A coal mine underground double-lift platform high-position opening drilling machine and a drilling machine anti-rollover method

Abstract

The present application provides a kind of coal mine underground double lifting platform high opening drilling rig and drilling rig anti-rollover method, the drilling rig includes drilling rig track vehicle body, the upper and around of drilling rig track vehicle body is provided with anti-rollover device, the longitudinal rear side of anti-rollover device is installed with working lifting device, the top surface of working lifting device is rotatably installed with angle adjusting device, and drilling device is movably arranged on angle adjusting device;The longitudinal front side of anti-rollover device is installed with auxiliary lifting device;The method in the process of drilling rig construction, according to the size of anti-overturning moment, whether the drilling rig has rollover danger is judged.The present application has the characteristics that horizontal opening height and drilling angle adjusting range are large, and operation is flexible, can meet with heading machine quick alternate construction and along seam high opening construction demand;The present application can effectively improve the anti-rollover ability in the process of drilling construction, provides reliable technical support for coal mine underground drilling safety construction.

Description

Technical Field

[0001] This invention belongs to the field of underground drilling technology in coal mines, and relates to drilling rigs used for underground drilling operations in coal mines. Specifically, it relates to a high-level drilling rig with a double lifting platform for underground coal mines and a method for preventing the drilling rig from overturning. Background Technology

[0002] Underground coal seam drilling is mainly used for exploring hidden factors in the coal seam and constructing subsequent construction channels. However, during construction, high-level gangue layers are often encountered on the sidewalls of the roadway, with a thick coal seam to be mined between the top and the roof. Currently used drilling rigs have two main problems: First, during near-horizontal drilling, it is difficult to adjust the height of the drilling equipment, resulting in low opening heights and large opening angles. This leads to the final borehole position not meeting the requirements for gas and water control during subsequent mining. Second, the overall size of the drilling rig used in coal mine tunneling faces is too large, making alternating operation with the tunneling machine difficult and hindering mobility. Furthermore, high-opening coal seam drilling is required behind the tunneling machine, but the adjustment range of the existing drilling rig's angle adjustment mechanism is small, making it difficult to meet the requirements for high-opening drilling. Secondly, during high-opening drilling, due to the high opening height of the main unit and the high position of the angle adjustment device, the center of gravity of the whole machine is biased upward. Therefore, when encountering complex strata during drilling or tripping, the main unit may shake violently, which can easily cause the drilling rig to overturn and cause drilling safety accidents. Summary of the Invention

[0003] In view of the defects and deficiencies of the existing technology, one of the objectives of this invention is to provide a high-level drilling rig with a double lifting platform in coal mines and a method for preventing the drilling rig from overturning, thereby solving the technical problem in the prior art that the drilling rig is difficult to flexibly adjust the opening height and angle of the drilling device when carrying out near-horizontal drilling construction.

[0004] In view of the defects and deficiencies of the existing technology, another objective of the present invention is to provide a method for preventing drilling rigs from tipping over, thereby solving the technical problem that the drilling rig is prone to tipping over when it shakes rapidly during high-opening hole drilling operations, due to the upward center of gravity of the drilling rig.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A high-level drilling rig with a double lifting platform for underground coal mines includes a crawler body. A working lifting device is provided on the longitudinal rear side above the crawler body. An angle adjustment device is rotatably installed on the top surface of the working lifting device, and a drilling device is movably installed on the angle adjustment device. An auxiliary lifting device is provided on the longitudinal front side above the crawler body.

[0007] The aforementioned lifting device includes a lifting base mounted on an anti-tipping device, a lifting platform mounted above the lifting base, and a telescopic lifting frame between the lifting base and the lifting platform. Both the lifting platform and the lifting base have internal tracks, and the top and bottom of the telescopic lifting frame are movably mounted within the tracks of the lifting platform and the lifting base, respectively.

[0008] The aforementioned working lifting telescopic frame includes at least one working lifting cylinder and multiple working lifting telescopic frame connecting rods, which are hinged to each other. Driven by the working lifting 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 slewing bearing installed on the working lifting platform. A pair of upper lifting cylinders and a lifting cylinder are rotatably mounted on the first slewing bearing, with the lifting cylinder positioned between the pair of upper lifting cylinders. A support is movably mounted on the pair of upper lifting cylinders, and the lifting cylinder is connected to the support. The support can move along the axial direction of the upper lifting cylinders. A second slewing bearing is installed on the longitudinal front side of the support. A vertical plate is installed on the longitudinal front side of the second slewing bearing. A horizontal support is fixedly installed at the bottom end of the vertical plate, and a drilling device is fixedly installed on the horizontal support.

[0010] The auxiliary lifting device includes an auxiliary lifting base installed on the anti-rollover device, an auxiliary lifting platform above the auxiliary lifting base, and an auxiliary lifting telescopic frame 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 telescopic frame includes at least one auxiliary lifting cylinder and multiple auxiliary lifting telescopic frame connecting rods, which are hinged to each other. Driven by the auxiliary lifting cylinder, the top and bottom of the auxiliary lifting telescopic frame move along the longitudinal direction, and the height of the auxiliary lifting telescopic frame and the auxiliary lifting platform changes accordingly.

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

[0013] The drilling rig tracked vehicle body is equipped with anti-rollover devices on its top and around its perimeter. The anti-rollover devices include a vehicle body platform installed on top of the drilling rig tracked vehicle body, and a first stabilizing leg, a second stabilizing leg, a third stabilizing leg, and a fourth stabilizing leg installed around the anti-rollover devices. The first stabilizing leg, the second stabilizing leg, the third stabilizing leg, and the fourth stabilizing leg are arranged in pairs facing each other. One end of the first telescopic leg, the second telescopic leg, the third telescopic leg, and the fourth telescopic leg is respectively installed on the inner side of the first stabilizing leg, the second telescopic leg, the third telescopic leg, and the fourth telescopic leg. The other end of the first telescopic leg, the second telescopic leg, the third telescopic leg, and the fourth telescopic leg is connected to the anti-rollover devices.

