Full-automatic drilling control method of coal mine intelligent drilling machine

Abstract

The invention provides a full-automatic drilling control method for an intelligent coal mine drilling machine, which comprises the following steps of: receiving signals fed back by sensors, encoders and proximity switches on the intelligent coal mine drilling machine through a controller, and monitoring drilling data of the drilling machine in real time to perform full-automatic drilling; wherein the drilling main machine is provided with a main clamp pressure sensor, a clamp unloading pressure sensor and a power head displacement encoder; the rod supplementing device is provided with a transfer tray advancing and retreating pressure sensor, a transfer tray proximity switch, a Y-direction pull rope displacement encoder, an X-direction pull rope displacement encoder and a rod supplementing gripper proximity switch. The rod loading and unloading mechanical arm corresponds to a rod loading small arm rotation angle encoder and a rod loading small arm telescopic pressure sensor; and the rod loading and unloading mechanical arm corresponds to a rod loading large arm in-place proximity switch and a rod loading large arm zero-position proximity switch. Real-time dynamic adjustment of drilling parameters is achieved, the drilling efficiency is improved, the positioning precision is improved, and full-process automatic operation of drilling, rod assembling and disassembling and rod supplementing of the drilling machine is achieved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent coal mine drilling rig technology, and relates to a fully automatic drilling control method for intelligent coal mine drilling rigs. Background Technology

[0002] Current intelligent drilling rig technology in coal mines mainly revolves around manual experience-driven operations, semi-automated operation, and basic automated control. Traditional drilling operations rely on manual adjustment of parameters such as drilling pressure and rotation speed, depending on the operator's experience in judging formation changes. This operational experience directly affects drilling efficiency and hole quality, leading to significant differences in performance between different work teams, and requiring long-term training to accumulate experience. Some equipment uses grippers and robotic arms to achieve semi-automatic loading and unloading of drill rods, but limitations in mechanical structure and the accuracy of positioning sensors (positioning error ±5cm) result in poor drill rod alignment, easily causing drill bit wear or stuck drill bits. Furthermore, it lacks dynamic adaptability to complex formations (such as sudden changes in coal and rock hardness), requiring manual intervention and adjustments, making it difficult to maintain optimal drilling conditions. Personnel still need to operate close to the borehole, posing a high risk of environmental exposure. While these technologies have improved the automation level of drilling rigs to some extent, significant shortcomings remain in efficiency, accuracy, and safety. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide a fully automatic drilling control method for intelligent coal mine drilling rigs, which solves the problems of existing technologies, such as drilling parameters relying on operational experience, large efficiency fluctuations, safety hazards requiring personnel to operate close to the borehole opening in traditional drilling rig operations, poor positioning accuracy, and long single-cycle operation time.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A fully automatic drilling control method for a coal mine intelligent drilling rig includes a tracked vehicle body and a drilling host, a rod loading and unloading robotic arm, a rod replenishment device, a motor pump unit, and a controller mounted on the tracked vehicle body. The control method receives signals from various sensors, encoders, and proximity switches on the coal mine intelligent drilling rig through the controller, and monitors the drilling data of the drilling rig in real time to achieve fully automatic drilling control of the coal mine intelligent drilling rig. The clamping and unclamping assembly of the drilling host is equipped with a main clamping pressure sensor and an unclamping pressure sensor to monitor the pressure changes in the clamping / unclamping state of the clamping and unclamping assembly; the drilling host is also equipped with a power head displacement encoder to provide real-time feedback on the position of the power head. The motor pump unit is equipped with a pump I pressure sensor to monitor the pressure changes of pump I. The transfer tray of the pole replenishment device is equipped with a transfer tray advance / retreat pressure sensor and a transfer tray proximity switch to monitor pressure changes in two states: the transfer tray advances to the pole-mounting position waiting point and the pole replenishment position waiting point, and to detect whether there is a drill rod in the transfer tray. The pole replenishment arm of the pole replenishment device is equipped with a Y-axis pull rope displacement encoder and an X-axis pull rope displacement encoder to detect displacement changes in real time. A pole replenishment gripper proximity switch is provided next to the pole replenishment gripper of the pole replenishment device to detect whether there is a drill rod in the pole replenishment gripper and in the pole chamber. The loading and unloading robotic arm has a corresponding loading arm rotation angle encoder for the loading arm's forearm to detect the rotation angle. The first loading arm and the second loading arm are respectively equipped with a first loading arm extension pressure sensor and a second loading arm extension pressure sensor to monitor the pressure changes in the first and second loading arm extension states. The loading arm of the robotic arm has a corresponding loading arm position proximity switch and a loading arm zero position proximity switch to detect whether the loading arm is in position or in the initial position.

