Drilling self-walking equipment and method

Abstract

The invention provides drilling self-walking equipment and a drilling self-walking method, and relates to the technical field of drilling equipment. The drilling self-walking equipment comprises a base, a drilling machine body, a traveling driving mechanism, a lifting driving mechanism, a traveling state recognition unit and a control unit. The drilling self-walking equipment and the drilling self-walking method can run in a running mode and a de-trapping mode, so that running and de-trapping actions of the equipment are realized, and the trafficability of the equipment on a complex bottom plate of a coal mine is improved; in addition, the drilling machine can run in a drilling mode before drilling operation, and stable supporting of the drilling machine is achieved in the drilling operation process; in addition, in the drilling operation process, dust generated by drilling is absorbed and stored through the dust removal unit, the dust is prevented from being accumulated around the drill bit and the drill rod, and the overflow amount of the dust to a roadway is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling equipment, in particular to a self-propelled drilling equipment and method. Background Art

[0002] At present, the proportion of deep resources in my country's proven coal resources is very high, which means that in the future, the mining depth of mines will be deeper, and there will be more and more underground mines of 1,000 meters. The geological conditions and coal and rock layer conditions of mines with deeper mining depths are becoming more and more complex, and the risk of rock burst is also higher. In the process of coal mine construction, drilling equipment can be used to estimate and judge the geological conditions and coal and rock layer conditions. However, the drilling construction process is high-risk, such as roof fall, coal and gas outburst, rock burst, and dust generated during the drilling process, which greatly threaten the safety and health of underground drilling workers. In addition, dust will also accumulate around the drill bit and drill rod of the drilling equipment. After a certain degree of accumulation, it will cause the drilling equipment to be stuck or even damaged, making the drilling equipment unable to operate normally. The effective way to solve these problems is to promote the intelligence and unmanned operation of coal mine drilling equipment, which is also an inevitable choice for the transformation and upgrading of the coal industry.

[0003] In order to improve the passability of the current drilling equipment on the complex floor of the coal mine, crawler chassis are generally used to pass through obstacles such as coal and rock blocks on the floor. However, the inventors found that although the drilling equipment using crawler chassis has higher passability, its cost is also higher, resulting in higher cost investment of drilling equipment; and in order to improve the stability of the support of the drilling rig during drilling, and thus improve the drilling quality of the drilling rig, the crawler chassis needs to be designed to be heavier, which further increases the cost investment of the entire drilling equipment, and the heavier crawler chassis requires higher energy consumption for driving and operating. Summary of the invention

[0004] The purpose of the present invention is to provide a self-propelled drilling equipment and method, which adopts a lightweight wheeled chassis to improve the passability of the equipment on the complex bottom plate of the coal mine and realize stable support for the drilling rig during drilling.

[0005] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0006] A self-propelled drilling device, comprising:

[0007] Base;

[0008] The drilling rig body is arranged on the base;

[0009] A travel driving mechanism is arranged on the base and is used to drive the base to move;

[0010] A lifting drive mechanism is arranged on the base and is used to drive the base to rise and fall;

[0011] A driving state recognition unit, used for recognizing the driving state of the base;

[0012] The control unit is respectively connected to the control ends of the travel drive mechanism, the lifting drive mechanism and the travel state recognition unit by signals, and controls the travel drive mechanism and the lifting drive mechanism to act according to the travel state of the base.

[0013] Furthermore, the travel drive mechanism includes a support seat, a first telescopic cylinder, a wheel seat, a steering motor, a first roller and a drive motor;

[0014] The support seat is slidably matched with the base, and the support seat can move relative to the base;

[0015] The cylinder body end and the telescopic end of the first telescopic cylinder are respectively connected to the base and the support seat, and the telescopic end of the first telescopic cylinder is extended and retracted relative to the cylinder body end to drive the support seat to move relative to the base;

[0016] The wheel seat is rotatably connected to the support seat, and the wheel seat can rotate horizontally relative to the support seat;

[0017] The steering motor is arranged on the support seat, and the output end of the steering motor is connected to the wheel seat via a transmission mechanism, driving the wheel seat to rotate horizontally relative to the support seat;

[0018] The wheel seat is rotatably connected to the first roller;

[0019] The driving motor is arranged on the wheel seat, and the driving motor is connected to the first roller by power.

