A coal mine full-hydraulic tunnel drill with caterpillar track and a method for controlling the upper rod thereof

Abstract

The application discloses a coal mine caterpillar full hydraulic tunnel drilling machine and a rod lifting control method thereof, wherein an oil cylinder displacement sensor (2) is installed on an upper rod device guide rail mechanism (8) of the coal mine caterpillar full hydraulic tunnel drilling machine, a pull wire sensor (21) is installed on a rod taking device guide rail mechanism (20) of the coal mine caterpillar full hydraulic tunnel drilling machine, at least one pressure sensor (3) is respectively installed on an upper rod gripper (9) of the coal mine caterpillar full hydraulic tunnel drilling machine, a rear vice (12) of the coal mine caterpillar full hydraulic tunnel drilling machine, a front vice (13) of the coal mine caterpillar full hydraulic tunnel drilling machine, a power head (15) of the coal mine caterpillar full hydraulic tunnel drilling machine and a rod taking gripper (17) of the coal mine caterpillar full hydraulic tunnel drilling machine, a controller is used for analysis and control, and each action of an electromagnetic valve control equipment is utilized, so that the upper rod position of the coal mine caterpillar full hydraulic tunnel drilling machine is accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to a coal mine track type full hydraulic tunnel drilling machine and its upper rod control method, belonging to the technical field of mining machinery. BACKGROUND

[0002] Although the traditional track type hydraulic tunnel drilling machine has stable structure and is convenient to move, it usually needs to rely on the experience and skills of the operator when performing the upper rod operation. The existing automatic upper rod technology mostly does not adopt a relatively accurate control algorithm, resulting in inaccurate upper rod position of the coal mine track type full hydraulic tunnel drilling machine and reducing the working efficiency of the coal mine track type full hydraulic tunnel drilling machine.

[0003] The construction environment of the coal mine is often harsh, and if the coal mine track type full hydraulic tunnel drilling machine only uses the mechanical limiting + fixed distance adjustment mode, a large error will soon occur. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the defects of the prior art, provide a coal mine track type full hydraulic tunnel drilling machine and its upper rod control method, introduce more sensors and PID adjustment algorithm into the coal mine track type full hydraulic tunnel drilling machine, and manually add a compensation value, so that the upper rod position of the coal mine track type full hydraulic tunnel drilling machine is accurate and the long-term efficient operation of the equipment is ensured.

[0005] Preferably, the present application provides a coal mine track type full hydraulic tunnel drilling machine, which comprises a cylinder displacement sensor, a pull wire sensor and a plurality of pressure sensors. The cylinder displacement sensor is installed on an upper rod device guide rail mechanism of the coal mine track type full hydraulic tunnel drilling machine, the pull wire sensor is installed on a rod taking device guide rail mechanism of the coal mine track type full hydraulic tunnel drilling machine, and at least one pressure sensor is respectively installed on an upper rod gripper of the coal mine track type full hydraulic tunnel drilling machine, a rear vice of the coal mine track type full hydraulic tunnel drilling machine, a front vice of the coal mine track type full hydraulic tunnel drilling machine, a power head of the coal mine track type full hydraulic tunnel drilling machine and a rod taking gripper of the coal mine track type full hydraulic tunnel drilling machine.

[0006] Preferably, a proximity switch is included, which is installed around the rod taking gripper of the coal mine track type full hydraulic tunnel drilling machine.

[0007] Preferably, a plurality of inclination sensors are included, and the inclination sensors are respectively installed on an upper rod arm rotating device of the coal mine track type full hydraulic tunnel drilling machine and a power head structure rotating rotating device of the coal mine track type full hydraulic tunnel drilling machine.

[0008] Preferably, a rotating speed sensor is included, which is installed on the power head of the coal mine track type full hydraulic tunnel drilling machine.