[0005] The present invention also includes the following technical features: Specifically, the drilling machine includes a feed guide rail, a center angle adjustment device located below the feed guide rail, a front angle adjustment device located at the front end of the feed guide rail, a power head and its active drill rod located on the feed guide rail, and a clamping and uncoupling assembly located on the feed guide rail; the power head can move on the feed guide rail, and the power head and active drill rod are coaxial with the clamping and uncoupling assembly; the clamping and uncoupling assembly includes a clamp and an uncoupling device arranged coaxially; the clamp is closer to the power head, and the uncoupling device can rotate under the action of the uncoupling cylinder; a main clamping pressure sensor and an unclamping pressure sensor are respectively arranged at the clamp and the uncoupling device.

[0006] Specifically, the rod replenishment device includes a rod magazine, a rod replenishment robot, a sliding guide rail, a transfer tray, and a rack guide rail; the side and front of the rod magazine are fixed to the sliding guide rail and the rack guide rail respectively; the rod replenishment robot is clamped on the rack guide rail and can slide along the rack guide rail; the transfer tray is clamped on the sliding guide rail and can slide along the sliding guide rail; the transfer tray advance and retreat pressure sensor is installed on the transfer tray advance and retreat digital valve through a pressure measuring oil pipe thread; the transfer tray proximity switch is installed on the end of the transfer tray near the oil tank.

[0007] Specifically, the rod-repairing robot includes a vertical rod-repairing arm, a rod-repairing vertical arm, a horizontal beam connecting the rod-repairing arm and the rod-repairing vertical arm, a rod-repairing gripper connected to the lower end of the rod-repairing vertical arm, and a rod-repairing gripper proximity switch located next to the rod-repairing gripper; the rod-repairing arm can extend and retract vertically and can move horizontally along the rack and pinion guide rail; the rod-repairing vertical arm can drive the rod-repairing gripper to extend and retract vertically, realizing the vertical gripping / placement of drill rods in the rod chamber; one end of the Y-axis pull-rope displacement encoder is fixed to the machine body, and the other end is connected to the vertical arm cylinder inside the rod-repairing arm; the X-axis pull-rope displacement encoder is installed on the side of the rod chamber near the feed guide rail, one end is fixed to the rod chamber, and the other end is connected to the rod-repairing arm.

[0008] Specifically, the rod-adding and unloading robotic arm includes, in sequence, an angle-adjusting cylinder, a rod-adding main arm, a rod-adding horizontal arm, a rod-adding secondary arm, a rod-adding gripper, and a rod-adding gripper proximity switch; the angle-adjusting cylinder can adjust the angle of the rod-adding main arm, and the rod-adding horizontal arm drives the rod-adding secondary arm to rotate via a swing cylinder; the rod-adding main arm is perpendicular to the rod-adding horizontal arm, and the rod-adding horizontal arm is perpendicular to the rod-adding secondary arm; the rod-adding secondary arm includes a first rod-adding secondary arm and a second rod-adding secondary arm connected in parallel, and the extension / retraction of the first rod-adding secondary arm can drive the rod-adding gripper to extend / retract; the first rod-adding secondary arm extension / retraction pressure sensor and the second rod-adding secondary arm extension / retraction pressure sensor are installed on the extension / retraction digital valves of the first and second rod-adding secondary arms via pressure measuring oil pipe threads; the rod-adding secondary arm rotation angle encoder is located at the bottom of the swing cylinder; the rod-adding main arm position proximity switch is located below the feed guide rail and rises and falls with the feed guide rail; the rod-adding main arm zero position proximity switch is located on the drilling main machine body and does not rise and fall with the feed guide rail.