[0020] Further, the transmission mechanism includes a transmission shaft, a main bevel gear, a slave bevel gear and a wheel axle;

[0021] The transmission shaft is rotatably connected to the support seat via a bearing, and the main bevel gear is arranged at at least one end of the transmission shaft;

[0022] The wheel seat is provided with the wheel axle, and the secondary bevel gear is provided on the wheel axle;

[0023] The main bevel gear is meshed with the slave bevel gear;

[0024] The output end power of the steering motor is connected to the transmission shaft to drive the transmission shaft to rotate.

[0025] Furthermore, the transmission mechanism also includes a driving wheel, a driven wheel and a transmission belt;

[0026] The output end of the steering motor is connected to the driving wheel, the driven wheel is arranged on the transmission shaft, and the transmission belt is connected between the driving wheel and the driven wheel.

[0027] Furthermore, the travel drive mechanism also includes a second roller, and the second roller is rotatably connected to the base.

[0028] Further, the lifting drive mechanism includes a second telescopic cylinder, a support column and a support plate;

[0029] The second telescopic cylinder is disposed on the base, and the second telescopic cylinder is arranged vertically. The telescopic end of the second telescopic cylinder is connected to the upper end of the support column, and the lower end of the support column is connected to the support plate.

[0030] Furthermore, it also includes a dust removal unit, which includes a dust suction sleeve, a dust suction pipeline and a dust absorption and storage device;

[0031] The dust suction sleeve is arranged on the drilling rig body, the drill rod of the drilling rig body passes through the dust suction sleeve, a plurality of dust suction holes are arranged on the circumferential side of the dust suction sleeve, and the outer end of the dust suction sleeve is connected to the dust absorption storage device through a dust suction pipeline.

[0032] Furthermore, the dust removal unit further comprises a dust sealing cover, which is located at the outer end of the dust suction sleeve and arranged along the circumference of the dust suction sleeve.

[0033] Furthermore, the driving state recognition unit includes a positioning module and / or a camera.

[0034] A self-propelled drilling method, using the self-propelled drilling equipment, the method selectively operates in driving mode, escape mode and drilling mode:

[0035] 1. Driving Mode

[0036] The control unit controls the driving motor to drive the first roller to rotate, and the control unit controls the steering motor to drive the first roller to rotate a set angle, so as to realize straight and turning travel of the base;

[0037] 2. Escape Mode

[0038] When the driving state recognition unit recognizes that the base is blocked by an obstacle and cannot move, the control unit controls the telescopic end of the second telescopic cylinder to extend relative to the cylinder body end, so as to drive the base and the first roller to rise, so that the first roller is off the ground; the control unit controls the telescopic end of the first telescopic cylinder to extend relative to the cylinder body end, so as to drive the support seat and the first roller to move relative to the base, so as to change the projection position of the first roller on the ground; the control unit controls the telescopic end of the second telescopic cylinder to retract relative to the cylinder body end, so as to drive the base and the first roller to descend, so that the first roller contacts the ground;

[0039] 3. Drilling Mode

[0040] After the base moves to the drilling position, the control unit controls the telescopic end of the second telescopic cylinder to extend relative to the cylinder body end to drive the base and the first roller and the second roller to rise, so that the first roller and the second roller are separated from the ground, and the drilling rig body performs drilling operations.

[0041] The beneficial technical effects of the present invention are:

[0042] The self-propelled drilling equipment and method of the present invention can operate in a driving mode and an escape mode, realize the driving and escape actions of the equipment, and improve the passability of the equipment on the complex bottom plate of a coal mine; and, before the drilling operation, it can operate in the drilling mode to achieve stable support for the drilling rig during the drilling operation; in addition, during the drilling operation, the dust generated by the drilling is absorbed and stored by the dust removal unit, so as to avoid the accumulation of dust around the drill bit and the drill rod, and reduce the amount of dust overflow into the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a structural schematic diagram of a self-propelled drilling device according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of a partial structure of a self-propelled drilling device according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the structure of the steering motor and the transmission mechanism according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic structural diagram of a wheel seat, a steering motor, a first roller, etc. according to an embodiment of the present invention;

[0047] Figure 5 It is a structural schematic diagram of the lifting drive mechanism of an embodiment of the present invention;

[0048] Figure 6 It is a structural schematic diagram of a drilling rig body and a partial dust removal unit according to an embodiment of the present invention;

[0049] Figure 7 This is a schematic structural diagram of a dust absorption and storage device according to an embodiment of the present invention;

[0050] Reference numerals:

