Bionic self-drilling robot system for soft coal seam drilling

Abstract

The application discloses a kind of soft coal seam drilling with bionic self-drilling robot system, including hole outside assembly and hole robot body;Hole outside assembly includes hole outside assembly support, also includes high-pressure air pump, hole protection foaming A liquid delivery pump, hole protection foaming B liquid delivery pump, coil pipe device, flexible transmission pipe, explosion-proof computer, power controller and gas control valve fixed on hole outside assembly support;Hole robot body includes connection joint, measurement short section while drilling, drilling support mechanism, gas driving force mechanism, wheel groove rotating mechanism, rotating switching mechanism, hole foaming mechanism, angle-adjusting bent shell and cone drill bit connected in sequence.The application adopts wind pressure to drive hole drill bit to advance, retreat, and through the uniform rotation and locking of control drill bit tool face angle, respectively realizes straight drilling and directional build-up angle drilling, realizes long distance directional drilling in soft coal formation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of coal mine geological safety guarantee, and relates to a bionic self-drilling robot system for soft coal seam drilling. BACKGROUND

[0002] Coal resources still cannot be replaced in the short term in the dominant position in the energy production and consumption structure in China. The coal seam occurrence geological conditions in China are complex, the broken soft coal seam (f≤1) is widely distributed and has multiple horizons, and accounts for about 53% of the total amount of mineable coal seams, and has the characteristics of poor gas permeability, high gas content, and low coal mechanical strength. At the present stage, the most common method for gas control is to use drilling to pre-drain the coal seam gas of the mining working face. Before the broken soft coal seam is mined, the gas is pre-drained by mainly drilling a hole, then pulling out the drill, and then lowering a screen pipe to form a tubular passage to ensure that the coal seam gas content reaches the safe mining condition.

[0003] When the broken soft coal seam is drilled by the conventional drilling, the low mechanical strength of the coal body leads to shallow drilling depth, low hole forming rate, and frequent equipment relocation, so that the gas control efficiency is difficult to effectively improve.

[0004] The directional drilling trajectory can be extended to the predetermined target according to the design requirements, and more effective stratum information can be obtained with shorter drilling trajectory and lower drilling cost. The air composite directional drilling process needs to be matched with special equipment and tools, and the construction process is complex. After the hole is completed, the drill is pulled out and then a rigid screen pipe is lowered, and a special screen pipe lowering device needs to be matched, and because the drilling structure is complex, the screen pipe is difficult to cover the whole hole section, leading to low overall utilization rate of the drilling.

[0005] In addition, whether the conventional drilling or the directional drilling process is used, the broken soft coal seam gas drilling construction is prone to jetting and hole collapse, and the air powder discharge exists hole dust pollution.

[0006] Therefore, the present application aims at the problems of low gas control efficiency and high cost of the broken soft coal seam, designs a bionic self-drilling robot for soft coal seam drilling, reduces the underground labor intensity, and proposes a use method of the bionic self-drilling robot for soft coal seam drilling. SUMMARY

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

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

[0009] A bionic self-drilling robot system for soft coal seam drilling, comprising a hole-out assembly and a hole-in robot body.

[0010] The external assembly includes an external assembly bracket, and also includes a high-pressure air pump, a hole-protecting foam A liquid delivery pump, a hole-protecting foam B liquid delivery pump, a coiler, a flexible transmission pipe, an explosion-proof computer, a power controller, and a gas control valve, all fixed on the external assembly bracket.

[0011] The in-hole robot body includes a connecting joint, a drilling measurement sub, a drilling support mechanism, a pneumatic drive mechanism, a wheel groove rotation mechanism, a rotation switching mechanism, an in-hole foaming mechanism, an angle-adjusting curved shell, and a conical drill bit, 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 robot body inside the hole to drive the various actuators inside the robot body to work and operate;

[0014] The hole-protecting foam A liquid delivery pump can provide foam A liquid to the robot body inside the hole, and the hole-protecting foam B liquid delivery pump can provide foam B liquid to the robot body inside the hole.

[0015] The flexible transmission tube is wound around the coiler and rotates counterclockwise and clockwise under the drive of the motor. During operation, the flexible transmission tube is lowered into the hole or coiled back out of the hole.

[0016] The flexible transmission tube is a composite high-pressure hose, which contains a foaming liquid A delivery pipe, a foaming liquid B delivery pipe, an armored signal transmission cable pipe, and multiple independent high-pressure gas delivery pipes.

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

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

[0019] The gas control valve can control the gas pressure output by the high-pressure air pump to adapt to drilling operations at different depths and under 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 drive mechanism in the robot body inside the borehole.

