Bionic self-drilling robot system for soft coal seam drilling

Abstract

The invention discloses a bionic self-drilling robot system for soft coal seam drilling. The bionic self-drilling robot system comprises an out-hole assembly and an in-hole robot body. The out-hole assembly comprises an out-hole assembly support and further comprises a high-pressure air pump, a hole protection foaming A liquid conveying pump, a hole protection foaming B liquid conveying pump, a pipe coiler, a flexible conveying pipe, an anti-explosion computer, a power source controller and a gas control valve which are fixed to the out-hole assembly support. The in-hole robot body comprises a connecting joint, a measurement-while-drilling short section, a drilling supporting mechanism, a pneumatic driving force mechanism, a wheel groove rotating mechanism, a rotating switching mechanism, an in-hole foaming mechanism, an angle adjusting bent shell and a conical drill bit which are connected in sequence. The air pressure is adopted to drive the drill bit in the hole to advance and retreat, straight-keeping drilling and directional deflecting drilling are achieved by controlling constant-speed rotation and locking of the face angle of a drill bit tool, and long-distance directional drilling of the soft coal stratum is achieved.

Description

Technical Field

[0001] The invention belongs to the field of geological safety assurance of coal mines and relates to a bionic self-drilling robot system for drilling holes in soft coal seams. Background Art

[0002] The dominant position of coal resources in my country's energy production and consumption structure will remain irreplaceable in the short term. my country's coal seams have complex geological conditions, with a wide distribution of broken and soft coal seams (f≤1) and multiple layers, accounting for about 53% of the total exploitable coal seams. They have the characteristics of poor permeability, high gas content, and low mechanical strength of the coal body. At present, the most common method of gas control is to use drilling to pre-extract gas from the coal seams at the mining face. Before mining broken and soft coal seams, the main method is to drill holes first, then lift the drill and insert the screen pipe to form a tubular channel for gas pre-extraction to ensure that the gas content of the coal seam reaches the conditions for safe mining.

[0003] When conventional drilling construction is carried out in broken and soft coal seams, due to the low mechanical strength of the coal body, the drilling depth is shallow, the porosity is low, and the equipment is frequently relocated, making it difficult to effectively improve the efficiency of gas control.

[0004] The directional drilling trajectory can be extended to the predetermined target according to the design requirements, and more effective formation information can be obtained with a shorter drilling trajectory and lower drilling cost. The air composite directional drilling process requires special equipment and tools, and the construction process is complicated; after the hole is completed, the drill is lifted and the rigid screen pipe is lowered, which requires a special screen pipe lowering device. Due to the complex structure of the borehole, the screen pipe is difficult to cover the entire hole section, resulting in low overall utilization of the borehole.

[0005] In addition, whether conventional drilling or directional drilling technology is used, gas drilling construction in broken and soft coal seams is prone to blowouts and collapse, and air exhaust causes dust pollution at the hole mouth.

[0006] Therefore, in order to solve the problems of low efficiency and high cost of gas control in broken and soft coal seams, the present invention designs a bionic self-drilling robot for drilling in soft coal seams to reduce the labor intensity underground, and proposes a method for using the bionic self-drilling robot for drilling in soft coal seams. Summary of the invention

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a bionic self-drilling robot system for drilling in soft coal seams, so as to solve the technical problems of low efficiency and high cost of gas control in broken and soft coal seams.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0009] A bionic self-drilling robot system for drilling holes in soft coal seams, comprising an outer hole assembly and an inner hole robot body;

[0010] The outer hole assembly includes an outer hole assembly bracket, and also includes a high-pressure air pump, a hole protection foaming liquid A delivery pump, a hole protection foaming liquid B delivery pump, a hose reel, a flexible transmission pipe, an explosion-proof computer, a power controller and a gas control valve fixed on the outer hole assembly bracket;

[0011] The in-hole robot body comprises a connecting joint, a while-drilling measurement short section, a drilling support mechanism, a gas driving force mechanism, a wheel groove rotation mechanism, a rotation switching mechanism, an in-hole foaming mechanism, an angle adjustment bend shell and a conical drill bit which are connected in sequence.

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

[0013] Specifically, the high-pressure air pump can provide compressed air to the in-hole robot body to drive each actuator in the in-hole robot body to work;

[0014] The hole-protecting foaming liquid A delivery pump can provide foaming liquid A for the robot body in the hole, and the hole-protecting foaming liquid B delivery pump can provide foaming liquid B for the robot body in the hole;

[0015] The flexible transmission tube is wound on the tube reel and rotates counterclockwise and clockwise under the drive of the motor. When working, the flexible transmission tube is lowered into the hole or coiled out of the hole to be retracted;

[0016] The flexible transmission pipe is a composite high-pressure rubber hose, which is provided with a foaming liquid A delivery pipeline, a foaming liquid B delivery pipeline, an armored signal transmission cable pipeline and a plurality of independent high-pressure gas pipelines;

[0017] The hole mouth explosion-proof computer can process the drilling trajectory parameters uploaded by the robot body in the hole and display the parameters in the form of a coordinate graph;

[0018] The power controller is a power control switch of the drilling robot;

[0019] The gas control valve can control the gas pressure output by the high-pressure air pump to adapt to its drilling construction under different depths and different formation resistance conditions. It can also control the gas input sequence of each high-pressure gas pipeline in the flexible input pipe to indirectly control the operating sequence of each driving mechanism in the in-hole robot body.