[0051] 1. Base, 11. Slide rail, 21. Drill body, 211. Drill rod, 212. Drill bit, 221. Drill seat, 222. Rotating support, 223. Drill frame, 224. First telescopic cylinder for posture adjustment, 225. Second telescopic cylinder for posture adjustment, 31. Support seat, 311. Sliding block, 32. First telescopic cylinder, 331. Front wheel seat, 332. Rear wheel seat, 34. Steering motor, 35. First roller, 36. Drive Motor, 37, second roller, 41, transmission shaft, 42, main bevel gear, 43, slave bevel gear, 44, wheel axle, 45, driving wheel, 46, passive wheel, 47, transmission belt, 51, second telescopic cylinder, 52, support column, 53, support plate, 6, camera, 71, dust suction sleeve, 711, dust suction hole, 72, dust suction pipeline, 73, dust absorption storage device, 74, dust sealing cover, 75, weighing sensor. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Certain embodiments of the present invention will be described more comprehensively with reference to the accompanying drawings, in which some but not all embodiments will be shown. In fact, the various embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets applicable legal requirements.

[0053] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "back" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0054] In an embodiment of the present invention, a self-propelled drilling device and method are provided. Please refer to Figures 1 to 7 shown.

[0055] A self-propelled drilling equipment comprises a base 1, a drilling rig body, a travel drive mechanism, a lifting drive mechanism, a travel state recognition unit and a control unit.

[0056] The base 1 is a frame structure, which supports various components thereon.

[0057] The drill body is arranged on the base 1, and the drill body includes a drill body 21 and a posture adjustment mechanism. A drill rod 211 and a drill bit 212 are arranged at the front end of the drill body 21, and the drill bit 212 is driven by the drill rod 211 to rotate to perform drilling operations on the coal wall of the roadway.

[0058] The posture adjustment mechanism includes a drilling rig base 221 , a rotating support 222 , a rotating motor, a drilling rig frame 223 , a first posture adjustment telescopic cylinder 224 and a second posture adjustment telescopic cylinder 225 .

[0059] The drilling rig seat 221 is rotatably connected to the base 1 via the rotating support 222. A gear ring is provided on the circumferential side of the drilling rig seat 221. A rotating motor is provided on the base 1. The output end of the rotating motor is connected to a driving gear, which meshes with the gear ring. The output end of the rotating motor drives the driving gear to rotate, thereby driving the gear ring and the drilling rig seat 221 to rotate, thereby changing the swing angle of the drilling rig body along the horizontal direction.

[0060] The lower end of the drilling rig frame 223 is hinged to the drilling rig base 221, the upper end of the drilling rig frame 223 is hinged to the drilling rig body 21, one end of the first posture adjustment telescopic cylinder 224 is hinged to the drilling rig base 221, the other end of the first posture adjustment telescopic cylinder 224 is hinged to the drilling rig frame 223, one end of the second posture adjustment telescopic cylinder 225 is hinged to the drilling rig frame 223, and the other end of the second posture adjustment telescopic cylinder 225 is hinged to the drilling rig body 21. The telescopic end of the first posture adjustment telescopic cylinder 224 is telescoped relative to the fixed end to change the pitch angle of the drilling rig frame 223 relative to the drilling rig base 221. The telescopic end of the second posture adjustment telescopic cylinder 225 is telescoped relative to the fixed end to change the pitch angle of the drilling rig body 21 relative to the drilling rig frame 223. The drilling angle of the drilling rig body 21 is changed by changing the telescopic amount of the first posture adjustment telescopic cylinder 224 and the second posture adjustment telescopic cylinder 225.

[0061] The travel driving mechanism is arranged on the base 1 and is used for driving the base 1 to move.

[0062] The travel driving mechanism includes a support seat 31 , a first telescopic cylinder 32 , a front wheel seat 331 , a steering motor 34 , a first roller 35 , a driving motor 36 and a second roller 37 .

[0063] The support seat 31 is provided with a slider 311, and the base 1 is provided with a slide rail 11, which is provided along the front and rear directions. The slider 311 slides and cooperates with the slide rail 11, and the support seat 31 can move forward and backward relative to the base 1. The cylinder end of the first telescopic cylinder 32 is connected to the base 1, and the telescopic end of the first telescopic cylinder 32 is connected to the support seat 31. The telescopic end of the first telescopic cylinder 32 is extended and retracted relative to the cylinder end to drive the support seat 31 to move forward and backward relative to the base 1.

