Underground coal mine double-lifting-platform high-position trepanning drilling machine and anti-rollover method of drilling machine

Abstract

The invention provides an underground coal mine double-lifting-platform high-position trepanning drilling machine and a drilling machine rollover prevention method.The drilling machine comprises a drilling machine crawler car body, rollover prevention devices are arranged on the upper portion and the periphery of the drilling machine crawler car body, and working lifting devices are installed on the longitudinal rear sides of the rollover prevention devices; an angle adjusting device is rotatably mounted on the top surface of the working lifting device, and a drilling device is movably arranged on the angle adjusting device; an auxiliary lifting device is mounted on the longitudinal front side of the anti-rollover device; according to the method, in the construction process of the drilling machine, whether the drilling machine has rollover danger or not is judged according to the anti-overturning moment. The device has the characteristics of large horizontal tapping height and drilling angle adjusting range and flexible operation and moving, and can meet the requirements of rapid alternate construction with a heading machine and tapping construction along the coal seam height; the anti-rollover capacity in the drilling construction process can be effectively improved, and reliable technical support is provided for safe construction of coal mine underground drilling.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mine drilling, and relates to a drilling rig for underground coal mine drilling construction, and specifically relates to an underground coal mine double lifting platform high-position hole-opening drilling rig and a method for preventing the drilling rig from rolling over. Background Art

[0002] Coal seam drilling construction in underground coal mines is mainly used for the exploration of hidden factors in coal seams and the construction of subsequent construction channels. However, during the construction process, high-level gangue layers are often encountered on the side walls of the tunnels, and there are thick coal seams to be mined between the upper part and the roof. The drilling rigs currently used have the following two main problems: First, when performing near-horizontal drilling construction, it is difficult to adjust the height of the drilling device, so there will be problems such as low hole height and large hole angle, which will cause the final hole position of the drilling to fail to meet the requirements of subsequent mining for gas, water and other disasters. In addition, the overall size of the drilling rig used in the coal mine excavation working face is too large, making it difficult to alternate with the tunneling machine, and the mobility is poor; at the same time, high-opening drilling along the coal seam is required behind the tunneling machine, and the angle adjustment mechanism of the construction drilling rig used has a small adjustment range, which is difficult to meet the requirements of high-opening construction. Second, when performing high-hole drilling construction, due to the high hole height of the main machine, the angle adjustment device is in a high position, and the center of gravity of the whole machine is biased upward. Therefore, when encountering complex formations during drilling or drilling, the main machine will shake violently, which can easily cause the drilling rig to overturn and cause a drilling construction safety accident. Summary of the invention

[0003] In view of the defects and shortcomings of the prior art, one of the objects of the present invention is to provide a high-position hole-opening drill rig and a method for preventing the drilling rig from rolling over in a double-lifting platform underground in a coal mine, so as to solve the technical problem in the prior art that it is difficult for the drilling rig to flexibly adjust the hole opening height and angle of the drilling device when performing near-horizontal drilling construction.

[0004] In view of the defects and shortcomings of the prior art, another object of the present invention is to provide a method for preventing a drilling rig from rolling over, so as to solve the technical problem in the prior art that when performing high-hole drilling construction, the drilling rig is easily caused to roll over when it shakes sharply because the center of gravity of the drilling rig is biased upward.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0006] A high-position hole-opening drill rig with double lifting platforms in an underground coal mine comprises a drill crawler body, a working lifting device is arranged on the longitudinal rear side above the drill crawler body, an angle adjustment device is rotatably mounted on the top surface of the working lifting device, and a drilling device is movably arranged on the angle adjustment device; an auxiliary lifting device is arranged on the longitudinal front side above the drill crawler body.

[0007] The working lifting device comprises a working lifting base installed on the anti-rollover device, a working lifting platform is arranged above the working lifting base, and a working lifting telescopic frame is arranged between the working lifting base and the working lifting platform; tracks are provided inside the working lifting platform and the working lifting base, and the top and bottom ends of the working lifting telescopic frame are respectively movably installed in the tracks of the working lifting platform and the working lifting base.

[0008] The working lifting telescopic frame includes at least one working lifting oil cylinder and multiple working lifting telescopic frame connecting rods, and the working lifting oil cylinder and the multiple working lifting telescopic frame connecting rods are hinged to each other; under the drive of the working lifting oil cylinder, the top and bottom ends of the working lifting telescopic frame move along the longitudinal direction, and the height of the working lifting telescopic frame and the working lifting platform changes accordingly.

[0009] The angle adjustment device includes a first swivel bearing installed on the working lifting platform, a pair of upper cylinders and a lifting cylinder are rotatably installed on the first swivel bearing, and the lifting cylinder is arranged between the pair of upper cylinders; a support is movably installed on the pair of upper cylinders, the lifting cylinder is connected to the support, and the support can move along the axial direction of the upper cylinder; a second swivel bearing is installed on the longitudinal front side of the support, a vertical plate is installed on the longitudinal front side of the second swivel bearing, a cross support is fixedly installed on the bottom end of the vertical plate, and a drilling device is fixedly installed on the cross support.

[0010] The auxiliary lifting device includes an auxiliary lifting base installed on the anti-rollover device, an auxiliary lifting platform is arranged above the auxiliary lifting base, and an auxiliary lifting telescopic frame is arranged between the auxiliary lifting base and the auxiliary lifting platform; the auxiliary lifting platform and the auxiliary lifting base are both provided with tracks inside, and the top and bottom ends of the auxiliary lifting telescopic frame are respectively movably installed in the tracks of the auxiliary lifting platform and the auxiliary lifting base.

[0011] The auxiliary lifting and telescopic frame includes at least one auxiliary lifting cylinder and multiple auxiliary lifting and telescopic frame connecting rods, and the auxiliary lifting cylinder and the multiple auxiliary lifting and telescopic frame connecting rods are hinged to each other; under the drive of the auxiliary lifting cylinder, the top and bottom ends of the auxiliary lifting and telescopic frame move along the longitudinal direction, and the height of the auxiliary lifting and telescopic frame and the auxiliary lifting platform changes accordingly.

[0012] The present invention also has the following technical features:

[0013] Anti-rollover devices are arranged above and around the drilling rig crawler body; the anti-rollover device includes a body platform arranged above the drilling rig crawler body, and the first stable leg, the second stable leg, the third stable leg and the fourth stable leg are arranged around the anti-rollover device, and the first stable leg, the second stable leg, the third stable leg and the fourth stable leg are arranged opposite to each other in pairs; one end of the first telescopic leg, the second telescopic leg, the third telescopic leg and the fourth telescopic leg are respectively installed on the inner sides of the first stable leg, the second stable leg, the third stable leg and the fourth stable leg, and the other ends of the first telescopic leg, the second telescopic leg, the third telescopic leg and the fourth telescopic leg are connected to the anti-rollover device.

