Coal mining drilling control method and system

Abstract

The invention relates to the technical field of coal mining, in particular to a coal mining drilling control method and system. The method comprises the steps that S10, based on the coal mining requirement of the coal mining drilling control system, a supporting base of the supporting assembly moves to a first set position in the guiding direction of a first guiding part and a second guiding part of the driving assembly; and S20, the supporting base is moved to the first set position, and a drill rod of the drilling assembly is driven to start to rotate. And S30, based on rotation starting of the drill rod, the coal mining assemblies are driven to rotate in the direction close to the first area till part of the coal mining assemblies are located in the first area. And S40, based on the fact that part of the coal mining assemblies are located in the first area, a drill rod is driven to abut against the coal seam, and drilling is started. And S50, drilling is completed on the coal seam based on the drill rod, and the coal mining assembly is driven to start coal mining work. Therefore, the problems of low efficiency and low safety during coal mining and drilling are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining, and in particular to a method and system for controlling coal mining drilling. Background Art

[0002] As one of my country's basic energy sources, coal occupies an important position in the country's energy structure. With the growth of global energy demand and the development of intelligent mining, technological innovation and industrial upgrading in the coal mining industry will be promoted. Since the coal face of a coal mine cannot cut coal normally when encountering a fault or rock structure, and there are harmful gases such as gas in the coal seam, drilling and blasting are required to loosen the coal wall. Manual drilling has low efficiency and high risk, and is prone to safety accidents. The drilling machine loosens the coal seam, making it easier for the coal mining machine to cut and mine coal, improving the efficiency and safety of coal mining, and reducing manual operations to reduce the risk of coal mine safety accidents.

[0003] In the prior art, the drilling machine and the coal mining machine are operated separately, resulting in that coal mining and drilling cannot be performed synchronously, and the separate operation increases the total operation time, thereby reducing the coal mining efficiency. The separate operation may interrupt the continuity of the coal mining face and affect the coherent operation process of coal mining. Summary of the invention

[0004] In order to solve the problems of low efficiency and low safety during coal mining drilling, the present invention provides a coal mining drilling control method and system.

[0005] In a first aspect, the present invention provides a coal mining drilling control method, the coal mining drilling control method comprising:

[0006] Step S10, based on the coal mining demand of the coal mining drilling control system, the support seat of the support assembly moves to a first set position along the guiding direction of the first guide part and the second guide part of the driving assembly;

[0007] Step S20, based on the support seat moving to the first set position, driving the drill rod of the drilling assembly to start rotating;

[0008] Step S30, based on the drill rod starting to rotate, driving the coal mining assembly to rotate toward a first area until a portion of the coal mining assembly is within the first area; wherein the first area includes an area between the support seat and the coal seam;

[0009] Step S40, based on the fact that part of the coal mining assembly is in the first area, driving the drill rod to abut against the coal seam and start drilling;

[0010] Step S50, after the drill rod has completed drilling the coal seam, the coal mining assembly is driven to start coal mining.

[0011] In some embodiments, step S30 includes:

[0012] Step S31, based on the drill rod starting to rotate, obtaining the rotation number of the drill rod;

[0013] Step S32, based on the rotation amount being greater than or equal to a first threshold and less than a second threshold, driving the coal mining assembly to rotate toward a first area until part of the coal mining assembly is within the first area; wherein the first area includes an area between the support seat and the coal seam.

[0014] In some embodiments, step S30 further includes:

[0015] Step S33, based on the rotation number being greater than or equal to the second threshold and less than the third threshold, driving part of the coal mining assembly in the first area to move to a second set position; wherein the second set position includes the end of the coal mining assembly away from the support seat moving a set distance in the direction toward the sliding part close to the support assembly.

[0016] In some embodiments, step S30 further includes:

[0017] Step S34, based on the rotation number being greater than or equal to the third threshold and less than the fourth threshold, driving part of the coal mining components in the first area to move from the second set position to the third set position; wherein the third set position includes an angle between the coal mining component and the vertical plane where the drill rod is located being less than a set angle.

[0018] In some embodiments, step S30 further includes:

[0019] Step S35, based on the rotation number being greater than or equal to a fourth threshold, driving part of the coal mining components in the first area to cut the coal seam for a set time;

[0020] Step S36, based on the fact that part of the coal mining assemblies in the first area have cut the coal seam for a set time, the coal mining assemblies are stopped from cutting the coal seam, and the drill rod is driven to abut against the coal seam to start drilling.

