A full-automatic drilling rig leveling device and leveling method

Abstract

The application discloses a full-automatic drilling rig leveling device and a leveling method, and belongs to the technical field of underground roadway supporting in coal mines. One end of the leveling device is connected with a drilling rig mechanical arm, the other end is connected with an automatic drilling rig, and the automatic drilling rig has multiple movement degrees of freedom relative to the drilling rig mechanical arm. From the drilling rig mechanical arm to the automatic drilling rig, the multiple movement degrees of freedom are in turn rotary movement around the axis of the drilling rig mechanical arm, rotary movement perpendicular to the axis of the drilling rig mechanical arm, forward and backward swinging relative to the drilling rig mechanical arm, and lifting movement relative to the drilling rig mechanical arm. The multiple movement degrees of freedom cooperatively realize large-range leveling of the automatic drilling rig, and can cover the needs of full-face roof anchoring, side anchoring and ground anchoring supporting. The electro-hydraulic leveling method is adopted, the dual advantages of electrical control and hydraulic transmission are combined, the accurate and timely movement of each joint of the full-automatic anchor rod drilling rig mechanical arm is ensured, the positioning of the drilling rig is accurate and reliable, the positioning accuracy is significantly improved, and manual intervention is not needed.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mine tunnel support, and particularly relates to a full-automatic drill frame leveling device and a leveling method. Background Art

[0002] Improving the automation level of underground coal mine equipment to reduce the number of workers working on the working face is a pressing need for many coal mines. Anchor drill rigs, the primary equipment for anchoring and supporting coal mine tunnels, currently only mechanize certain processes. Research into the automation and intelligentization of these equipment has yet to be conducted. However, given coal mine safety considerations and the need to reduce the workload of on-site operators, these automation and intelligentization are inevitable. Fully automatic anchor drill rigs can improve the automation level of anchor support. To ensure automatic hole-finding capabilities, the drill rig requires rapid and precise automatic leveling. Therefore, rapid and precise automatic leveling of the drill rig is a key technology for achieving precise tracking and positioning motion control of the robotic arm.

[0003] Currently, the leveling of the drill rig of an underground anchor drill rig in coal mines is controlled manually or remotely, requiring human intervention throughout the entire process. This application suffers from adjustment lag and low accuracy. To meet the new functional requirements of a fully automated drill rig, a new leveling device and method must be designed to achieve fast and precise leveling of the fully automated rig. Summary of the Invention

[0004] This invention addresses the challenges of conventional anchor drilling rigs, which utilize a one-step positioning method that suffers from low positioning accuracy and poor repeatability, requiring manual adjustment to achieve the desired hole alignment. Drilling rigs and drill frame leveling require manual or remote control, resulting in lag, low accuracy, and the need for manual intervention.

[0005] The present invention provides the following technical solutions: a fully automatic drill rig leveling device and leveling method, wherein one end of the leveling device is connected to a drill rig arm and the other end is connected to an automatic drill rig, and the leveling device has multiple degrees of freedom of motion relative to the drill rig arm. The multiple degrees of freedom of motion from the drill rig arm to the automatic drill rig are, in order, rotational motion around the axis of the drill rig arm, rotational motion perpendicular to the axis of the drill rig arm, forward and backward swinging motion relative to the drill rig arm, and lifting motion relative to the drill rig arm. The multiple degrees of freedom of motion cooperate to achieve large-scale leveling of the automatic drill rig, which can meet the needs of full-section top anchor, side anchor, and ground anchor support.

[0006] The multiple degrees of freedom of movement of the leveling device are driven by hydraulic actuators. The leveling device includes a control system, a hydraulic system and a sensor system. The sensor system is used to pick up the spatial position and posture information of the leveling device and transmit the data to the control system. The control system plans the trajectory movement of the leveling device and then controls the working flow of the hydraulic actuator based on the valve port opening of different solenoid valves in the hydraulic system to obtain the target movement amount of the hydraulic actuator, thereby accurately controlling the movement of the leveling device to accurately reach the target hole position.