[0009] Preferably, the method for controlling the upper rod of a coal mine track-type full-hydraulic tunnel drilling machine, using any one of the coal mine track-type full-hydraulic tunnel drilling machines, performs the following steps:

[0010] Initializing the coal mine track-type full-hydraulic tunnel drilling machine;

[0011] Extending the rod taking main arm of the coal mine track-type full-hydraulic tunnel drilling machine to the limit, and gradually lowering the height of the rod taking gripper of the coal mine track-type full-hydraulic tunnel drilling machine;

[0012] When the proximity switch triggers, using the controller to determine that the rod taking gripper is close enough to the drill rod;

[0013] Using the rod taking gripper to grip the drill rod, using the controller to perform PID control on the gripping action of the rod taking gripper, using the gripper pressure of the rod taking gripper as the input value of the PID control, using the current of the electromagnetic valve of the rod taking gripper as the output value of the PID control, adjusting the integral parameter of the PID control, and gradually reducing the output value of the gripping action to 0 when the pressure measured by the pressure sensor reaches 18 MPa.

[0014] Preferably, extending the upper rod arm to make the upper rod gripper approach the drill rod, using the upper rod gripper to grip the drill rod, using the controller to perform PID control on the gripping action of the upper rod gripper, using the gripper pressure of the upper rod gripper as the input value of the PID control, using the current of the gripper electromagnetic valve of the upper rod gripper as the output value of the PID control, and after the upper rod gripper grips the drill rod, using the rod taking gripper to release the drill rod, so that the rod taking mechanism returns to the initialization position;

[0015] After the upper rod gripper grips the drill rod, retracting the upper rod arm, and moving the upper rod device guide rail mechanism to adjust the position of the drill rod according to the position information provided by the encoder installed on the power head travel motor;

[0016] Starting the rotation of the upper rod arm rotating device, using the controller to perform PID control on the rotation of the upper rod arm rotating device, using the angle of the inclination sensor as the input value of the PID control, and using the current value of the rotation electromagnetic valve of the upper rod arm rotating device as the output value of the PID control, and when the inclination angle of the upper rod device and the power head mechanism differs by less than 0.3 degrees, using the controller to determine that the drill rod is in place.

[0017] Preferably, after the upper rod device moves the drill rod into place, using the power head to displace forward until it contacts the drill rod, and when the pressure value detected by the pressure sensor of the power head rises, stopping the displacement of the power head and making the power head rotate forward, using the rear vice to clamp the drill rod;

[0018] After the power head tightens a part of the threads, releasing the rear vice, releasing the upper rod gripper, and resetting the upper rod device;

[0019] After the upper rod device reset is completed, the power head is continuously moved forward, the position of the power head is judged by using the encoder installed on the power head travel motor by using the controller, when the power head reaches the front rod position, the front vice is clamped by using the front vice, the drill rod and the front rod are screwed by using the forward rotation of the power head, when the pressure sensor reaches 12MPa, it is judged that the drill rod and the front rod are screwed, and the front vice is loosened.

[0020] Preferably, the front rod is clamped by using the front vice, the drill rod is clamped and rotated by using the rear vice, so that the front rod and the drill rod are unscrewed and separated, and the power head is retreated.

[0021] The drill rod is rotated by using the upper rod mechanism and is clamped by using the upper rod gripper, the drill rod is unscrewed by using the reverse rotation of the power head, the drill rod is rotated back to the initial position of the drill rod by using the upper rod mechanism, and then the drill rod is transferred to the rod taking mechanism, and the drill rod is returned to the drill rod box by using the rod taking mechanism.

[0022] Preferably, the coal mine track type full hydraulic tunnel drill is initialized, comprising:

[0023] The rod taking auxiliary arm of the coal mine track type full hydraulic tunnel drill is not extended, the rod taking gripper is loosened, and the rod taking device guide rail mechanism displacement is 0; the upper rod arm is not extended, the upper rod gripper is loosened, the upper rod arm rotating device is horizontal, and the upper rod device guide rail mechanism displacement is 0.

[0024] The beneficial effects achieved by the present application are:

[0025] The present application uses an oil cylinder displacement sensor, a pressure sensor, an inclination sensor, a rotation speed sensor, a wire displacement sensor, an encoder and a proximity switch to collect relevant information, a controller analyzes the numerical value of the electric signal, converts it into the measurement value of each sensor, and then makes a logical decision, so that the upper rod position of the coal mine track type full hydraulic tunnel drill is accurate, and the smooth operation of the entire coal mine track type full hydraulic tunnel drill is ensured.