[0021] In some embodiments, step S30 includes:

[0022] Step S37, based on the drill rod starting to rotate, obtaining an estimated resultant force position of the force acting on the support seat by the drill rod;

[0023] Step S38, based on the expected combined force position in the second area, drive the first coal mining unit to rotate toward the first area until part of the first coal mining unit is within the first area; wherein the coal mining assembly includes the first coal mining unit; one end of the first coal mining unit is rotatably connected to one end of the support seat, and the other end extends in a direction away from the support seat; the first area includes the area between the support seat and the coal seam; the second area includes the area of ​​the support seat close to the first coal mining unit.

[0024] In some embodiments, step S30 further includes:

[0025] Step S39, based on the expected combined force position being within the third area, drive the second coal mining unit to rotate toward the first area until part of the second coal mining unit is within the first area; wherein the coal mining assembly also includes the second coal mining unit; one end of the second coal mining unit is rotatably connected to an end of the support seat away from the first coal mining unit, and the other end extends in a direction away from the support seat; the third area includes an area of ​​the support seat close to the second coal mining unit; the third area and the second area are spaced apart on the support seat.

[0026] In some embodiments, step S30 further includes:

[0027] Step S40, based on the expected combined force position being within the fourth area, drive the first coal mining unit and the second coal mining unit to rotate respectively in the direction close to the first area until part of the first coal mining unit and part of the second coal mining unit are within the first area; wherein the fourth area includes the spacing area between the second area and the third area on the support seat.

[0028] In a second aspect, the present invention provides a coal mining drilling control system, the coal mining drilling control system is applied to any of the coal mining drilling control methods in the first aspect, the coal mining drilling control system comprises:

[0029] A driving assembly, the driving assembly comprising a first guide portion, a second guide portion, and a traction portion; the first guide portion and the second guide portion are spaced apart; one end of the traction portion is detachably connected to one side of the second guide portion;

[0030] A support assembly, the support assembly comprises a support seat, a clamping portion, and a sliding portion; the clamping portion and the sliding portion are arranged at one side of the support seat with a spacing; one end of the clamping portion is detachably connected to the support seat, and the other end is drivingly connected to the traction portion; one end of the sliding portion is detachably connected to the support seat, and the other end is slidably connected to the second guide portion;

[0031] A coal mining assembly, the coal mining assembly being rotatably connected to one end of the support seat;

[0032] A drilling assembly, the drilling assembly comprises a drilling seat, a driving part, and a drill rod; the driving part and the drill rod are respectively arranged on the drilling seat; the driving part is drivingly connected to the drill rod; the drilling seat is spaced apart and arranged on a side of the support seat away from the sliding part.

[0033] In some embodiments, the coal mining assembly includes a first coal mining unit and a second coal mining unit; one end of the first coal mining unit is rotatably connected to one end of the support seat, and the other end extends in a direction away from the support seat; one end of the second coal mining unit is rotatably connected to an end of the support seat away from the first coal mining unit, and the other end extends in a direction away from the support seat; the driving assembly also includes a conveying part; the conveying part is arranged between the first guide part and the second guide part.

[0034] In order to solve the problems of low efficiency and low safety during coal mining drilling, the present invention has the following advantages:

[0035] The coal mining drilling control system may include a support component and a drilling component, a coal mining component, and a driving component. When coal mining begins, the support seat of the support component may be moved to a first set position along the guiding direction of the first guide part and the second guide part of the driving component, and then the drill rod of the drilling component may be driven to start rotating. It is convenient to subsequently drive the coal mining component to rotate in the direction close to the first area until part of the coal mining component is in the first area. The first area may include the area between the support seat and the coal seam. When part of the coal mining component is in the first area, the drill rod may be driven to abut against the coal seam and start drilling. When the drill rod completes drilling the coal seam, the coal mining component may be driven to start coal mining. The time and cost of the conversion process are reduced, and the utilization rate of the drilling component is improved and the idle time of the equipment is reduced through reasonable equipment configuration and scheduling arrangements. The production efficiency is improved, the labor intensity of workers is reduced, and the potential accidents such as gas and coal dust are also reduced. When the drilling component is drilling holes in the coal seam, it will be subjected to the reaction force of the coal seam, causing the entire fuselage to tilt easily. Before the drill rod is driven to drill, part of the coal mining assembly is already in the first area, and the gravity of the coal mining assembly can offset the reaction force to avoid the machine body from tilting and improve safety. This solves the problem of low efficiency and low safety during coal mining and drilling, and improves coal mining efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a coal mining drilling control method according to an embodiment is shown;

