Intelligent drilling robot for coal mine with mechanical hole making and penetration enhancement

Abstract

The application relates to a coal mine mechanical hole-making and permeability-increasing intelligent drilling robot in the field of coal mine drilling, wherein, during hole-making and permeability-increasing work, a power output end drives a power transmission unit one, a power transmission unit two and a drill rod to rotate to perform hydraulic hole-making work; once hole collapse and drill jamming or components on the drill rod hit hard rock, causing the drill rod to be stuck, the continuously output power output end drives the power transmission unit one to continue rotating until the transmission post and the locking tongue are broken, the transmission post rotates in the positioning groove as a whole, and when the drill rod connected with the motor is stuck, the broken design of the transmission post and the locking tongue of the anti-sticking module can transfer the overload damage risk to the replaceable module, so that the motor is prevented from being burnt, and when hole collapse and drill jamming or components on the drill rod hit hard rock, the motor is not prone to being stuck and short-circuited, and the hole-making and permeability-increasing construction process is not prone to being affected.

Description

Technical Field

[0001] The present invention relates to an intelligent drilling robot, and in particular to an intelligent drilling robot for creating boreholes and enhancing permeability in coal mines, which is applied in the field of coal mine drilling. Background Technology

[0002] Coal mine cavity creation technology is an important means to improve the gas extraction efficiency of low-permeability coal seams and ensure safe production. Among them, hydraulic cavity creation technology refers to using high-pressure water jets to impact the coal body to form fissures, such as the "drilling and expansion integration" technology, which shortens the extraction time.

[0003] Invention patent CN202311816141.6 discloses a hydraulically driven cavity-forming and permeability-enhancing device. Through sliding control of a water pressure component, it achieves adjustment of the extension and contraction of the cutting component, as well as auxiliary water spray adjustment. The hole-expanding component cuts coal blocks, and corresponding high-pressure water is output against the surface of the cutting head, effectively assisting the cutting head in removing broken coal blocks. Patent application CN202311374177.3 discloses an integrated drilling and cavity-forming device and its usage method, which simultaneously performs drilling and cavity-forming operations, improving the efficiency of cavity-forming in mines. It adopts a unique open structure, combining mechanical and jet cavity-forming. While ensuring precise control of the cavity-forming radius, the created hemispherical cavity has a ring-shaped structure, expanding the cavity-forming range of the rock strata, improving the permeability of the rock strata, and helping to improve the extraction efficiency of gas fields.

[0004] In existing technologies, electric motors are used to drive hydraulic components, borehole reaming components, and drill bits to rotate, thereby creating boreholes and increasing permeability in coal mines. Hydraulic borehole creation is typically suitable for high-efficiency permeability enhancement in medium-hard coal seams. Although surveys are conducted before construction to select the optimal construction location, borehole collapse and drill bit jamming are still prone to occur during operation. This can lead to the electric motor 3, which is connected to the borehole reaming component and drill bit, becoming stuck and short-circuited, eventually burning out. Furthermore, the underground environment of coal mines makes it easy to disrupt the replacement of electric motor 3, which can affect the construction of borehole creation and permeability enhancement. Summary of the Invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that during the cavity creation and permeability enhancement process, the phenomenon of hole collapse and drill jamming is prone to occur, which can easily cause the power source motor to jam and short-circuit, or even burn out, affecting the cavity creation and permeability enhancement construction process.

[0006] To solve the above problems, the present invention provides a mechanical cavity-making and permeability-enhancing intelligent drilling robot for coal mines, including a power base, the power base including a tracked traveling unit, the upper end of the tracked traveling unit is chiseled with an installation groove, an installation plate is fixedly connected to the bottom plate of the installation groove, an electric motor is fixedly connected to the upper end of the installation plate, and the electric motor is connected to a power output end.