[0014] The first stable leg, the second stable leg, the third stable leg and the fourth stable leg are respectively provided with pressure sensors and displacement sensors; the first telescopic leg, the second telescopic leg, the third telescopic leg and the fourth telescopic leg are respectively provided with displacement sensors; the working lifting cylinder is provided with a displacement sensor; the upper lifting cylinder is provided with a displacement sensor and a pressure sensor; the lifting cylinder is provided with a displacement sensor and a pressure sensor; the auxiliary lifting cylinder is provided with a displacement sensor.

[0015] The bottom ends of the first stabilizing leg, the second stabilizing leg, the third stabilizing leg and the fourth stabilizing leg are respectively installed with lower grounding seats; the top end of the upper oil cylinder is installed with an upper grounding seat.

[0016] A stable bracket is arranged around the working lifting base; the stable bracket includes multiple stable columns, which are symmetrically arranged in pairs, and multiple stable beams are fixedly installed on the stable columns; the working lifting platform is movably installed on the stable columns, and the working lifting platform can move in the vertical direction along the stable columns.

[0017] A drill rod bin is arranged on one lateral side of the top surface of the auxiliary lifting platform.

[0018] A drilling operating platform is arranged on the longitudinal front side of the top surface of the auxiliary lifting platform.

[0019] An auxiliary operating console is installed on the longitudinal front side of the drilling rig crawler vehicle body.

[0020] The present invention also protects a method for preventing a drilling rig from rolling over, which is implemented using the coal mine underground double-lifting platform high-position hole-opening drilling rig as described above; during the drilling rig construction process, this method determines whether the drilling rig is in danger of rolling over based on the size of the anti-overturning moment; if the judgment result is that the drilling rig is in danger of rolling over, the parameters of the drilling rig are adjusted, and the parameters of the drilling rig include feed force, azimuth, inclination, pull-out force and stabilizing pressure.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] (I) The present invention proposes that the drilling rig adopts a double lifting platform system consisting of a working lifting device and an auxiliary lifting device, and an angle adjustment device is set on the working lifting device to achieve height and angle adjustment of the drilling device; with the drilling rig crawler body as the walking mechanism, the overall width of the drilling rig is narrow, which improves the convenience of movement. The device has the characteristics of a large adjustment range of horizontal hole height and drilling angle, and flexible operation and relocation, which can meet the needs of rapid alternating construction with the tunneling machine and high hole construction along the coal seam.

[0023] (II) The present invention designs an anti-rollover device, a plurality of displacement sensors and a pressure sensor on the drilling rig, which together constitute an anti-rollover system, which is mainly aimed at the phenomenon that the drilling rig is prone to rollover when violent shaking occurs during the high-opening drilling construction, causing drilling construction safety accidents; the anti-rollover system calculates the anti-overturning moment during the drilling rig construction process, and then determines whether the drilling rig is in danger of rollover according to the size of the anti-overturning moment; if the judgment result is that the drilling rig is in danger of rollover, the parameters of the drilling rig are adjusted, which can effectively improve the anti-rollover capability during the drilling construction process and provide reliable technical support for the safe construction of underground drilling in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a double-lifting platform high-position hole drilling rig in an underground coal mine.

[0025] Figure 2 This is a side view of a double-lifting platform high-position hole drilling rig in an underground coal mine.

[0026] Figure 3 It is a schematic diagram of the structure of the working lifting device and the auxiliary lifting device.

[0027] Figure 4 This is a top view of the high-position hole drilling rig with a double lifting platform in an underground coal mine.

[0028] Figure 5 It is a structural schematic diagram of the angle adjustment device.

[0029] Figure 6 This is the rear view of the angle adjustment device.

[0030] Figure 7 This is a schematic diagram of the structure of the anti-rollover device.

[0031] The meanings of the numbers in the figure are: 1-drilling rig crawler body, 2-anti-rollover device, 3-working lifting device, 4-angle adjustment device, 5-drilling device, 6-auxiliary lifting device, 7-stable support, 8-drill rod magazine, 9-guardrail, 10-drilling control panel, 11-auxiliary control panel, 12-jib.

[0032] 201 - vehicle body platform, 202 - first stabilizing leg, 203 - second stabilizing leg, 204 - third stabilizing leg, 205 - fourth stabilizing leg, 206 - first telescopic leg, 207 - second telescopic leg, 208 - third telescopic leg, 209 - fourth telescopic leg, 210 - lower grounding base.

[0033] 301-working lifting base, 302-working lifting platform, 303-working lifting telescopic frame.

[0034] 401-first slewing bearing, 402-upper oil cylinder, 403-lifting oil cylinder, 404-support, 405-second slewing bearing, 406-vertical plate, 407-cross support, 408-upper grounding seat, 409-slewing bearing motor, 410-circular plate.

[0035] 601- auxiliary lifting base, 602- auxiliary lifting platform, 603- auxiliary lifting telescopic frame;

[0036] 701-stable columns, 702-stable beams.

[0037] 30301-working lifting cylinder, 30302-working lifting telescopic frame connecting rod.

[0038] 60301-Auxiliary lifting cylinder, 60302-Auxiliary lifting telescopic frame connecting rod.

[0039] The technical solution of the present invention is further described below in conjunction with embodiments. DETAILED DESCRIPTION

[0040] It should be noted that, in the present invention, "x", "y", and "z" in the formula represent x, y, and z directions, and the x, y, and z directions are respectively consistent with the longitudinal, lateral, and vertical directions.

[0041] It should be noted that all parts and devices used in the present invention, unless otherwise specified, are parts and devices known in the art. For example, the drilling device (5) uses a conventional drilling device known in the prior art, including a clamp, a power head, a feed body and other structures, for drilling construction.

[0042] In accordance with the above technical scheme, specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical scheme of this application fall within the protection scope of the present invention.

[0043] Embodiment 1:

[0044] This embodiment provides a high-position hole drilling machine with double lifting platforms in underground coal mines, such as Figure 1 and Figure 2As shown, it includes a drilling rig crawler body 1, a working lifting device 3 is arranged on the longitudinal rear side above the drilling rig crawler body 1, an angle adjustment device 4 is rotatably installed on the top surface of the working lifting device 3, and a drilling device 5 is movably arranged on the angle adjustment device 4; an auxiliary lifting device 6 is arranged on the longitudinal front side above the drilling rig crawler body 1. In this embodiment, the working lifting device 3 is installed on the upper part of the drilling rig crawler body 1, and the angle adjustment device 4 is installed on the upper part thereof for primary adjustment of the opening height; the drilling device 5 is installed on the angle adjustment device 4 for adjustment of the inclination angle and azimuth angle, and secondary adjustment of the opening height; the auxiliary lifting device 6 is installed on the upper part of the drilling rig crawler body 1, and a drilling control console 10 is installed on it for manual loading and unloading of drill rods and drilling construction operation platform.