[0020] Specifically, the connecting joint is located at the end of the robot body inside the hole and is used to connect the flexible transmission tube;

[0021] The measurement while drilling sub is used to measure the inclination, azimuth, and tool face angle of the drilling hole, and transmits the data in real time to an explosion-proof computer outside the hole via a flexible transmission tube. Its built-in fiber optic gyroscope measuring instrument is not affected by magnetic materials inside the hole during measurement, so that the measurement while drilling sub can ensure its measurement accuracy without the need for non-magnetic materials.

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

[0023] Specifically, the upper support housing has multiple supports evenly distributed around its circumference, and each support can slide on the upper support housing in a direction perpendicular to the axial direction. An upper support piston that can slide along its axial direction is provided inside the upper support housing. The small-diameter end of the upper support piston is connected to a push block, and an upper piston spring is provided between the push block and the connecting housing. The outer surface of the upper support piston is divided into a large-diameter cylindrical surface, an inclined surface, and a small-diameter cylindrical surface. When not in operation, the support is located inside the upper support housing, and its inner side is in contact with the small-diameter cylindrical surface of the upper piston.

[0024] Specifically, the lower supporting housing has multiple supports evenly distributed around its circumference, and each support can slide on the lower supporting housing in a direction perpendicular to the axial direction. A lower supporting piston, capable of sliding along its axial direction, is installed inside the lower supporting housing. A lower piston spring is installed between the small-diameter end of the lower supporting piston and the transition housing. The lower piston flange of the lower supporting piston is connected to a pull plate via a pull rod. The pull plate is limited by the connecting housing when sliding together with the lower supporting piston. The outer surface of the lower supporting piston is divided into a large-diameter cylindrical surface, a inclined surface, and a small-diameter cylindrical surface. When not in operation, the support is located inside the lower supporting housing, with its inner side fitting against the small-diameter cylindrical surface of the lower piston.

[0025] Specifically, the external structure of the pneumatic drive mechanism consists of an upper housing, a middle housing, and a lower housing connected coaxially in sequence.

[0026] The upper housing of the power mechanism is provided with a stroke control core rod, and a core rod return spring is provided on the left side of the stroke control core rod;

[0027] The power mechanism has a reverse impact sleeve at the end of the housing and an impact piston inside. The impact piston has an impact piston vent, and the impact piston can slide along the small diameter section of the stroke control valve core and the inner core rod. The inner core rod has an inner core rod vent.

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

[0029] Specifically, the wheel groove rotation mechanism is connected to the rotation switching mechanism, which in turn is connected to the in-hole foaming mechanism and the angle-adjusting bend housing, enabling power switching between the in-hole foaming mechanism and the angle-adjusting bend housing.

[0030] Specifically, the conical drill bit is a biomimetic compaction drill bit. Under the action of the pneumatic driving force mechanism, it compresses the soft coal strata at the front end to form the compression effect of the conical drill bit, pushing the coal powder in front to the side wall of the borehole without having to be discharged outside the hole.

[0031] Driven by a robot, the biomimetic compaction drill bit forms a borehole by compressing the soft coal strata at the front end. The drill bit relies on the foaming mechanism inside the borehole at the front end to mix two foaming materials and form a high-strength foam-like borehole protector when the robot retracts the drill bit. The borehole protector is then pushed to the front end of the drill bit to form a gas transport channel.

[0032] When directional drilling is required, the reversing control valve is adjusted, and the drill bit tool face deflection angle is locked in combination with the drilling measurement parameters, so that the drill bit stops rotating. The wheel groove rotation mechanism switches the power to the angle adjustment bend housing through the rotation switching mechanism, which drives the angle adjustment bend housing to adjust the tool face angle. Under the drive of the drilling support mechanism, it slides and drills in a specific direction to achieve the directional drilling function.

[0033] During drilling, the pneumatic drive mechanism is adjusted so that high-pressure gas drives the impact piston forward to strike the anvil, propelling the robot forward to drill. When the designed hole depth is reached, the pneumatic drive mechanism is adjusted so that high-pressure gas drives the impact piston backward to strike the reverse impact sleeve, propelling the robot to exit towards the hole opening.