[0007] An anti-jamming module is connected to the end of the power output terminal away from the motor. The anti-jamming module includes a matching power transmission unit one and a power transmission unit two. Power transmission unit one includes a power body one, one end of which is threaded to the power output terminal. The other end of the power body one has a mounting groove. A transmission pile is fixedly connected to the bottom plate of the mounting groove. A locking tongue is fixedly connected to the side wall of the transmission pile. Power transmission unit two includes a power body two. The end of the power body two closest to the power transmission unit one has a positioning groove and a tongue-shaped groove that match the transmission pile and the locking tongue, respectively. The transmission pile and the locking tongue are inserted into the positioning groove and the tongue-shaped groove. A fixed wing is fixedly connected to the end of the power body two away from the power transmission unit one. A connecting part is fixedly connected to the end of the fixed wing away from the power body two. A drill rod is fixedly connected to the end of the connecting part away from the fixed wing. A locking ring is sleeved on the outside of the connecting part. The end of the locking ring closest to the power transmission unit one is threaded to the power transmission unit one.

[0008] In the aforementioned intelligent drilling robot for creating boreholes and enhancing permeability in coal mines, when the drill rod connected to the motor gets stuck, the potentially damaged parts of the motor are moved from the robot itself to the anti-jamming module. Compared to replacing the motor, replacing the anti-jamming module is more convenient and the replacement cost is relatively low. It is less likely to cause the power source motor to jam and short-circuit, and it is less likely to affect the borehole creation and permeability enhancement construction process.

[0009] As a further improvement of this application, a protective cover matching the shape of the mounting groove is provided on the outside of the motor. The protective cover includes a cover body, and a power hole matching the position of the power output end is drilled at the lower end of the cover body. The protective cover can provide a certain degree of protection for the motor, so that falling rocks and other objects in the mine are not likely to directly hit the motor and are not likely to affect the normal operation of the motor.

[0010] As a further improvement of this application, multiple heat dissipation holes are drilled on the side wall of the cover. The bottom of each heat dissipation hole is higher than the top of the track travel unit. The multiple heat dissipation holes are used for heat dissipation, reducing the possibility that the motor temperature will be too high and affect its service life. The setting of the heat dissipation hole position reduces the possibility that debris accumulated on the track travel unit will directly cover the heat dissipation holes, and is less likely to affect the heat dissipation effect of the heat dissipation holes.

[0011] As a further improvement of this application, the locking ring includes a ring body, and a wear-resistant ring is provided between the ring body and the second power transmission unit. The wear-resistant ring is fixedly connected to the ring body. After the locking tongue breaks, during the process of the first power body driving the locking ring to rotate, the wear-resistant ring can reduce the wear between the locking ring and the connecting part, so that the connection between the locking ring and the second power transmission unit is not easy to shake.

[0012] As another improvement of this application, an elastic bladder is fixedly connected to one end of the ring body near the fixed wing edge. The elastic bladder is filled with marking fluid. After the locking tongue breaks, the locking ring rotates together with the power transmission unit one, while the power transmission unit two is not driven by the power transmission unit one. The locking ring and the power transmission unit two undergo relative displacement. After the elastic bladder ruptures under the action of friction, the marking fluid leaks out and marks the locking ring and the power transmission unit two. The already damaged locking ring and the power transmission unit two are not easy to be easily repaired and re-enter the market, and are unlikely to affect the safety of subsequent construction.

[0013] As a further improvement to this application, a side flow channel is excavated on the side wall of the second power unit, and the side flow channel penetrates the fixed wing. A bottom flow channel is excavated at the end of the second power unit away from the fixed wing, and the bottom flow channel connects the positioning channel and the side flow channel. This allows the leaked marking liquid to flow along the side flow channel and the bottom flow channel into the positioning channel to mark the first power transmission unit. The damaged first power transmission unit is not likely to re-enter the market after incomplete repair, and it is not likely to affect the safety of subsequent construction. Moreover, the excavation of the side flow channel and the bottom flow channel is not likely to affect the normal use of the second power transmission unit.

