grouting pipe (404) located at the bottom side wall of the drill rod (324).

5. A ground drilling device for coal mine grouting filling area according to claim 4, characterized in that: The bottom end of the main frame (1) is fixedly provided with a movable wheel array (101).

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