[0034] The method of using the aforementioned biomimetic self-drilling robot system for drilling soft coal seams includes the following steps:

[0035] Step 1: Preparations before directional drilling begin, including leveling the site, installing the borehole system pipelines and circuits, and connecting the downhole system air supply pipes and power grid;

[0036] Step 2: The in-hole robotic drilling tool assembly consists of, in sequence, a bionic compaction drill bit, an in-hole foaming protection unit, a directional drilling angle adjustment unit, a bidirectional self-controlled walking unit, a drag reduction and efficiency enhancement support unit, and a drilling trajectory measurement unit; a tapered drill bit, an angle adjustment curved shell, an in-hole foaming mechanism, a rotation switching mechanism, a wheel groove rotation mechanism, a pneumatic drive mechanism, a drilling support mechanism, a drilling measurement sub, and a connecting joint;

[0037] Step 3: Debug the robot actuators at the orifice, including the in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, pneumatic drive mechanism, and drilling support mechanism.

[0038] Step 4: Calibrate the measurement system at the orifice and lock the working surface, ensure the computer interface is intact, set the software parameters, adjust the attitude of the measurement section, and correct the working surface;

[0039] Step 5: Lower the robot to the bottom of the hole. If it is a newly drilled hole, a pilot hole needs to be completed in advance.

[0040] Step 6: Determine whether it is necessary to perform directional drilling based on the geological conditions. If it is not necessary to perform directional drilling and coring, proceed directly to Step 8.

[0041] Step 7: Using the sliding directional coring drilling process, after rotating the tool face to the required angle for creating the inclination, lock the angle-adjusting bend housing, and then drill downhole under the drive of system air pressure;

[0042] Step 8: Using a composite directional drilling process, the drill bit squeezes and drills through the pneumatic drive mechanism and the drilling support mechanism. At the same time, the air pressure starts the wheel groove rotation mechanism to drive the drill bit tool face to rotate slowly, so that the drilling trajectory remains straight.

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

[0044] Step 10: After drilling to the designed hole depth, adjust the pneumatic drive mechanism. High-pressure gas drives the impact piston to strike the reverse impact sleeve backward, pushing the robot outward toward the hole opening.

[0045] Step 11: When the drill bit retracts from the bottom of the hole, the hole protection foam A liquid delivery pump and the hole protection foam B liquid 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 biomimetic self-drilling robot of the present invention is used for gas control in soft coal formations. It uses system air pressure as a power source to drive the robot to perform directional drilling. It does not require a drilling machine, has low cost, and is easy to relocate.

[0049] (2) The biomimetic self-drilling robot of the present invention uses wind pressure to drive the drill bit in the hole to move forward and backward, and achieves straight drilling and directional drilling by controlling the uniform rotation and locking of the drill bit tool face angle, respectively, so as to realize long-distance directional drilling in soft coal formations.

[0050] (3) The fixed measurement unit of this invention adopts a small-diameter antimagnetic fiber optic gyroscope inclination instrument, which effectively avoids the interference of magnetic materials on the accuracy of drilling measurement and achieves high measurement accuracy.

[0051] (4) The transmission mechanism of the present invention uses a composite high-pressure hose, which eliminates the need for drill rods, reduces the supporting equipment for drilling operations, lowers transportation costs, and reduces the labor intensity of frequent drill rod loading and unloading, effectively ensuring the safety of personnel downhole.

[0052] (5) When the biomimetic self-drilling robot of the present invention retracts the drill, it can form a high-strength foam pipe from the bottom of the hole to the opening of the hole in sequence, which serves as a gas extraction channel, achieving the effect of protecting the hole while drilling, avoiding blockage caused by the collapse of the drill hole, increasing the effective protection depth of the drill hole in soft coal formation, and improving the gas extraction efficiency. Attached Figure Description

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

[0054] Figure 2 This is a schematic diagram of the body structure of the robot inside the hole according to the present invention;

[0055] Figure 3 This is a cross-sectional view of the drilling support mechanism of the present invention;

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

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

[0058] Figure 6 This is a cross-sectional view of the pneumatic drive mechanism of the present invention;

[0059] Figure 7 This is a flowchart illustrating the construction process of the biomimetic self-drilling robot system for drilling soft coal seams according to the present invention.