[0037] Figure 2 A schematic diagram of a coal mining drilling control system according to an embodiment is shown;

[0038] Figure 3 A schematic diagram of a coal mining drilling control system according to another embodiment is shown;

[0039] Figure 4 A schematic diagram of a coal mining drilling control system according to another embodiment is shown;

[0040] Figure 5 A schematic diagram showing a coal mining drilling control system of another embodiment

[0041] Figure 6 Shows Figure 2 A partial enlarged view of .

[0042] Figure markings: 01 coal mining assembly; 11 first coal mining unit; 111 first rotating part; 112 first connecting arm; 113 first cutting part; 12 second coal mining unit; 121 second rotating part; 122 second connecting arm; 123 second cutting part; 02 drilling assembly; 21 drilling seat; 22 driving part; 23 drill rod; 03 driving assembly; 31 first guide part; 32 second guide part; 33 conveying part; 34 traction part; 04 support assembly; 41 support seat; 42 clamping part; 43 sliding part. DETAILED DESCRIPTION

[0043] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0044] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0045] In the existing technology, the separate operation of coal mining and drilling increases the labor cost, reduces the efficiency of coal mining, and requires multiple equipment entry and exit and adjustment in the coal mining area, which increases the safety risks during equipment movement and operation. In order to solve the problems of low efficiency and low safety during coal mining and drilling, the present invention provides a coal mining and drilling control method. Figure 1 As shown, the coal mining drilling control method may include steps S10 to S50, and each step is described in detail as follows:

[0046] The coal mining drilling control system may include a support component 04 and a drilling component 02, a coal mining component 01, and a drive component 03. The support component 04 may include a support seat 41 and a sliding portion 43. The coal mining component 01 may be rotatably connected to one end of the support seat 41. The drive component 03 may include a first guide portion 31 and a second guide portion 32. The first guide portion 31 and the second guide portion 32 may be spaced apart to guide the support component 04 to move forward along a predetermined track. One end of the sliding portion 43 may be slidably connected to the second guide portion 32.

[0047] Step S10, when the coal mining drilling control system starts working according to the coal mining demand, the support seat 41 of the support component 04 can move to the first set position (which can be a position suitable for coal mining) along the guiding direction of the first guide part 31 and the second guide part 32 of the driving component 03, so as to facilitate subsequent drilling and coal mining operations.

[0048] Step S20, when the support seat 41 moves to the first set position, the drill rod 23 of the drilling assembly 02 can be driven to start rotating. In this way, the drill rod 23 can drill holes in the coal seam later, remove gas in the coal seam, and improve the safety of coal mining.

[0049] Step S30, when the drill rod 23 starts to rotate, the coal mining assembly 01 can be driven to rotate in a direction close to the first area until part of the coal mining assembly 01 is in the first area. The first area may include the area between the support seat 41 and the coal seam. Moving the coal mining assembly 01 when the drill rod 23 rotates can improve the subsequent drilling efficiency of the drill rod 23. Part of the coal mining assembly 01 is in the first area to facilitate the subsequent gravity effect on the support assembly 04 to offset the reaction force of the coal seam on the drill rod 23.

[0050] Step S40, when part of the coal mining assembly 01 is in the first area, the drill rod 23 can be driven to contact the coal seam and start drilling. When the drilling assembly 02 is drilling the coal seam, it will be subjected to the reaction force of the coal seam, causing the entire body to tilt easily. Before driving the drill rod 23 to drill, part of the coal mining assembly 01 is already in the first area, and the gravity of the coal mining assembly 01 can offset the reaction force to avoid the body tilting and improve safety.

[0051] Step S50, when the drill rod 23 completes drilling the coal seam, the coal mining assembly 01 can be driven to start coal mining, which reduces the time and cost of the conversion process, and also reduces the potential accidents such as gas and coal dust, and improves the efficiency and safety of coal mining.