[0020] Specifically, the connection joint is located at the end of the robot body in the hole and is used to connect the flexible transmission pipe;

[0021] The measurement while drilling short section is used to measure the inclination, azimuth and tool face angle of the construction borehole, and transmit them to the explosion-proof computer outside the hole in real time through a flexible transmission tube; its built-in fiber optic gyroscope measuring instrument is not disturbed by the magnetic material in the hole during measurement, so that the measurement while drilling short section can ensure its measurement accuracy without using non-magnetic materials.

[0022] Specifically, the external structure of the drilling support mechanism includes a supporting upper shell, a connecting shell, a short shell, a supporting lower shell, and a transition shell; the supporting upper shell is coaxially connected to the connecting shell, and the short shell, the supporting lower shell and the transition shell are coaxially connected in sequence, and the end of the short shell is coaxially inserted into the connecting shell and can slide along its axial direction.

[0023] Specifically, the support upper shell body is evenly distributed in the circumference of the support upper shell body, and the support bodies can slide on the support upper shell body in a direction perpendicular to the axial direction; a support upper piston that can slide along its axial direction is arranged in the support upper shell body, and the small diameter end of the support upper piston is connected to the support upper piston push block, and an upper piston spring is arranged between the support upper piston push block and the connecting shell body; the outer surface of the support upper piston is divided into an upper piston large diameter cylindrical surface, an upper piston inclined surface and an upper piston small diameter cylindrical surface, and when not working, the support body is in the support upper shell body, and its inner side is in contact with the upper piston small diameter cylindrical surface.

[0024] Specifically, the supporting lower shell has a plurality of supporting bodies evenly distributed around the circumference, and the supporting bodies can slide on the supporting lower shell in a direction perpendicular to the axial direction; a supporting lower piston which can slide along its axial direction is arranged in the supporting lower shell, and a lower piston spring is arranged between the small diameter end of the supporting lower piston and the transition shell, and the lower piston flange of the supporting lower piston is connected to the pull plate through a pull rod, and the pull plate is limited by the connecting shell when sliding together with the supporting lower piston; the outer surface of the supporting lower piston is divided into a lower piston large diameter cylindrical surface, a lower piston inclined surface and a lower piston small diameter cylindrical surface, and when not working, the supporting body is in the supporting lower shell, and its inner side is in contact with the lower piston small diameter cylindrical surface.

[0025] Specifically, the external structure of the gas-driven power mechanism is a power mechanism upper shell, a power mechanism middle shell and a power mechanism lower shell which are coaxially connected in sequence;

[0026] A stroke control core rod is arranged in the upper housing of the power mechanism, and a core rod return spring is arranged on the left side of the stroke control core rod;

[0027] A reverse impact sleeve is arranged at the end of the housing in the power mechanism, and an impact piston is arranged inside, and an impact piston air hole is arranged on the impact piston, and the impact piston can slide along the small diameter section of the stroke control valve core and the inner core middle rod, and the inner core middle rod is provided with an inner core middle rod air hole;

[0028] An anvil head and an anvil shaft connected to the anvil head are arranged in the lower shell of the power mechanism. The anvil shaft is provided with an anvil shaft air hole and can slide with the anvil head in the lower shell of the power mechanism and can be connected with a conical drill bit.

[0029] Specifically, the wheel groove rotation mechanism is connected to the rotation switching mechanism, and the rotation switching mechanism is connected to the in-hole foaming mechanism and the angle adjustment bend shell, so as to realize power switching of the in-hole foaming mechanism and the angle adjustment bend shell.

[0030] Specifically, the conical drill bit is a bionic compaction drill bit, which, under the action of the gas-driven power mechanism, squeezes the soft coal formation at the front end to form an extrusion effect of the drilling conical drill bit to push the coal powder in front to the side wall of the borehole without being discharged out of the hole;

[0031] Driven by the robot, the bionic compaction drill bit squeezes the soft coal formation at the front end to form a borehole; the drill bit uses the foaming mechanism in the front hole to mix the two foaming materials when the robot withdraws the drill, and forms a high-strength foam hole protection tube, which is then pushed to the front end of the drill bit to form a gas migration channel;

[0032] When directional deflection is required, adjust the reversing control valve, and lock the deflection angle of the drill bit tool face in combination with the measurement parameters while drilling, so that the drill bit no longer rotates. The wheel groove rotation mechanism switches the power to the angle adjustment bend housing through the rotation switching mechanism, driving the angle adjustment bend housing to adjust the tool face angle, and slide drilling to a specific direction driven by the drilling support mechanism to realize the directional drilling function;

[0033] During drilling, the gas-driven power mechanism is adjusted so that the high-pressure gas drives the impact piston forward to strike the anvil head, pushing the robot forward to drill. When drilling to the designed hole depth, the gas-driven power mechanism is adjusted so that the high-pressure gas drives the impact piston backward to strike the reverse impact sleeve, pushing the robot to exit toward the hole mouth.