[0026] The present application uses a controller to perform PID control on the gripper, the vice, the guide rail mechanism and the rotating mechanism, and performs full-process automatic control technology on the drill rod and the rod taking mechanism, which can effectively improve the working efficiency of the drill, reduce the labor intensity of workers, and has obvious precision improvement compared with the traditional hydraulic automatic control, and each parameter can be adjusted or self-adapted at any time to avoid errors caused by precision loss under long-term use. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creating any creative labor on the premise of not paying any creative labor.

[0028] Figure 1is a schematic diagram of hardware and functions involved in control in some embodiments of the present application;

[0029] Figure 2 is a schematic diagram of control flow in some embodiments of the present application;

[0030] Figure 3 is a schematic diagram of control flow in some embodiments of the present application;

[0031] Figure 4 is a schematic diagram of control flow in some embodiments of the present application;

[0032] Figure 5 is a structural diagram of some embodiments of the present application;

[0033] Figure 6 is a structural diagram of some embodiments of the present application;

[0034] 1, controller; 2, cylinder displacement sensor; 21, pull wire sensor; 3, pressure sensor; 4, proximity switch; 5, inclination sensor; 6, rotation speed sensor; 7, encoder; 8, upper rod device guide rail mechanism; 9, upper rod gripper; 10, upper rod arm; 11, upper rod arm rotating device; 12, rear vice; 13, front vice; 14, power head guide rail device; 15, power head; 16, power head structure rotating device; 17, rod taking gripper; 18, rod taking auxiliary arm; 19, rod taking main arm; 20, rod taking device guide rail mechanism. DETAILED DESCRIPTION

[0035] For the convenience of the technical solutions of the application, the following first explains some concepts related to the present application.

[0036] It should be noted that if there is a directional indication (such as up, down, left, right, front, back, etc.) in the embodiments of the present application, it is only used to explain the relative position relationship and movement between the components in a certain posture, and if the specific posture changes, the directional indication will also change accordingly.

[0037] In addition, if the description of "first" and "second" and the like is involved in the present application, it is only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0038] Reference Figure 1The application provides a coal mine track type full hydraulic tunnel drilling machine, which comprises an oil cylinder displacement sensor 2, a pull wire sensor 21 and a plurality of pressure sensors 3. The oil cylinder displacement sensor 2 is installed on the upper rod device guide rail mechanism 8 of the coal mine track type full hydraulic tunnel drilling machine. The pull wire sensor 21 is installed on the rod taking device guide rail mechanism 20 of the coal mine track type full hydraulic tunnel drilling machine. At least one pressure sensor 3 is installed on the upper rod gripper 9, the rear vice 12, the front vice 13, the power head 15 and the rod taking gripper 17 of the coal mine track type full hydraulic tunnel drilling machine respectively. A proximity switch 4 is installed around the rod taking gripper 17 of the coal mine track type full hydraulic tunnel drilling machine. An inclination sensor 5 is installed on the upper rod arm rotating device 11 and the power head structure rotating device 16 of the coal mine track type full hydraulic tunnel drilling machine respectively. A rotating speed sensor 6 is installed on the power head 15 of the coal mine track type full hydraulic tunnel drilling machine. The upper rod device guide rail mechanism 8, the upper rod gripper 9, the upper rod arm 10 and the upper rod arm rotating device 11 jointly constitute an upper rod device.

[0039] The controller 1 is used for signal receiving and analysis of various sensors of the coal mine track type full hydraulic tunnel drilling machine, is responsible for most of the control logic in the automatic construction process, and controls the PWM output of the current output of the proportional electromagnetic valve on the coal mine track type full hydraulic tunnel drilling machine, so as to realize the action control of the mechanisms including the upper rod device guide rail mechanism 8 and the rod taking device guide rail mechanism 20.

[0040] The oil cylinder displacement sensor 2 and the pull wire sensor 21 are used for detecting the displacement of the upper rod device guide rail mechanism 8 of the coal mine track type full hydraulic tunnel drilling machine.