[0009] Specifically, it includes the following steps: S1: During the first run of the drilling rig, the rod chamber of the rod replenishment device is used to detect drill rods and count rods by using the Y-axis pull rope displacement encoder, the X-axis pull rope displacement encoder and the rod replenishment gripper proximity switch. S2: Based on the real-time signal changes of the main clamping pressure sensor and the unclamping pressure sensor, determine whether the clamp has completed the clamping or unclamping action. Obtain the real-time position of the power head through the power head displacement encoder, and perform uncoupling between the active drill rod and the preceding drill rod at the starting point. After uncoupling, the power head moves to the last end of the feed guide rail and feeds back its displacement to the controller. At the same time, the supplementary rod gripper grabs the drill rod from the first column of the rod magazine. When the supplementary rod gripper moves down and touches the drill rod, the supplementary rod gripper proximity switch feeds back a signal to the controller, and the supplementary rod gripper closes to grab the drill rod. S3: During the process of grabbing the drill rod, monitor the pressure change of the transfer tray advance and retreat pressure sensor. When the reading of the transfer tray advance and retreat pressure sensor is >13Mpa, it is determined that the transfer tray has reached the waiting point for the drill rod replenishment position. S4: The X-axis pull rope displacement encoder and the Y-axis pull rope displacement encoder feed back to the controller that the rod replenishment device has reached the rod replenishment position waiting point. When the rod replenishment gripper moves down and touches the drill rod, the rod replenishment gripper proximity switch signal is transmitted to the controller. The rod replenishment gripper puts the drill rod into the transfer tray, and the transfer tray proximity switch detects the drill rod. S5: Monitor the pressure change of the transfer pallet forward and backward pressure sensor. When the reading of the transfer pallet forward and backward pressure sensor is >13Mpa, it is determined that the transfer pallet has reached the waiting point of the lever position. S6: During the rod extension process, monitor the pressure change of the second rod extension arm extension pressure sensor. When the set pressure of 20 MPa is met, the first and second rod extension arms are fully extended. When the rod extension gripper moves down and touches the drill rod, the rod extension gripper proximity switch sends a feedback signal to the controller, the rod extension gripper closes, and the second rod extension arm retracts. S7: When the boom extension position proximity switch detects that the boom extension is in position, the boom extension arm rotates forward. The boom extension arm rotation angle encoder obtains the boom extension arm position feedback controller value of 90° to ensure that the boom extension arm swings to the upper drill rod point and waits. The pressure changes of the first boom extension pressure sensor and the second boom extension pressure sensor are monitored. When the set pressure of 20 MPa is met, the first boom extension arm and the second boom extension arm are fully extended. S8: Monitor the pressure change of the main clamp pressure sensor. At this time, the clamp clamps the drill rod and holds it, the rod extension gripper opens, the first rod extension arm and the second rod extension arm retract, the rod extension arm rotates and the angle value of the controller is 0° through the rod extension arm rotation angle encoder. At the same time, the rod extension arm zero position proximity switch detects the rod extension arm at zero position and is in the initial position. S9: The power head feeds forward, and the displacement of the power head on the feed guide rail is fed back in real time through the power head displacement encoder. When the upper clamping point 1 is reached, the power head displacement encoder feeds back to the controller with an output of 20, and the upper clamping is performed. S10: Monitor the changes in the main clamping pressure sensor in the monitoring system. When the I-pump pressure sensor of the motor pump group feeds back 10 MPa to the controller, it indicates that the clamping is complete, the clamp opens, and the real-time position of the power head on the feed guide rail is obtained. The power head feeds to the clamping point 2, and the power head displacement encoder feeds back 100 to the controller, performing the clamping of the intermediate drill rod with the preceding drill rod. The clamp is then removed, tightened, and held. When the unclamping pressure sensor feeds back 10 MPa to the controller, the connection between the intermediate drill rod and the preceding drill rod is completed automatically, and the fully automatic drilling of one drill rod is performed. The power head drills to the foremost position. S11: The power head displacement encoder provides real-time feedback on the displacement of the power head on the feed guide rail. When it reaches the starting point of the uncoupling between the active drill rod and the front drill rod, it performs uncoupling. When the uncoupling pressure sensor feeds back to the controller that it is 10 MPa, the uncoupling is completed and the power head retracts to the last end. Repeat S2-S10 until the designed drilling depth is reached.