[0034] The method for using the bionic self-drilling robot system for drilling soft coal seams comprises the following steps:

[0035] Step 1: Preparation work before directional drilling begins, leveling the site, installing orifice system pipes and circuits, and connecting to the underground system air supply pipes and power grid;

[0036] Step 2: Connect the robot drilling tool assembly in the hole, which includes the bionic compacting drill bit, the in-hole foaming protection unit, the directional drilling angle adjustment unit, the two-way automatic walking unit, the drag reduction and efficiency enhancement support unit and the while drilling trajectory measurement unit; conical drill bit, angle adjustment bend shell, in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, gas drive mechanism, drilling support mechanism, while drilling measurement short section and connecting joint;

[0037] Step 3: Debug the robot actuator at the hole mouth, including the in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, gas driving force mechanism, and drilling support mechanism functions;

[0038] Step 4: Calibrate the measuring system at the orifice and lock the working surface, ensure that the computer interface is intact, set the software parameters, adjust the measuring sub posture, and correct the working surface;

[0039] Step 5: The robot is lowered to the bottom of the hole. If it is a new hole, the pilot hole must be completed in advance;

[0040] Step 6: Determine whether deflection is needed according to the formation conditions. If deflection and coring are not needed, go directly to step 8;

[0041] Step 7: Use the sliding directional coring drilling process, turn the tool face to the angle required for deflection, lock the angle adjustment bend shell, and then drill underground driven by the system air pressure;

[0042] Step 8: Using the composite directional drilling process, the drill bit is squeezed and drilled in the air drive mechanism and the drilling support mechanism. At the same time, the wind pressure starts the wheel groove rotation mechanism to drive the drill bit tool face to rotate slowly, so that the drilling trajectory as a whole keeps moving in a straight line;

[0043] Step 9: Real-time measurement of drilling parameters. The measurement signal is transmitted to the hole computer through the cable channel inside the flexible transmission tube. The bottom hole drilling inclination, azimuth and tool face angle measurement parameters are read, and the tool face angle is adjusted as needed.

[0044] Step 10: After drilling to the designed hole depth, adjust the gas-driven power mechanism, and the high-pressure gas drives the impact piston to strike the reverse impact sleeve backward, pushing the robot to exit toward the hole mouth;

[0045] Step 11: When the drill bit is reversely withdrawn from the bottom of the hole, the hole-protecting foaming liquid A delivery pump and the hole-protecting foaming liquid B delivery pump deliver the two foaming raw materials A and B to the bottom of the hole through the flexible transmission pipe, forming a high-strength and high-permeability foam tube on the hole wall;

[0046] Step 12: After the robot exits the orifice, connect the orifice pipe to the underground gas extraction system pipeline to achieve gas pre-extraction.

[0047] Compared with the prior art, the present invention has the following technical effects:

[0048] (1) The bionic self-drilling robot of the present invention is used for gas control in soft coal formations. The system wind pressure is used as a power source to drive the robot to perform directional drilling. No drilling rig is required, the cost is low, and the robot is easy to relocate.

[0049] (2) The bionic self-drilling robot of the present invention uses wind pressure to drive the drill bit in the hole forward and backward, and realizes straight drilling and directional deflection drilling by controlling the uniform rotation and locking of the drill bit tool face angle, thereby realizing long-distance directional drilling in soft coal formations.

[0050] (3) The fixed measurement unit of the present invention adopts a small-diameter antimagnetic fiber optic gyro inclinometer, which effectively avoids the interference of magnetic materials on the accuracy of while-drilling measurement and has high measurement accuracy.

[0051] (4) The transmission mechanism of the present invention adopts a composite high-pressure hose, which does not require a drill rod, reduces the supporting equipment for drilling construction, reduces transportation costs, and at the same time reduces the labor intensity of frequently loading and unloading drill rods, effectively ensuring the safety of underground personnel.

[0052] (5) When the bionic self-drilling robot of the present invention retracts the drill, it can sequentially form high-strength foam tubes from the bottom of the hole to the hole mouth as gas extraction channels, thereby achieving the effect of protecting the hole while drilling, avoiding blockage caused by borehole collapse, increasing the effective hole protection depth of the soft coal formation borehole, and improving the gas extraction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the overall structure of the bionic self-drilling robot system for drilling holes in soft coal seams of the present invention;

[0054] Figure 2 This is a schematic diagram of the structure of the in-hole robot body of the present invention;

[0055] Figure 3 It is a schematic diagram of the cross-sectional structure of the drilling support mechanism of the present invention;

[0056] Figure 4 This is a schematic diagram of the supporting upper piston structure of the present invention;

[0057] Figure 5 This is a schematic diagram of the supporting lower piston structure of the present invention;

[0058] Figure 6 It is a schematic cross-sectional structure diagram of the gas driving force mechanism of the present invention;

[0059] Figure 7 The present invention is a construction flow chart of the bionic self-drilling robot system for drilling holes in soft coal seams.

[0060] The meaning of each number in the figure is:

[0061] 1. Assembly outside the hole; 2. Robot body inside the hole;

[0062] 11. Hole outer assembly bracket, 12. High-pressure air pump, 13. Hole protection foaming liquid A delivery pump, 14. Hole protection foaming liquid B delivery pump, 15. Hose reel, 16. Flexible transmission pipe, 17. Explosion-proof computer, 18. Power controller, 19. Gas control valve;

[0063] 21. Connecting joint, 22. Drilling measurement short section, 23. Drilling support mechanism, 24. Air drive mechanism, 25. Wheel groove rotation mechanism, 26. Rotation switching mechanism, 27. In-hole foaming mechanism, 28. Angle adjustment bend shell, 29. Conical drill bit;

[0064] 23-1. Inner core upper rod, 23-2. Support upper shell, 23-3. Support upper piston, 23-4. Support body, 23-5. Pull plate, 23-6. Support upper piston push block, 23-7. Upper piston spring, 23-8. Connecting shell, 23-9. Pull rod, 23-10. Fixed inner sleeve, 23-11. Short shell, 23-12. Support lower piston, 23-13. Support lower shell, 23-14. Lower piston spring, 23-15. Transition shell; 23-3-1. Upper piston large diameter cylindrical surface, 23-3-2. Upper piston inclined surface, 23-3-3. Upper piston small diameter cylindrical surface; 23-12-1. Lower piston flange, 23-12-2. Lower piston large diameter cylindrical surface, 23-12-3. Lower piston inclined surface, 23-12-4. Lower piston small diameter cylindrical surface;