[0060] The meanings of the labels in the diagram are as follows:

[0061] 1. External assembly; 2. Internal robot body;

[0062] 11. External assembly bracket, 12. High-pressure air pump, 13. Foaming A liquid delivery pump for perforation protection, 14. Foaming B liquid delivery pump for perforation protection, 15. Coil, 16. Flexible transmission pipe, 17. Explosion-proof computer, 18. Power controller, 19. Gas control valve;

[0063] 21. Connecting joint; 22. Measurement while drilling sub; 23. Drilling support mechanism; 24. Pneumatic drive mechanism; 25. Wheel groove rotation mechanism; 26. Rotation switching mechanism; 27. In-hole foaming mechanism; 28. Angle-adjusting curved housing; 29. ​​Tapered drill bit;

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

[0065] 24-1. Upper housing of the power mechanism; 24-2. Core rod return spring; 24-3. Stroke control core rod; 24-4. Reverse impact sleeve; 24-5. Middle housing of the power mechanism; 24-6. Impact piston; 24-7. Inner core rod; 24-8. Anvil; 24-9. Anvil shaft; 24-10. Lower housing of the power mechanism; 24-6-1. Impact piston vent; 24-7-1. Inner core rod vent; 24-9-1. Anvil shaft vent. Detailed Implementation

[0066] This invention proposes a biomimetic self-drilling robot system for drilling in soft coal seams. Utilizing the air pressure of the underground coal mine system, the robot autonomously moves through the soft coal seam, pushing coal dust to the borehole sidewall through the squeezing effect of the conical drill bit, thus eliminating the need for external discharge. A measurement-while-drilling probe continuously monitors the robot's depth, inclination, azimuth, and other pose information, adjusting the robot's direction of travel in conjunction with a steering mechanism. After reaching the predetermined depth, the gas distribution stroke is adjusted to cause the robot to reverse its trajectory. Simultaneously, two foaming liquids, A and B, are injected from two channels at the borehole opening, respectively. Mixing is completed in the mixing chamber at the robot's front end, and high-pressure gas forces the mixture into the annular gap between the robot and the borehole, forming a foam-like pipeline. As the robot continues to retreat along the original borehole path, a sponge-like gas extraction channel is eventually formed throughout the entire borehole. This technical solution enables directional drilling in soft coal seams underground without drilling rigs, and forms a gas extraction channel while retracting the drill. It solves the problems of difficult underground drilling rig transportation and high labor intensity. Moreover, the borehole has good integrity and the gas extraction channel has strong connectivity, which effectively improves the gas extraction efficiency of soft coal seams and provides technical and equipment support for the clean and efficient utilization of coal resources.

[0067] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0068] Example 1:

[0069] like Figures 1 to 6 As shown, this embodiment provides a biomimetic self-drilling robot system for drilling soft coal seams, including an external assembly 1 and an internal robot body 2.

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

[0071] The in-hole robot body 2 includes a connecting joint 21, a drilling measurement sub 22, a drilling support mechanism 23, a pneumatic drive mechanism 24, a wheel groove rotation mechanism 25, a rotation switching mechanism 26, an in-hole foaming mechanism 27, an angle-adjusting curved shell 28, and a tapered drill bit 29, which are connected in sequence.

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

[0073] The hole-protecting foam A liquid delivery pump 13 can provide foam A liquid to the robot body 2 inside the hole, and the hole-protecting foam B liquid delivery pump 14 can provide foam B liquid to the robot body 2 inside the hole.

[0074] A flexible transmission tube 16 of a certain length is wound around the coiler 15. Driven by the motor, it rotates counterclockwise and clockwise. During operation, the flexible transmission tube 16 is lowered into the hole or coiled back out of the hole.

[0075] The flexible transmission tube 16 is a composite high-pressure hose, which contains a foaming liquid A transmission pipe, a foaming liquid B transmission pipe, an armored signal transmission cable pipe, and multiple independent high-pressure gas transmission pipes.

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

[0077] Power controller 18 is the power control switch for 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 drilling operations 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 drive mechanism in the robot body 2 inside the borehole.

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

[0080] The measurement while drilling sub 22 is used to measure the inclination angle, azimuth angle and tool face angle of the drilling hole, and transmits the data in real time to the explosion-proof computer 17 outside the hole through the flexible transmission tube 16. Its built-in fiber optic gyroscope measuring instrument is not affected by the magnetic materials inside the hole during measurement, so that the measurement while drilling sub 22 can ensure its measurement accuracy without the use of non-magnetic materials.

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

[0082] Multiple supports 23-4 are evenly distributed around the upper housing 23-2. The supports 23-4 can slide on the upper housing 23-2 in a direction perpendicular to the axial direction. An upper piston 23-3 that can slide along its axial direction is provided inside the upper housing 23-2. The small diameter end of the upper piston 23-3 is connected to the upper piston push block 23-6. An upper piston spring 23-7 is provided between the upper piston push block 23-6 and the connecting housing 23-8. The outer surface of the 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 supports 23-4 are located inside the upper housing 23-2, and their inner sides are in contact with the upper piston small diameter cylindrical surface 23-3-3.