[0045] like Figure 3 As shown, the working lifting device 3 includes a working lifting base 301 installed on the vehicle body platform 201, a working lifting platform 302 is arranged above the working lifting base 301, and a working lifting telescopic frame 303 is arranged between the working lifting base 301 and the working lifting platform 302; tracks are provided inside the working lifting platform 302 and the working lifting base 301, and the top and bottom ends of the working lifting telescopic frame 303 are movably installed in the tracks of the working lifting platform 302 and the working lifting base 301 respectively; in this embodiment, the working lifting telescopic frame 30 3 adopts a multi-section articulated connecting rod structure, and through the action of the working lifting oil cylinder 30301, the connection between the working lifting platform 302 and the working lifting base 301 slides left and right, so as to achieve the height adjustment of the working lifting platform 302, so that the drilling device 5 can meet the hole opening height required by the drilling construction; the working lifting base 301 is welded to the upper part of the drilling rig crawler body 1 by bolts or a bottom plate, and a pulley track is provided inside the working lifting platform 302; the pulley track is also provided inside the working lifting platform 302, which is used for the working lifting telescopic frame 303 to slide inside during the telescopic process.

[0046] like Figure 3 As shown, the working lifting and telescopic frame 303 includes at least one working lifting cylinder 30301 and multiple working lifting and telescopic frame connecting rods 30302, and the working lifting cylinder 30301 and the multiple working lifting and telescopic frame connecting rods 30302 are hinged to each other; under the drive of the working lifting cylinder 30301, the top and bottom ends of the working lifting and telescopic frame 303 move along the longitudinal direction, and the height of the working lifting and telescopic frame 303 and the working lifting platform 302 changes accordingly; in this embodiment, the working lifting cylinder 30301 is used for the extension and retraction of the working lifting and telescopic frame 303.

[0047] like Figure 5 and Figure 6As shown, the angle adjustment device 4 includes a first swivel bearing 401 installed on the working lifting platform 302, a pair of upper cylinders 402 and a lifting cylinder 403 are rotatably installed on the first swivel bearing 401, and the lifting cylinder 403 is arranged between the pair of upper cylinders 402; a support 404 is movably installed on the pair of upper cylinders, and the lifting cylinder 403 is connected to the support 404, and the support 404 can move along the axial direction of the upper cylinder 402; a second swivel bearing 405 is installed on the longitudinal front side of the support 404, and a vertical plate 406 is installed on the longitudinal front side of the second swivel bearing 405, and a cross bracket 407 is fixedly installed on the bottom end of the vertical plate 406, and a drilling device 5 is fixedly installed on the cross bracket 407.

[0048] In this embodiment, the support 404 is sleeved on the outer cylinder of the upper oil cylinder 402, and is connected to the outer cylinder of the lifting oil cylinder 403 by bolts to form a whole. As the piston of the lifting oil cylinder 403 expands and contracts, the outer cylinder of the lifting oil cylinder 403 moves and causes the support 404 to slide synchronously on the outer cylinder of the upper oil cylinder 402, thereby realizing secondary height adjustment of the drilling device 5. The upper oil cylinder 402 is symmetrically arranged on both sides of the lifting oil cylinder 403 to increase the stability of the drilling state.

[0049] In this embodiment, the first slewing bearing 401 is used to achieve azimuth adjustment of the drilling device 5; the first slewing bearing 401 includes an outer ring and an inner ring, the inner ring can rotate relative to the outer ring, the outer ring of the first slewing bearing 401 is fixedly installed on the working lifting platform 302 by bolts, and a circular plate 410 is fixedly installed on the top of the inner ring of the first slewing bearing 401, and the circular plate 410 is connected to the upper cylinder 402 and the lifting cylinder 403 by bolts, thereby realizing the installation layout of the upper cylinder 402 and the lifting cylinder 403. With the rotation of the inner ring of the first slewing bearing 401, the circular plate 410, the upper cylinder 402, and the lifting cylinder 403 are driven to rotate synchronously.

[0050] In this embodiment, the second slewing bearing 405 is used for adjusting the inclination angle of the drilling device 5; the second slewing bearing 405 includes an outer ring and an inner ring, the inner ring can rotate relative to the outer ring, the outer ring of the second slewing bearing 405 is fixedly mounted on the support 404 by bolts, the inner ring of the second slewing bearing 405 is connected to the vertical plate 406 by bolts, the vertical plate 406 and the horizontal bracket 407 are welded at 90° to form a whole, and the drilling device 5 is installed thereon, and as the inner ring of the second slewing bearing 405 rotates, the vertical plate 406, the horizontal bracket 407 and the drilling device 5 are driven to rotate synchronously.

[0051] like Figure 3As shown, the auxiliary lifting device 6 includes an auxiliary lifting base 601 installed on the vehicle body platform 201, an auxiliary lifting platform 602 is arranged above the auxiliary lifting base 601, and an auxiliary lifting telescopic frame 603 is arranged between the auxiliary lifting base 601 and the auxiliary lifting platform 602; the auxiliary lifting platform 602 and the auxiliary lifting base 601 are both provided with tracks inside, and the top and bottom ends of the auxiliary lifting telescopic frame 603 are movably installed in the tracks of the auxiliary lifting platform 602 and the auxiliary lifting base 601 respectively; in this embodiment, the structure of the auxiliary lifting telescopic frame 603 is exactly the same as that of the working lifting telescopic frame 303; The telescopic frame 603 adopts a multi-section articulated connecting rod structure. Through the action of the auxiliary lifting cylinder 60301, the connection between it and the auxiliary lifting platform 602 and the auxiliary lifting base 601 slides left and right, thereby realizing the height adjustment of the auxiliary lifting platform 602, so that the construction personnel on the auxiliary lifting platform 602 can complete the process of loading and unloading drill rods and the height requirement for convenient observation of the drilling construction situation; the auxiliary lifting base 601 is welded to the upper part of the drilling rig crawler body 1 by bolts or a bottom plate, and a pulley track is opened inside it; the auxiliary lifting platform 602 is also provided with a pulley track, which is used for sliding inside it during the extension and retraction process of the auxiliary lifting telescopic frame 603.

[0052] like Figure 3 As shown, the auxiliary lifting and telescopic frame 603 includes at least one auxiliary lifting cylinder 60301 and multiple auxiliary lifting and telescopic frame connecting rods 60302, and the auxiliary lifting cylinder 60301 and the multiple auxiliary lifting and telescopic frame connecting rods 60302 are hinged to each other; under the drive of the auxiliary lifting cylinder 60301, the top and bottom ends of the auxiliary lifting and telescopic frame 603 move along the longitudinal direction, and the heights of the auxiliary lifting and telescopic frame 603 and the auxiliary lifting platform 602 change accordingly; in this embodiment, the auxiliary lifting cylinder 60301 is used for the extension and retraction of the auxiliary lifting and telescopic frame 603.