[0014] Pressure sensors and displacement sensors are respectively installed on the first, second, third, and fourth stabilizing outriggers; displacement sensors are respectively installed on the first, second, third, and fourth telescopic outriggers; a displacement sensor is installed on the working lifting cylinder; a displacement sensor and a pressure sensor are installed on the upper lifting cylinder; a displacement sensor and a pressure sensor are installed on the lifting cylinder; and a displacement sensor is installed on the auxiliary lifting cylinder.

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

[0016] The working lifting base is surrounded by a stable support; the stable support includes multiple stable columns, which are arranged symmetrically in pairs, and multiple stable crossbeams are fixedly installed on the stable columns; the working lifting platform is movably installed on the stable columns and can move vertically along the stable columns.

[0017] A drill pipe chamber is provided on one side of the top surface of the auxiliary lifting platform.

[0018] The auxiliary lifting platform is equipped with a drilling control panel on the longitudinal front side of its top surface.

[0019] An auxiliary control panel is installed on the longitudinal front side of the tracked body of the drilling rig.

[0020] This invention also protects a method for preventing a drilling rig from overturning. This method is implemented using a high-level drilling rig with a double lifting platform in a coal mine, as described above. During the drilling process, the method determines whether the drilling rig is at risk of overturning based on the magnitude of the anti-overturning moment. If the determination result indicates that the drilling rig is at risk of overturning, the parameters of the drilling rig are adjusted. The parameters of the drilling rig include feed force, azimuth angle, inclination angle, pull-out force, and stabilizing pressure.

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

[0022] (I) This invention proposes a drilling rig employing a dual-lifting platform system consisting of a working lifting device and an auxiliary lifting device. An angle-adjusting device is also installed on the working lifting device, enabling adjustment of the height and angle of the drilling equipment. Combined with the crawler chassis as the traveling mechanism, the overall width of the drilling rig is relatively narrow, improving its mobility. This device features a large range of horizontal drilling height and angle adjustment, and flexible operation and relocation, meeting the needs of rapid alternation with tunneling machines and high-angle drilling along coal seams.

[0023] (II) This invention incorporates an anti-rollover device, multiple displacement sensors, and pressure sensors on the drilling rig. These three components together constitute an anti-rollover system, primarily addressing the issue of drilling rigs easily overturning during high-opening borehole drilling operations when they experience severe shaking, leading to drilling safety accidents. This anti-rollover system calculates the anti-overturning moment during drilling operations and then determines whether the drilling rig is at risk of rollover based on the magnitude of the anti-overturning moment. If the determination result indicates that the drilling rig is at risk of rollover, the drilling rig parameters are adjusted, effectively improving the anti-rollover capability during drilling operations and providing reliable technical support for safe underground drilling operations in coal mines. Attached Figure Description

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

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

[0026] Figure 3 This is a structural diagram of the working lifting device and the auxiliary lifting device.

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

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

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

[0030] Figure 7 A schematic diagram of the anti-rollover device.

[0031] The meanings of the labels in the diagram are as follows: 1-Drilling rig tracked vehicle body, 2-Anti-rollover device, 3-Working lifting device, 4-Angle adjustment device, 5-Drilling device, 6-Auxiliary lifting device, 7-Stabilizing support, 8-Drill pipe chamber, 9-Guardrail, 10-Drilling control panel, 11-Auxiliary control panel, 12-Boom.

[0032] 201-Vehicle platform, 202-First stabilizing outrigger, 203-Second stabilizing outrigger, 204-Third stabilizing outrigger, 205-Fourth stabilizing outrigger, 206-First telescopic outrigger, 207-Second telescopic outrigger, 208-Third telescopic outrigger, 209-Fourth telescopic outrigger, 210-Lower grounding seat.

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

[0034] 401-First slewing bearing, 402-Upper lifting cylinder, 403-Lifting cylinder, 404-Support, 405-Second slewing bearing, 406-Vertical plate, 407-Horizontal support, 408-Upper grounding base, 409-Slewing bearing motor, 410-Circular plate.

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

[0036] 701 - Stable uprights, 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 will be further described below with reference to the embodiments. Detailed Implementation

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

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

[0042] Following the above technical solutions, 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 modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0043] Example 1:

[0044] This embodiment provides a high-level drilling rig with a dual-lifting platform for underground coal mine drilling, such as... Figure 1 and Figure 2As shown, the system includes a drilling rig tracked vehicle body 1. A working lifting device 3 is installed on the longitudinal rear side above the drilling rig tracked vehicle body 1. An angle adjusting device 4 is rotatably mounted on the top surface of the working lifting device 3, and a drilling device 5 is movably mounted on the angle adjusting device 4. An auxiliary lifting device 6 is installed on the longitudinal front side above the drilling rig tracked vehicle body 1. In this embodiment, the working lifting device 3 is installed on the upper part of the drilling rig tracked vehicle body 1, and the angle adjusting device 4 is installed on its upper part for primary adjustment of the hole opening height. The drilling device 5 is installed on the angle adjusting device 4 for secondary adjustment of the inclination angle, azimuth angle, and hole opening height. The auxiliary lifting device 6 is installed on the upper part of the drilling rig tracked vehicle body 1, and a drilling control panel 10 is installed on its upper part for manual loading and unloading of drill rods and as a drilling operation platform.