[0007] Furthermore, the leveling device includes a rotary reducer, a swing seat, a leveling seat, a lifting cylinder, a leveling cylinder and a swing cylinder;

[0008] The slewing reducer is coaxially installed on the drilling rig mechanical arm, and the mounting plate of the swing seat is fixed to the slewing reducer by screws. The slewing reducer drives the swing seat to rotate 360° to realize the automatic drilling rig top anchor, side anchor and ground anchor drilling; the swing cylinder is installed on the mounting plate by bolts, and the swing plate of the swing seat is installed above the swing cylinder and can rotate within several angles around the axis of the swing cylinder; one end of the leveling seat body is connected to the swing plate through a rotary shaft, and the sliding plate of the leveling seat is fixed to the automatic drilling rig, and the seat body slides to limit the sliding plate. One end of the leveling cylinder is connected to the swing plate, and the other end is connected to the leveling seat body; one end of the lifting cylinder is connected to the automatic drilling rig, and the other end is connected to the leveling seat body; the first rotary encoder on the swing cylinder records the rotation angle information of the swing plate.

[0009] Furthermore, the swing seat also includes an ear plate, a copper sleeve, a cylinder ear seat, a pin plate and a pin shaft; the two ear plates on the top surface of the swing plate are fixed perpendicular to the swing plate and parallel to each other, the copper sleeve is pressed into the axial hole of the ear plate, and is fixed to the ear plate by screws, and the shaft connected to the leveling seat body is passed through the copper sleeve; the cylinder ear seat is welded to the bottom surface of the swing plate, and the pin shaft is passed through the cylinder ear seat, and the two ends are limited by the pin plate, and the pin plate is connected to the cylinder ear seat.

[0010] Furthermore, an encoder assembly is installed on the swing plate, and the encoder assembly rotates with the leveling seat and measures the rotation angle; the encoder assembly includes a rotary pin, a spring pin, a coupling, an encoder mounting seat, an encoder protective cover and an encoder;

[0011] The encoder is connected and fixed to the swing plate through the encoder mounting base, and the encoder protection cover is fixed to the encoder mounting base by screws; the swivel pin is passed through the copper sleeve and fixed to the leveling seat body by a spring pin; the swivel pin is fixed to the coupling by a set screw, and the encoder extension shaft is fixed to the coupling by a set screw; the encoder assembly rotates with the rotation of the leveling seat, and the encoder reads the rotation angle information of the leveling seat.

[0012] Furthermore, the gyro reducer adopts a worm gear transmission mode. One end of the gyro reducer is fixed to the drilling vehicle robotic arm by bolts, and the other end is fixed to the mounting plate. The gyro reducer is driven by a hydraulic motor, and the mounting plate connected to it is driven to rotate around the axis of the drilling vehicle robotic arm through the slewing mechanism, and the rotation angle information of the mounting plate is recorded by a rotary encoder fixed at one end of the base.

[0013] Furthermore, the base body of the leveling seat includes a first pin shaft, a side plate, a second pin shaft, a thick plate, a reinforcing rib plate, a vertical plate and a circular ring plate; the two vertical plates are parallel to each other, and the reinforcing rib plate is welded between the vertical plates; the sliding plate is fixed to the automatic drilling frame by screws, and the protruding edge of the vertical plate is restricted between the sliding plate and the automatic drilling frame, so that the base body can slide relative to the automatic drilling frame; the first pin shaft passes through the vertical plates, one end of the lifting cylinder is connected to the automatic drilling frame, and the other end is connected to the first pin shaft. When the lifting cylinder is working, it drives the automatic drilling frame to rise and fall on the base body along with the sliding plate; the side plates and the thick plate are respectively welded to the two vertical plates, the second pin shaft passes through the side plates and the thick plate, and the second pin shaft is connected to the leveling cylinder; the two circular ring plates are respectively welded to the two vertical plates, and radial through holes are provided for installing spring pins, and connecting the swing plate to the base body; the lifting cylinder has a built-in displacement sensor, the displacement sensor obtains the extension and contraction amount of the piston rod, and feeds back to the control system to judge the position of the automatic drilling frame.

[0014] Furthermore, a rib plate is added between the two ear plates on the top surface of the swing plate, and a transverse rib plate is provided on one side.

[0015] Applying the aforementioned leveling method of a fully automatic drilling rig leveling device, the target hole position of the current automatic hole search is first determined; then, with the displacement of each hydraulic actuator as the target, the control system is used to control the posture of the leveling device to automatically search for the top plate anchor holes and side wall anchor holes; finally, whether the leveling is completed is determined based on the error between the target hole position and the current end coordinate of the leveling device.