[0052] In this embodiment, step S30 may include:

[0053] In step S31, when the drill rod 23 starts to rotate, the rotation amount of the drill rod 23 can be obtained, that is, the working amount of the drilling component 02 can be obtained, so as to control the moving position of the coal mining component 01 by judging the rotation amount of the drill rod 23, thereby offsetting the reaction force of the coal seam when the drilling component 02 is drilling the coal seam.

[0054] Step S32, if the rotation amount is greater than or equal to the first threshold value (which can be a suitable value) and less than the second threshold value, the coal mining assembly 01 can be driven to rotate in the direction close to the first area until part of the coal mining assembly 01 is in the first area, and the first area can include the area between the support seat 41 and the coal seam. At this time, the rotation amount of the drill rod 23 is in a small range, so it is only necessary to control part of the coal mining assembly 01 to be in the first area to offset the reaction force of the coal seam when the drilling assembly 02 is drilling the coal seam, and avoid the reaction force of the coal seam causing the support assembly 04 to tilt.

[0055] In this embodiment, step S30 may further include:

[0056] Step S33, if the number of rotations is greater than or equal to the second threshold and less than the third threshold, the number of rotations of the drill rod 23 is greater than the first threshold, and the reaction force of the coal seam on the drill rod 23 is also greater, which can drive part of the coal mining assembly 01 in the first area to move to the second set position, and the second set position can include the end of the coal mining assembly 01 away from the support seat 41 moving a set distance toward the sliding part 43 close to the support assembly 04. In this way, the center of gravity of the coal mining assembly 01 is lowered, and the support assembly 04 is not easy to tilt, thereby improving the coal mining efficiency.

[0057] In this embodiment, step S30 may further include:

[0058] Step S34, if the rotation number of the drill rod 23 is greater than or equal to the third threshold and less than the fourth threshold, at this time, the rotation number of the drill rod 23 is greater than the second threshold, and part of the coal mining assembly 01 in the first area can be driven to move from the second set position to the third set position, and the third set position can include the angle between the coal mining assembly 01 and the vertical plane where the drill rod 23 is located is less than the set angle (which can be a suitable angle). In this way, the center of gravity of the coal mining assembly 01 can be lowered, so that the mass distribution of the coal mining assembly 01 is closer to the support assembly 04, and the stability of the support assembly 04 is increased, and the support assembly 04 is not easy to tilt when the drill rod 23 starts drilling.

[0059] In this embodiment, step S30 may further include:

[0060] Step S35, if the number of rotations of the drill rod 23 is greater than or equal to the fourth threshold value, the number of rotations of the drill rod 23 is relatively large, and the reaction force of the coal seam during drilling is also relatively large, and the coal seam can be cut by driving some of the coal mining components 01 in the first area to a set time (which can be a short and appropriate time). Cutting the coal seam within the set time can increase the contact area between the coal mining component 01 and the coal seam, and the friction between the coal mining component 01 and the coal seam increases, so that the reaction force of the coal seam on the subsequent drilling of the drill rod 23 is not easy to cause the support component 04 to tilt.

[0061] Step S36, when the coal seam cutting of some of the coal mining components 01 in the first area reaches the set time, the coal mining component 01 can stop cutting the coal seam, and then the drill rod 23 can be driven to abut against the coal seam and start drilling. It is only necessary to cut the coal seam until the set time is reached to make the end of the coal mining component 01 close to the coal seam engage with the coal seam. When the drill rod 23 starts drilling, the coal seam generates a reaction force on the drill rod 23. Due to the friction between the coal mining component 01 and the coal seam, the support component 04 is not easy to tilt and is more stable.

[0062] In some embodiments, Figure 2 , Figure 3 As shown, step S30 may include:

[0063] Step S36, when the drill rod 23 starts to rotate, the estimated resultant force position of the drill rod 23 acting on the support seat 41 can be obtained, so as to facilitate the subsequent operation of the coal mining unit by judging the estimated resultant force position to offset the reaction force of the coal seam on the drill rod 23 when the drill rod 23 is drilling.