[0083] Multiple support bodies 23-4 are evenly distributed circumferentially on the lower housing 23-13, and the support bodies 23-4 can slide on the lower housing 23-13 in a direction perpendicular to the axial direction. A lower piston 23-12 that can slide along its axial direction is provided inside the lower housing 23-13. A lower piston spring 23-14 is provided between the small-diameter end of the lower piston 23-12 and the transition housing 23-15. The lower piston flange 23-12-1 of the lower piston 23-12 is connected by a tie rod 23-9. Connected to pull plate 23-5, pull plate 23-5 is limited by connecting housing 23-8 when sliding together with supporting lower piston 23-12; the outer surface of supporting lower piston 23-12 is divided into lower piston major diameter cylindrical surface 23-12-2, lower piston inclined surface 23-12-3 and lower piston minor diameter cylindrical surface 23-12-4. When not in operation, support body 23-4 is inside supporting lower housing 23-13, and its inner side is in contact with lower piston minor 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. It is located inside the drilling support mechanism 23 and passes through the upper piston 23-3, pull plate 23-5, upper piston push block 23-6, upper piston spring 23-7, fixed inner sleeve 23-10, lower piston 23-12 and lower piston spring 23-14 in sequence along the axial direction.

[0085] The external structure of the pneumatic drive mechanism 24 consists of a power mechanism upper housing 24-1, a power mechanism middle housing 24-5, and a power mechanism lower housing 24-10 connected coaxially in sequence. An inner core rod 24-7 is provided inside the pneumatic drive mechanism 24, serving as the air intake channel. The upper end of the inner core 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 connecting the power mechanism upper housing 24-1, the power mechanism middle housing 24-5, and the power mechanism lower housing 24-10.

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

[0087] In the power mechanism, a reverse impact sleeve 24-4 is provided at the end of the housing 24-5, 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 rod 24-7. An inner core rod air hole 24-7-1 is provided on the inner core rod 24-7 located between the stroke control valve core 24-3 and the impact piston 24-6, which is the air intake channel for driving the impact piston 24-6.

[0088] An anvil 24-8 and an anvil shaft 24-9 connected to the anvil 24-8 are provided inside the lower housing 24-10 of the power mechanism. The anvil shaft 24-9 is provided with an anvil shaft air hole 24-9-1 and can slide with the anvil 24-8 inside the lower housing 24-10 of the power mechanism. It can also be connected to the tapered drill bit 29 through other components.

[0089] The wheel groove rotation mechanism 25 is connected to the rotation switching mechanism 26, which is connected to the in-hole foaming mechanism 27 and the angle-adjusting bend housing 27, enabling power switching between the in-hole foaming mechanism 27 and the angle-adjusting bend housing 27.

[0090] The conical drill bit 29 is a biomimetic compaction drill bit. Under the action of the pneumatic drive mechanism 24, it compresses the soft coal strata at the front end, forming a compression effect of the 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 a robot, the biomimetic compaction drill bit forms a borehole by compressing the soft coal strata at the front end. The drill bit relies on the foaming mechanism 27 at the front end of the hole to mix two foaming materials when the robot retracts the drill bit, forming a high-strength foam-like hole-protecting tube. The hole-protecting tube is then pushed to the front end of the drill bit to form a gas transport channel.

[0092] When directional drilling is required, the reversing control valve is adjusted, and the drill bit tool face deflection angle is locked in combination with the drilling measurement parameters, so that the drill bit stops rotating. The wheel groove rotation mechanism 25 switches the power to the angle adjustment housing 27 through the rotation switching mechanism 26, which drives the angle adjustment housing 27 to adjust the tool face angle. Under the drive of the drilling support mechanism 23, it slides and drills in a specific direction to realize the directional drilling function.

[0093] During drilling, the pneumatic drive mechanism 24 is adjusted so that the high-pressure gas drives the impact piston 24-6 forward to strike the anvil 24-8, pushing the robot forward to drill. When the designed hole depth is reached, the pneumatic drive mechanism 24 is adjusted so that the high-pressure gas drives the impact piston 24-6 backward to strike the reverse impact sleeve 24-4, pushing the robot to exit towards the hole opening. Specifically, the pneumatic drive mechanism 24 adjusts the stroke control core rod 24-3 to the forward position. In this initial state, the impact piston air hole 24-6-1 and the inner core rod air hole 24-7-1 are not connected. High-pressure gas enters the cavity between the stroke control valve core 24-3 and the impact piston 24-6 through the inner core rod air hole 24-7-1, driving the impact piston 24-6 to strike the anvil 24-8 forward, pushing the robot forward to drill. When drilling to the designed hole depth, the stroke control core rod 24-3 is adjusted to the reverse position. In this initial state, the impact piston air hole 24-6-1 and the inner core rod air hole 24-7-1 are connected. High-pressure gas enters the housing 24-5 and the annular cavity of the impact piston 24-6 in the power mechanism through the inner core 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 retreat towards the hole opening.