[0041] The plurality of pressure sensors 3 are used for detecting the pressure feedback of the upper rod gripper 9, the rod taking gripper 17, the rear vice 12, the front vice 13 and the power head 15 of the coal mine track type full hydraulic tunnel drilling machine, so as to judge the clamping state of the upper rod gripper 9, the clamping state of the rod taking gripper 17, the clamping state of the rear vice 12, the clamping state of the front vice 13 and the load state of the power head 15 rotation.

[0042] The proximity switch 4 is used for outputting a signal when the rod taking gripper 17 of the coal mine track type full hydraulic tunnel drilling machine approaches the rod, and informing the controller 1 to clamp. The proximity switch 4 is used for safety limiting the stroke of the power head 15 of the coal mine track type full hydraulic tunnel drilling machine.

[0043] Inclination sensor 5: used to measure the inclination of the upper arm rotating device 11 and the power head structure rotating device 16 on the coal mine track-type full-hydraulic tunnel drilling machine, and adjust the rotation angle of the upper arm rotating device 11 and the power head structure rotating device 16 by using the controller 1 when the upper arm is raised, so that the two devices are aligned.

[0044] Rotating speed sensor 6: the controller 1 is installed with upper computer software, communicates with the controller 1 through bus and network, and is installed with part of AI model, which can be used for auxiliary operation.

[0045] Encoder 7: used to measure the motor stroke of the power head guide rail device 14 on the coal mine track-type full-hydraulic tunnel drilling machine, and calculate the position of the power head 15 on the guide rail.

[0046] Upper arm device guide rail mechanism 8: used to drive the upper arm mechanism on the coal mine track-type full-hydraulic tunnel drilling machine to move on the guide rail.

[0047] Upper arm gripper 9: used to grab the rod from the rod taking mechanism side of the coal mine track-type full-hydraulic tunnel drilling machine, grab the rod from the power head mechanism side when the power head guide rail device 14 is raised or lowered, and send the rod to the rod taking mechanism.

[0048] Upper arm 10: telescopic, used to move the upper arm gripper 9.

[0049] Upper arm rotating device 11: used to rotate the upper arm 10, which can adjust the direction of the gripper from rear to front.

[0050] Rear vice 12: the vice near the power head 15 side, which can be used to clamp the rod, and facilitate the tightening and loosening actions of the power head 15.

[0051] Front vice 13: the vice away from the power head 15 side, which is used to fix the outer rod.

[0052] Power head guide rail device 14: used for the forward and backward movement of the power head 15.

[0053] Power head 15: the main output device of the drilling machine, which can rotate, move forward and backward, and provide torque for the drill rod.

[0054] Power head mechanism rotating device 16: can rotate the power head 15 to meet the requirements of the construction site environment.

[0055] Rod taking gripper 17: can take out or put back the drill rod from the drill rod box.

[0056] Rod taking auxiliary arm 18: can perform telescopic action, and is used to extend the rod taking main arm 19.

[0057] The main arm 19 of the rod taking mechanism: can be telescoped to move the rod taking gripper 17.

[0058] The guide rail mechanism 20 of the rod taking mechanism: is used to move the position of the main arm 19 and the auxiliary arm 18 of the rod taking mechanism to correspond to different positions of the drill rod box.

[0059] The various sensors in the technology: the cylinder displacement sensor 2, the inclination sensor 5, the tension sensor 21, and the pressure sensor 3 adopt analog signals, and use voltage signals to feed back to the controller 1. After the controller 1 collects the voltage signals, they are respectively converted into distance values, angle values, distance values, and pressure values, and logical operations are performed for control. The rotation speed sensor 6 and the encoder 7 adopt frequency signals, and the distance or speed traveled is calculated by combining the known parameters of the speed reducer. The proximity switch 4 is a switch signal, which sends a high-level signal to the controller 1 when the measured position of the rod taking gripper 17 or the measured position of the power head guide rail device 14 approaches.

[0060] The various electromagnetic valves in the technology: the electromagnetic valves adopt two types of proportional and on-off, and the controller 1 can control the opening of the electromagnetic valve by controlling the current output to the proportional electromagnetic valve, so as to realize the control of the speed of action or the size of pressure.