[0045] like Figure 3 As shown, the work lifting device 3 includes a work lifting base 301 mounted on the vehicle platform 201, a work lifting platform 302 disposed above the work lifting base 301, and a work lifting telescopic frame 303 disposed between the work lifting base 301 and the work lifting platform 302; both the work lifting platform 302 and the work lifting base 301 have internal tracks, and the top and bottom ends of the work lifting telescopic frame 303 are respectively movably installed within the tracks of the work lifting platform 302 and the work lifting base 301; in this embodiment, the work lifting telescopic frame 303... 3. A multi-section hinged linkage structure is adopted. Through the action of the working lifting cylinder 30301, it slides left and right at the connection between the cylinder and the working lifting platform 302 and the working lifting base 301, thereby realizing the height adjustment of the working lifting platform 302 and ensuring that the drilling device 5 meets the opening height required for drilling construction. The working lifting base 301 is welded to the upper part of the drilling rig track vehicle body 1 by bolts or base plate, and has a pulley track inside. The working lifting platform 302 also has a pulley track inside, which is used for sliding inside the working lifting telescopic frame 303 during the extension and retraction process.

[0046] like Figure 3 As shown, the working lifting telescopic frame 303 includes at least one working lifting cylinder 30301 and multiple working lifting telescopic frame connecting rods 30302, which are hinged to each other. Driven by the working lifting cylinder 30301, the top and bottom ends of the working lifting telescopic frame 303 move along the longitudinal direction, and the height of the working lifting 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 telescopic frame 303.

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

[0048] In this embodiment, the support 404 is sleeved on the outer cylinder of the upper lifting cylinder 402 and simultaneously connected to the outer cylinder of the lifting cylinder 403 by bolts, forming a single unit. As the piston of the lifting cylinder 403 extends and retracts, the outer cylinder of the lifting cylinder 403 moves, causing the support 404 to slide synchronously on the outer cylinder of the upper lifting cylinder 402, thus achieving secondary height adjustment of the drilling device 5. The upper lifting cylinder 402 is symmetrically arranged on both sides relative to the lifting cylinder 403, increasing the stability of the drilling state.

[0049] In this embodiment, the first slewing bearing 401 is used to adjust the azimuth angle of the drilling device 5. The first slewing bearing 401 includes an outer ring and an inner ring. The inner ring is rotatable 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. A circular plate 410 is fixedly installed at the top of the inner ring of the first slewing bearing 401. 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. As the inner ring of the first slewing bearing 401 rotates, the circular plate 410, the upper cylinder 402, and the lifting cylinder 403 rotate synchronously.

[0050] In this embodiment, the second slewing bearing 405 is used for the tilt angle adjustment of the drilling device 5. The second slewing bearing 405 includes an outer ring and an inner ring. The inner ring is rotatable relative to the outer ring. The outer ring of the second slewing bearing 405 is fixedly installed 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 support 407 are welded together at 90°. The drilling device 5 is installed on it. As the inner ring of the second slewing bearing 405 rotates, the vertical plate 406, the horizontal support 407 and the drilling device 5 rotate synchronously.

[0051] like Figure 3As shown, the auxiliary lifting device 6 includes an auxiliary lifting base 601 mounted on the vehicle platform 201, an auxiliary lifting platform 602 positioned above the auxiliary lifting base 601, and an auxiliary lifting telescopic frame 603 positioned between the auxiliary lifting base 601 and the auxiliary lifting platform 602. Both the auxiliary lifting platform 602 and the auxiliary lifting base 601 have internal tracks. The top and bottom ends of the auxiliary lifting telescopic frame 603 are movably mounted within 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 identical to that of the working lifting telescopic frame 303. The telescopic frame 603 adopts a multi-section hinged linkage structure. Through the action of the auxiliary lifting cylinder 60301, it slides left and right at the connection point with the auxiliary lifting platform 602 and the auxiliary lifting base 601, thereby realizing the height adjustment of the auxiliary lifting platform 602. This allows the construction personnel on the auxiliary lifting platform 602 to complete the drilling rod loading and unloading process and meet the height requirements for easy observation of the drilling operation. The auxiliary lifting base 601 is bolted or welded to the upper part of the drilling rig track body 1, and has a pulley track inside. The auxiliary lifting platform 602 also has a pulley track inside, which is used to slide inside the telescopic frame 603 during the telescopic process.

[0052] like Figure 3 As shown, the auxiliary lifting telescopic frame 603 includes at least one auxiliary lifting cylinder 60301 and multiple auxiliary lifting telescopic frame connecting rods 60302, which are hinged to each other. Driven by the auxiliary lifting cylinder 60301, the top and bottom ends of the auxiliary lifting telescopic frame 603 move along the longitudinal direction, and the height of the auxiliary lifting telescopic frame 603 and the auxiliary lifting platform 602 changes accordingly. In this embodiment, the auxiliary lifting cylinder 60301 is used to assist in the extension and retraction of the auxiliary lifting telescopic frame 603.

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

[0054] As one specific solution in this embodiment, such as Figure 7As shown, the anti-rollover device 2 includes a vehicle platform 201 mounted above the crawler body 1 of the drilling rig. The vehicle platform 201 is surrounded by a first stabilizing outrigger 202, a second stabilizing outrigger 203, a third stabilizing outrigger 204, and a fourth stabilizing outrigger 205, arranged in pairs facing each other. First telescopic outriggers 202, 203, 204, and 205 are respectively mounted on the inner sides of the first stabilizing outrigger 202, 203, 204, and 205. 06. One end of the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209, and the other end of the first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209 are connected to the vehicle platform 201. In this embodiment, the main structure of the first stabilizing outrigger 202, the second stabilizing outrigger 203, the third stabilizing outrigger 204, the fourth stabilizing outrigger 205, the first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209 are all hydraulic cylinders. The first stabilizing outrigger 202, the second stabilizing outrigger 203, the third stabilizing outrigger 204, and the fourth stabilizing outrigger 205 are respectively connected to the first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209 by bolts, and the drilling rig is stabilized by contacting the ground through the connected lower grounding seat 210. The first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209 are used to extend and retract the first stabilizing outrigger 202, the second stabilizing outrigger 203, the third stabilizing outrigger 204, and the fourth stabilizing outrigger 205, thereby increasing the lower stable grounding area.