[0065] 24-1. Upper housing of power mechanism, 24-2. Core rod return spring, 24-3. Stroke control core rod, 24-4. Reverse impact sleeve, 24-5. Middle housing of power mechanism, 24-6. Impact piston, 24-7. Inner core middle rod, 24-8. Anvil head, 24-9. Anvil shaft, 24-10. Lower housing of power mechanism; 24-6-1. Impact piston air hole, 24-7-1. Inner core middle rod air hole, 24-9-1. Anvil shaft air hole. DETAILED DESCRIPTION

[0066] The present invention proposes a bionic self-drilling robot system for drilling in soft coal seams. The robot is driven by the wind pressure of the coal mine underground system to walk autonomously in the soft coal seams, and the coal powder in front is pushed to the side wall of the borehole by the squeezing effect of the conical drill bit, so there is no need to discharge it out of the hole. The drilling measurement probe detects the robot's depth, inclination, azimuth and other posture information in real time, and adjusts the robot's forward direction in combination with the steering mechanism. After drilling to the predetermined depth, the gas distribution stroke is adjusted to make the robot impact in the opposite direction. At the same time, two foaming liquids A and B are injected from the two channels of the orifice pipe respectively, and the mixing is completed in the mixing chamber at the front end of the robot. The mixture is pressed to the annular gap between the robot and the borehole with high-pressure gas, and the reaction forms a foam pipeline. As the robot continues to retreat along the original hole route, a sponge-like gas extraction channel is finally formed in the entire borehole. This technical solution realizes directional drilling in soft coal seams underground in coal mines without a drill rig, and forms a gas extraction channel while withdrawing the drill, solving the problems of difficult transportation of underground drilling rigs and high labor intensity. In addition, the borehole has good integrity and the gas extraction channel has strong penetration, which effectively improves the gas extraction efficiency in soft coal seams and provides technical and equipment support for the clean and efficient utilization of coal resources.

[0067] 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 solution of this application fall within the protection scope of the present invention.

[0068] Embodiment 1:

[0069] like Figures 1 to 6 As shown, this embodiment provides a bionic self-drilling robot system for drilling in soft coal seams, including an out-of-hole assembly 1 and an in-hole robot body 2.

[0070] The outer-hole assembly 1 includes an outer-hole assembly bracket 11, and also includes a high-pressure air pump 12 fixed on the outer-hole assembly bracket 11, a hole-protecting foaming A liquid delivery pump 13, a hole-protecting foaming B liquid delivery pump 14, a reel 15, a flexible transmission pipe 16, an explosion-proof computer 17, a power controller 18 and a gas control valve 19.

[0071] The in-hole robot body 2 includes a connecting joint 21, a while-drilling measurement short section 22, a drilling support mechanism 23, a gas driving force mechanism 24, a wheel groove rotation mechanism 25, a rotation switching mechanism 26, an in-hole foaming mechanism 27, an angle adjustment bend shell 28 and a conical drill bit 29 which are connected in sequence.

[0072] The high-pressure air pump 12 can provide compressed air to the in-hole robot body 2 to drive various actuators in the in-hole robot body 2 to operate.

[0073] The hole-protecting foaming liquid A delivery pump 13 can provide the in-hole robot body 2 with foaming liquid A, and the hole-protecting foaming liquid B delivery pump 14 can provide the in-hole robot body 2 with foaming liquid B.

[0074] A certain length of flexible transmission tube 16 is wound around the tube reel 15, which rotates counterclockwise and clockwise under the drive of the motor. During operation, the flexible transmission tube 16 is lowered into the hole or coiled out of the hole to be retracted.

[0075] The flexible transmission pipe 16 is a composite high-pressure rubber hose, which is provided with a foaming liquid A delivery pipe, a foaming liquid B delivery pipe, an armored signal transmission cable pipe and a plurality of independent high-pressure gas delivery pipes.

[0076] The hole mouth explosion-proof computer 17 can process the drilling trajectory parameters uploaded by the robot body 2 in the hole and display the parameters in the form of a coordinate graph.

[0077] The power controller 18 is a power control switch of the drilling robot.

[0078] The gas control valve 19 can control the gas pressure output by the high-pressure air pump 12 to adapt to its drilling construction under different depths and different formation resistance conditions. It can also control the gas input sequence of each high-pressure gas pipeline in the flexible input pipe 16 to indirectly control the operating sequence of each driving mechanism in the robot body 2 in the hole.

[0079] The connection joint 21 is located at the end of the in-hole robot body 2 and is used to connect the flexible transmission tube 16 .

[0080] The measurement while drilling short section 22 is used to measure the inclination, azimuth and tool face angle of the construction borehole, and transmit the information to the explosion-proof computer 17 outside the hole in real time through the flexible transmission tube 16; its built-in fiber optic gyroscope measuring instrument is not affected by the magnetic material in the hole during measurement, so that the measurement while drilling short section 22 can ensure its measurement accuracy without using non-magnetic materials.

[0081] The external structure of the drilling support mechanism 23 includes a supporting upper shell 23-2, a connecting shell 23-8, a short shell 23-11, a supporting lower shell 23-13, and a transition shell 23-15; the supporting upper shell 23-2 is coaxially connected to the connecting shell 23-8, the short shell 23-11, the supporting lower shell 23-13 and the transition shell 23-15 are coaxially connected in sequence, and the end of the short shell 23-11 is coaxially inserted into the connecting shell 23-8 and can slide along its axial direction.