[0061] The controller 1 control logic in the technology adopts a PID regulation mode in the motion aspect, which has high motion precision and improves the working efficiency of the coal mine caterpillar full-hydraulic tunnel drill.

[0062] The method includes three mechanical structures: a rod taking mechanism, a rod loading mechanism, and a power head mechanism. The rod taking mechanism is used to take or return the drill rod from the drill rod box, the rod loading mechanism is used to load or unload the rod to the power head, and the power head mechanism is the main working mechanism of the device.

[0063] The rod taking mechanism includes a main arm 19 of the rod taking mechanism, an auxiliary arm 18 of the rod taking mechanism, a rod taking gripper 17, a rod taking mechanism guide rail mechanism 20, a tension sensor 21, a proximity switch 4, a cylinder displacement sensor 2, and a pressure sensor 3.

[0064] The rod loading mechanism includes a rod loading arm 10, a rod loading gripper 9, a rod loading mechanism guide rail mechanism 8, a rod loading arm rotating device 11, a cylinder displacement sensor 2, a pressure sensor, and an inclination sensor.

[0065] The power head mechanism includes two vices, a guide rail device, a power head, a power head structure rotating device 16, an inclination sensor, a pressure sensor, a rotation speed sensor, a proximity switch, and an encoder.

[0066] All the movable devices in the system are controlled by electromagnetic valves. The controller uses IO port to output different size of current to control the opening of proportional electromagnetic valve, thereby controlling the speed of each action.

[0067] 1. The oil cylinder displacement sensor 2, the pull wire sensor 21, the inclination sensor 5, and the pressure sensor 3 use analog signals. The controller 1 uses voltage signals for feedback. After the controller 1 collects the voltage signals, it converts them into distance, angle, distance, and pressure values, respectively, and performs control logic operations. The speed sensor 6 and the encoder 7 use frequency signals. By combining the known reducer parameters, the distance or speed traveled can be calculated. The proximity switch 4 is a switch signal. When the measured position is close, it sends a high-level signal to the controller.

[0068] 2. During initialization, the displacement of the oil cylinder displacement sensor 2 and the pull wire sensor 2 is 0, the roll angle of the inclination sensor 5 is 0, and the pressure of the gripper pressure sensor 3 is 0.

[0069] 3. All hydraulic actions on the coal mine track-type full-hydraulic tunnel drill are controlled by electromagnetic valves. The electromagnetic valves are proportional electromagnetic valves. The controller controls the current value of the IO port, thereby controlling the opening of the proportional electromagnetic valve, and ultimately controlling the speed of the action.

[0070] 4. Rod taking part: First, the main arm 19 of the rod taking device 19 extends to the limit, and the height of the rod taking gripper 17 gradually decreases. If the distance is not enough, the auxiliary arm 18 of the rod taking device 18 continues to extend. When the proximity switch 4 triggers, the controller 1 determines that the rod taking gripper 17 is close enough to the drill rod. At this time, the rod taking gripper 17 grips the drill rod, and the controller 1 performs PID output on the gripping action, taking the pressure of the gripper as the input value and the current of the electromagnetic valve of the rod taking gripper 17 as the output value. The integral parameter needs to be adjusted low to avoid overshoot. When the pressure measured by the pressure sensor 3 reaches 18 MPa, the output value of the gripping action is gradually reduced to 0, thereby avoiding scratching the drill rod and having enough gripping force to prevent the drill rod from falling. After the action is completed, the guide rail mechanism 20 of the rod taking device starts to move, and is also controlled by the controller through PID control, taking the displacement value of the pull wire sensor 21 as the input value and the current of the electromagnetic valve of the guide rail mechanism as the output value. This can effectively avoid mechanical collision during movement, effectively improve work efficiency, and prolong service life.