[0010] Specifically, S1 includes: Y-direction positioning: a Y-direction pull rope displacement encoder detects the displacement change of the supplementary rod arm in the Y-axis direction in real time; the cylinder stroke of the supplementary rod arm is fixed, and the controller dynamically calibrates the precise Y-coordinate position of each layer of drill rod in the rod chamber based on the data collected by the Y-direction pull rope displacement encoder and the working state of the cylinder of the supplementary rod arm; X-direction positioning: an X-direction pull rope displacement encoder monitors the displacement of the supplementary rod arm in the X-axis direction in real time and calibrates the X-coordinate position of the drill rod in the rod chamber; when the supplementary rod gripper descends and contacts the drill rod, the supplementary rod gripper proximity switch is triggered, and the signal is transmitted to the controller to realize the accurate identification and counting of drill rods at each position in the rod chamber.

[0011] Compared with the prior art, the present invention has the following technical effects: (1) Parameter adaptive optimization: By sensing formation data (such as drilling pressure and torque), the drilling parameters (rotation speed, feed rate and drilling pressure) can be dynamically adjusted in real time, reducing manual intervention and reducing drilling efficiency fluctuations to within ±5%, thus solving the problem of operational quality differences caused by traditional reliance on experience.

[0012] (2) High-precision positioning and rapid loading and unloading: The key action nodes are equipped with main / auxiliary dual sensors to improve the positioning accuracy to ±5mm. Combined with the optimized robotic arm collaborative control logic, the single cycle loading and unloading time is shortened to 40s, and the work efficiency is improved by more than 60%.

[0013] (3) Minimally invasive safe operation: The drilling rig is centrally controlled by a remote control, enabling the entire drilling process (drilling, loading and unloading rods, and rod replenishment) to be completed. The remote control distance can reach 30 meters, eliminating the need for personnel to come into close contact with the borehole and eliminating the risk of exposure to high-risk scenarios such as gas ejection and coal dust explosion. Attached Figure Description

[0014] Figure 1 This is a flowchart of the control method of the present invention.

[0015] Figure 2 This is a schematic diagram of the intelligent drilling rig for coal mines according to the present invention.

[0016] Figure 3 This is a schematic diagram of the host unit of the present invention.

[0017] Figure 4 This is a schematic diagram of the rod-repairing device of the present invention.

[0018] Figure 5 This is a schematic diagram of the rod-repairing robot of the present invention.

[0019] Figure 6 This is a schematic diagram of the robotic arm for adding and removing rods according to the present invention.

[0020] The meanings of the labels in the diagram are as follows: 1. Fuel tank, 2. Tracked chassis, 3. Motor pump unit, 4. Controller, 5. Side steps, 6. Rod-adding device, 7. Rod-adding / unloading robotic arm, 8. Drilling main unit; 3-1. Clamping and shackle assembly; 3-2. Feed guide rail; 3-3. Power head; 3-4. Active drill rod; 3-5. Center angle adjustment device; 3-6. Front angle adjustment device; 4-1. Pole compartment; 4-2. Pole replenishment robot; 4-3. Sliding guide rail; 4-4. Transfer pallet; 5-1. Pole repair boom; 5-2. Pole repair gripper; 5-3. Pole repair gripper proximity switch; 5-4. Crossbeam; 5-5. Pole repair vertical arm; 6-1. Extended arm, 6-2. Extended gripper, 6-3. First extended forearm, 6-4. Extended gripper proximity switch, 6-5. Second extended forearm, 6-6. Extended forearm. Detailed Implementation

[0021] 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.