[0064] A pair of front wheel seats 331 are provided on the support seat 31 along the left and right directions. The upper ends of the front wheel seats 331 are connected to the support seat 31 via horizontal bearings to rotatably connect to the support seat 31. The front wheel seats 331 can rotate horizontally relative to the support seat 31.

[0065] The steering motor 34 is disposed on the support base 31, and the output end of the steering motor 34 is connected to the front wheel seat 331 via a transmission mechanism, driving the front wheel seat 331 to rotate horizontally relative to the support base 31. The front wheel seat 331 rotates horizontally relative to the support base 31 to realize the turning action of the base 1.

[0066] Each front wheel seat 331 is rotatably connected to a first roller 35, and a driving motor 36 is arranged on the front wheel seat 331, and the output shaft of the driving motor 36 is connected to the first roller 35. The output shaft of the driving motor 36 rotates to drive the first roller 35 to rotate, thereby realizing the travel of the base 1.

[0067] The transmission mechanism includes a transmission shaft 41 , a main bevel gear 42 , a secondary bevel gear 43 , a wheel axle 44 , a driving wheel 45 , a driven wheel 46 and a transmission belt 47 .

[0068] The transmission shaft 41 is rotatably connected to the support seat 31 via a bearing, main bevel gears 42 are arranged at both ends of the transmission shaft 41, a wheel shaft 44 is arranged on the front wheel seat 331, a secondary bevel gear 43 is arranged on the wheel shaft 44, the main bevel gear 42 is meshed with the secondary bevel gear 43, and the output end power of the steering motor 34 is connected to the transmission shaft 41 to drive the transmission shaft 41 to rotate. Specifically, the output end of the steering motor 34 is connected to the driving wheel 45, a passive wheel 46 is arranged on the transmission shaft 41, and a transmission belt 47 is connected between the driving wheel 45 and the passive wheel 46.

[0069] The output end of the steering motor 34 drives the driving wheel 45 to rotate, and drives the driven wheel 46 and the transmission shaft 41 to rotate through the transmission belt 47. The transmission shaft 41 rotates to drive the main bevel gear 42 to rotate. The main bevel gear 42 rotates to drive the slave bevel gear 43 and the axle 44 to rotate, thereby driving the front wheel seat 331 to rotate horizontally relative to the support seat 31.

[0070] A pair of rear wheel seats 332 are provided at the rear end of the base 1 along the left and right directions. The upper ends of the rear wheel seats 332 are connected to the base 1 via horizontal bearings so as to be rotatably connected to the base 1. The rear wheel seats 332 can rotate horizontally relative to the base 1, and each rear wheel seat 332 is rotatably connected to a second roller 37.

[0071] A lifting drive mechanism is disposed at each of the four corners of the base 1, and the lifting drive mechanism is used to drive the base 1 to rise and fall.

[0072] The lifting drive mechanism includes a second telescopic cylinder 51, a support column 52 and a support plate 53. The second telescopic cylinder 51 is arranged on the base 1. The second telescopic cylinder 51 is arranged vertically. The telescopic end of the second telescopic cylinder 51 is connected to the upper end of the support column 52, and the lower end of the support column 52 is connected to the support plate 53.

[0073] The driving state recognition unit is used to recognize the driving state of the base 1. In this embodiment, the driving state recognition unit includes a positioning module and a camera 6, and the camera 6 is arranged at the lower end of the base 1. Through the positioning module, the position of the base 1 can be determined in real time, and the coal mine floor can be photographed in real time through the camera 6. When the driving motor 36 rotates, and the positioning module monitors that the position of the base 1 remains unchanged, when the camera 6 photographs the coal mine floor and finds that there is an obstacle blocking the first roller 35, it can be determined whether the base 1 is trapped and cannot move.

[0074] The control unit is configured as a single chip microcomputer, which is respectively connected to the control ends of the travel drive mechanism, the lifting drive mechanism and the travel state recognition unit by signals, and controls the travel drive mechanism and the lifting drive mechanism to operate according to the travel state of the base 1.

[0075] The dust removal unit includes a dust suction sleeve 71, a dust suction pipeline 72 and a dust absorption storage device 73;

[0076] The dust suction sleeve 71 is arranged on the drilling rig body 21 , and the drill rod 211 of the drilling rig body 21 passes through the dust suction sleeve 71 . A plurality of dust suction holes 711 are provided on the circumferential side of the dust suction sleeve 71 . The outer end of the dust suction sleeve 71 is connected to the dust absorption storage device via the dust suction pipeline 72 .