[0071] 5. The upper rod part: the upper rod arm 10 extends to make the upper rod gripper 9 close to the drill rod, the upper rod gripper 9 grips the drill rod, the controller 1 controls the gripping action of the upper rod gripper 9, the gripper pressure of the upper rod gripper 9 is taken as the input value, and the current of the gripper solenoid valve of the upper rod gripper 9 is taken as the output value, when the upper rod gripper 9 grips the drill rod, the rod gripper 17 releases the drill rod, and the rod taking mechanism returns to the initial position. After the upper rod gripper 9 grips the drill rod, the upper rod arm 10 retracts, and according to the position information provided by the encoder 7 installed on the traveling motor of the power head, the upper rod device guide rail mechanism 8 is moved to make the drill rod position suitable for use. The upper rod arm rotating device 11 starts to rotate, and the controller 1 controls the rotation of the upper rod arm rotating device 11 using PID, the angle of the inclination angle sensor 5 is taken as the input value, and the current of the rotation solenoid valve of the upper rod arm rotating device 11 is taken as the output value, when the inclination angle difference between the upper rod device and the power head mechanism is less than 0.3 degrees, the controller 1 determines that the drill rod is in place.

[0072] 6. The clamping part: after the upper rod device moves the drill rod to the position, the power head 15 moves forward until it contacts the drill rod, the value of the pressure sensor 3 for detecting the power head 15 rises, at this time the displacement is stopped and the power head 15 is positively rotated, the rear vice 12 clamps the drill rod, after the power head 15 is rotated for a part of threads, the rear vice 12 is released, the upper rod gripper 9 is released, and the upper rod device is reset. After the upper rod device is reset, the power head 15 continues to move forward, and the position is judged according to the encoder 7 of the traveling motor, when the power head 15 reaches the front rod position, the front vice 13 clamps the front rod, the power head 15 is positively rotated to make the drill rod and the front rod rotate tightly, when the pressure sensor 3 reaches 12 MPa, it is considered that the rotation is tight, the front vice 13 is released, and the process is completed.

[0073] 7. The automatic rod withdrawing process: the front vice 13 clamps the front rod, the rear vice 12 clamps the drill rod and rotates to make the front rod and the drill rod rotate loose and separate, and the power head 15 retreats. Then the reverse action of the upper rod process: the upper rod mechanism rotates and uses the rod taking gripper to grip the drill rod, the power head 15 reversely rotates to loosen the drill rod, the upper rod mechanism carries the drill rod to rotate back to the initial position, and then the drill rod is transferred to the rod taking mechanism, and the rod taking mechanism puts the drill rod back to the drill rod box.

[0074] 8. The parameters of PID, the target pressure of the gripper gripping, and the target angle difference of the inclination angle alignment can be adjusted through the display of the drilling machine to compensate for the working errors caused by the precision loss in long-term use.

[0075] Each embodiment in the specification is described in a progressive manner, and the same and similar parts between each embodiment can be referred to each other, and each embodiment mainly explains the difference from other embodiments.