[0022] Example: This embodiment provides a fully automatic drilling control method for intelligent coal mine drilling rigs, such as... Figure 1 In this embodiment, the control method receives signals from various sensors, encoders, and proximity switches on the intelligent coal mine drilling rig via a controller, and monitors the drilling data in real time to achieve fully automatic drilling control of the intelligent coal mine drilling rig. Figure 2 The intelligent coal mine drilling rig includes a tracked vehicle body 2 and a drilling host 8, a rod loading and unloading robotic arm 7, a rod replenishment device 6, a motor pump unit 3, and a controller 4 mounted on the tracked vehicle body 2. The drilling host 8 and the rod replenishment device 6 are arranged parallel and staggered along the length of the tracked vehicle body 2, and the rod loading and unloading robotic arm 7 is located in the upper middle position between the two. Through the coordinated transmission of actions among the three, automatic rod replenishment, rod loading, and rod unloading are realized. The drilling host 8, the motor pump unit 3, and the controller 4 are connected by high-pressure hoses to form the drilling rig control system. An oil tank 1 and a side pedal 5 located next to the track are also provided on the tracked vehicle body 2. The drilling rig has a tracked layout structure, has independent walking function, and is flexible in on-site relocation. All parts of the drilling rig are bolted together on the tracked vehicle body, with a compact structure, high reliability, and convenient underground relocation and transportation.

[0023] like Figure 3The drilling machine 8 includes a feed guide rail 3-2, a center angle adjustment device 3-5 located below the feed guide rail 3-2, a front angle adjustment device 3-6 located at the front end of the feed guide rail 3-2, a power head 3-3 and its active drill rod 3-4 located on the feed guide rail 3-2, and a clamping and uncoupling assembly 3-1 located on the feed guide rail 3-2; the power head 3-3 can move on the feed guide rail 3-2, and the power head 3-3 and the active drill rod 3-4 are coaxial with the clamping and uncoupling assembly 3-1; the clamping and uncoupling assembly 3-1 includes coaxially arranged... The system includes a clamp and a release mechanism; the clamp is located near the power head, while the release mechanism rotates under the action of the release cylinder. A main clamp pressure sensor and a release clamp pressure sensor are respectively installed at the clamp and release mechanism. Specifically, the main clamp pressure sensor and the release clamp pressure sensor are respectively installed on the main clamp and the release clamp digital valve via pressure measuring oil pipe threads. The sensor signals are connected to the circuit via aviation connectors and are ultimately integrated into the junction box below the motor pump unit, thereby enabling monitoring of pressure changes in both the clamping and releasing states of the main clamp and the release clamp. The drilling host 8 is also equipped with a power head displacement encoder to provide real-time feedback on the displacement of the power head on the guide rail. The range is 0-1700mm. It is installed behind the guide rail, with one end fixed to the front end of the hydraulic cylinder of the support plate and the other end welded to the welding cap on the side of the feeding device. It is used to obtain the real-time position of the power head on the feeding device, mark the automatic loading and unloading points at different positions, and calculate the moving speed of the power head. A pressure sensor for pump I is installed at pump I of the motor pump group 3. It is installed on pump I through a pressure measuring oil pipe thread. The sensor signal is connected to the line through an aviation plug and is finally integrated into the junction box below the motor pump group, thereby realizing the monitoring of the pressure change of pump I.