[0053] As a specific solution of this embodiment, Figure 1 and Figure 2 As shown, an anti-rollover device 2 is arranged above and around the drilling rig crawler body 1; the anti-rollover device 2 includes a body platform 201 arranged above the drilling rig crawler body 1, a working lifting device 3 is installed on the longitudinal rear side of the body platform 201, and an auxiliary lifting device 6 is installed on the longitudinal front side of the body platform 201.

[0054] As a specific solution of this embodiment, Figure 7As shown, the rollover prevention device 2 includes a vehicle body platform 201 arranged above the drilling rig crawler vehicle body 1, and the vehicle body platform 201 is surrounded by a first stabilizing leg 202, a second stabilizing leg 203, a third stabilizing leg 204 and a fourth stabilizing leg 205, and the first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204 and the fourth stabilizing leg 205 are arranged opposite to each other in pairs; the first telescopic legs 202, the second stabilizing leg 203, the third stabilizing leg 204 and the fourth stabilizing leg 205 are respectively installed on the inner sides thereof. 06, one end of the second telescopic leg 207, the third telescopic leg 208 and the fourth telescopic leg 209, and the other ends of the first telescopic leg 206, the second telescopic leg 207, the third telescopic leg 208 and the fourth telescopic leg 209 are connected to the vehicle body platform 201; in this embodiment, the main structures of the first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204, the fourth stabilizing leg 205, the first telescopic leg 206, the second telescopic leg 207, the third telescopic leg 208 and the fourth telescopic leg 209 are all oil cylinders. The first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204 and the fourth stabilizing leg 205 are respectively connected to the first telescopic leg 206, the second telescopic leg 207, the third telescopic leg 208 and the fourth telescopic leg 209 by bolts, and the lower grounding seat 210 connected to the ground is contacted to achieve the stability of the drilling rig. The first telescopic leg 206 , the second telescopic leg 207 , the third telescopic leg 208 and the fourth telescopic leg 209 are used to realize the telescoping of the first stabilizing leg 202 , the second stabilizing leg 203 , the third stabilizing leg 204 and the fourth stabilizing leg 205 , so as to increase the lower stabilizing ground contact area.

[0055] As a specific solution of this embodiment, the first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204 and the fourth stabilizing leg 205 are respectively equipped with pressure sensors and displacement sensors; the first telescopic leg 206, the second telescopic leg 207, the third telescopic leg 208 and the fourth telescopic leg 209 are respectively equipped with displacement sensors; the working lifting cylinder 30301 is provided with a displacement sensor; the upper cylinder 402 is provided with a displacement sensor and a pressure sensor; the lifting cylinder 403 is provided with a displacement sensor and a pressure sensor; and the auxiliary lifting cylinder 60301 is respectively equipped with displacement sensors. In this embodiment, the displacement sensor is used to obtain the displacement value of the piston of the leg and the cylinder, and the pressure sensor is used to obtain the pressure value of the leg and the cylinder.

[0056] As a specific solution of this embodiment, Figure 1 and Figure 2As shown, the bottom ends of the first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204, and the fourth stabilizing leg 205 are respectively installed with lower grounding seats 210. In this embodiment, the lower grounding seats 210 can increase the contact area and friction resistance between each stabilizing leg and the ground.

[0057] As a specific solution of this embodiment, an upper grounding seat 408 is installed at the top of the upper oil cylinder 402. In this embodiment, the upper grounding seat 408 is connected to the piston rod of the upper oil cylinder 402 through a U-shaped card, which can increase the contact area and friction resistance when it contacts the top of the tunnel.

[0058] As a specific solution of this embodiment, a stabilizing bracket 7 is arranged around the working lifting base 301; the stabilizing bracket 7 includes a plurality of stabilizing columns 701, which are symmetrically arranged in pairs, and a plurality of stabilizing beams 702 are fixedly installed on the stabilizing columns 701; the working lifting platform 302 is movably installed on the stabilizing columns 701, and the working lifting platform 302 can move in the vertical direction along the stabilizing columns 701; in this embodiment, the stabilizing columns 701 are manually added after the adjustment of the working lifting telescopic frame 303 is completed, and the adjacent stabilizing columns 701 are connected by the stabilizing beams 702 to form a whole, so that it has better stability.

[0059] As a specific solution of this embodiment, Figure 4 As shown, a drill rod magazine 8 is provided on one lateral side of the top surface of the auxiliary lifting platform 602; in this embodiment, the drill rod magazine 8 is installed in a sinking area opened on the auxiliary lifting platform 602, so as to facilitate the rapid replacement of the drill rod magazine after the drill rod construction is completed.

[0060] As a specific solution of this embodiment, Figure 1 and Figure 2 As shown, a guardrail 9 is provided on the other lateral side of the top surface of the auxiliary lifting platform 602; in this embodiment, the guardrail 9 is installed on the upper part of the auxiliary lifting platform 602 and is welded around it. At the same time, a movable switch door is provided at the personnel entrance of the guardrail 9.

[0061] As a specific solution of this embodiment, Figure 1 As shown, a drilling console 10 is provided on the longitudinal front side of the top surface of the auxiliary lifting platform 602 ; in this embodiment, the drilling console 10 is used to operate the clamp, power head, feeding device, etc. of the drilling device 5 .

[0062] As a specific solution of this embodiment, Figure 1 As shown, an auxiliary operating platform 11 is installed on the longitudinal front side of the drilling rig crawler body 1; in this embodiment, the auxiliary operating platform 11 is mainly used for adjusting the upper and lower stabilizing devices and the side shifting devices, as well as operating the boom 12, the working lifting device 3, and the auxiliary lifting device 6.

[0063] As a specific solution of this embodiment, Figure 1 and Figure 2 As shown, a boom 12 is installed at the longitudinal front end of the drilling rig crawler body 1; the auxiliary operating console 11 is located on a lateral side of the boom 12. In this embodiment, the boom 12 is connected to the side of the drilling rig crawler body 1 by bolts to be used for hoisting the drill rod rack onto the auxiliary lifting device 6.

[0064] As a specific solution of this embodiment, Figure 5 and Figure 6 As shown, the first swivel bearing 401 and the second swivel bearing 405 are each driven by a swivel bearing motor 409 .

[0065] As a specific solution of this embodiment, the first telescopic leg 206 and the fourth telescopic leg 209 are symmetrically arranged and connected to the outer sleeve on one side welded on the vehicle body platform 201, and the second telescopic leg 207 and the third telescopic leg 208 are symmetrically arranged and connected to the outer sleeve on the other side welded on the vehicle body platform 201.

[0066] As a specific and optional solution of this embodiment, Figure 3 As shown, the working lifting and telescopic frame 303 includes a working lifting cylinder 30301 and multiple working lifting and telescopic frame connecting rods 30302. The working lifting and telescopic frame connecting rod 30302 located at the bottom is hinged to the center of the working lifting cylinder 30301, and the top of the working lifting cylinder 30301 is hinged to the adjacent working lifting and telescopic frame connecting rod 30302 above it; the centers of the remaining multiple working lifting and telescopic frame connecting rods 30302 are hinged in pairs, and the ends of the two adjacent working lifting and telescopic frame connecting rods 30302 are hinged.