[0014] As a further improvement to this application, the outer walls of the power unit 2 and the transmission pile are both frosted, and the part of the ring body that contacts the fixed wing edge is also frosted, making it difficult for the marking liquid to be polished away. Even if the marking liquid is completely polished away, the dimensions of the power transmission unit 1 and the locking ring will differ significantly, making it difficult to match and install them. This makes it difficult for damaged power transmission unit 1, locking ring and power transmission unit 2 to re-enter the market and to affect the safety of subsequent construction.

[0015] As another improvement of this application, the labeling liquid is selected from industrial oil-based labeling paint, which contains resin, organic solvent (such as esters or aromatic hydrocarbons) and metal binder. After the resin is cured, it forms a strong adhesion to the metal surface, making it difficult for ordinary solvents to penetrate, thus increasing the viscosity of the labeling liquid.

[0016] In summary, in this application, during the cavity-building and permeability enhancement work, the power output end drives the power transmission unit one, the power transmission unit two, and the drill rod to rotate, performing hydraulic cavity-building. During the hydraulic cavity-building process, if the borehole collapses and the drill gets stuck, or if a component on the drill rod hits hard rock, causing the drill rod to jam, the continuously outputting power end will drive the power transmission unit one to continue rotating until the transmission pile and locking tongue break. The transmission pile then spins freely in the positioning groove. When the drill rod connected to the motor jams, the risk of overload damage is transferred to the replaceable module through the fracture design of the transmission pile and locking tongue of the anti-jamming module, preventing the motor from burning out. Compared to replacing the motor, the replacement operation of the anti-jamming module is more convenient and the replacement cost is relatively low. When the borehole collapses and the drill gets stuck, or if a component on the drill rod hits hard rock, it is less likely to cause the power source motor to jam and short-circuit, thus less likely to affect the cavity-building and permeability enhancement construction process.

[0017] Meanwhile, by introducing elastic bladders and marking fluid, damaged anti-jamming modules can be marked, making it less likely for damaged anti-jamming modules to re-enter the market and less likely to affect the safety of subsequent construction. This increases the safety of using anti-jamming modules during cavity creation and permeability enhancement, and reduces construction risks. Attached Figure Description

[0018] Figure 1 This is an exploded view of the main structure of the intelligent drilling robot according to the first embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of the intelligent drilling robot according to the first embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the anti-jamming module according to the first embodiment of this application;

[0021] Figure 4 This is a front sectional view of the anti-jamming module according to the first embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the power transmission unit according to the first embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the locking ring according to the first embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the power transmission unit two according to the first embodiment of this application;

[0025] Figure 8 This is a side sectional view of the intelligent drilling robot according to the first embodiment of this application;

[0026] Figure 9This is a schematic diagram of the locking ring according to the first embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the power transmission unit two according to the first embodiment of this application.

[0028] Explanation of the labels in the diagram:

[0029] 1. Power base, 101 Track travel unit, 102 Mounting slot, 2 Mounting plate, 3 Electric motor, 4 Power output end, 5 Protective cover, 501 Cover body, 502 Heat dissipation hole, 503 Power hole, 6 Power transmission unit one, 601 Power body one, 602 Transmission pile, 603 Locking tongue, 7 Locking ring, 701 Ring body, 702 Wear-resistant ring, 703 Elastic bladder, 8 Power transmission unit two, 801 Power body two, 802 Positioning slot, 803 Tongue-shaped slot, 804 Fixed wing, 805 Connecting part, 806 Side flow channel, 807 Bottom flow channel, 9 Drill rod. Detailed Implementation

[0030] The two embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0031] First implementation method:

[0032] Figure 1-7 The invention illustrates a mechanical drilling robot for improving permeability in coal mines, including a power base 1. The power base 1 includes a tracked traveling unit 101. An installation groove 102 is chiseled at the upper end of the tracked traveling unit 101. An installation plate 2 is fixedly connected to the bottom plate of the installation groove 102. An electric motor 3 is fixedly connected to the upper end of the installation plate 2. The electric motor 3 is connected to a power output end 4.