[0024] like Figure 4The rod replenishment device 6 includes a rod magazine 4-1, a rod replenishment robot 4-2, a sliding guide rail 4-3, a transfer tray 4-4, and a rack guide rail. The rod magazine 4-1 is fixed to the sliding guide rail 4-3 and the rack guide rail on its side and front, respectively. The rod replenishment robot 4-2 is clamped on the rack guide rail and can slide along it. The transfer tray 4-4 is clamped on the sliding guide rail 4-3 and can slide along it. Its main function is to realize the mutual transfer of drill rods from the rod magazine to the transfer tray. The rod magazine adopts a modular design, divided into 8 layers and 4 columns, and can load 24 drill rods at a time. The transfer tray is hydraulically driven and equipped with bidirectional guide rails to realize the precise transfer of drill rods between the rod magazine and the rod replenishment robot, and realize the automatic rod replenishment operation with limited rod loading capacity. A transfer pallet advance / retreat pressure sensor and a transfer pallet proximity switch are installed at the transfer pallet. The transfer pallet advance / retreat pressure sensor is threaded onto the transfer pallet advance / retreat digital valve via a pressure measuring oil pipe. The sensor signal is connected to the circuit via an aviation connector and is ultimately integrated into the junction box below the motor pump unit, thereby enabling monitoring of pressure changes in both the pallet's advance to the pole-mounting waiting point and the pole-replenishing waiting point. The transfer platform is installed on the rear side of the pole magazine, with a fixed stroke, and reciprocates between the pole-replenishing robotic arm and the pole-adding robotic arm. Its arrival at the pole-adding / unloading position is determined by monitoring the pressure changes of the hydraulic cylinders at both ends and the action time. The transfer pallet proximity switch is installed at the end of the transfer pallet near the oil tank, and its front end has a lever with a flexible reset mechanism. When the drill rod is placed into the pallet and the lever is pressed down, the proximity switch signal is triggered to detect whether there is a drill rod in the pallet.

[0025] like Figure 5The rod replenishing manipulator 4-2 includes a vertical rod replenishing arm 5-1, a rod replenishing vertical arm 5-5, a horizontal beam 5-4 connecting the rod replenishing arm 5-1 and the rod replenishing vertical arm 5-5, a rod replenishing gripper 5-2 connected to the lower end of the rod replenishing vertical arm 5-5, and a rod replenishing gripper proximity switch 5-3 located next to the rod replenishing gripper 5-2. The rod replenishing arm 5-1 can extend and retract vertically and can move horizontally along the rack guide rail. The vertical extension and retraction of the rod replenishing arm 5-1 is detected by a Y-direction pull rope displacement encoder, and the horizontal movement of the rod replenishing arm 5-1 along the rack guide rail is detected by an X-direction pull rope displacement encoder. The rod replenishing vertical arm 5-5 can drive the rod replenishing gripper 5-2 to extend and retract vertically, realizing the vertical gripping / placement of drill rods in the rod chamber 4-1. Specifically, the supplementary boom 5-1 is mounted on the outside of the boom magazine via a hinged support. It forms a sliding pair with the rack and pinion guide rail via a positioning plate, and a mechanical locking mechanism achieves precise displacement control on the guide rail. This structure incorporates a telescopic hydraulic cylinder to drive the boom within the supplementary boom 5-1 to reciprocate linearly along the Y-axis. The internal cylinder mounting method effectively saves space and provides excellent dust and contamination protection, significantly extending the sensor's lifespan under harsh working conditions. The supplementary boom 5-1 is equipped with a Y-axis and an X-axis pull-wire displacement encoder. Specifically, one end of the Y-axis pull-wire displacement encoder is fixed to the boom magazine side of the machine body, and the other end is connected to the boom cylinder. It detects the boom's displacement along the Y-axis in real time, and combined with the status of the supplementary boom cylinder, dynamically calibrates the precise Y-coordinate position of each of the eight drill rod layers in the boom magazine. The X-axis draw rope displacement encoder is installed on the side of the rod holder near the feed device, with one end fixed to the rod holder and the other end connected to the rod replenishment arm. It detects the X-axis displacement of the rod replenishment arm along the guide rail in real time. Based on this encoder data, the X-coordinate positions of the four rows of drill rods in the rod holder are calibrated. The rod replenishment gripper proximity switch 5-3 is protected by a protective plate, making it dustproof and waterproof. When the gripper moves down and touches the drill rod, the rod replenishment gripper proximity switch retracts and triggers a switch signal, illuminating the indicator light. This signal is transmitted to the controller to detect whether there is a drill rod inside the rod replenishment gripper and in the rod holder.