[0067] As a specific and optional solution of this embodiment, the working lifting and telescopic frame 303 includes two to four working lifting cylinders 30301 and multiple working lifting and telescopic frame connecting rods 30302. The multiple working lifting cylinders 30301 are arranged in sequence from top to bottom in the vertical direction, and the multiple working lifting cylinders 30301 and the multiple working lifting and telescopic frame connecting rods 30302 are hinged to each other.

[0068] As a specific and optional solution of this embodiment, Figure 3As shown, the auxiliary lifting and telescopic frame 603 includes an auxiliary lifting cylinder 60301 and multiple auxiliary lifting and telescopic frame connecting rods 60302. The auxiliary lifting and telescopic frame connecting rod 60302 located at the bottom is hinged to the center of the auxiliary lifting cylinder 60301, and the top of the auxiliary lifting cylinder 60301 is hinged to the auxiliary lifting and telescopic frame connecting rod 60302 adjacent thereto; the centers of the remaining multiple auxiliary lifting and telescopic frame connecting rods 60302 are hinged in pairs, and the ends of the two upper and lower adjacent auxiliary lifting and telescopic frame connecting rods 60302 are hinged.

[0069] As a specific and optional solution of this embodiment, the auxiliary lifting and telescopic frame 603 includes two to four auxiliary lifting cylinders 60301 and multiple auxiliary lifting and telescopic frame connecting rods 60302. The multiple auxiliary lifting cylinders 60301 are arranged in sequence from top to bottom in the vertical direction, and the multiple auxiliary lifting cylinders 60301 and the multiple auxiliary lifting and telescopic frame connecting rods 60302 are hinged to each other.

[0070] Embodiment 2:

[0071] This embodiment provides a method for preventing a drilling rig from rolling over, which is implemented by using the high-position hole-opening drilling rig with double lifting platforms in an underground coal mine of Embodiment 1. The method specifically comprises the following steps:

[0072] Step 1: Get the initial value of each leg:

[0073] Step 1.1, operate the first telescopic leg 206, the second telescopic leg 207, the third telescopic leg 208, and the fourth telescopic leg 209 to fully extend them, and obtain the initial displacement value S of the first telescopic leg through the displacement sensor 206 , the initial displacement value S of the second telescopic leg 207 , the initial displacement value S of the third telescopic leg 208 and the initial displacement value S of the fourth telescopic leg 209 , determine whether each telescopic leg is in place based on the initial displacement value of each telescopic leg.

[0074] Step 1.2: Operate the first stabilizing leg 202, the second stabilizing leg 203, the third stabilizing leg 204, and the fourth stabilizing leg 205 to extend until the drill crawler body 1 is completely off the ground and then stops, and obtain the initial displacement value S of the first stabilizing leg through the displacement sensor. 202 , the initial displacement value S of the second stabilizing leg 203 , the initial displacement value S of the third stabilizing leg 204 and the initial displacement value S of the fourth stabilizing leg 205 , according to the initial displacement value of each stabilizing leg, determine whether each stabilizing leg is in place; the initial pressure value P of the first stabilizing leg is measured by the pressure sensor 202 , the initial pressure value P of the second stabilizing leg203 , the initial pressure value P of the third stabilizing leg 204 and the initial pressure value P of the fourth stabilizing leg 205 .

[0075] Step 1.3, operate the working lifting device 3 and the upper cylinder 402 to make the drilling device 5 reach the designed hole opening height, and obtain the displacement value S of the working lifting cylinder piston on the working lifting device 3 through the displacement sensor. 30301 , calculate the height h3 of the working lifting device; obtain the displacement value S of the upper cylinder through the displacement sensor and pressure sensor respectively 402 And the pressure value P of the upper cylinder 402 , operate the auxiliary lifting device 6 to reach a suitable height, and obtain the displacement value S of the auxiliary lifting cylinder piston on the auxiliary lifting device 6 through the displacement sensor 60301 , calculate the height h6 of the auxiliary lifting device 6.

[0076] Step 1.4, operating the first slewing bearing 401 and the second slewing bearing 405, so that the drilling device 5 meets the designed opening azimuth angle α and inclination angle β.

[0077] Step 1.5, operate the lifting cylinder 403 so that the upper grounding seat 408 at the top of the upper cylinder 402 is in full contact with the top of the tunnel, and obtain the displacement value S of the lifting cylinder through the displacement sensor and the pressure sensor respectively. 403 And the pressure value P of the lifting cylinder 403 .

[0078] Step 2: During the drilling process, obtain the values ​​of each sensor.

[0079] Step 3: During the drilling rig construction process, determine whether the drilling rig is in danger of overturning according to the magnitude of the anti-overturning moment:

[0080] Step 3.1, during the feeding process of the drilling rig construction, the overturning moment is calculated using Formula I; to determine whether the drilling rig is in danger of rolling over, it is usually necessary to set a critical value (threshold). Assuming that this critical value is C1, then: when M1>C1, the drilling rig is in danger of rolling over; when M1≤C1, the drilling rig is not in danger of rolling over. The determination of the specific critical value C1 requires specific analysis and calculation based on factors such as the design parameters, working environment, and load conditions of the drilling rig. Formula I is as follows:

[0081]

[0082] Where:

[0083] M1 represents the overturning moment of the feed force on the drilling rig, in N·m.

[0084] M x1It indicates the overturning moment of the feed force on the drilling rig in the longitudinal direction, in N·m.

[0085] M y1 It indicates the overturning moment of the feed force on the drilling rig in the lateral direction, in N·m.

[0086] M z1 It indicates the overturning moment of the vertical feed force on the drilling rig, in N·m.

[0087] F1 represents feed force, unit is N.

[0088] H x It indicates the centrifugal distance in the longitudinal direction during the feeding process, in m.

[0089] H y It indicates the centrifugal distance in the transverse direction during the feeding process, in m.

[0090] H z It indicates the centrifugal distance in the vertical direction during the feeding process, in m.

[0091] α represents the azimuth angle, in degrees.

[0092] β represents the inclination angle, and its unit is °.

[0093] Step 3.2, during the pulling out process of the drilling rig, the overturning moment is calculated using Formula II; to determine whether the drilling rig is in danger of rolling over, it is usually necessary to set a critical value (threshold). Assuming that this critical value is C2, then: when M2>C2, the drilling rig is in danger of rolling over; when M2≤C2, the drilling rig is not in danger of rolling over. The determination of the specific critical value C2 requires specific analysis and calculation based on factors such as the design parameters, working environment, and load conditions of the drilling rig. Formula II is shown below:

[0094]

[0095] Where:

[0096] M2 is the overturning moment of the pulling force on the drilling rig, in N·m.

[0097] M x2 It indicates the overturning moment of the pull-out force acting on the drilling rig in the longitudinal direction, in N·m.