[0033] The end of the power output terminal 4 furthest from the motor 3 is connected to an anti-jamming module. The anti-jamming module includes a matching power transmission unit 6 and a matching power transmission unit 8. Power transmission unit 6 includes a power body 601, one end of which is threaded to the power output terminal 4. The other end of the power body 601 has a mounting groove. A transmission pin 602 is fixedly connected to the bottom plate of the mounting groove. A locking tongue 603 is fixedly connected to the side wall of the transmission pin 602. Power transmission unit 8 includes a power body 801, the end of which is closer to the power transmission unit 6 has grooves respectively connected to the transmission pin 6. The moving pile 602 and the locking tongue 603 are matched with the positioning groove 802 and the tongue groove 803, and the transmission pile 602 and the locking tongue 603 are inserted into the positioning groove 802 and the tongue groove 803. The end of the power body 2 801 away from the power transmission unit 1 6 is fixedly connected to the fixed wing 804. The end of the fixed wing 804 away from the power body 2 801 is fixedly connected to the connecting part 805. The end of the connecting part 805 away from the fixed wing 804 is fixedly connected to the drill rod 9. The outer side of the connecting part 805 is fitted with a locking ring 7. The end of the locking ring 7 near the power transmission unit 1 6 is threadedly connected to the power transmission unit 1 6.

[0034] In use, the power base 1 is used to transport the power motor 3 and power output end 4 of the cavity-making and permeability enhancement to the designated position. The mounting plate 2 facilitates the installation and disassembly of the motor 3. Power transmission unit 1 6 and power transmission unit 2 8 are installed on the motor 3 and drill rod 9 respectively. Finally, the locking ring 7 is used to fix the power transmission unit 1 6 and power transmission unit 2 8, completing the assembly of the anti-jamming module and completing the preparation work.

[0035] The drill rod 9 should also be equipped with a hydraulic assembly, a hole-reaming assembly, and a drill bit to complete the hydraulic hole-making work. This is a well-known technology to those skilled in the art, and therefore is not disclosed in detail in this application.

[0036] During the cavity-building and permeability enhancement work, the power output end 4 drives the power transmission unit 1 6, the power transmission unit 2 8 and the drill rod 9 to rotate, and carry out the hydraulic cavity-building work. During the hydraulic cavity-building work, if the hole collapses and the drill gets stuck or the components on the drill rod 9 hit hard rock, causing the drill rod 9 to get stuck, the continuously output power output end 4 will drive the power transmission unit 1 6 to continue rotating until the transmission pile 602 and the locking tongue 603 break. The transmission pile 602 will then rotate freely in the positioning groove 802, making it less likely for the motor 3 and the power output end 4 to be overloaded and less likely for the motor 3 to burn out.

[0037] In this embodiment, when the drill rod 9 connected to the motor 3 gets stuck, the risk of overload damage is transferred to the replaceable module through the fracture design of the transmission pile 602 and locking tongue 603 of the anti-jamming module, thus preventing the motor 3 from burning out. Compared with replacing the motor 3, the replacement operation of the anti-jamming module is more convenient and the replacement cost is relatively low. When the drill pipe gets stuck due to hole collapse or when the components on the drill rod 9 hit hard rock, it is less likely to cause the power source motor 3 to jam and short-circuit, and it is less likely to affect the hole-making and permeability enhancement construction process. In particular, the connection strength of the transmission pile 602 and locking tongue 603 can be controlled by the connection thickness of the transmission pile 602 and locking tongue 603, so that the locking tongue 603 breaks before the motor 3 jams under external force.