[0026] like Figure 6The robotic arm 7 for adding and unloading drill rods includes, in sequence, an angle-adjusting cylinder, a rod-adding upper arm 6-1, a rod-adding horizontal arm, a rod-adding lower arm 6-6, a rod-adding gripper 6-2, and a rod-adding gripper proximity switch 6-4. The angle-adjusting cylinder can adjust the angle of the rod-adding upper arm 6-1. The rod-adding horizontal arm drives the rod-adding lower arm 6-6 to rotate via a rotating support beam, specifically rotating between 0-90°. The rod-adding upper arm 6-1 is perpendicular to the rod-adding horizontal arm, and the rod-adding horizontal arm is perpendicular to the rod-adding lower arm 6-6. The rod-adding lower arm 6-6 includes a first rod-adding lower arm 6-3 and a second rod-adding lower arm 6-5 connected in parallel. The extension and retraction of the first rod-adding lower arm 6-3 can drive the rod-adding gripper 6-2 to extend / retract. Its main function is to realize the automatic loading and unloading of drill rods by transferring drill rods from the drill rod tray to the gripper. When it is necessary to load and unload drill rods, the rod-adding device realizes the movement and trajectory control of the robotic arm through multiple sets of hydraulic cylinders. At the same time, multiple sets of proximity switches are designed to realize the detection of key execution positions of the robotic arm. Pressure sensors for the extension and retraction of the first and second extension arms are respectively installed at the first extension arm 6-3 and the second extension arm 6-5. These sensors are threaded onto the digital valves for the extension and retraction of the first and second extension arms via pressure-measuring oil pipes. The sensor signals are connected to the circuit via aviation connectors and are ultimately integrated into the junction box below the motor pump unit, thereby enabling monitoring of pressure changes in both extension and retraction states of the first and second extension arms. When the set pressure is met, the extension time ts is delayed based on the pressure feedback to ensure that the cylinder can fully extend to the drill pipe loading / unloading position under various extreme working conditions. The extension arm gripper proximity switch is located on the side of the extension arm gripper and is protected by a protective plate for dust and water resistance. When the gripper touches the drill pipe during its descent, the proximity switch retracts upon contact, an indicator light illuminates, and a signal is transmitted to the controller to detect whether a drill pipe is inside the gripper of the extension arm robotic arm. The rotation angle of the extension arm 6-6 is checked by an extension arm rotation angle encoder. Specifically, the extension arm rotation angle encoder is located at the bottom of the swing cylinder and can detect the angle when the extension arm rotates to obtain the position of the arm. This is used to determine whether the extension arm position is suitable for placing the drill pipe in the holder and whether the extension arm can return to the zero position. An extension arm positioning proximity switch is located below the feed guide rail 3-2, which rises and falls with the feed guide rail 3-2. This switch detects whether the extension arm is parallel to the guide rail during drill pipe loading / unloading and whether it is in position. A zero-position proximity switch for the extension arm is located on the drilling main unit 8, which does not rise or fall with the feed guide rail 3-2. This switch detects whether the extension arm is in its initial horizontal position. Positioning detection plates are fixed at the top and bottom of the extension / unloading robotic arm. The zero-position and positioning proximity switches are installed here to reduce measurement errors and ensure accurate position determination under different elevation / depression angles, achieving accurate positioning for loading / unloading drill pipe.

[0027] The controller can receive signals from various proximity switches, sensors, and pressure sensors, monitor the working status of each sensor in the system in real time, and determine and locate the current program's running status. It can also monitor drilling data such as system pressure, feed and pull-out speeds, rotation speed, power head displacement, proximity switch status, encoder real-time data, and pressure data of key drilling rig components in real time.

[0028] In this invention, the sensing system is configured in an optimized manner: A redundant detection mechanism is designed, and the controller is dynamically calibrated using sensor data to establish a mapping relationship between encoder data and pressure signals, thereby improving control accuracy. Each critical action node is equipped with both primary and auxiliary sensors; for example, the lever-repairing robotic arm is equipped with both a proximity switch and a displacement encoder to ensure the reliability of the detection data.

[0029] High-precision control: The controller integrates data from multiple sensors (encoder, proximity switch, pressure) for dynamic calibration, establishing a precise mapping relationship between the robotic arm position, drill rod status, power head, and hydraulic pressure, thereby improving control accuracy.

[0030] Status monitoring: Real-time monitoring of the working status and pressure data of key components of the drilling rig (system, robotic arm, power head, gripper, transfer tray).