[0055] As a specific embodiment, pressure sensors and displacement sensors are respectively installed on the first stabilizing outrigger 202, the second stabilizing outrigger 203, the third stabilizing outrigger 204, and the fourth stabilizing outrigger 205; displacement sensors are respectively installed on the first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209; a displacement sensor is installed on the working lifting cylinder 30301; a displacement sensor and a pressure sensor are installed on the upper lifting cylinder 402; a displacement sensor and a pressure sensor are installed on the lifting cylinder 403; and displacement sensors are respectively installed on the auxiliary lifting cylinder 60301. In this embodiment, the displacement sensors are used to obtain the displacement values ​​of the pistons of the outriggers and cylinders, and the pressure sensors are used to obtain the pressure values ​​experienced by the outriggers and cylinders.

[0056] As one specific solution in this embodiment, such as 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 equipped with lower grounding bases 210. In this embodiment, the lower grounding bases 210 can increase the contact area and frictional resistance between each stabilizing leg and the ground.

[0057] As a specific embodiment, an upper grounding seat 408 is installed at the top of the upper cylinder 402. In this embodiment, the upper grounding seat 408 is connected to the piston rod of the upper cylinder 402 via a U-shaped clamp, which increases the contact area and frictional resistance when it contacts the top of the tunnel.

[0058] As a specific embodiment, a stabilizing support 7 is provided around the working lifting base 301; the stabilizing support 7 includes multiple stabilizing columns 701, which are arranged symmetrically in pairs, and multiple stabilizing crossbeams 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 vertically along the stabilizing columns 701; in this embodiment, the stabilizing columns 701 are added manually after the working lifting telescopic frame 303 is adjusted, and adjacent stabilizing columns 701 are connected by the stabilizing crossbeams 702 to make them a whole, so that they have good stability.

[0059] As one specific solution in this embodiment, such as Figure 4 As shown, a drill pipe compartment 8 is provided on one side of the top surface of the auxiliary lifting platform 602. In this embodiment, the drill pipe compartment 8 is installed in the sunken area opened on the auxiliary lifting platform 602, so as to facilitate the quick replacement of the drill pipe compartment after the drill pipe construction is completed.

[0060] As one specific solution in this embodiment, such as Figure 1 and Figure 2 As shown, a guardrail 9 is provided on the other 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 welded around it. At the same time, a movable door is provided at the personnel entrance of the guardrail 9.

[0061] As one specific solution in this embodiment, such as Figure 1 As shown, a drilling control panel 10 is provided on the longitudinal front side of the top surface of the auxiliary lifting platform 602; in this embodiment, the drilling control panel 10 is used for operating the gripper, power head, feed device, etc. of the drilling device 5.

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

[0063] As one specific solution in this embodiment, such as Figure 1 and Figure 2 As shown, a boom 12 is installed at the longitudinal front end of the drilling rig tracked vehicle body 1; an auxiliary control panel 11 is located on the lateral side of the boom 12. In this embodiment, the boom 12 is bolted to the side of the drilling rig tracked vehicle body 1 for hoisting the drill rod frame onto the auxiliary lifting device 6.

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

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

[0066] As a specific and optional solution in this embodiment, such as Figure 3 As shown, the working lifting telescopic frame 303 includes a working lifting cylinder 30301 and multiple working lifting telescopic frame connecting rods 30302. The working lifting telescopic frame connecting rod 30302 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 telescopic frame connecting rod 30302 above it. The centers of the remaining multiple working lifting telescopic frame connecting rods 30302 are hinged in pairs, and the ends of two adjacent working lifting telescopic frame connecting rods 30302 are hinged together.

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

[0068] As a specific and optional solution in this embodiment, such as Figure 3As shown, the auxiliary lifting telescopic frame 603 includes an auxiliary lifting cylinder 60301 and multiple auxiliary lifting telescopic frame connecting rods 60302. The auxiliary lifting telescopic frame connecting rod 60302 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 adjacent auxiliary lifting telescopic frame connecting rod 60302 above it. The centers of the remaining multiple auxiliary lifting telescopic frame connecting rods 60302 are hinged in pairs, and the ends of two adjacent auxiliary lifting telescopic frame connecting rods 60302 are hinged together.

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

[0070] Example 2:

[0071] This embodiment provides a method for preventing drilling rig rollover, which is implemented using the high-level drilling rig with a dual-lift platform in coal mines as described in Embodiment 1. The method specifically includes the following steps:

[0072] Step 1: Obtain the initial values ​​for each support leg:

[0073] Step 1.1: Manipulate the first telescopic outrigger 206, the second telescopic outrigger 207, the third telescopic outrigger 208, and the fourth telescopic outrigger 209 to fully extend them, and obtain the initial displacement value S of the first telescopic outrigger through the displacement sensor. 206 The initial displacement value S of the second telescopic outrigger 207 The initial displacement value S of the third telescopic outrigger 208 The initial displacement value S of the fourth telescopic outrigger 209 The initial displacement value of each telescopic outrigger is used to determine whether each telescopic outrigger is in position.

[0074] Step 1.2: Manipulate the first stabilizing outrigger 202, the second stabilizing outrigger 203, the third stabilizing outrigger 204, and the fourth stabilizing outrigger 205 to extend them until the drilling rig tracked vehicle body 1 is completely off the ground and then stop. Obtain the initial displacement value S of the first stabilizing outrigger through the displacement sensor. 202 The initial displacement value S of the second stabilizing outrigger 203 The initial displacement value S of the third stabilizing leg 204 The initial displacement value S of the fourth stable leg 205 The initial displacement value of each stabilizing leg is used to determine whether each stabilizing leg is in position; the initial pressure value P of the first stabilizing leg is measured by a pressure sensor. 202 The initial pressure value P of the second stabilizing outrigger203 The initial pressure value P of the third stabilizing outrigger 204 and the initial pressure value P of the fourth stable outrigger 205 .