[0082] A plurality of support bodies 23-4 are evenly distributed circumferentially on the support upper shell 23-2, and the support bodies 23-4 can slide on the support upper shell 23-2 in a direction perpendicular to the axial direction; a support upper piston 23-3 that can slide along its axial direction is arranged in the support upper shell 23-2, and the small diameter end of the support upper piston 23-3 is connected to the support upper piston push block 23-6, and an upper piston spring 23-7 is arranged between the support upper piston push block 23-6 and the connecting shell 23-8; the outer surface of the support upper piston 23-3 is divided into an upper piston large diameter cylindrical surface 23-3-1, an upper piston inclined surface 23-3-2 and an upper piston small diameter cylindrical surface 23-3-3, and when not working, the support body 23-4 is in the support upper shell 23-2, and its inner side is in contact with the upper piston small diameter cylindrical surface 23-3-3.

[0083] The supporting lower housing 23-13 is evenly distributed with a plurality of supporting bodies 23-4 in the circumferential direction, and the supporting bodies 23-4 can slide on the supporting lower housing 23-13 in a direction perpendicular to the axial direction; a supporting lower piston 23-12 that can slide in the axial direction is arranged in the supporting lower housing 23-13, a lower piston spring 23-14 is arranged between the small diameter end of the supporting lower piston 23-12 and the transition housing 23-15, and a lower piston flange 23-12-1 of the supporting lower piston 23-12 is connected to the lower piston flange 23-12-1 through a pull rod 23-9 It is connected to the pull plate 23-5, and the pull plate 23-5 is limited by the connecting shell 23-8 when sliding together with the supporting lower piston 23-12; the outer surface of the supporting lower piston 23-12 is divided into a lower piston large diameter cylindrical surface 23-12-2, a lower piston inclined surface 23-12-3 and a lower piston small diameter cylindrical surface 23-12-4. When not working, the support body 23-4 is in the supporting lower shell 23-13, and its inner side is in contact with the lower piston small diameter cylindrical surface 23-12-4.

[0084] The inner core upper rod 23-1 is the air intake channel of the drilling support mechanism 23, which is arranged inside the drilling support mechanism 23, and passes through the supporting upper piston 23-3, the pulling plate 23-5, the supporting upper piston push block 23-6, the upper piston spring 23-7, the fixed inner sleeve 23-10, the supporting lower piston 23-12 and the lower piston spring 23-14 in sequence along the axial direction.

[0085] The external structure of the gas-driven power mechanism 24 is a power mechanism upper shell 24-1, a power mechanism middle shell 24-5 and a power mechanism lower shell 24-10 which are coaxially connected in sequence. An inner core middle rod 24-7 is arranged inside the gas-driven power mechanism 24, which is an air inlet passage of the gas-driven power mechanism 24. The upper end of the inner core middle rod 24-7 is connected to the inner core upper rod 23-1, and its length is consistent with the length of the external structure connected by the power mechanism upper shell 24-1, the power mechanism middle shell 24-5 and the power mechanism lower shell 24-10.

[0086] A stroke control core rod 24 - 3 is arranged in the upper housing 24 - 1 of the power mechanism, and a core rod return spring 24 - 2 is arranged on the left side of the stroke control core rod 24 - 3 .

[0087] A reverse impact sleeve 24-4 is provided at the end of the housing 24-5 in the power mechanism, and an impact piston 24-6 is provided inside. An impact piston air hole 24-6-1 is provided on the impact piston 24-6, and the impact piston 24-6 can slide along the small diameter section of the stroke control valve core 24-3 and the inner core middle rod 24-7. An inner core middle rod air hole 24-7-1 is provided on the inner core middle rod 24-7 located between the stroke control valve core 24-3 and the impact piston 24-6, which is an air intake channel for driving the impact piston 24-6.

[0088] An anvil head 24-8 and an anvil shaft 24-9 connected to the anvil head 24-8 are arranged in the lower housing 24-10 of the power mechanism. An anvil shaft 24-9 is provided with an anvil shaft air hole 24-9-1, and can slide with the anvil head 24-8 in the lower housing 24-10 of the power mechanism, and can be connected to the conical drill bit 29 through other components.

[0089] The wheel groove rotating mechanism 25 is connected to the rotating switching mechanism 26 , and the rotating switching mechanism 26 is connected to the in-hole foaming mechanism 27 and the angle-adjusting bend shell 27 , so as to realize the power switching of the in-hole foaming mechanism 27 and the angle-adjusting bend shell 27 .

[0090] The conical drill bit 29 is a bionic compaction drill bit. Under the action of the gas-driven power mechanism 24, the soft coal formation at the front is squeezed to form an extrusion effect of the drilling conical drill bit to push the coal powder in front to the side wall of the borehole, so that it does not need to be discharged out of the hole.

[0091] Driven by the robot, the bionic compaction drill bit forms a borehole by squeezing the soft coal stratum at the front end; the drill bit uses the foaming mechanism 27 in the front hole to mix the two foaming materials when the robot withdraws the drill, and forms a high-strength foam hole protection tube, which is then pushed to the front end of the drill bit to form a gas migration channel.