[0016] Furthermore, a three-dimensional model of the anchor drilling vehicle is established to determine the current posture and target leveling position of the automatic drilling rig. At the same time, an actual coordinate system is established at the current center of gravity of the automatic drilling rig, and a corresponding absolute coordinate system is established at the target position. Based on this, the geometric relationship between the corresponding actual coordinate system and the absolute coordinate system is obtained, and then the corresponding control target is obtained according to the leveling device; then, based on the control target of the automatic drilling rig leveling, an electro-hydraulic control method is used for the automatic drilling rig leveling.

[0017] Furthermore, the sensor system obtains the current posture of the leveling device, and determines whether the end point can reach the target point within the leveling range based on the deviation between the end point of the leveling device and the target point. If not, the drilling vehicle robotic arm moves according to the preset trajectory until the end point can reach the target point within the leveling range. When this condition is met, the motion path for moving the end point of the leveling device to the target point is calculated, and then the control system controls the on-off state and valve opening of the solenoid valve, and controls the actions of the rotary reducer, swing cylinder, leveling cylinder and lifting cylinder in turn. At the same time, the encoders and sensors integrated in each hydraulic actuator record the amplitude of each action of the leveling device, and feed back real-time data to the control system to determine whether the recorded data meets the corresponding threshold trigger condition. If so, the leveling is completed.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] This invention utilizes an electro-hydraulic leveling method, combining the advantages of electrical control and hydraulic transmission to ensure precise and timely movement of each joint in the fully automated anchor drilling rig's robotic arm, accurately and reliably positioning the drill rig, and significantly improving positioning accuracy without the need for manual intervention. Integrated into the robotic arm of a fully automated anchor drilling rig, this invention effectively addresses the harsh working environment, high safety risks, high labor intensity, and low work efficiency faced by workers performing anchor drilling operations during roadway support, thereby enhancing the automation and intelligence of anchor drilling rigs.

[0020] A fully automatic drill stand leveling device has a large working range and flexible rotation. It can realize rotation, swing and lifting adjustment, can realize fast and accurate leveling of the automatic drill stand, and realize the automatic row hole finding function.

[0021] The present invention adopts a gyro reducer as the transmission mechanism, which can achieve reverse self-locking and high safety. It has the advantages of high precision, compact structure, large load capacity and easy installation, and is suitable for use in relatively harsh working conditions.

[0022] The present invention adopts a rotary encoder to record the up and down swing angles of the automatic drill frame, can accurately feedback and adjust the position of the leveling device, and has the characteristics of precise positioning and high operating efficiency.

[0023] The present invention adopts an electro-hydraulic leveling method, which has the dual advantages of electrical control and hydraulic transmission, and has accurate and reliable positioning and significantly improved precision.

[0024] The leveling device is integrated into the robotic arm of the fully automatic anchor drilling vehicle, which realizes the automation of underground anchor drilling operations, improves the mechanization degree and support work efficiency of tunnel support, and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the robotic arm leveling device;

[0026] Figure 2 It is a schematic diagram of the structure of the cyclotron reducer;

[0027] Figure 3 It is a schematic diagram of the swing seat structure;

[0028] Figure 4 This is a schematic diagram of the encoder component structure;

[0029] Figure 5 It is a schematic diagram of the leveling seat structure;

[0030] Figure 6 The figure is a flow chart of the leveling device control method.

[0031] 1-Robot arm; 2-Slewing reducer; 3-Swing seat; 4-Encoder assembly; 5-Leveling seat; 6-Lifting cylinder; 7-Automatic drill frame; 8-Leveling cylinder; 9-Swing cylinder; 21-Rotary encoder; 22-Slewing mechanism; 23-Base; 24-Motor; 31-Mounting plate; 32-Swing seat; 33-Vertical plate; 34-Copper sleeve; 35-Cylinder ear seat; 36-Pin plate; 37-Pin shaft; 38-Horizontal rib plate; 39-Vertical rib plate; 41-Slewing pin shaft; 42-Spring pin; 43-Elastic coupling; 44-Mounting seat; 45-Protective cover; 46-Encoder; 51-Sliding plate; 52-First pin shaft; 53-Side plate; 54-Second pin shaft; 55-Thick plate; 56-Reinforcement rib plate; 57-Side plate; 58-Annular plate. DETAILED DESCRIPTION