[0064] Step S37, the coal mining assembly 01 may include a first coal mining unit 11, one end of the first coal mining unit 11 may be rotatably connected to one end of the support seat 41, and the other end may extend in a direction away from the support seat 41. If the estimated resultant force position obtained is within the second region, the second region may include an area of ​​the support seat 41 close to the first coal mining unit 11, and the first coal mining unit 11 may be driven to rotate in a direction close to the first region until part of the first coal mining unit 11 is within the first region, and the first region may include an area between the support seat 41 and the coal seam. When the center of gravity of the first coal mining unit 11 is within the first region, the gravity acting on the support assembly 04 may offset the resultant force in the area of ​​the support seat 41 close to the first coal mining unit 11, thereby stabilizing the support assembly 04.

[0065] In this embodiment, if Figure 2 , Figure 4 As shown, step S30 may also include:

[0066] Step S39, the coal mining assembly 01 may also include a second coal mining unit 12, one end of the second coal mining unit 12 may be rotatably connected to the end of the support seat 41 away from the first coal mining unit 11, so as to facilitate the rotation of the second coal mining unit 12, and the other end may extend in a direction away from the support seat 41. If the estimated resultant force position obtained is within the third area, the third area may include an area of ​​the support seat 41 close to the second coal mining unit 12, and the third area may be spaced apart from the second area on the support seat 41. At this time, the second coal mining unit 12 may be driven to rotate in a direction close to the first area until part of the second coal mining unit 12 is within the first area, so that the center of gravity of the second coal mining unit 12 is within the first area, and the gravity acting on the support assembly 04 may offset the resultant force in the area of ​​the support seat 41 close to the second coal mining unit 12, thereby stabilizing the support assembly 04.

[0067] In this embodiment, if Figure 2 , Figure 5 As shown, step S30 may also include:

[0068] Step S40, if the expected position of the resultant force is within the fourth region, the fourth region may include the interval region between the second region and the third region on the support seat 41. At this time, the first coal mining unit 11 and the second coal mining unit 12 may be driven to rotate toward the first region respectively until part of the first coal mining unit 11 and part of the second coal mining unit 12 are within the first region. It can be ensured that the center of gravity of the first coal mining unit 11 and the second coal mining unit 12 are both within the first region, and the gravity acting on the support assembly 04 can offset the resultant force within the interval region between the second region and the third region on the support seat 41, thereby maintaining the stability of the support assembly 04. And driving the first coal mining unit 11 and the second coal mining unit 12 contributes to the stability of the structure of the support assembly 04 itself, avoids the tilt of the support assembly 04, and increases its safety.

[0069] This embodiment provides a coal mining drilling control system, which can be applied to any of the coal mining drilling control methods in the above embodiments, such as Figure 2 , Figure 5As shown, the coal mining drilling control system may include: a driving assembly 03, a supporting assembly 04, a coal mining assembly 01, and a drilling assembly 02. The driving assembly 03 may include a first guide portion 31, a second guide portion 32, and a traction portion 34. The first guide portion 31 may be spaced apart from the second guide portion 32 to guide the support assembly 04 to move more accurately on the coal mining track. One end of the traction portion 34 may be detachably connected to one side of the second guide portion 32. The traction portion 34 may traction the support assembly 04 to move on the coal mining track to reach the coal mining position, and may be individually disassembled and replaced when maintenance is required to save costs. The supporting assembly 04 may include a supporting seat 41, a clamping portion 42, and a sliding portion 43. The supporting seat 41 may support the drilling assembly 02 and the coal mining assembly 01 to improve the structural stability. The clamping portion 42 may be spaced apart from the sliding portion 43 on one side of the supporting seat 41 to facilitate the subsequent normal movement of the supporting assembly 04 in the track. One end of the clamping part 42 can be detachably connected to the support seat 41, which is convenient for replacement and maintenance to save costs, and the other end can be driven and connected to the traction part 34, so that the traction part 34 drives the clamping part 42 to provide power for the support assembly 04 to move in the track. One end of the sliding part 43 can be detachably connected to the support seat 41, which is convenient for separate maintenance and replacement to save costs, and the other end can be slidably connected to the second guide part 32, so that the sliding part 43 can be accurately aligned and connected with the second guide part 32 during the movement, so that the support assembly 04 can move accurately in the track. The coal mining assembly 01 can be rotatably connected to one end of the support seat 41, so that the position of the coal mining assembly 01 can be controlled according to the number of rotations of different drill rods 23 and the expected combined force position, thereby offsetting the reaction force on the coal seam suffered by the subsequent drill rod 23 drilling. The drilling assembly 02 may include a drilling seat 21, a driving unit 22, and a drill rod 23. The driving unit 22 and the drill rod 23 may be respectively arranged on the drilling seat 21, and the driving unit 22 may be connected to the drill rod 23 by driving, and the driving unit 22 may drive the drill rod 23 to drill a coal seam. The drilling seat 21 may be arranged at intervals on a side of the support seat 41 away from the sliding unit 43, so as to facilitate the placement of multiple drill rods 23 to drill a coal seam and improve the drilling efficiency. The interval arrangement may evenly distribute the force borne by the support seat 41, reduce local stress concentration, and enhance the structural stability of the support assembly 04.