[0038] Please see Figure 1-2 The outer side of the motor 3 is fitted with a protective cover 5 that matches the shape of the mounting groove 102. The protective cover 5 includes a cover body 501. The lower end of the cover body 501 is drilled with a power hole 503 that matches the position of the power output end 4. The protective cover 5 can provide a certain degree of protection for the motor 3, making it less likely for falling rocks and other objects in the mine to directly hit the motor 3 and affect the normal operation of the motor 3. Multiple heat dissipation holes 502 are drilled on the side wall of the cover body 501. The bottom of the multiple heat dissipation holes 502 is higher than the upper end of the track travel unit 101. The multiple heat dissipation holes 502 are used for heat dissipation, reducing the possibility that the motor 3 will be overheated and affect its service life. The position of the heat dissipation holes 502 reduces the possibility that debris accumulated on the track travel unit 101 will directly cover the heat dissipation holes 502, and does not easily affect the heat dissipation effect of the heat dissipation holes 502.

[0039] Please see Figure 3 and Figure 6 The locking ring 7 includes a ring body 701. A wear-resistant ring 702 is provided between the ring body 701 and the power transmission unit 8. The wear-resistant ring 702 is fixedly connected to the ring body 701. After the locking tongue 603 breaks, during the process of the power body 601 driving the locking ring 7 to rotate, the wear-resistant ring 702 can reduce the wear between the locking ring 7 and the connecting part 805, so that the connection between the locking ring 7 and the power transmission unit 8 is not easy to shake.

[0040] Second implementation method:

[0041] Figure 8-10This diagram illustrates a mechanical drilling robot for improving permeability in coal mines. An elastic bladder 703 is fixedly connected to one end of the ring body 701 near the fixed wing edge 804. The elastic bladder 703 is filled with marking fluid. When the anti-jamming module is working normally, the locking ring 7 and the second power transmission unit 8 rotate together. At this time, the elastic bladder 703 does not rotate relative to the second power transmission unit 8, and the elastic bladder 703 is not easily broken under friction. However, after the locking tongue 603 breaks, the locking ring 7 rotates with the first power transmission unit 6, while the second power transmission unit 8 is no longer driven by the first power transmission unit 6. The locking ring 7 and the second power transmission unit 8 undergo relative displacement. After the elastic bladder 703 breaks under friction, the marking fluid leaks, marking the locking ring 7 and the second power transmission unit 8. The damaged locking ring 7 and the second power transmission unit 8 are not easily repaired and reintroduced into the market, thus minimizing the impact on subsequent construction safety.

[0042] A side flow groove 806 is carved on the side wall of the second power unit 801, and the side flow groove 806 penetrates the fixed wing 804. A bottom flow groove 807 is carved at the end of the second power unit 801 away from the fixed wing 804, and the bottom flow groove 807 connects the positioning groove 802 and the side flow groove 806, so that the leaked marking liquid can flow along the side flow groove 806 and the bottom flow groove 807 into the positioning groove 802 to mark the first power transmission unit 6. The damaged first power transmission unit 6 is not easy to re-enter the market after incomplete repair, and it is not easy to affect the safety of subsequent construction. Moreover, the carving of the side flow groove 806 and the bottom flow groove 807 is not easy to affect the normal use of the second power transmission unit 8.

[0043] The outer walls of the power unit 2 801 and the transmission pile 602 are both frosted, and the part of the ring 701 that contacts the fixed wing 804 is also frosted. This makes it difficult for the marking liquid to be polished away. Even if the marking liquid is completely polished away, the dimensions of the power transmission unit 1 6 and the locking ring 7 will differ significantly, making it difficult to match and install them. This makes it difficult for damaged power transmission unit 1 6, locking ring 7 and power transmission unit 2 8 to re-enter the market and to affect the safety of subsequent construction.

[0044] The labeling solution uses industrial oil-based labeling paint, which contains resin, organic solvents such as esters or aromatic hydrocarbons, and metal binders. After the resin cures, it forms a strong adhesion to the metal surface, making it difficult for ordinary solvents to penetrate and increasing the viscosity of the labeling solution.

[0045] In this embodiment, by introducing elastic bladder 703 and marking liquid, the damaged anti-jamming module is marked, making it less likely for the damaged anti-jamming module to re-enter the market and less likely to affect the safety of subsequent construction. This increases the safety of the anti-jamming module during cavity creation and permeability enhancement, and reduces construction risks.