[0098] M y2 It indicates the overturning moment of the pull-out force acting on the drilling rig in the lateral direction, in N·m.

[0099] M z2 It indicates the overturning moment of the vertical pulling force on the drilling rig, in N·m.

[0100] F2 represents the pull-out force.

[0101] H x It indicates the centrifugal distance in the longitudinal direction during the feeding process, in m.

[0102] H y It indicates the centrifugal distance in the transverse direction during the feeding process, in m.

[0103] H z It indicates the centrifugal distance in the vertical direction during the feeding process, in m.

[0104] α represents the azimuth angle, in degrees.

[0105] β represents the inclination angle, and its unit is °.

[0106] Step 3.3, during the drilling process of the drilling rig construction, the anti-overturning moment is calculated using Formula III; to determine whether the drilling rig is in danger of rolling over, it is usually necessary to set a critical value (threshold). Assuming that this critical value is C3, then: when M3>C3, the drilling rig is in danger of rolling over; when M3≤C3, the drilling rig is not in danger of rolling over. The determination of the specific critical value C3 requires specific analysis and calculation based on factors such as the design parameters, working environment, and load conditions of the drilling rig. Formula III is shown below:

[0107]

[0108] Where:

[0109] M3 represents the anti-overturning moment of the drilling rig during drilling, in N·m.

[0110] M x3 It indicates the anti-overturning moment of the drilling rig in the longitudinal direction during drilling, in N·m.

[0111] M y3 It indicates the anti-overturning moment of the drilling rig in the lateral direction during drilling, in N·m.

[0112] M z3 It indicates the vertical anti-overturning moment of the drilling rig during drilling, in N·m.

[0113] p 403 Indicates the pressure value of the lifting cylinder, in MPa.

[0114] A1 represents the contact area between the upper grounding seat and the top of the tunnel, in m 2 .

[0115] f1 represents the static friction coefficient of the upper grounding seat; the general value is 0.3 to 0.5.

[0116] A2 represents the contact area between the lower grounding base at the bottom of the first stabilizing leg, the second stabilizing leg, the third stabilizing leg, and the bottom of the tunnel, in m 2 .

[0117] f2 represents the static friction coefficient of the lower grounding seat, and the general value is 0.3~0.5.

[0118] H x1 It indicates the eccentric distance of the lifting cylinder in the longitudinal direction, in m.

[0119] H y1 It indicates the eccentric distance of the lifting cylinder in the lateral direction, in m.

[0120] H z1 It indicates the eccentric distance of the lifting cylinder in the vertical direction, in m.

[0121] H x2 It represents the eccentric distance of the third stabilizing leg in the longitudinal direction, in m.

[0122] H x3 It represents the eccentric distance of the fourth stabilizing leg in the longitudinal direction, in m.

[0123] H y2 It represents the eccentric distance of the second stabilizing leg in the transverse direction, in m.

[0124] H y3 It represents the eccentric distance of the third stabilizing leg in the transverse direction, in m.

[0125] H z2 It represents the eccentric distance of the first stabilizing leg in the vertical direction, in m.

[0126] H z3 It represents the eccentric distance of the second stabilizing leg in the vertical direction, in m.

[0127] H z4 It represents the eccentric distance of the third stabilizing leg in the vertical direction, in m.

[0128] H z5 It represents the eccentric distance of the fourth stabilizing leg in the vertical direction, in m.

[0129] Step 3.4, during the drilling process of the drilling rig construction, the anti-overturning moment is calculated using Formula IV; to determine whether the drilling rig is in danger of rolling over, it is usually necessary to set a critical value (threshold). Assuming that this critical value is C4, then: when M4>C4, the drilling rig is in danger of rolling over; when M4≤C4, the drilling rig is not in danger of rolling over. The determination of the specific critical value C4 requires specific analysis and calculation based on factors such as the design parameters, working environment, and load conditions of the drilling rig. Formula IV is shown below:

[0130]

[0131] Where:

[0132] M4 represents the anti-overturning moment of the drilling rig during the drilling process, in N·m.

[0133] M x4 It indicates the anti-overturning moment of the drilling rig in the longitudinal direction during the drilling process, in N·m.

[0134] M y4 It indicates the anti-overturning moment of the drilling rig in the lateral direction during the drilling process, in N·m.

[0135] M z4 It indicates the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, in N·m.

[0136] H x4 It represents the eccentric distance of the first stabilizing leg in the longitudinal direction, in m.

[0137] H x5 It represents the eccentric distance of the second stabilizing leg in the longitudinal direction, in m.

[0138] H y4 It represents the eccentric distance of the first stabilizing leg in the transverse direction, in m.

[0139] H y5 It represents the eccentric distance of the fourth stabilizing leg in the transverse direction, in m.

[0140] H z6 It represents the eccentric distance of the first stabilizing leg in the vertical direction, in m.

[0141] H z7 It represents the eccentric distance of the second stabilizing leg in the vertical direction, in m.

[0142] H z8 It represents the eccentric distance of the third stabilizing leg in the vertical direction, in m.

[0143] H z9 It represents the eccentric distance of the fourth stabilizing leg in the vertical direction, in m.

[0144] Step 4: Determine whether the drilling rig is in danger according to step 3. If there is any abnormality, adjust the relevant parameters of the drilling rig accordingly. If there is no abnormality, continue the construction normally.