[0092] When directional inclination is required, the reversing control valve is adjusted, and the drill bit tool face deflection angle is locked in combination with the downhole measurement parameters so that the drill bit no longer rotates. The wheel groove rotation mechanism 25 switches the power to the angle adjustment bend housing 27 through the rotation switching mechanism 26, driving the angle adjustment bend housing 27 to adjust the tool face angle, and the drilling is slid and drilled to a specific direction under the drive of the drilling support mechanism 23, thereby realizing the directional drilling function.

[0093] During drilling, the gas-driven power mechanism 24 is adjusted so that the high-pressure gas drives the impact piston 24-6 to strike the anvil head 24-8 forward, pushing the robot to move forward and drill. When drilling to the designed hole depth, the gas-driven power mechanism 24 is adjusted so that the high-pressure gas drives the impact piston 24-6 to strike the reverse impact sleeve 24-4 backward, pushing the robot to withdraw toward the hole mouth. Specifically, the pneumatic drive mechanism 24 adjusts the stroke control core rod 24-3 to the forward gear position. At this time, the impact piston air hole 24-6-1 and the inner core middle rod air hole 24-7-1 are not connected in the initial state, and the high-pressure gas enters the cavity between the stroke control valve core 24-3 and the impact piston 24-6 from the inner core middle rod air hole 24-7-1, driving the impact piston 24-6 to strike the anvil head 24-8 forward, pushing the robot to move forward and drill; when drilling to the designed hole depth, adjust the stroke control core rod 24-3 to the reverse gear position. At this time, the impact piston air hole 24-6-1 and the inner core middle rod air hole 24-7-1 are connected in the initial state, and the high-pressure gas enters the power mechanism middle shell 24-5 and the impact piston 24-6 annular cavity from the inner core middle rod air hole 24-7-1 and the impact piston air hole 24-6-1, driving the impact piston 24-6 to strike the reverse impact sleeve 24-4, pushing the robot to exit toward the hole mouth.

[0094] The present invention also provides a method for using a bionic self-drilling robot system for drilling holes in soft coal seams. Figure 7 As shown, the following steps are included:

[0095] Step 1: Preparation work before directional drilling begins, leveling the site, installing orifice system pipes and circuits, and connecting to the underground system air supply pipes and power grid;

[0096] Step 2: Connect the robot drilling tool assembly in the hole, which includes the bionic compacting drill bit, the in-hole foaming and hole protection unit, the directional drilling angle adjustment unit, the two-way automatic walking unit, the drag reduction and efficiency enhancement support unit and the while drilling trajectory measurement unit; the conical drill bit 29, the angle adjustment bend shell 28, the in-hole foaming mechanism 27, the rotation switching mechanism 26, the wheel groove rotation mechanism 25, the pneumatic driving force mechanism 24, the drilling support mechanism 23, the while drilling measurement short section 22 and the connecting joint 21;

[0097] Step 3: Debugging the robot actuator at the hole mouth, including the in-hole foaming mechanism 27, the rotation switching mechanism 26, the wheel groove rotation mechanism 25, the gas driving force mechanism 24, the drilling support mechanism 23 functions, etc.;

[0098] Step 4: Calibrate the measuring system at the orifice and lock the working surface, ensure that the computer interface is intact, set the software parameters, adjust the measuring sub posture, and correct the working surface;

[0099] Step 5: The robot is lowered to the bottom of the hole. If it is a new hole, the pilot hole must be completed in advance;

[0100] Step 6: Determine whether deflection is needed according to the formation conditions. If deflection and coring are not needed, go directly to step 8;

[0101] Step 7: Using the sliding directional coring drilling process, turn the tool face to the angle required for deflection, lock the angle adjustment bend housing 28, and then drill underground under the drive of the system wind pressure;

[0102] Step 8: Using a composite directional drilling process, the drill bit is drilled in the air driving force mechanism 24 and the drilling support mechanism 23, and at the same time, the wind pressure starts the wheel groove rotation mechanism 25 to drive the drill bit tool face to rotate slowly, so that the drilling trajectory as a whole keeps moving in a straight line;

[0103] Step 9: Real-time measurement of drilling parameters, transmitting the measurement signal to the hole computer through the cable channel inside the flexible transmission tube 16, reading the measurement parameters such as the bottom hole drilling inclination, azimuth and tool face angle, and adjusting the tool face angle as needed;

[0104] Step 10: After drilling to the designed hole depth, adjust the stroke control core rod 24-3 of the gas drive mechanism 24 to the reverse gear position, at which time the impact piston 24-6 strikes the reverse impact sleeve 24-4 to push the robot to withdraw toward the hole mouth;

[0105] Step 11: When the drill bit is reversely withdrawn from the bottom of the hole, the hole-protecting foaming liquid A delivery pump 13 and the hole-protecting foaming liquid B delivery pump 14 deliver the two foaming raw materials A and B to the bottom of the hole through the flexible transmission pipe 16, forming a high-strength and high-permeability foam tube on the hole wall;

[0106] Step 12: After the robot exits the orifice, connect the orifice pipe to the underground gas extraction system pipeline to achieve gas pre-extraction.

[0107] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0108] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0109] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A bionic self-drilling robot system for drilling in soft coal seams, characterized in that: It comprises an outer hole assembly (1) and an inner hole robot body (2); The outer hole assembly (1) comprises an outer hole assembly bracket (11), and also comprises a high-pressure air pump (12), a hole-protecting foaming liquid A delivery pump (13), a hole-protecting foaming liquid B delivery pump (14), a hose reel (15), a flexible transmission pipe (16), an explosion-proof computer (17), a power supply controller (18) and a gas control valve (19) fixed on the outer hole assembly bracket (11); The in-hole robot body (2) comprises a connecting joint (21), a measurement while drilling short section (22), a drilling support mechanism (23), a gas driving force mechanism (24), a wheel groove rotation mechanism (25), a rotation switching mechanism (26), an in-hole foaming mechanism (27), an angle adjustment bend shell (28) and a conical drill bit (29) which are connected in sequence.