[0077] At the beginning of the drilling operation, the dust suction sleeve 71 is inserted into the drill hole. During the drilling operation, the dust absorption storage device is activated to absorb the dust in the drill hole through the dust suction sleeve 71 and the dust suction pipeline 72 into the dust absorption storage device, thereby preventing dust from accumulating around the drill bit 212 and the drill rod 211 and reducing the amount of dust overflowing into the tunnel.

[0078] The dust removal unit further includes a dust cover 74, which is located at the outer end of the dust suction sleeve 71 and arranged along the circumference of the dust suction sleeve 71. When the dust suction sleeve 71 is embedded in the drill hole, the dust cover 74 covers and closes the drill hole to further reduce the amount of dust overflowing from the drill hole to the tunnel.

[0079] The dust absorption storage device 73 is located at the outer end of the lane, and is provided with a pipeline winding mechanism 76. As the base 1 travels a distance, the pipeline winding mechanism 76 releases or winds up the dust suction pipeline 72. A weighing sensor 75 is provided on the dust absorption storage device 73 to monitor the amount of dust collected by the dust absorption storage device 73 in real time.

[0080] A self-propelled drilling method, using the self-propelled drilling equipment described above in this embodiment, the method selectively operates in a driving mode, an escape mode, and a drilling mode:

[0081] 1. Driving Mode

[0082] The control unit controls the driving motor 36 to drive the first roller 35 to rotate, and the control unit controls the steering motor 34 to drive the first roller 35 to rotate a set angle, so as to realize the straight-moving and turning driving of the base 1.

[0083] 2. Escape Mode

[0084] When the driving state recognition unit recognizes that the base 1 is blocked by an obstacle and cannot move, the control unit controls the telescopic end of the second telescopic cylinder 51 to extend relative to the cylinder end to drive the base 1 and the first roller 35 to rise, so that the first roller 35 is off the ground; the control unit controls the telescopic end of the first telescopic cylinder 32 to extend relative to the cylinder end to drive the support seat 31 and the first roller 35 to move relative to the base 1, and change the projection position of the first roller 35 on the ground; the control unit controls the telescopic end of the second telescopic cylinder 51 to retract relative to the cylinder end to drive the base 1 and the first roller 35 to descend, so that the first roller 35 contacts the ground. At this time, continue to switch to the driving mode to realize the straight and turning driving of the base 1.

[0085] 3. Drilling Mode

[0086] After the base 1 moves to the drilling position, the control unit controls the telescopic end of the second telescopic cylinder 51 of the four lifting drive mechanisms to extend relative to the cylinder body end, so as to drive the base 1 and the first roller 35 and the second roller 37 to rise, so that the first roller 35 and the second roller 37 are separated from the ground, and the drilling rig body 21 performs drilling operations. At this time, the self-propelled drilling equipment only contacts the ground through the four support plates 53, and the first roller 35 and the second roller 37 do not contact the ground, so that the support stability of the self-propelled drilling equipment is relatively high. During the drilling operation, the dust generated by the drilling is absorbed and stored by the dust removal unit. In the drilling mode, the telescopic end of the second telescopic cylinder 51 extends relative to the cylinder body end, the first roller 35 and the second roller 37 are separated from the ground, and the support plate 53 contacts the ground, so as to achieve stable support for the drilling rig during the drilling operation.

[0087] So far, the present embodiment has been described in detail in conjunction with the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the self-propelled drilling equipment and method of the present invention. The self-propelled drilling equipment and method of the present invention can operate in driving mode and escape mode to achieve the driving and escape actions of the equipment, and improve the passability of the equipment on the complex floor of the coal mine; and, before the drilling operation, it can operate in the drilling mode to achieve stable support for the drilling rig during the drilling operation; in addition, during the drilling operation, the dust generated by the drilling is absorbed and stored by the dust removal unit to avoid dust accumulation around the drill bit and drill rod, and reduce the amount of dust overflow into the tunnel.

[0088] Of course, the specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A self-propelled drilling equipment, characterized in that: include: Base; The drilling rig body is arranged on the base; A travel driving mechanism is arranged on the base and is used to drive the base to move; A lifting drive mechanism is arranged on the base and is used to drive the base to rise and fall; A driving state recognition unit, used for recognizing the driving state of the base; The control unit is respectively connected to the control ends of the travel drive mechanism, the lifting drive mechanism and the travel state recognition unit by signals, and controls the travel drive mechanism and the lifting drive mechanism to act according to the travel state of the base.