Claims

1. A high-position hole-opening drilling rig with double lifting platforms in underground coal mines, comprising a drilling rig crawler body (1), characterized in that: A working lifting device (3) is arranged on the longitudinal rear side above the drilling rig crawler vehicle body (1); an angle adjustment device (4) is rotatably mounted on the top surface of the working lifting device (3); and a drilling device (5) is movably arranged on the angle adjustment device (4); an auxiliary lifting device (6) is arranged on the longitudinal front side above the drilling rig crawler vehicle body (1); The working lifting device (3) comprises a working lifting base (301), a working lifting platform (302) is arranged above the working lifting base (301), and a working lifting telescopic frame (303) is arranged between the working lifting base (301) and the working lifting platform (302); tracks are provided inside the working lifting platform (302) and the working lifting base (301), and the top and bottom ends of the working lifting telescopic frame (303) are movably installed in the tracks of the working lifting platform (302) and the working lifting base (301), respectively; The working lifting and telescopic frame (303) comprises at least one working lifting oil cylinder (30301) and a plurality of working lifting and telescopic frame connecting rods (30302), and the working lifting oil cylinder (30301) and the plurality of working lifting and telescopic frame connecting rods (30302) are hinged to each other; under the drive of the working lifting oil cylinder (30301), the top and bottom ends of the working lifting and telescopic frame (303) move along the longitudinal direction, and the heights of the working lifting and telescopic frame (303) and the working lifting platform (302) change accordingly; The angle adjustment device (4) comprises a first slewing bearing (401) mounted on the working lifting platform (302), a pair of upper oil cylinders (402) and a lifting oil cylinder (403) being rotatably mounted on the first slewing bearing (401), and the lifting oil cylinder (403) being arranged between the pair of upper oil cylinders (402); a support (404) being movably mounted on the pair of upper oil cylinders, and the lifting oil cylinder (403) being connected to the support (404), and the support (404) being movable along the axial direction of the upper oil cylinder (402); a second slewing bearing (405) being mounted on the longitudinal front side of the support (404), a vertical plate (406) being mounted on the longitudinal front side of the second slewing bearing (405), a horizontal support (407) being fixedly mounted on the bottom end of the vertical plate (406), and a drilling device (5) being fixedly mounted on the horizontal support (407); The auxiliary lifting device (6) comprises an auxiliary lifting base (601), an auxiliary lifting platform (602) is arranged above the auxiliary lifting base (601), and an auxiliary lifting telescopic frame (603) is arranged between the auxiliary lifting base (601) and the auxiliary lifting platform (602); tracks are provided inside the auxiliary lifting platform (602) and the auxiliary lifting base (601), and the top and bottom ends of the auxiliary lifting telescopic frame (603) are movably installed in the tracks of the auxiliary lifting platform (602) and the auxiliary lifting base (601), respectively; The auxiliary lifting and telescopic frame (603) comprises at least one auxiliary lifting oil cylinder (60301) and a plurality of auxiliary lifting and telescopic frame connecting rods (60302), wherein the auxiliary lifting oil cylinder (60301) and the plurality of auxiliary lifting and telescopic frame connecting rods (60302) are hinged to each other; under the drive of the auxiliary lifting oil cylinder (60301), the top and bottom ends of the auxiliary lifting and telescopic frame (603) move along the longitudinal direction, and the heights of the auxiliary lifting and telescopic frame (603) and the auxiliary lifting platform (602) change accordingly.

2. The double-lift platform high-position hole drilling rig for underground coal mines according to claim 1, characterized in that: An anti-rollover device (2) is arranged above and around the drilling rig crawler body (1); the anti-rollover device (2) comprises a body platform (201) arranged above the drilling rig crawler body (1), a working lifting device (3) is installed on the longitudinal rear side of the body platform (201), and an auxiliary lifting device (6) is installed on the longitudinal front side of the body platform (201); The vehicle body platform (201) is provided with a first stabilizing leg (202), a second stabilizing leg (203), a third stabilizing leg (204) and a fourth stabilizing leg (205) around its periphery. The first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204) and the fourth stabilizing leg (205) are arranged opposite to each other in pairs; one end of a first telescopic leg (206), a second telescopic leg (207), a third telescopic leg (208) and a fourth telescopic leg (209) are respectively installed on the inner sides of the first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204) and the fourth stabilizing leg (205); the other ends of the first telescopic leg (206), the second telescopic leg (207), the third telescopic leg (208) and the fourth telescopic leg (209) are connected to the vehicle body platform (201).

3. The double-lift platform high-position hole drilling rig for underground coal mines as claimed in claim 2, characterized in that: The first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204) and the fourth stabilizing leg (205) are respectively provided with a pressure sensor and a displacement sensor; The first telescopic leg (206), the second telescopic leg (207), the third telescopic leg (208), and the fourth telescopic leg (209) are respectively provided with displacement sensors; The working lifting cylinder (30301) is provided with a displacement sensor; The upper oil cylinder (402) is provided with a displacement sensor and a pressure sensor; the lifting oil cylinder (403) is provided with a displacement sensor and a pressure sensor; The auxiliary lifting cylinder (60301) is provided with a displacement sensor.

4. The double-lifting platform high-position hole drilling rig for underground coal mines as claimed in claim 2, characterized in that: The bottom ends of the first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204), and the fourth stabilizing leg (205) are respectively installed with lower grounding seats (210); An upper grounding seat (408) is installed at the top of the upper oil cylinder (402).

5. The double-lift platform high-position hole drilling rig for underground coal mines according to claim 1, characterized in that: A stable support (7) is arranged around the working lifting base (301); the stable support (7) includes a plurality of stable columns (701), which are symmetrically arranged in pairs, and a plurality of stable beams (702) are fixedly installed on the stable columns (701); the working lifting platform (302) is movably installed on the stable columns (701), and the working lifting platform (302) can move in the vertical direction along the stable columns (701).

6. The double-lift platform high-position hole drilling rig for underground coal mines as claimed in claim 1, characterized in that: A drill rod bin (8) is provided on one lateral side of the top surface of the auxiliary lifting platform (602).

7. The double-lift platform high-position hole drilling rig for underground coal mines as claimed in claim 1, characterized in that: A drilling control console (10) is arranged on the longitudinal front side of the top surface of the auxiliary lifting platform (602).

8. The double-lifting platform high-position hole drilling rig for underground coal mines as claimed in claim 1, characterized in that: An auxiliary operating console (11) is installed on the longitudinal front side of the drilling rig crawler vehicle body (1).

9. A method for preventing a drilling rig from rolling over, characterized in that: The method is implemented by using a high-position hole-opening drill rig with a double lifting platform in an underground coal mine as described in any one of claims 2 to 8; during the construction process of the drilling rig, the method determines whether the drilling rig is in danger of rolling over according to the size of the anti-overturning moment; if the judgment result is that the drilling rig is in danger of rolling over, the parameters of the drilling rig are adjusted, and the parameters of the drilling rig include feed force, azimuth, inclination, pull-out force and stabilizing pressure.