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Example 1

[0034] like Figure 1 As shown: A fully automatic drill rig leveling device, the drill rig mechanical arm 1 is hinged to the anchor drill rig chassis, one end of the leveling device is connected to the drill rig mechanical arm 1, and the other end is connected to the automatic drill rig 7 and has multiple degrees of freedom of movement relative to the drill rig mechanical arm 1. The multiple degrees of freedom of movement from the drill rig mechanical arm 1 to the automatic drill rig are rotational movement around the axis of the drill rig mechanical arm 1, rotational movement perpendicular to the axis of the drill rig mechanical arm 1, forward and backward swinging relative to the drill rig mechanical arm 1, and lifting movement relative to the drill rig mechanical arm 1. The multiple degrees of freedom of movement work together to achieve a large range of leveling of the automatic drill rig 7, which can cover the needs of full-section top anchor, side anchor and ground anchor support.

[0035] The multiple degrees of freedom of movement of the leveling device are driven by hydraulic actuators. The leveling device includes a control system, a hydraulic system and a sensor system. The sensor system is used to pick up the spatial position and posture information of the leveling device and transmit the data to the control system. The control system plans the trajectory movement of the leveling device and then controls the working flow of the hydraulic actuator based on the valve port opening of different solenoid valves in the hydraulic system to obtain the target movement amount of the hydraulic actuator, thereby accurately controlling the movement of the leveling device to accurately reach the target hole position.

[0036] The leveling device includes a rotary reducer 2, a swing seat 3, a leveling seat 5, a lifting cylinder 6, a leveling cylinder 8 and a swing cylinder 9.

[0037] The slewing reducer 2 is coaxially mounted on the drilling rig mechanical arm 1, and the mounting plate 31 of the swing seat 3 is fixed to the slewing reducer 2 by screws. The slewing reducer 2 drives the swing seat to rotate 360° to realize the automatic drilling rig top anchor, side anchor and ground anchor drilling; the swing cylinder 9 is mounted on the mounting plate 31 by bolts, and the swing plate 32 of the swing seat 3 is mounted above the swing cylinder 9 and can rotate within several angles around the axis of the swing cylinder; one end of the base body of the leveling base 5 is connected to the swing plate 32 through a rotary shaft, and the sliding plate 51 of the leveling base 5 is fixed to the automatic drilling rig 7, and the base body slides to limit the sliding plate 51, and one end of the leveling cylinder 8 is connected to the swing plate 32, and the other end is connected to the leveling base body; one end of the lifting cylinder 6 is connected to the automatic drilling rig 7, and the other end is connected to the leveling base body; the first rotary encoder on the swing cylinder 9 records the rotation angle information of the swing plate 32.

[0038] During operation, the position of the automatic drilling rig 7 is adjusted by adjusting the rotation angle of the leveling device, the left and right swing angles of the swing seat 3, the swing angle of the leveling seat 5 and the lifting displacement of the lifting cylinder 6.

[0039] like Figure 3 As shown: the swing seat 3 also includes an ear plate 33, a copper sleeve 34, a cylinder ear seat 35, a pin plate 36 and a pin shaft 37; the two ear plates 33 on the top surface of the swing plate 32 are fixed perpendicular to the swing plate 32 and parallel to each other, and a rib plate 38 is added between the two ear plates 33 on the top surface of the swing plate 32, and a transverse rib plate 39 is provided on one side to enhance the structural stability of the swing seat, the copper sleeve 34 is pressed tightly into the axial hole of the ear plate 33 and fixed to the ear plate 33 by screws, and the shaft connected to the leveling seat 5 body is passed through the copper sleeve 34; the cylinder ear seat 35 is welded to the bottom surface of the swing plate 32, and the pin shaft 37 is passed through the cylinder ear seat 35 and limited by the pin plate 36 at both ends, and the pin plate 36 is connected to the cylinder ear seat 35; the pin shaft 37 is used to connect the piston end of the leveling cylinder 8.

[0040] like Figure 4As shown: an encoder assembly 4 is installed on the swing plate 32, and the encoder assembly 4 rotates with the leveling seat 5 and measures the rotation angle; the encoder assembly 4 includes a rotary pin 41, a spring pin 42, a coupling 43, an encoder mounting seat 44, an encoder protective cover 45 and an encoder 46.