[0075] Step 1.3: Operate the working lifting device 3 and the upper hydraulic cylinder 402 to make the drilling device 5 reach the designed opening height. Obtain the displacement value S of the piston of the working lifting cylinder on the working lifting device 3 through the displacement sensor. 30301 The height h3 of the working lifting device is calculated; the displacement value S of the upper hydraulic cylinder is obtained through displacement sensor and pressure sensor respectively. 402 and the pressure value P of the upper hydraulic cylinder 402 The auxiliary lifting device 6 is operated to reach a suitable height, and the displacement value S of the piston of the auxiliary lifting cylinder on the auxiliary lifting device 6 is obtained through the displacement sensor. 60301 The height h6 of the auxiliary lifting device 6 is calculated.

[0076] Step 1.4: Manipulate 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 complete contact with the top of the roadway. The displacement value S of the lifting cylinder is obtained by the displacement sensor and the pressure sensor respectively. 403 and the pressure value P of the lifting cylinder 403 .

[0078] Step two: During the drilling operation, acquire the values ​​of each sensor.

[0079] Step 3: During drilling operations, determine whether the drilling rig is at risk of tipping over based on the magnitude of the anti-overturning moment.

[0080] Step 3.1: During the drilling rig's feed process, Equation I is used to calculate the overturning moment. To determine if the drilling rig is at risk of overturning, a critical value (threshold) is usually set. Assuming this critical value is C1, then: when M1 > C1, the drilling rig is at risk of overturning; when M1 ≤ C1, the drilling rig is not at risk of overturning. The specific critical value C1 needs to be determined based on the drilling rig's design parameters, working environment, load conditions, and other factors through specific analysis and calculation. Equation I is shown below:

[0081]

[0082] In the formula:

[0083] M1 represents the overturning moment exerted by the feed force on the drilling rig, with units of N·m.

[0084] M x1This represents the overturning moment exerted on the drilling rig by the feed force in the longitudinal direction, expressed in N·m.

[0085] M y1 This represents the overturning moment exerted on the drilling rig by the feed force in the lateral direction, and the unit is N·m.

[0086] M z1 This represents the overturning moment exerted on the drilling rig by the vertical feed force, expressed in N·m.

[0087] F1 represents the feed force, measured in N.

[0088] H x This represents the centrifugal distance in the longitudinal direction during the feeding process, in meters (m).

[0089] H y This represents the centrifugal distance in the lateral direction during the feeding process, in meters (m).

[0090] H z This represents the centrifugal distance in the vertical direction during the feeding process, in meters (m).

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

[0092] β represents the tilt angle, in degrees.

[0093] Step 3.2: During the drilling rig's lifting and pulling process, the overturning moment is calculated using Equation II. To determine if the drilling rig is at risk of overturning, a critical value (threshold) is usually required. Assuming this critical value is C2, then: when M2 > C2, the drilling rig is at risk of overturning; when M2 ≤ C2, the drilling rig is not at risk of overturning. The specific critical value C2 needs to be determined based on the drilling rig's design parameters, working environment, load conditions, and other factors through specific analysis and calculation. Equation II is shown below:

[0094]

[0095] In the formula:

[0096] M2 is the overturning moment of the drilling rig caused by the pulling force, and its unit is N·m.

[0097] M x2 This represents the overturning moment exerted on the drilling rig by the pulling force in the longitudinal direction, expressed in N·m.

[0098] M y2 This represents the overturning moment exerted on the drilling rig by the pulling force in the lateral direction, and its unit is N·m.

[0099] M z2 This represents the overturning moment of the drilling rig caused by the vertical pulling force, expressed in N·m.

[0100] F2 represents the pulling force.

[0101] H x This represents the centrifugal distance in the longitudinal direction during the feeding process, in meters (m).

[0102] H y This represents the centrifugal distance in the lateral direction during the feeding process, in meters (m).

[0103] H z This represents the centrifugal distance in the vertical direction during the feeding process, in meters (m).

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

[0105] β represents the tilt angle, in degrees.

[0106] Step 3.3: During the drilling process, Equation III is used to calculate the anti-overturning moment. To determine whether the drilling rig is at risk of overturning, a critical value (threshold) is usually set. Assuming this critical value is C3, then: when M3 > C3, the drilling rig is at risk of overturning; when M3 ≤ C3, the drilling rig is not at risk of overturning. The specific critical value C3 needs to be determined based on the drilling rig's design parameters, working environment, load conditions, and other factors through specific analysis and calculation. Equation III is shown below:

[0107]

[0108] In the formula:

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

[0110] M x3 This represents the anti-overturning moment of the drilling rig in the longitudinal direction during the drilling process, expressed in N·m.

[0111] M y3 This represents the anti-overturning moment of the drilling rig in the lateral direction during the drilling process, and the unit is N·m.

[0112] M z3 This represents the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, and the unit is N·m.

[0113] p 403 This 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 roadway, in meters (m²). 2 .

[0115] f1 represents the static friction coefficient of the upper grounding base; it is generally taken as 0.3 to 0.5.

[0116] A2 represents the contact area between the lower grounding bases at the bottom of the first, second, third, and fourth stabilizing outriggers and the bottom of the roadway, in meters (m²). 2 .

[0117] f2 represents the static friction coefficient of the lower grounding base, which is generally expressed as 0.3 to 0.5.

[0118] H x1 This indicates the centrifugal distance of the lifting cylinder in the longitudinal direction, in meters (m).

[0119] H y1 This indicates the centrifugal distance of the lifting cylinder in the lateral direction, in meters (m).

[0120] H z1 This indicates the centrifugal distance of the lifting cylinder in the vertical direction, in meters (m).

[0121] H x2 This indicates the centrifugal distance of the third stabilizing outrigger in the longitudinal direction, expressed in meters (m).