[0070] In this embodiment, if Figure 2As shown, the coal mining assembly 01 may include a first coal mining unit 11 and a second coal mining unit 12. One end of the first coal mining unit 11 may be rotatably connected to one end of the support seat 41, and the other end may extend in a direction away from the support seat 41, so that the first coal mining unit 11 may be controlled to rotate to different positions around one end of the support seat 41 by judging different situations to offset the reaction force generated by the coal seam during drilling. One end of the second coal mining unit 12 may be rotatably connected to one end of the support seat 41 away from the first coal mining unit 11, and the other end may extend in a direction away from the support seat 41. The reaction force generated by the coal seam during drilling may be offset by judging different situations to control the second coal mining unit 12 to rotate to different positions around one end of the support seat 41 away from the first coal mining unit 11. The driving assembly 03 may also include a conveying portion 33, which may be arranged between the first guide portion 31 and the second guide portion 32, and is used to convey the coal cut by the coal mining assembly 01.

[0071] In other embodiments, Figure 2 As shown, the first coal mining unit 11 may include a first rotating part 111, a first connecting arm 112, and a first cutting part 113. One end of the first rotating part 111 may be rotatably connected to the first connecting arm 112, and the other end of the first rotating part 111 may be rotatably connected to an end of the support seat 41 away from the second coal mining assembly 01, which is used to control the up and down rotation of the first coal mining unit 11 so as to control the center of gravity position of the first coal mining unit 11, so as to offset the reaction force of the coal seam on the subsequent drilling of the drill rod 23. The first cutting part 113 may be detachably connected to the first connecting arm 112, and the first cutting part 113 may cut coal. When maintenance is required, it may be replaced separately to save maintenance costs. The second coal mining unit 12 may include a second rotating part 121, a second connecting arm 122, and a second cutting part 123. One end of the second rotating part 121 may be rotatably connected to the second connecting arm 122, and the other end of the second rotating part 121 may be rotatably connected to an end of the support seat 41 away from the first coal mining unit 11, which is used to control the up and down rotation of the second coal mining unit 12 to control the center of gravity position of the second coal mining unit 12, so as to offset the reaction force of the coal seam on the subsequent drilling of the drill rod 23. The second cutting part 123 may be detachably connected to the second connecting arm 122, and the second cutting part 123 may cut coal. When maintenance is required, it may be replaced separately to save maintenance costs.

[0072] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. A coal mining drilling control method, characterized in that: The coal mining drilling control method comprises: Step S10, based on the coal mining demand of the coal mining drilling control system, the support seat of the support assembly moves to a first set position along the guiding direction of the first guide part and the second guide part of the driving assembly; Step S20, based on the support seat moving to the first set position, driving the drill rod of the drilling assembly to start rotating; Step S30, based on the drill rod starting to rotate, driving the coal mining assembly to rotate toward a first area until a portion of the coal mining assembly is within the first area; wherein the first area includes an area between the support seat and the coal seam; Step S40, based on the fact that part of the coal mining assembly is in the first area, driving the drill rod to abut against the coal seam and start drilling; Step S50, after the drill rod has completed drilling the coal seam, the coal mining assembly is driven to start coal mining.

2. A coal mining drilling control method according to claim 1, characterized in that: The step S30 comprises: Step S31, based on the drill rod starting to rotate, obtaining the rotation number of the drill rod; Step S32, based on the rotation amount being greater than or equal to a first threshold and less than a second threshold, driving the coal mining assembly to rotate toward a first area until part of the coal mining assembly is within the first area; wherein the first area includes an area between the support seat and the coal seam.