[0046] In light of current practical needs, the above-described embodiments adopted in this application are not limited to this scope of protection. Various changes made within the knowledge of those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

Claims

1. A mechanical drilling robot for improving permeability in coal mines, comprising a power base (1), characterized in that: The power base (1) includes a crawler traveling unit (101), the upper end of the crawler traveling unit (101) is provided with a mounting groove (102), the groove bottom plate of the mounting groove (102) is fixedly connected with a mounting plate (2), the upper end of the mounting plate (2) is fixedly connected with a motor (3), and the motor (3) is connected with a power output end (4). The end, away from the motor (3), of the power output end (4) is connected with an anti-blocking module, the anti-blocking module comprises a power transmission unit one (6) and a power transmission unit two (8) matched with each other, the power transmission unit one (6) comprises a power main body one (601), one end of the power main body one (601) is threadedly connected with the power output end (4), the other end of the power main body one (601) is provided with a mounting groove, the groove bottom plate of the mounting groove is fixedly connected with a transmission pile (602), the side wall of the transmission pile (602) is fixedly connected with a locking tongue (603), the power transmission unit two (8) comprises a power main body two (801), the end, close to the power transmission unit one (6), of the power main body two (801) is provided with a positioning groove (802) and a tongue-shaped groove (803) matched with the transmission pile (602) and the locking tongue (603) respectively, and the transmission pile (602) and the locking tongue (603) are inserted into the positioning groove (802) and the tongue-shaped groove (803), the end, away from the power transmission unit one (6), of the power main body two (801) is fixedly connected with a fixed wing edge (804), the end, away from the power main body two (801), of the fixed wing edge (804) is fixedly connected with a connecting part (805), the end, away from the fixed wing edge (804), of the connecting part (805) is fixedly connected with a drill rod (9), the outer side of the connecting part (805) is sleeved with a locking ring (7), the end, close to the power transmission unit one (6), of the locking ring (7) is threadedly connected with the power transmission unit one (6), the locking ring (7) comprises a ring body (701), a wear-resistant ring (702) is arranged between the ring body (701) and the power transmission unit two (8), the wear-resistant ring (702) is fixedly connected with the ring body (701), the end, close to the fixed wing edge (804), of the ring body (701) is fixedly connected with an elastic bag (703), and the elastic bag (703) is filled with a marking liquid.

2. The intelligent drilling robot for coal mine with mechanical cavitation and permeability improvement according to claim 1, characterized in that: The outer side of the motor (3) is sleeved with a protective cover (5) matched with the shape of the mounting groove (102), and the protective cover (5) comprises a cover body (501).

3. The intelligent drilling robot for coal mine with mechanical cavitation and permeability improvement according to claim 2, characterized in that: A plurality of heat dissipation holes (502) are formed in the side wall of the cover body (501), and the bottom ends of the plurality of heat dissipation holes (502) are higher than the upper end of the crawler traveling unit (101).

4. The intelligent drilling robot for coal mine with mechanical cavitation and permeability improvement according to claim 1, characterized in that: The side wall of the power body two (801) is provided with a side flow groove (806), and the side flow groove (806) penetrates the fixed wing edge (804), and the end of the power body two (801) away from the fixed wing edge (804) is provided with a bottom flow groove (807), and the bottom flow groove (807) is communicated with the positioning groove (802) and the side flow groove (806).

5. The intelligent drilling robot for coal mine with mechanical cavitation and permeability improvement according to claim 1, characterized in that: The outer walls of the power body two (801) and the transmission pile (602) are all frosted surfaces, and the part of the ring body (701) in contact with the fixed wing edge (804) is also a frosted surface.

6. The intelligent drilling robot for coal mine with mechanical cavitation and permeability improvement according to claim 1, characterized in that: The marking liquid is selected from industrial oil-based marking paint, which contains resin, organic solvent and metal adhesive.

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