[0122] H x3 This indicates the centrifugal distance of the fourth stabilizing leg in the longitudinal direction, in meters (m).

[0123] H y2 This indicates the centrifugal distance of the second stabilizing outrigger in the lateral direction, in meters (m).

[0124] H y3 This indicates the centrifugal distance of the third stabilizing outrigger in the lateral direction, in meters (m).

[0125] H z2 This represents the centrifugal distance of the first stable outrigger in the vertical direction, expressed in meters (m).

[0126] H z3 This indicates the centrifugal distance of the second stabilizing leg in the vertical direction, in meters (m).

[0127] H z4 This indicates the centrifugal distance of the third stabilizing leg in the vertical direction, in meters (m).

[0128] H z5 This indicates the centrifugal distance of the fourth stabilizing leg in the vertical direction, in meters (m).

[0129] Step 3.4: During the drilling process, the anti-overturning moment is calculated using Equation IV. To determine if the drilling rig is at risk of overturning, a critical value (threshold) is usually set. Assuming this critical value is C4, then: when M4 > C4, the drilling rig is at risk of overturning; when M4 ≤ C4, the drilling rig is not at risk of overturning. The specific critical value C4 needs to be determined based on the drilling rig's design parameters, working environment, load conditions, and other factors through specific analysis and calculation. Equation IV is shown below:

[0130]

[0131] In the formula:

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

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

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

[0135] M z4 This represents the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, and the unit is N·m.

[0136] H x4 This represents the centrifugal distance of the first stable outrigger in the longitudinal direction, expressed in meters (m).

[0137] H x5 This indicates the centrifugal distance of the second stabilizing outrigger in the longitudinal direction, in meters (m).

[0138] H y4 This represents the centrifugal distance of the first stable outrigger in the lateral direction, in meters (m).

[0139] H y5 This indicates the centrifugal distance of the fourth stabilizing leg in the lateral direction, in meters (m).

[0140] H z6 This represents the centrifugal distance of the first stable outrigger in the vertical direction, expressed in meters (m).

[0141] H z7 This indicates the centrifugal distance of the second stabilizing leg in the vertical direction, in meters (m).

[0142] H z8 This indicates the centrifugal distance of the third stabilizing leg in the vertical direction, in meters (m).

[0143] H z9 This indicates the centrifugal distance of the fourth stabilizing leg in the vertical direction, in meters (m).

[0144] Step four: Based on step three, determine if there is any danger with the drilling rig. If there is any abnormality, adjust the relevant parameters of the drilling rig accordingly. If there is no abnormality, continue construction normally.

Claims

1. A method for preventing a drilling rig from tipping over, wherein the method employs a high-level drilling rig with a double-lifting platform in a coal mine; the high-level drilling rig with a double-lifting platform in a coal mine includes a crawler body (1), characterized in that: The drilling rig track vehicle body (1) is provided with anti-rollover devices (2) on the top and around the sides. The drilling rig track vehicle body (1) is provided with a working lifting device (3) on the longitudinal rear side above the drilling rig track vehicle body (1). An angle adjustment device (4) is rotatably installed on the top surface of the working lifting device (3). A drilling device (5) is movably installed on the angle adjustment device (4). An auxiliary lifting device (6) is provided on the longitudinal front side above the drilling rig track vehicle body (1). The anti-rollover device (2) includes a vehicle platform (201) set above the crawler body (1) of the drilling rig, a working lifting device (3) is installed on the longitudinal rear side of the vehicle platform (201), and an auxiliary lifting device (6) is installed on the longitudinal front side of the vehicle platform (201). The vehicle platform (201) is provided with a first stabilizing support leg (202), a second stabilizing support leg (203), a third stabilizing support leg (204) and a fourth stabilizing support leg (205) around its perimeter. The first stabilizing support leg (202), the second stabilizing support leg (203), the third stabilizing support leg (204) and the fourth stabilizing support leg (205) are arranged opposite each other in pairs. One end of the first telescopic support leg (206), the second telescopic support leg (207), the third telescopic support leg (208) and the fourth telescopic support leg (209) are respectively installed on the inner side of the first stabilizing support leg (202), the second stabilizing support leg (207), the third telescopic support leg (208) and the fourth telescopic support leg (209). The other end of the first telescopic support leg (206), the second telescopic support leg (207), the third telescopic support leg (208) and the fourth telescopic support leg (209) is connected to the vehicle platform (201). The work lifting device (3) includes a work lifting base (301), a work lifting platform (302) is provided above the work lifting base (301), and a work lifting telescopic frame (303) is provided between the work lifting base (301) and the work lifting platform (302); both the work lifting platform (302) and the work lifting base (301) have rails inside, and the top and bottom of the work lifting telescopic frame (303) are movably installed in the rails of the work lifting platform (302) and the work lifting base (301), respectively; The aforementioned working lifting telescopic frame (303) includes at least one working lifting cylinder (30301) and multiple working lifting telescopic frame connecting rods (30302), which are hinged to each other; driven by the working lifting cylinder (30301), the top and bottom ends of the working lifting telescopic frame (303) move along the longitudinal direction, and the height of the working lifting telescopic frame (303) and the working lifting platform (302) changes accordingly; The angle adjustment device (4) includes a first slewing bearing (401) installed on the working lifting platform (302). A pair of top cylinders (402) and a lifting cylinder (403) are rotatably installed on the first slewing bearing (401). The lifting cylinder (403) is located between the pair of top cylinders (402). A support (404) is movably installed on the pair of top cylinders. The lifting cylinder (403) is connected to the support (404). The support (404) can move along the axial direction of the top cylinders (402). A second slewing bearing (405) is installed on the longitudinal front side of the support (404). A vertical plate (406) is installed on the longitudinal front side of the second slewing bearing (405). A horizontal support (407) is fixedly installed at the bottom end of the vertical plate (406). A drilling device (5) is fixedly installed on the horizontal support (407). The auxiliary lifting device (6) includes an auxiliary lifting base (601), an auxiliary lifting platform (602) is provided above the auxiliary lifting base (601), and an auxiliary lifting telescopic frame (603) is provided between the auxiliary lifting base (601) and the auxiliary lifting platform (602); both the auxiliary lifting platform (602) and the auxiliary lifting base (601) have tracks inside, and the top and bottom ends of the auxiliary lifting telescopic frame (603) are respectively movably installed in the tracks of the auxiliary lifting platform (602) and the auxiliary lifting base (601); The auxiliary lifting telescopic frame (603) includes at least one auxiliary lifting cylinder (60301) and multiple auxiliary lifting telescopic frame connecting rods (60302), which are hinged to each other. Driven by the auxiliary lifting cylinder (60301), the top and bottom of the auxiliary lifting telescopic frame (603) move along the longitudinal direction, and the height of the auxiliary lifting telescopic frame (603) and the auxiliary lifting platform (602) changes accordingly. This method determines whether the drilling rig is at risk of overturning during drilling operations based on the magnitude of the anti-overturning moment. If the determination is that the drilling rig is at risk of overturning, the drilling rig parameters are adjusted, including feed force, azimuth angle, inclination angle, pull-out force, and stabilizing pressure.