[0041] The encoder 46 is connected and fixed to the swing plate 32 through the encoder mounting base 44, and the encoder protection cover 45 is fixed to the encoder mounting base 44 by screws; the rotary pin 41 is passed through the copper sleeve 34 and is fixed to the base body of the leveling seat 5 by the spring pin 42; the rotary pin 41 is fixed to the coupling 43 by a set screw, and the encoder 46 protruding shaft is fixed to the coupling by a set screw; the encoder assembly 4 rotates with the rotation of the leveling seat 5, and the encoder 46 reads the rotation angle information of the leveling seat 5.

[0042] like Figure 2 As shown, the gyro reducer 2 utilizes a worm gear transmission with a reverse self-locking function, high precision, a compact structure, and a large load-bearing capacity. One end of the gyro reducer 2 is bolted to the drill rig arm 1, and the other end is fixed to the mounting plate 31. Driven by a hydraulic motor 24, the gyro reducer 2 can rotate 360°, enabling fully automatic full-section drilling on the drill rig. The gyro mechanism 22 drives the connected mounting plate 31 to rotate about the axis of the drill rig arm 1, and the rotation angle information of the mounting plate 31 is recorded by a rotary encoder 21 fixed to one end of the base 23.

[0043] like Figure 5 As shown: the body of the leveling seat 5 includes a first pin 52, a side plate 53, a second pin 54, a thick plate 55, a reinforcing rib plate 56, a vertical plate 57 and a circular plate 58; the two vertical plates 57 are parallel to each other, the reinforcing rib plate 56 is a frame structure, the reinforcing rib plate 56 is welded between the vertical plates 57, and the two vertical plates 57 are connected as a whole; the sliding plate 51 is fixed to the automatic drilling frame 7 by screws, and the protruding edge of the vertical plate 57 is restricted between the sliding plate 51 and the automatic drilling frame 7, so that the seat body can slide relative to the automatic drilling frame 7; the first pin 52 passes between the vertical plates 57, one end of the lifting cylinder 6 is connected to the automatic drilling frame 7, and the other end Connected to the first pin shaft 52, the lifting cylinder 6 drives the automatic drill rig 7 to rise and fall on the base body along with the sliding plate 51 when working, ensuring that the automatic drill rig can connect to the top when drilling; the side plate 53 and the thick plate 55 are welded to the two vertical plates 57 respectively, and the second pin shaft 54 ​​passes through the side plate 53 and the thick plate 55, and the second pin shaft 54 ​​is connected to the leveling cylinder 8; the two annular plates 58 are welded to the two vertical plates 57 respectively, and radial through holes are provided for installing the spring pin 42 and connecting the swing plate 32 to the base body; the lifting cylinder has a built-in displacement sensor, which obtains the extension and contraction amount of the piston rod and feeds back to the control system to judge the position of the automatic drill rig 7.

[0044] Example 2

[0045] Research on automatic drill rig leveling control methods typically requires the robotic arm of a fully automated anchor drilling rig to be extended before hole-finding begins. During hole-finding, the robotic arm modulates its amplitude, and the automatic drill rig is simultaneously leveled. Mechanically, the automatic drill rig is mounted at the end of the robotic arm. Furthermore, existing fully automated anchor drilling rigs are heavy, making them prone to vibration during leveling. To prevent this instability and to accurately track the movement of the leveling cylinder, an encoder device was introduced.

[0046] A leveling method for a fully automatic drilling rig leveling device is mainly divided into three steps: first, determining the target hole position of the current automatic hole search; then, using the displacement of each hydraulic actuator as the target, using a control system to control the position of the leveling device to automatically search for top plate anchor holes and side wall anchor holes; finally, determining whether the leveling is completed based on the error between the target hole position and the current end coordinate of the leveling device.

[0047] A three-dimensional model of the anchor drilling vehicle is established to determine the current posture and target leveling position of the automatic drilling rig. At the same time, an actual coordinate system is established at the current center of gravity of the automatic drilling rig, and a corresponding absolute coordinate system is established at the target position. Based on this, the geometric relationship between the corresponding actual coordinate system and the absolute coordinate system is derived, and the corresponding control target is obtained according to the leveling device. Then, based on the control target of the automatic drilling rig leveling, an electro-hydraulic control method is adopted for the automatic drilling rig leveling.