3. A coal mining drilling control method according to claim 2, characterized in that: The step S30 further includes: Step S33, based on the rotation number being greater than or equal to the second threshold and less than the third threshold, driving part of the coal mining assembly in the first area to move to a second set position; wherein the second set position includes the end of the coal mining assembly away from the support seat moving a set distance in the direction toward the sliding part close to the support assembly.

4. A coal mining drilling control method according to claim 3, characterized in that: The step S30 further includes: Step S34, based on the rotation number being greater than or equal to the third threshold and less than the fourth threshold, driving part of the coal mining components in the first area to move from the second set position to the third set position; wherein the third set position includes an angle between the coal mining component and the vertical plane where the drill rod is located being less than a set angle.

5. A coal mining drilling control method according to claim 4, characterized in that: The step S30 further includes: Step S35, based on the rotation number being greater than or equal to a fourth threshold, driving part of the coal mining components in the first area to cut the coal seam for a set time; Step S36, based on the fact that part of the coal mining assemblies in the first area have cut the coal seam for a set time, the coal mining assemblies are stopped from cutting the coal seam, and the drill rod is driven to abut against the coal seam to start drilling.

6. A coal mining drilling control method according to claim 1, characterized in that: The step S30 comprises: Step S37, based on the drill rod starting to rotate, obtaining an estimated resultant force position of the force acting on the support seat by the drill rod; Step S38, based on the expected combined force position in the second area, drive the first coal mining unit to rotate toward the first area until part of the first coal mining unit is within the first area; wherein the coal mining assembly includes the first coal mining unit; one end of the first coal mining unit is rotatably connected to one end of the support seat, and the other end extends in a direction away from the support seat; the first area includes the area between the support seat and the coal seam; the second area includes the area of ​​the support seat close to the first coal mining unit.

7. A coal mining drilling control method according to claim 6, characterized in that: The step S30 further includes: Step S39, based on the expected combined force position being within the third area, drive the second coal mining unit to rotate toward the first area until part of the second coal mining unit is within the first area; wherein the coal mining assembly also includes the second coal mining unit; one end of the second coal mining unit is rotatably connected to an end of the support seat away from the first coal mining unit, and the other end extends in a direction away from the support seat; the third area includes an area of ​​the support seat close to the second coal mining unit; the third area and the second area are spaced apart on the support seat.

8. A coal mining drilling control method according to claim 7, characterized in that: The step S30 further includes: Step S40, based on the expected combined force position being within the fourth area, drive the first coal mining unit and the second coal mining unit to rotate respectively in the direction close to the first area until part of the first coal mining unit and part of the second coal mining unit are within the first area; wherein the fourth area includes the spacing area between the second area and the third area on the support seat.

9. A coal mining drilling control system, the coal mining drilling control system is applied to a coal mining drilling control method according to any one of claims 1 to 8, characterized in that: The coal mining drilling control system comprises: A driving assembly, the driving assembly comprising a first guide portion, a second guide portion, and a traction portion; the first guide portion and the second guide portion are spaced apart; one end of the traction portion is detachably connected to one side of the second guide portion; A support assembly, the support assembly comprises a support seat, a clamping portion, and a sliding portion; the clamping portion and the sliding portion are arranged at one side of the support seat with a spacing; one end of the clamping portion is detachably connected to the support seat, and the other end is drivingly connected to the traction portion; one end of the sliding portion is detachably connected to the support seat, and the other end is slidably connected to the second guide portion; A coal mining assembly, the coal mining assembly being rotatably connected to one end of the support seat; A drilling assembly, the drilling assembly comprises a drilling seat, a driving part, and a drill rod; the driving part and the drill rod are respectively arranged on the drilling seat; the driving part is drivingly connected to the drill rod; the drilling seat is spaced apart and arranged on a side of the support seat away from the sliding part.

10. A coal mining drilling control system according to claim 9, characterized in that: The coal mining assembly includes a first coal mining unit and a second coal mining unit; one end of the first coal mining unit is rotatably connected to one end of the support seat, and the other end extends in a direction away from the support seat; one end of the second coal mining unit is rotatably connected to an end of the support seat away from the first coal mining unit, and the other end extends in a direction away from the support seat; the driving assembly also includes a conveying part; the conveying part is arranged between the first guide part and the second guide part.

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