[0094] This invention also provides a method for using a biomimetic self-drilling robot system for drilling in soft coal seams, such as... Figure 7 As shown, it includes the following steps:

[0095] Step 1: Preparations before directional drilling begin, including leveling the site, installing the borehole system pipelines and circuits, and connecting the downhole system air supply pipes and power grid;

[0096] Step 2: The in-hole robotic drilling tool assembly consists of, in sequence, a biomimetic compaction drill bit, an in-hole foaming protection unit, a directional drilling angle adjustment unit, a bidirectional self-controlled walking unit, a drag reduction and efficiency enhancement support unit, and a drilling trajectory measurement unit; a conical drill bit 29, an angle-adjusting curved shell 28, an in-hole foaming mechanism 27, a rotation switching mechanism 26, a wheel groove rotation mechanism 25, a pneumatic drive mechanism 24, a drilling support mechanism 23, a drilling measurement sub 22, and a connecting joint 21;

[0097] Step 3: Debug the robot actuator at the orifice, including the functions of the in-hole foaming mechanism 27, the rotation switching mechanism 26, the wheel groove rotation mechanism 25, the pneumatic drive mechanism 24, and the drilling support mechanism 23.

[0098] Step 4: Calibrate the measurement system at the orifice and lock the working surface, ensure the computer interface is intact, set the software parameters, adjust the attitude of the measurement section, and correct the working surface;

[0099] Step 5: Lower the robot to the bottom of the hole. If it is a newly drilled hole, a pilot hole needs to be completed in advance.

[0100] Step 6: Determine whether it is necessary to perform directional drilling based on the geological conditions. If it is not necessary to perform directional drilling and coring, proceed directly to Step 8.

[0101] Step 7: Using the sliding directional coring drilling process, after rotating the tool face to the required angle for creating the inclination, lock the angle-adjusting bend housing 28, and then drill downhole under the system air pressure drive;

[0102] Step 8: Using a composite directional drilling process, the drill bit is squeezed and drilled by the air-driven force mechanism 24 and the drilling support mechanism 23. At the same time, the air pressure starts the wheel groove rotation mechanism 25 to drive the drill bit tool face to rotate slowly, so that the drilling trajectory remains straight.

[0103] Step 9: Real-time measurement of drilling parameters. The measurement signal is transmitted to the borehole computer through the cable channel inside the flexible transmission tube 16 to read the measurement parameters such as the bottom borehole inclination angle, azimuth angle and tool face angle, and the tool face angle is adjusted as needed.

[0104] Step 10: After drilling to the designed hole depth, adjust the stroke control core rod 24-3 of the pneumatic drive mechanism 24 to the reverse position. At this time, the impact piston 24-6 strikes the reverse impact sleeve 24-4, pushing the robot to exit towards the hole opening.

[0105] Step 11: When the drill bit retracts from the bottom of the hole, the hole protection foam A liquid delivery pump 13 and the hole protection foam B liquid 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 pipe 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 have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

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

[0109] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A biomimetic self-drilling robot system for drilling in soft coal seams, characterized in that, Includes the external hole assembly (1) and the internal hole robot body (2); The external assembly (1) includes an external assembly bracket (11), and also includes a high-pressure air pump (12), a hole-protecting foam A liquid delivery pump (13), a hole-protecting foam B liquid delivery pump (14), a coiler (15), a flexible transmission pipe (16), an explosion-proof computer (17), a power controller (18), and a gas control valve (19) fixed on the external assembly bracket (11). The in-hole robot body (2) includes a connecting joint (21), a measurement while drilling sub (22), a drilling support mechanism (23), a pneumatic drive mechanism (24), a wheel groove rotation mechanism (25), a rotation switching mechanism (26), an in-hole foaming mechanism (27), an angle-adjusting curved shell (28), and a conical drill bit (29) connected in sequence. The external structure of the pneumatic drive mechanism (24) consists of an upper housing (24-1), a middle housing (24-5), and a lower housing (24-10) of the power mechanism connected coaxially in sequence. The upper housing (24-1) of the power mechanism is provided with a stroke control core rod (24-3), and a core rod return spring (24-2) is provided on the left side of the stroke control core rod (24-3). The power mechanism has a reverse impact sleeve (24-4) at the end of the housing (24-5), and an impact piston (24-6) inside. The impact piston (24-6) has an impact piston vent (24-6-1), and the impact piston (24-6) can slide along the small diameter section of the stroke control rod (24-3) and the inner core rod (24-7). The inner core rod (24-7) has an inner core rod vent (24-7-1). The lower housing (24-10) of the power mechanism is provided with an anvil (24-8) and an anvil shaft (24-9) connected to the anvil (24-8). The anvil shaft (24-9) is provided with an anvil shaft air hole (24-9-1) and can slide with the anvil (24-8) in the lower housing (24-10) of the power mechanism, and can be connected to the conical drill bit (29).