2. The bionic self-drilling robot system for drilling soft coal seams according to claim 1, characterized in that: The high-pressure air pump (12) can provide compressed air to the in-hole robot body (2) to drive each actuator in the in-hole robot body (2) to operate; The hole-protecting foaming liquid A delivery pump (13) can provide the foaming liquid A to the in-hole robot body (2), and the hole-protecting foaming liquid B delivery pump (14) can provide the foaming liquid B to the in-hole robot body (2); The flexible transmission tube (16) is wound around the tube reel (15), which rotates counterclockwise and clockwise under the drive of the motor, and when working, the flexible transmission tube (16) is lowered into the hole or coiled out of the hole to be retracted; The flexible transmission pipe (16) is a composite high-pressure rubber hose, which is provided with a foaming liquid A delivery pipe, a foaming liquid B delivery pipe, an armored signal transmission cable pipe and a plurality of independent high-pressure gas delivery pipes; The hole mouth explosion-proof computer (17) can process the drilling trajectory parameters uploaded by the in-hole robot body (2) and display the parameters in the form of a coordinate graph; The power controller (18) is a power control switch of the drilling robot; The gas control valve (19) can control the gas pressure output by the high-pressure gas pump (12) to adapt to its drilling construction under different depths and different formation resistance conditions. At the same time, it can also control the gas input sequence of each high-pressure gas pipeline in the flexible input pipe (16) to indirectly control the operation sequence of each driving mechanism in the in-hole robot body (2).

3. The bionic self-drilling robot system for drilling soft coal seams according to claim 1, characterized in that: The connecting joint (21) is located at the end of the robot body (2) in the hole and is used to connect the flexible transmission pipe (16); The drilling measurement sub (22) is used to measure the inclination, azimuth and tool face angle of the construction borehole, and transmit the information to an explosion-proof computer (17) outside the hole in real time through a flexible transmission tube (16); the built-in fiber optic gyro measuring instrument is not disturbed by magnetic materials in the hole during measurement, so that the drilling measurement sub (22) can ensure its measurement accuracy without using non-magnetic materials.

4. The bionic self-drilling robot system for drilling soft coal seams according to claim 1, characterized in that: The external structure of the drilling support mechanism (23) comprises a supporting upper shell (23-2), a connecting shell (23-8), a short shell (23-11), a supporting lower shell (23-13), and a transition shell (23-15); the supporting upper shell (23-2) is coaxially connected to the connecting shell (23-8), the short shell (23-11), the supporting lower shell (23-13), and the transition shell (23-15) are coaxially connected in sequence, and the end of the short shell (23-11) is coaxially inserted into the connecting shell (23-8) and can slide along its axial direction.

5. The bionic self-drilling robot system for drilling soft coal seams according to claim 4, characterized in that: The supporting upper shell (23-2) has a plurality of supporting bodies (23-4) uniformly distributed in the circumferential direction, and the supporting bodies (23-4) can slide on the supporting upper shell (23-2) in a direction perpendicular to the axial direction; a supporting upper piston (23-3) that can slide in the axial direction is arranged in the supporting upper shell (23-2), and the small-diameter end of the supporting upper piston (23-3) is connected to the supporting upper piston push block (23-6), and an upper piston spring (23-7) is arranged between the supporting upper piston push block (23-6) and the connecting shell (23-8); the outer surface of the supporting upper piston (23-3) is divided into an upper piston large-diameter cylindrical surface (23-3-1), an upper piston inclined surface (23-3-2) and an upper piston small-diameter cylindrical surface (23-3-3); when not in operation, the supporting body (23-4) is in the supporting upper shell (23-2), and its inner side is in contact with the upper piston small-diameter cylindrical surface (23-3-3).

6. The bionic self-drilling robot system for drilling soft coal seams according to claim 5, characterized in that: The supporting lower housing (23-13) has a plurality of supporting bodies (23-4) uniformly distributed in the circumferential direction, and the supporting bodies (23-4) can slide on the supporting lower housing (23-13) in a direction perpendicular to the axial direction; a supporting lower piston (23-12) that can slide in the axial direction is arranged in the supporting lower housing (23-13), a lower piston spring (23-14) is arranged between the small diameter end of the supporting lower piston (23-12) and the transition housing (23-15), and a lower piston flange (23-12-1) of the supporting lower piston (23-12) is connected to the lower piston flange (23-12-1) by a pull rod (23 -9) is connected to a pull plate (23-5), and the pull plate (23-5) is limited by a connecting shell (23-8) when sliding together with the supporting lower piston (23-12); the outer surface of the supporting lower piston (23-12) is divided into a lower piston large diameter cylindrical surface (23-12-2), a lower piston inclined surface (23-12-3) and a lower piston small diameter cylindrical surface (23-12-4); when not working, the supporting body (23-4) is in the supporting lower shell (23-13), and its inner side is in contact with the lower piston small diameter cylindrical surface (23-12-4).