[0048] like Figure 6 As shown: the sensor system obtains the current posture of the leveling device, and judges whether the end point can reach the target point within the leveling range based on the deviation between the end point of the leveling device and the target point. If not, the drilling vehicle mechanical arm 1 moves according to the preset trajectory until the end point can reach the target point within the leveling range. When this condition is met, the motion path for moving the end point of the leveling device to the target point is calculated, and then the control system controls the on-off state and valve opening of the solenoid valve, and controls the actions of the slewing reducer 2, swing cylinder 9, leveling cylinder 8 and lifting cylinder 6 in turn. At the same time, the encoders and sensors integrated in each hydraulic actuator record the amplitude of each action of the leveling device, and feed back real-time data to the control system to judge whether the recorded data meets the corresponding threshold trigger condition. If so, the leveling is completed.

[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. A fully automatic drill stand leveling device, characterized by: One end of the leveling device is connected to the drilling vehicle mechanical arm (1), and the other end is connected to the automatic drilling frame (7) and has multiple degrees of freedom of movement relative to the drilling vehicle mechanical arm (1). The multiple degrees of freedom of movement from the drilling vehicle mechanical arm (1) to the automatic drilling frame are rotational movement around the axis of the drilling vehicle mechanical arm (1), rotational movement perpendicular to the axis of the drilling vehicle mechanical arm (1), forward and backward swinging relative to the drilling vehicle mechanical arm (1), and lifting movement relative to the drilling vehicle mechanical arm (1); The multiple degrees of freedom of the leveling device are driven by hydraulic actuators. The leveling device includes a control system, a hydraulic system, and a sensor system. The sensor system is used to pick up the spatial position and posture information of the leveling device and transmit the data to the control system. The control system plans the trajectory of the leveling device and then controls the working flow of the hydraulic actuator based on the valve opening of different solenoid valves in the hydraulic system to obtain the target movement amount of the hydraulic actuator, thereby precisely controlling the movement of the leveling device to accurately reach the target hole position. The leveling device comprises a rotary reducer (2), a swing seat (3), a leveling seat (5), a lifting cylinder (6), a leveling cylinder (8) and a swing cylinder (9); The rotary reducer (2) is coaxially mounted on the drilling vehicle mechanical arm (1), and the mounting plate (31) of the swing seat (3) is fixed to the rotary reducer (2) by screws. The rotary reducer (2) drives the swing seat (3) to rotate 360 ​​degrees, thereby realizing automatic drilling of the top anchor, side anchor and ground anchor of the drilling frame; the swing cylinder (9) is mounted on the mounting plate (31) by bolts, and the swing plate (32) of the swing seat (3) is mounted above the swing cylinder (9) and can rotate around the axis of the swing cylinder within a certain angle; the adjustment One end of the base body of the flat seat (5) is connected to the swing plate (32) through a rotary shaft, the sliding plate (51) of the leveling seat (5) is fixed on the automatic drilling frame (7), the base body slides to limit the sliding plate (51), one end of the leveling cylinder (8) is connected to the swing plate (32), and the other end is connected to the leveling seat body; one end of the lifting cylinder (6) is connected to the automatic drilling frame (7), and the other end is connected to the leveling seat body; the first rotary encoder on the swing cylinder (9) records the rotation angle information of the swing plate (32); The swing seat (3) further comprises an ear plate (33), a copper sleeve (34), a cylinder ear seat (35), a pin plate (36) and a pin shaft (37); the two ear plates (33) on the top surface of the swing plate (32) are fixed perpendicular to the swing plate (32) and parallel to each other, the copper sleeve (34) is pressed into the shaft hole of the ear plate (33) and fixed to the ear plate (33) by screws, and the shaft connected to the seat body of the leveling seat (5) is passed through the copper sleeve (34); the bottom surface of the swing plate (32) is welded with the cylinder ear seat (35), the pin shaft (37) is passed through the cylinder ear seat (35) and the two ends are limited by the pin plate (36), and the pin plate (36) is connected to the cylinder ear seat (35); An encoder assembly (4) is mounted on the swing plate (32), and the encoder assembly (4) rotates with the leveling seat (5) and measures the rotation angle; the encoder assembly (4) includes a rotary pin (41), a spring pin (42), a coupling (43), an encoder mounting seat (44), an encoder protective cover (45) and an encoder (46); The encoder (46) is connected and fixed to the swing plate (32) through the encoder mounting seat (44), and the encoder protective cover (45) is fixed to the encoder mounting seat (44) by screws; the rotary pin (41) is passed through the copper sleeve (34) and is fixed to the leveling seat (5) seat body by a spring pin (42); the rotary pin (41) is fixed to the coupling (43) by a set screw, and the encoder (46) extension shaft is fixed to the coupling by a set screw; the encoder assembly (4) rotates as the leveling seat (5) rotates, and the encoder (46) reads the rotation angle information of the leveling seat (5); The seat body of the leveling seat (5) includes a first pin shaft (52), a side plate (53), a second pin shaft (54), a thick plate (55), a reinforcing rib plate (56), a vertical plate (57) and a circular plate (58); the two vertical plates (57) are parallel to each other, and the reinforcing rib plate (56) is welded between the vertical plates (57); the sliding plate (51) is fixed to the automatic drilling frame (7) by screws, and the protruding edge of the vertical plate (57) is restricted between the sliding plate (51) and the automatic drilling frame (7), so that the seat body can slide relative to the automatic drilling frame (7); the first pin shaft (52) is passed through between the vertical plates (57), and one end of the lifting cylinder (6) is connected to the automatic drilling frame (7), and the other end is connected to the On the first pin shaft (52), the lifting cylinder (6) drives the automatic drilling frame (7) to rise and fall on the seat body along with the sliding plate (51) when working; the side plate (53) and the thick plate (55) are respectively welded on the two vertical plates (57), and the second pin shaft (54) passes through the side plate (53) and the thick plate (55), and the second pin shaft (54) is connected to the leveling cylinder (8); two annular plates (58) are respectively welded on the two vertical plates (57) and are provided with radial through holes for installing spring pins (42) and connecting the swing plate (32) to the seat body; the lifting cylinder has a built-in displacement sensor, which obtains the extension and contraction amount of the piston rod and feeds back to the control system to judge the position and posture of the automatic drilling frame (7).