10. The method for preventing a drilling rig from rolling over as claimed in claim 9, characterized in that: The method specifically comprises the following steps: Step 1: Get the initial value of each leg: Step 1.1, operate the first telescopic leg (206), the second telescopic leg (207), the third telescopic leg (208), and the fourth telescopic leg (209) to fully extend them, and obtain the initial displacement value S of the first telescopic leg through the displacement sensor. 206 , the initial displacement value S of the second telescopic leg 207 , the initial displacement value S of the third telescopic leg 208 and the initial displacement value S of the fourth telescopic leg 209 , judging whether each telescopic leg is in place according to the initial displacement value of each telescopic leg; Step 1.2, operate the first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204), and the fourth stabilizing leg (205) to extend them until the drilling rig crawler body (1) completely leaves the ground and then stops, and obtain the initial displacement value S of the first stabilizing leg through the displacement sensor 202 , the initial displacement value S of the second stabilizing leg 203 , the initial displacement value S of the third stabilizing leg 204 and the initial displacement value S of the fourth stabilizing leg 205 , according to the initial displacement value of each stabilizing leg, determine whether each stabilizing leg is in place; the initial pressure value P of the first stabilizing leg is measured by the pressure sensor 202 , the initial pressure value P of the second stabilizing leg 203 , the initial pressure value P of the third stabilizing leg 204 and the initial pressure value P of the fourth stabilizing leg 205 ; Step 1.3, operate the working lifting device (3) and the upper oil cylinder (402) to make the drilling device (5) reach the designed hole opening height, and obtain the displacement value S of the working lifting cylinder piston on the working lifting device (3) through the displacement sensor. 30301 , calculate the height h3 of the working lifting device; obtain the displacement value S of the upper cylinder through the displacement sensor and pressure sensor respectively 402 And the pressure value P of the upper cylinder 402 , operate the auxiliary lifting device (6) to reach a suitable height, and obtain the displacement value S of the auxiliary lifting cylinder piston on the auxiliary lifting device (6) through the displacement sensor 60301 , calculate the height h6 of the auxiliary lifting device (6); Step 1.4, operating the first slewing bearing (401) and the second slewing bearing (405) so that the drilling device (5) meets the designed hole opening azimuth angle α and inclination angle β; Step 1.5, operate the lifting cylinder (403) so that the top of the upper cylinder (402) is completely in contact with the top of the tunnel, and obtain the displacement value S of the lifting cylinder through the displacement sensor and the pressure sensor respectively. 403 And the pressure value P of the lifting cylinder 403 ; Step 2: During the drilling process, the values ​​of each sensor are obtained; Step 3: During the drilling rig construction process, determine whether the drilling rig is in danger of overturning according to the magnitude of the anti-overturning moment: Step 3.1, during the feeding process of the drilling rig construction, the overturning moment M1 is calculated using Formula I; the critical value is set to C1, when M1>C1, the drilling rig is in danger of overturning, and when M1≤C1, the drilling rig is not in danger of overturning; the Formula I is as follows: Where: M1 represents the overturning moment of the feed force on the drilling rig, in N·m; M x1 It indicates the overturning moment of the feed force in the longitudinal direction on the drilling rig, in N·m; M y1 It indicates the overturning moment of the feed force in the lateral direction on the drilling rig, in N·m; M z1 It indicates the overturning moment of the feed force on the drilling rig in the vertical direction, in N·m; F1 represents the feed force, in N; H x It indicates the centrifugal distance in the longitudinal direction during the feeding process, in m; H y It indicates the centrifugal distance in the transverse direction during the feeding process, in m; H z It indicates the centrifugal distance in the vertical direction during the feeding process, in m; α represents the azimuth, in degrees; β represents the inclination angle, in degrees; Step 3.2, during the pulling out process of the drilling rig, the overturning moment M2 is calculated using Formula II; the critical value is set to C2, when M2>C2, the drilling rig is in danger of overturning, and when M2≤C2, the drilling rig is not in danger of overturning; the Formula II is as follows: Where: M2 is the overturning moment of the pulling force on the drilling rig, in N·m; M x2 It indicates the overturning moment of the pull-out force on the drilling rig in the longitudinal direction, in N·m; M y2 It indicates the overturning moment of the pull-out force acting on the drilling rig in the lateral direction, in N·m; M z2 It indicates the overturning moment of the vertical pulling force on the drilling rig, in N·m; F2 represents the pull-out force; H x It indicates the centrifugal distance in the longitudinal direction during the feeding process, in m; H y It indicates the centrifugal distance in the transverse direction during the feeding process, in m; H z It indicates the centrifugal distance in the vertical direction during the feeding process, in m; α represents the azimuth, in degrees; β represents the inclination angle, in degrees; Step 3.3, during the drilling process of the drilling rig, the anti-overturning moment M3 is calculated using Formula III; the critical value is set to C3, when M3>C3, the drilling rig is in danger of overturning, and when M3≤C3, the drilling rig is not in danger of overturning; the Formula III is as follows: Where: M3 represents the anti-overturning moment of the drilling rig during drilling, in N·m; M x3 It indicates the anti-overturning moment of the drilling rig in the longitudinal direction during drilling, in N·m; M y3 It indicates the anti-overturning moment of the drilling rig in the lateral direction during drilling, in N·m; M z3 It indicates the vertical anti-overturning moment of the drilling rig during drilling, in N·m; p 403 Indicates the pressure value of the lifting cylinder, in MPa; A1 represents the contact area between the upper grounding seat and the top of the tunnel, in m 2 ; f1 represents the static friction coefficient of the upper grounding seat; A2 represents the contact area between the lower grounding base at the bottom of the first stabilizing leg, the second stabilizing leg, the third stabilizing leg, and the bottom of the tunnel, in m 2 ; f2 represents the static friction coefficient of the lower ground seat; H x1 It indicates the centrifugal distance of the lifting cylinder in the longitudinal direction, in m; H y1 Indicates the centrifugal distance of the lifting cylinder in the lateral direction, in m; H z1 It indicates the centrifugal distance of the lifting cylinder in the vertical direction, in m; H x2 It represents the eccentric distance of the third stabilizing leg in the longitudinal direction, in m; H x3 It represents the eccentric distance of the fourth stabilizing leg in the longitudinal direction, in m; H y2 It represents the eccentric distance of the second stabilizing leg in the transverse direction, in m; H y3 It represents the eccentric distance of the third stabilizing leg in the transverse direction, in m; H z2 It represents the eccentric distance of the first stabilizing leg in the vertical direction, in m; H z3 It represents the eccentric distance of the second stabilizing leg in the vertical direction, in m; H z4 It represents the eccentric distance of the third stabilizing leg in the vertical direction, in m; H z5 It represents the eccentric distance of the fourth stabilizing leg in the vertical direction, in m; Step 3.4, during the drilling process of the drilling rig, the anti-overturning moment M4 is calculated using Formula IV; the critical value is set to C4, when M4>C4, the drilling rig is in danger of overturning, and when M4≤C4, the drilling rig is not in danger of overturning; the Formula IV is as follows: Where: M4 represents the anti-overturning moment of the drilling rig during the drilling process, in N·m; M x4 It indicates the anti-overturning moment of the drilling rig in the longitudinal direction during the drilling process, in N·m; M y4 It indicates the anti-overturning moment of the drilling rig in the lateral direction during the drilling process, in N·m; M z4 It indicates the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, in N·m; H x4 It represents the eccentric distance of the first stabilizing leg in the longitudinal direction, in m; H x5 It represents the eccentric distance of the second stabilizing leg in the longitudinal direction, in m; H y4 It represents the eccentric distance of the first stabilizing leg in the transverse direction, in m; H y5 It represents the eccentric distance of the fourth stabilizing leg in the transverse direction, in m; H z6 It represents the eccentric distance of the first stabilizing leg in the vertical direction, in m; H z7 It represents the eccentric distance of the second stabilizing leg in the vertical direction, in m; H z8 It represents the eccentric distance of the third stabilizing leg in the vertical direction, in m; H z9 It represents the eccentric distance of the fourth stabilizing leg in the vertical direction, in m; Step 4: Determine whether the drilling rig is in danger according to step 3. If there is any abnormality, adjust the relevant parameters of the drilling rig accordingly. If there is no abnormality, continue the construction normally.

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