2. The self-propelled drilling equipment according to claim 1, characterized in that: The travel drive mechanism comprises a support seat, a first telescopic cylinder, a wheel seat, a steering motor, a first roller and a drive motor; The support seat is slidably matched with the base, and the support seat can move relative to the base; The cylinder body end and the telescopic end of the first telescopic cylinder are respectively connected to the base and the support seat, and the telescopic end of the first telescopic cylinder is extended and retracted relative to the cylinder body end to drive the support seat to move relative to the base; The wheel seat is rotatably connected to the support seat, and the wheel seat can rotate horizontally relative to the support seat; The steering motor is arranged on the support seat, and the output end of the steering motor is connected to the wheel seat via a transmission mechanism, driving the wheel seat to rotate horizontally relative to the support seat; The wheel seat is rotatably connected to the first roller; The driving motor is arranged on the wheel seat, and the driving motor is connected to the first roller by power.

3. The self-propelled drilling equipment according to claim 2, characterized in that: The transmission mechanism comprises a transmission shaft, a main bevel gear, a slave bevel gear and a wheel axle; The transmission shaft is rotatably connected to the support seat via a bearing, and the main bevel gear is arranged at at least one end of the transmission shaft; The wheel seat is provided with the wheel axle, and the secondary bevel gear is provided on the wheel axle; The main bevel gear is meshed with the slave bevel gear; The output end power of the steering motor is connected to the transmission shaft to drive the transmission shaft to rotate.

4. The self-propelled drilling equipment according to claim 3, characterized in that: The transmission mechanism also includes a driving wheel, a driven wheel and a transmission belt; The output end of the steering motor is connected to the driving wheel, the driven wheel is arranged on the transmission shaft, and the transmission belt is connected between the driving wheel and the driven wheel.

5. The self-propelled drilling equipment according to claim 2, characterized in that: The travel drive mechanism also includes a second roller, and the second roller is rotatably connected to the base.

6. The self-propelled drilling equipment according to claim 1, characterized in that: The lifting drive mechanism comprises a second telescopic cylinder, a support column and a support plate; The second telescopic cylinder is disposed on the base, and the second telescopic cylinder is arranged vertically. The telescopic end of the second telescopic cylinder is connected to the upper end of the support column, and the lower end of the support column is connected to the support plate.

7. The self-propelled drilling equipment according to claim 1, characterized in that: It also includes a dust removal unit, which includes a dust suction sleeve, a dust suction pipeline and a dust absorption storage device; The dust suction sleeve is arranged on the drilling rig body, the drill rod of the drilling rig body passes through the dust suction sleeve, a plurality of dust suction holes are arranged on the circumferential side of the dust suction sleeve, and the outer end of the dust suction sleeve is connected to the dust absorption storage device through a dust suction pipeline.

8. The self-propelled drilling equipment according to claim 7, characterized in that: The dust removal unit further includes a dust sealing cover, which is located at the outer end of the dust suction sleeve and arranged along the circumference of the dust suction sleeve.

9. The self-propelled drilling equipment according to claim 1, characterized in that: The driving state recognition unit includes a positioning module and / or a camera.

10. A self-propelled drilling method, using the self-propelled drilling equipment according to any one of claims 1 to 9, characterized in that: The method selectively operates in driving mode, escape mode and drilling mode:

1. Driving Mode The control unit controls the driving motor to drive the first roller to rotate, and the control unit controls the steering motor to drive the first roller to rotate a set angle, so as to realize straight and turning travel of the base; 2. Escape Mode When the driving state recognition unit recognizes that the base is blocked by an obstacle and cannot move, the control unit controls the telescopic end of the second telescopic cylinder to extend relative to the cylinder body end, so as to drive the base and the first roller to rise, so that the first roller is off the ground; the control unit controls the telescopic end of the first telescopic cylinder to extend relative to the cylinder body end, so as to drive the support seat and the first roller to move relative to the base, so as to change the projection position of the first roller on the ground; the control unit controls the telescopic end of the second telescopic cylinder to retract relative to the cylinder body end, so as to drive the base and the first roller to descend, so that the first roller contacts the ground; 3. Drilling Mode After the base moves to the drilling position, the control unit controls the telescopic end of the second telescopic cylinder to extend relative to the cylinder body end to drive the base and the first roller and the second roller to rise, so that the first roller and the second roller are separated from the ground, and the drilling rig body performs drilling operations.

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