2. The drilling rig anti-rollover method as described in claim 1, characterized in that, Pressure sensors and displacement sensors are respectively provided on the first stabilizing leg (202), the second stabilizing leg (203), the third stabilizing leg (204) and the fourth stabilizing leg (205); Displacement sensors are respectively provided on the first telescopic outrigger (206), the second telescopic outrigger (207), the third telescopic outrigger (208), and the fourth telescopic outrigger (209); The working lifting cylinder (30301) is equipped with a displacement sensor; The upper cylinder (402) is equipped with a displacement sensor and a pressure sensor; the lifting cylinder (403) is equipped with a displacement sensor and a pressure sensor. The auxiliary lifting cylinder (60301) is equipped with a displacement sensor.

3. The drilling rig anti-rollover method as described in claim 1, 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 equipped with a lower grounding seat (210). The top of the upper cylinder (402) is equipped with an upper grounding seat (408).

4. The drilling rig anti-rollover method as described in claim 1, characterized in that, The working lifting base (301) is surrounded by a sturdy support (7); the sturdy support (7) includes multiple sturdy columns (701), which are arranged symmetrically in pairs, and multiple sturdy crossbeams (702) are fixedly installed on the sturdy columns (701); the working lifting platform (302) is movably installed on the sturdy columns (701), and the working lifting platform (302) can move vertically along the sturdy columns (701).

5. The drilling rig anti-rollover method as described in claim 1, characterized in that, The auxiliary lifting platform (602) is provided with a drill pipe chamber (8) on one side of the top surface.

6. The drilling rig anti-rollover method as described in claim 1, characterized in that, The auxiliary lifting platform (602) is provided with a drilling control panel (10) on the longitudinal front side of its top surface.

7. The drilling rig anti-rollover method as described in claim 1, characterized in that, An auxiliary control panel (11) is installed on the longitudinal front side of the crawler body (1) of the drilling rig.