[0076] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0077] Finally, it should be noted that: first, in the description of the present application, it should be pointed out that, unless otherwise specified and limited, the terms "mounting", "connection", "connection", "fitting" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection, "up", "down", "left", "right" and the like are only used to indicate the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0078] Secondly: the present application discloses the structure involved in the embodiment of the present application in the drawings, and other structures can refer to the usual design; the above specific embodiments further illustrate the purpose, technical scheme and beneficial effects of the present application, and it should be understood that the above is only a specific embodiment of the present application, and is not used to limit the protection scope of the present application, any modification, equivalent replacement, improvement and the like made on the basis of the technical scheme of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling a jib of a full-hydraulic tunnel drill of a coal mine, characterized in that, The method is executed by a coal mine track type full hydraulic tunnel drilling machine, and the drilling machine comprises: a controller (1); a cylinder displacement sensor (2) installed on an upper rod device guide rail mechanism (8) of the drilling machine; a pull wire sensor (21) installed on a rod taking device guide rail mechanism (20) of the drilling machine; a plurality of pressure sensors (3) respectively installed on an upper rod gripper (9), a rear vice (12), a front vice (13), a power head (15) and a rod taking gripper (17) of the drilling machine; a proximity switch (4) installed around the rod taking gripper (17) of the drilling machine; a plurality of inclination sensors (5) respectively installed on an upper rod arm rotating device (11) and a power head structure rotating rotating device (16) of the drilling machine; a rotating speed sensor (6) installed on the power head (15) of the drilling machine; The method comprises the following steps: initializing the coal mine track type full hydraulic tunnel drilling machine; extending the rod taking main arm (19) of the coal mine track type full hydraulic tunnel drilling machine to the limit, and gradually lowering the height of the rod taking gripper (17) of the drilling machine; when the proximity switch (4) is triggered, determining that the rod taking gripper (17) is close enough to the drill rod by using the controller (1); grasping the drill rod by using the rod taking gripper (17), and using the controller (1) to perform PID control on the grasping action of the rod taking gripper (17) grasping the drill rod, taking the gripper pressure of the rod taking gripper (17) as the input value of the PID control, and taking the current of the electromagnetic valve of the rod taking gripper (17) as the output value of the PID control, and reducing the integral parameter of the PID control, and gradually reducing the output value of the grasping action to 0 when the pressure measured by the pressure sensor (3) reaches 18 MPa; extending the upper rod arm (10) to make the upper rod gripper (9) close to the drill rod, grasping the drill rod by using the upper rod gripper (9), and using the controller (1) to perform PID control on the grasping action of the upper rod gripper (9) grasping the drill rod, taking the gripper pressure of the upper rod gripper (9) as the input value of the PID control, and taking the current of the gripper electromagnetic valve of the upper rod gripper (9) as the output value of the PID control, and releasing the drill rod by using the rod taking gripper (17) after the upper rod gripper (9) grasps the drill rod, so that the rod taking mechanism returns to the initial position; after the upper rod gripper (9) grasps the drill rod, the upper rod arm (10) is retracted, and the rod taking device guide rail mechanism (8) is moved to adjust the position of the drill rod according to the position information provided by the encoder (7) installed on the power head traveling motor; starting to rotate the upper rod arm rotating device (11), and using the controller (1) to perform PID control on the rotating action of the upper rod arm rotating device (11), taking the angle of the inclination sensor (5) as the input value of the PID control, and taking the current value of the rotating electromagnetic valve of the upper rod arm rotating device (11) as the output value of the PID control, and determining that the drill rod is in place when the inclination angles of the upper rod device and the power head mechanism differ by less than 0.3 degrees by using the controller (1).

2. The method for controlling the upper rod of a full-hydraulic gallery drilling machine with caterpillar tracks for coal mines according to claim 1, characterized in that, When the rod moving device moves the drill rod into position, the power head (15) is displaced forward until it contacts the drill rod, the pressure sensor (3) for detecting the power head (15) detects an increase in pressure value, at which point the displacement of the power head (15) is stopped and the power head (15) is rotated in the forward direction, and the rear vice (12) clamps the drill rod; When the power head (15) is screwed in for a certain period of time, the rear vice (12) is loosened, the rod moving device is reset, and the rod moving device is reset; After the rod moving device is reset, the power head (15) is displaced forward, the position of the power head (15) is determined by the controller (1) according to the encoder (7) installed on the power head travel motor, when the power head (15) reaches the front rod position, the front vice (13) clamps the front rod, the power head (15) is rotated in the forward direction to screw the drill rod and the front rod, and when the pressure sensor (3) reaches 12 MPa, it is determined that the drill rod and the front rod are screwed, and the front vice (13) is loosened.

3. The method according to claim 2, characterized in that, The front vice (13) clamps the front rod, the rear vice (12) clamps the drill rod and rotates, the front rod and the drill rod are unscrewed and separated, and the power head (15) is retracted. The rod moving mechanism is rotated and the drill rod is clamped by the rod moving gripper, the drill rod is unscrewed by the power head (15) in the reverse direction, the drill rod is rotated back to the initial position of the drill rod by the rod moving mechanism, and the drill rod is transferred to the rod taking mechanism, and the drill rod is returned to the drill rod box by the rod taking mechanism.

4. The method according to claim 3, characterized in that, The coal mine track type full hydraulic tunnel drill is initialized, including: The rod taking sub-arm (18) of the coal mine track type full hydraulic tunnel drill is not extended, the rod taking gripper (17) is loosened, the rod taking device guide rail mechanism (20) is displaced to 0, the rod moving arm (10) is not extended, the rod moving gripper (9) is loosened, the rod moving arm rotating device (11) is horizontal, and the rod moving device guide rail mechanism is displaced to 0.

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