2. The biomimetic self-drilling robot system for drilling soft coal seams as described in claim 1, characterized in that, The high-pressure air pump (12) can provide compressed air to the robot body (2) inside the hole to drive the various actuators inside the robot body (2) to work and operate. The hole-protecting foam A liquid delivery pump (13) can provide foam A liquid to the robot body (2) inside the hole, and the hole-protecting foam B liquid delivery pump (14) can provide foam B liquid to the robot body (2) inside the hole; The flexible transmission tube (16) is wound around the coiler (15) and rotates counterclockwise and clockwise under the drive of the motor. During operation, the flexible transmission tube (16) is lowered into the hole or coiled back out of the hole. The flexible transmission tube (16) is a composite high-pressure hose, which contains a foaming liquid A transmission pipe, a foaming liquid B transmission pipe, an armored signal transmission cable pipe and multiple independent high-pressure gas transmission pipes. The explosion-proof computer (17) can process the drilling trajectory parameters uploaded by the robot body (2) inside the hole and display the parameters in the form of a coordinate graph; The power controller (18) is the power control switch for the drilling robot; The gas control valve (19) can control the gas pressure output by the high-pressure gas pump (12) to adapt to 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 transmission pipe (16) to indirectly control the operating sequence of each drive mechanism in the robot body (2) inside the hole.

3. The biomimetic self-drilling robot system for drilling soft coal seams as described in claim 1, characterized in that, The connecting joint (21) is located at the end of the robot body (2) inside the hole and is used to connect the flexible transmission tube (16). The measurement while drilling sub (22) is used to measure the inclination angle, azimuth angle and tool face angle of the construction borehole, and transmits the data in real time to the explosion-proof computer (17) outside the borehole through the flexible transmission tube (16). Its built-in fiber optic gyroscope measuring instrument is not affected by the magnetic material inside the hole during measurement, so that the measurement while drilling sub (22) can ensure its measurement accuracy without the use of non-magnetic materials.

4. The biomimetic self-drilling robot system for drilling soft coal seams as described in claim 1, characterized in that, The external structure of the drilling support mechanism (23) includes an upper support shell (23-2), a connecting shell (23-8), a short shell (23-11), a lower support shell (23-13), and a transition shell (23-15). The upper support shell (23-2) is coaxially connected to the connecting shell (23-8). The short shell (23-11), the lower support shell (23-13), and the transition shell (23-15) are coaxially connected in sequence. 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 biomimetic self-drilling robot system for drilling soft coal seams as described in claim 4, characterized in that, The upper supporting shell (23-2) has multiple supporting bodies (23-4) evenly distributed around its circumference. The supporting bodies (23-4) can slide on the upper supporting shell (23-2) in a direction perpendicular to the axial direction. The upper supporting shell (23-2) is provided with an upper supporting piston (23-3) that can slide along its axial direction. The small diameter end of the upper supporting piston (23-3) is connected to the upper supporting piston push block (23-6). An upper piston spring (23-7) is provided between the upper supporting piston push block (23-6) and the connecting shell (23-8). The outer surface of the upper supporting 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 located inside the upper supporting shell (23-2), and its inner side is in contact with the upper piston small diameter cylindrical surface (23-3-3).

6. The biomimetic self-drilling robot system for drilling soft coal seams as described in claim 5, characterized in that, The lower supporting shell (23-13) has multiple supporting bodies (23-4) evenly distributed circumferentially. Each supporting body (23-4) can slide on the lower supporting shell (23-13) in a direction perpendicular to the axial direction. A lower supporting piston (23-12) that can slide along its axial direction is provided inside the lower supporting shell (23-13). A lower piston spring (23-14) is provided between the small-diameter end of the lower supporting piston (23-12) and the transition shell (23-15). The lower piston flange (23-12-1) of the lower supporting piston (23-12) is connected to the lower supporting piston (23-12) by a pull rod (23... -9) is connected to the pull plate (23-5), and the pull plate (23-5) is limited by the connecting housing (23-8) when it slides together with the supporting lower piston (23-12); the outer surface of the supporting lower piston (23-12) is divided into the lower piston major diameter cylindrical surface (23-12-2), the lower piston inclined surface (23-12-3) and the lower piston minor diameter cylindrical surface (23-12-4). When not in operation, the support body (23-4) is located inside the supporting lower housing (23-13), and its inner side is in contact with the lower piston minor diameter cylindrical surface (23-12-4).