8. The drilling rig anti-rollover method as described in claim 1, characterized in that, The method specifically includes the following steps: Step 1: Obtain the initial values ​​for each support leg: Step 1.1: Manipulate the first telescopic outrigger (206), the second telescopic outrigger (207), the third telescopic outrigger (208), and the fourth telescopic outrigger (209) to fully extend them, and obtain the initial displacement value S of the first telescopic outrigger through the displacement sensor. 206 The initial displacement value S of the second telescopic outrigger 207 The initial displacement value S of the third telescopic outrigger 208 The initial displacement value S of the fourth telescopic outrigger 209 The initial displacement value of each telescopic outrigger is used to determine whether each telescopic outrigger is in place. Step 1.2: Manipulate 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 crawler body (1) of the drilling rig is completely off the ground and then stop. 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 outrigger 203 The initial displacement value S of the third stabilizing leg 204 The initial displacement value S of the fourth stable leg 205 The initial displacement value of each stabilizing leg is used to determine whether each stabilizing leg is in position; the initial pressure value P of the first stabilizing leg is measured by a pressure sensor. 202 The initial pressure value P of the second stabilizing outrigger 203 The initial pressure value P of the third stabilizing outrigger 204 and the initial pressure value P of the fourth stable outrigger 205 ; Step 1.3: Operate the working lifting device (3) and the upper cylinder (402) to make the drilling device (5) reach the designed opening height, and obtain the displacement value S of the piston of the working lifting cylinder on the working lifting device (3) through the displacement sensor. 30301 The height h3 of the working lifting device is calculated; the displacement value S of the upper hydraulic cylinder is obtained through displacement sensor and pressure sensor respectively. 402 and the pressure value P of the upper hydraulic cylinder 402 The auxiliary lifting device (6) is manipulated to reach a suitable height, and the displacement value S of the piston of the auxiliary lifting cylinder on the auxiliary lifting device (6) is obtained through the displacement sensor. 60301 Calculate the height h6 of the auxiliary lifting device (6); Step 1.4, manipulate 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; Step 1.5: Operate the lifting cylinder (403) so that the top of the upper cylinder (402) is in complete contact with the top of the roadway. Obtain the displacement value S of the lifting cylinder through the displacement sensor and pressure sensor respectively. 403 and the pressure value P of the lifting cylinder 403 ; Step two: During the drilling operation, acquire the values ​​of each sensor; Step 3: During drilling operations, determine whether the drilling rig is at risk of tipping over based on the magnitude of the anti-overturning moment. Step 3.1: During the drilling rig's feed process, the overturning moment M1 is calculated using Equation I; a critical value C1 is set. When M1 > C1, the drilling rig is at risk of overturning; when M1 ≤ C1, the drilling rig is not at risk of overturning. Equation I is as follows: ； In the formula: M1 represents the overturning moment exerted by the feed force on the drilling rig, with units of N·m; M x1 This represents the overturning moment exerted on the drilling rig by the feed force in the longitudinal direction, expressed in N·m. M y1 This represents the overturning moment exerted on the drilling rig by the feed force in the lateral direction, expressed in N·m. M z1 This represents the overturning moment exerted on the drilling rig by the vertical feed force, expressed in N·m. F1 represents the feed force, in N; H x This represents the centrifugal distance in the longitudinal direction during the feeding process, in meters (m). H y This represents the centrifugal distance in the lateral direction during the feeding process, in meters (m). H z This represents the centrifugal distance in the vertical direction during the feeding process, in meters (m). This indicates the azimuth angle, in degrees (°). Indicates the angle of inclination, in degrees (°). Step 3.2: During the drilling rig's lifting and pulling process, the overturning moment M2 is calculated using Formula II; a critical value C2 is set. When M2 > C2, the drilling rig is at risk of overturning; when M2 ≤ C2, the drilling rig is not at risk of overturning. Formula II is as follows: ； In the formula: M2 is the overturning moment of the drilling rig caused by the pulling force, and its unit is N·m; M x2 This represents the overturning moment exerted on the drilling rig by the pulling force in the longitudinal direction, expressed in N·m. M y2 This represents the overturning moment exerted on the drilling rig by the pulling force in the lateral direction, expressed in N·m. M z2 This represents the overturning moment of the drilling rig caused by the vertical pulling force, expressed in N·m. F2 represents the pulling force; H x This represents the centrifugal distance in the longitudinal direction during the feeding process, in meters (m). H y This represents the centrifugal distance in the lateral direction during the feeding process, in meters (m). H z This represents the centrifugal distance in the vertical direction during the feeding process, in meters (m). This indicates the azimuth angle, in degrees (°). Indicates the angle of inclination, in degrees (°). Step 3.3: During the drilling process, Equation III is used to calculate the overturning moment M3; a critical value C3 is set. When M3 > C3, the drilling rig is at risk of overturning; when M3 ≤ C3, the drilling rig is not at risk of overturning. Equation III is as follows: ； In the formula: M3 represents the anti-overturning moment of the drilling rig during drilling, expressed in N·m. M x3 This represents the anti-overturning moment of the drilling rig in the longitudinal direction during drilling, expressed in N·m. M y3 This represents the anti-overturning moment of the drilling rig in the lateral direction during drilling, expressed in N·m. M z3 This indicates the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, expressed in N·m. This indicates the pressure value of the lifting cylinder, in MPa. This represents the contact area between the upper grounding seat and the top of the roadway, in meters (m²). 2 ; This represents the static friction coefficient of the upper grounding base; This represents the contact area between the lower grounding bases at the bottom of the first, second, third, and fourth stabilizing outriggers and the bottom of the roadway, expressed in m². 2 ; This represents the static friction coefficient of the lower grounding base; H x1 This indicates the centrifugal distance of the lifting cylinder in the longitudinal direction, in meters (m). H y1 This indicates the centrifugal distance of the lifting cylinder in the lateral direction, in meters (m). H z1 This indicates the centrifugal distance of the lifting cylinder in the vertical direction, in meters (m). H x2 This indicates the centrifugal distance of the third stabilizing outrigger in the longitudinal direction, in meters (m). H x3 This indicates the centrifugal distance of the fourth stabilizing outrigger in the longitudinal direction, in meters (m). H y2 This indicates the centrifugal distance of the second stabilizing outrigger in the lateral direction, in meters (m). H y3 This indicates the centrifugal distance of the third stabilizing outrigger in the lateral direction, in meters (m). H z2 This represents the centrifugal distance of the first stable outrigger in the vertical direction, in meters (m). H z3 This indicates the centrifugal distance of the second stabilizing outrigger in the vertical direction, in meters (m). H z4 This indicates the centrifugal distance of the third stabilizing outrigger in the vertical direction, in meters (m). H z5 This indicates the centrifugal distance of the fourth stabilizing leg in the vertical direction, in meters (m). Step 3.4: During the drilling rig's tripping process, the anti-overturning moment M4 is calculated using Formula IV; a critical value of C4 is set. When M4 > C4, the drilling rig is at risk of overturning; when M4 ≤ C4, the drilling rig is not at risk of overturning. Formula IV is as follows: ； In the formula: M4 represents the anti-overturning moment of the drilling rig during the tripping process, in N·m; M x4 This represents the anti-overturning moment of the drilling rig in the longitudinal direction during the tripping process, expressed in N·m. M y4 This represents the anti-overturning moment of the drilling rig in the lateral direction during the drilling process, expressed in N·m. M z4 This represents the anti-overturning moment of the drilling rig in the vertical direction during the drilling process, expressed in N·m. H x4 This represents the centrifugal distance of the first stabilizing outrigger in the longitudinal direction, in meters (m). H x5 This indicates the centrifugal distance of the second stabilizing outrigger in the longitudinal direction, in meters (m). H y4 This represents the centrifugal distance of the first stabilizing outrigger in the lateral direction, in meters (m). H y5 This indicates the centrifugal distance of the fourth stabilizing outrigger in the lateral direction, in meters (m). H z6 This represents the centrifugal distance of the first stable outrigger in the vertical direction, in meters (m). H z7 This indicates the centrifugal distance of the second stabilizing outrigger in the vertical direction, in meters (m). H z8 This indicates the centrifugal distance of the third stabilizing outrigger in the vertical direction, in meters (m). H z9 This indicates the centrifugal distance of the fourth stabilizing leg in the vertical direction, in meters (m). Step four: Based on step three, determine if there is any danger with the drilling rig. If there is any abnormality, adjust the relevant parameters of the drilling rig accordingly. If there is no abnormality, continue construction normally.

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