2. The fully automatic drill rig leveling device according to claim 1, characterized in that: The gyro reducer (2) is a worm gear transmission method. One end of the gyro reducer (2) is fixed to the drilling vehicle mechanical arm (1) by bolts, and the other end is fixed to the mounting plate (31). The gyro reducer (2) is driven by a hydraulic motor (24) and drives the mounting plate (31) connected thereto to perform a gyroscopic motion around the axis of the drilling vehicle mechanical arm (1) through a gyroscopic mechanism (22). The rotation angle information of the mounting plate (31) is recorded by a rotary encoder (21) fixed to one end of the base (23).

3. The fully automatic drill rig leveling device according to claim 1, characterized in that: A rib plate (38) is added to the top surface of the swing plate (32) between the two ear plates (33), and a transverse rib plate (39) is provided on one side.

4. A leveling method using the fully automatic drill rig leveling device according to claim 1, characterized in that: First, the target hole position of the current automatic hole search is determined; then, with the displacement of each hydraulic actuator as the target, the control system is used to control the position of the leveling device to automatically search for top plate anchor holes and side wall anchor holes; finally, the completion of leveling is determined based on the error between the target hole position and the current end coordinates of the leveling device.

5. The leveling method of the fully automatic drill stand leveling device according to claim 4, characterized in that: A three-dimensional model of the anchor drilling vehicle is established to determine the current posture and target leveling position of the automatic drilling rig. At the same time, an actual coordinate system is established at the current center of gravity of the automatic drilling rig, and a corresponding absolute coordinate system is established at the target position. Based on this, the geometric relationship between the corresponding actual coordinate system and the absolute coordinate system is derived, and the corresponding control target is obtained according to the leveling device. Then, based on the control target of the automatic drilling rig leveling, an electro-hydraulic control method is adopted for the automatic drilling rig leveling.

6. The leveling method of the fully automatic drilling rig leveling device according to claim 5, characterized in that: The sensor system obtains the current posture of the leveling device, and judges whether the end point can reach the target point within the leveling range based on the deviation between the end point of the leveling device and the target point. If not, the drilling vehicle mechanical arm (1) moves according to the preset trajectory until the end point can reach the target point within the leveling range. When the condition is met, the motion path for moving the end point of the leveling device to the target point is calculated, and then the control system controls the on-off state and valve opening of the solenoid valve, and controls the actions of the rotary reducer (2), the swing cylinder (9), the leveling cylinder (8) and the lifting cylinder (6) in turn. At the same time, the encoders and sensors integrated in each hydraulic actuator record the amplitude of each action of the leveling device, and feed back the real-time data to the control system to judge whether the recorded data meets the corresponding threshold trigger condition. If it is met, the leveling is completed.

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