7. The bionic self-drilling robot system for drilling soft coal seams according to claim 1, characterized in that: The external structure of the gas-driven power mechanism (24) comprises a power mechanism upper shell (24-1), a power mechanism middle shell (24-5) and a power mechanism lower shell (24-10) which are coaxially connected in sequence; A stroke control core rod (24-3) is arranged in the upper housing (24-1) of the power mechanism, and a core rod return spring (24-2) is arranged on the left side of the stroke control core rod (24-3); A reverse impact sleeve (24-4) is arranged at the end of the housing (24-5) in the power mechanism, an impact piston (24-6) is arranged inside, an impact piston air hole (24-6-1) is arranged on the impact piston (24-6), and the impact piston (24-6) can slide along the small diameter section of the stroke control valve core (24-3) and the inner core middle rod (24-7), and the inner core middle rod (24-7) is provided with an inner core middle rod air hole (24-7-1); An anvil head (24-8) and an anvil shaft (24-9) connected to the anvil head (24-8) are arranged in the lower housing (24-10) of the power mechanism. An anvil shaft air hole (24-9-1) is arranged on the anvil shaft (24-9) and can slide with the anvil head (24-8) in the lower housing (24-10) of the power mechanism and can be connected to a conical drill bit (29).

8. The bionic self-drilling robot system for drilling soft coal seams according to claim 1, characterized in that: The wheel groove rotating mechanism (25) is connected to the rotating switching mechanism (26), and the rotating switching mechanism (26) is connected to the in-hole foaming mechanism (27) and the angle-adjusting bend shell (27), so as to realize the power switching of the in-hole foaming mechanism (27) and the angle-adjusting bend shell (27).

9. The bionic self-drilling robot system for drilling soft coal seams according to claim 8, characterized in that: The conical drill bit (29) is a bionic compaction drill bit, which, under the action of the gas-driven power mechanism (24), squeezes the soft coal stratum at the front end to form an extrusion effect of the drilling conical drill bit to push the coal powder in front to the side wall of the borehole without having to discharge it out of the hole; The bionic compaction drill bit, driven by the robot, forms a borehole by squeezing the soft coal stratum at the front end; the drill bit uses a foaming mechanism (27) in the front end hole to mix two foaming materials when the robot withdraws the drill, and forms a high-strength foam hole protection tube, which is then pushed to the front end of the drill bit to form a gas migration channel; When directional deflection is required, the reversing control valve is adjusted, and the deflection angle of the drill bit tool face is locked in combination with the measurement parameters while drilling, so that the drill bit no longer rotates. The wheel groove rotating mechanism (25) switches the power to the angle adjustment bend housing (27) through the rotating switching mechanism (26), driving the angle adjustment bend housing (27) to adjust the tool face angle, and the drilling is slid to a specific direction under the drive of the drilling support mechanism (23), thereby realizing the directional drilling function; During drilling, the gas driving force mechanism (24) is adjusted so that the high-pressure gas drives the impact piston (24-6) to strike the anvil head (24-8) forward, thereby pushing the robot to move forward for drilling; when the designed hole depth is reached, the gas driving force mechanism (24) is adjusted so that the high-pressure gas drives the impact piston (24-6) to strike the reverse impact sleeve (24-4) backward, thereby pushing the robot to withdraw toward the hole opening.

10. The method for using the bionic self-drilling robot system for drilling soft coal seams according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Preparation work before directional drilling begins, leveling the site, installing orifice system pipes and circuits, and connecting to the underground system air supply pipes and power grid; Step 2: Connect the robot drilling tool assembly in the hole, which includes the bionic compacting drill bit, the in-hole foaming protection unit, the directional drilling angle adjustment unit, the two-way automatic walking unit, the drag reduction and efficiency enhancement support unit and the while drilling trajectory measurement unit; conical drill bit, angle adjustment bend shell, in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, gas drive mechanism, drilling support mechanism, while drilling measurement short section and connecting joint; Step 3: Debug the robot actuator at the hole mouth, including the in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, gas driving force mechanism, and drilling support mechanism functions; Step 4: Calibrate the measuring system at the orifice and lock the working surface, ensure that the computer interface is intact, set the software parameters, adjust the measuring sub posture, and correct the working surface; Step 5: The robot is lowered to the bottom of the hole. If it is a new hole, the pilot hole must be completed in advance; Step 6: Determine whether deflection is needed according to the formation conditions. If deflection and coring are not needed, go directly to step 8; Step 7: Use the sliding directional coring drilling process, turn the tool face to the angle required for deflection, lock the angle adjustment bend shell, and then drill underground driven by the system air pressure; Step 8: Using the composite directional drilling process, the drill bit is squeezed and drilled in the air drive mechanism and the drilling support mechanism. At the same time, the wind pressure starts the wheel groove rotation mechanism to drive the drill bit tool face to rotate slowly, so that the drilling trajectory as a whole keeps moving in a straight line; Step 9: Real-time measurement of drilling parameters. The measurement signal is transmitted to the hole computer through the cable channel inside the flexible transmission tube. The bottom hole drilling inclination, azimuth and tool face angle measurement parameters are read, and the tool face angle is adjusted as needed. Step 10: After drilling to the designed hole depth, adjust the gas-driven power mechanism, and the high-pressure gas drives the impact piston to strike the reverse impact sleeve backward, pushing the robot to exit toward the hole mouth; Step 11: When the drill bit is reversely withdrawn from the bottom of the hole, the hole-protecting foaming liquid A delivery pump and the hole-protecting foaming liquid B delivery pump deliver the two foaming raw materials A and B to the bottom of the hole through the flexible transmission pipe, forming a high-strength and high-permeability foam tube on the hole wall; Step 12: After the robot exits the orifice, connect the orifice pipe to the underground gas extraction system pipeline to achieve gas pre-extraction.

Images