7. The biomimetic self-drilling robot system for drilling soft coal seams as described in 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 hole foaming mechanism (27) and the angle-adjusting curved shell (28), which can realize the power switching of the hole foaming mechanism (27) and the angle-adjusting curved shell (28).

8. The biomimetic self-drilling robot system for drilling soft coal seams as described in claim 7, characterized in that, The conical drill bit (29) is a biomimetic compaction drill bit. Under the action of the pneumatic drive mechanism (24), it forms a drilling conical drill bit by squeezing the soft coal strata at the front end, which pushes the coal powder in front to the side wall of the borehole without having to be discharged out of the hole. Driven by the robot, the bionic compaction drill bit forms a borehole by squeezing the soft coal strata at the front end. The drill bit uses the foaming mechanism (27) at the front end of the hole to mix two foaming materials when the robot retracts the drill bit, and forms a high-strength foam-shaped hole protection tube. The hole protection tube is then pushed to the front end of the drill bit to form a gas transport channel. When directional drilling is required, the reversing control valve is adjusted and the drill bit tool face deflection angle is locked in combination with the drilling measurement parameters so that the drill bit stops rotating. The wheel groove rotation mechanism (25) switches the power to the angle adjustment housing (28) through the rotation switching mechanism (26), which drives the angle adjustment housing (28) to adjust the tool face angle. Under the drive of the drilling support mechanism (23), it slides and drills in a specific direction to realize the directional drilling function. During drilling, the pneumatic drive mechanism (24) is adjusted so that the high-pressure gas drives the impact piston (24-6) to strike the anvil (24-8) forward, pushing the robot forward to drill. When the designed hole depth is reached, the pneumatic drive 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 exit towards the hole opening.

9. The method of using the biomimetic self-drilling robot system for drilling soft coal seams as described in any one of claims 1 to 8, characterized in that, Includes the following steps: Step 1: Preparations before directional drilling begin, including leveling the site, installing the borehole system pipelines and circuits, and connecting the downhole system air supply pipes and power grid; Step 2: The in-hole robotic drill assembly consists of, in sequence, a tapered drill bit, an angle-adjusting curved housing, an in-hole foaming mechanism, a rotation switching mechanism, a wheel groove rotation mechanism, a pneumatic drive mechanism, a drilling support mechanism, a measurement-while-drilling sub, and a connecting joint. Step 3: Debug the robot actuators at the orifice, including the in-hole foaming mechanism, rotation switching mechanism, wheel groove rotation mechanism, pneumatic drive mechanism, and drilling support mechanism; Step 4: Calibrate the measurement system at the orifice and lock the working surface, ensure the computer interface is intact, set the software parameters, adjust the attitude of the measurement section, and correct the working surface; Step 5: Lower the robot to the bottom of the hole. If it is a newly drilled hole, a pilot hole needs to be completed in advance. Step 6: Determine whether it is necessary to perform directional drilling based on the geological conditions. If it is not necessary to perform directional drilling and coring, proceed directly to Step 8. Step 7: Using the sliding directional coring drilling process, after rotating the tool face to the required angle for creating the inclination, lock the angle-adjusting bend housing, and then drill downhole under the drive of system air pressure; Step 8: Using a composite directional drilling process, the drill bit squeezes and drills through the pneumatic drive mechanism and the drilling support mechanism. At the same time, the air pressure starts the wheel groove rotation mechanism to drive the drill bit tool face to rotate slowly, so that the drilling trajectory remains straight. Step 9: Real-time measurement of drilling parameters. The measurement signals are transmitted to the explosion-proof computer through the cable channel inside the flexible transmission tube. The measurement parameters of the bottom hole drilling inclination angle, azimuth angle and tool face angle are read, and the tool face angle is adjusted as needed. Step 10: After drilling to the designed hole depth, adjust the pneumatic drive mechanism. High-pressure gas drives the impact piston to strike the reverse impact sleeve backward, pushing the robot outward toward the hole opening. Step 11: When the drill bit retracts from the bottom of the hole, the hole protection foam A liquid delivery pump and the hole protection foam B liquid 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.

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