[0031] Automatic positioning and counting: Enables precise positioning (X / Y coordinates) and quantity counting of drill pipes in the rod chamber, as well as precise positioning of the transfer platform. Redundancy detection and verification: The boom lifting action must simultaneously verify the zero / position proximity switch signal and the boom angle encoder data to ensure the accuracy of the action.

[0032] Cooperative positioning: The sensors on the transfer tray and the robotic arm work together to position the drill rods, enabling the robotic arm to grab and unload drill rods from the transfer tray and the gripper.

[0033] The control method of the present invention includes the following steps: S1: During the initial operation of the drilling rig, the rod chamber of the rod replenishment device is tested for drill rods and counted rods, utilizing the detection data from the Y-axis draw rope displacement encoder, X-axis draw rope displacement encoder, and the proximity switch of the rod replenishment gripper; the specific process is as follows: In terms of Y-direction positioning, the pole-repairing boom is equipped with a Y-direction pull rope displacement encoder to detect the displacement changes of the pole-repairing boom in the Y-axis direction in real time; the cylinder stroke of the pole-repairing boom is fixed, and the controller dynamically calibrates the precise Y-coordinate position of each of the 8 drill rods in the rod chamber based on the data collected by the Y-direction pull rope displacement encoder and the working status of the cylinder of the pole-repairing boom.

[0034] For X-axis positioning, the boom is equipped with an X-axis draw rope displacement encoder to monitor the displacement of the boom along the guide rail in the X-axis direction in real time. Based on the feedback data from this encoder, the X-coordinate positions of the four rows of drill pipes in the rod magazine are calibrated.

[0035] When the drill rod holder descends and contacts the drill rod, the drill rod holder proximity switch is triggered, generating a switching signal, and the indicator light illuminates. This signal is transmitted to the controller, thereby enabling accurate identification and counting of drill rods at various positions within the rod chamber. Based on feedback information from the X-axis and Y-axis pull rope displacement encoders and the drill rod holder proximity switch, the controller records relevant data and executes the next action in the fully automatic process.

[0036] S2: The system determines whether the clamp has completed the clamping or releasing action based on the real-time signal changes of the main clamping pressure sensor and the unclamping pressure sensor. First, the unclamping device of the clamping and unclamping assembly is clamped. When the reading of the unclamping pressure sensor is >18MPa, the clamp is released. The real-time position of the power head on the feed guide is obtained through the real-time feedback of the power head displacement encoder. The active drill rod is unclamped with the starting point of the preceding drill rod. After the unclamping is completed, the power head moves to the last end of the feed guide and feeds back its displacement to the controller. At the same time, the supplementary rod gripper opens to grab the drill rod from the first column of the rod magazine. When the supplementary rod gripper moves down and touches the drill rod, the supplementary rod gripper proximity switch triggers a switch signal, the indicator light lights up, and when the feedback signal from the supplementary rod gripper proximity switch to the controller changes from 0 to 1, the supplementary rod gripper closes to grab the drill rod and executes the next action.

[0037] S3: During the process of grabbing the drill rod, the pressure change of the transfer tray advance and retreat pressure sensor is monitored to determine whether the pressure and time at the left end have reached the rod replenishment position point. When the reading of the transfer tray advance and retreat pressure sensor is >13Mpa, it is determined that the transfer tray has moved to the left and reached the rod replenishment position waiting point, and the next action is executed.

[0038] S4: The sensors on the transfer tray and the robotic arm work together to locate the drill rod. The X-axis and Y-axis pull rope displacement encoders of the robotic arm provide feedback to the controller that the drill rod has reached the waiting point. When the drill rod gripper moves down and touches the drill rod, the proximity switch retracts and triggers a switch signal, the indicator light illuminates, and the signal is transmitted to the controller. The gripper closes and places the drill rod into the transfer tray. The transfer tray is equipped with a proximity switch, and the front end of the switch has a bar with an elastic reset mechanism. When the drill rod is placed into the transfer tray and the bar is pressed down, the proximity switch signal is triggered. The proximity switch feedback signal changes from 0 to 1 when the drill rod is in place, triggering the adjustment bolt on the side of the transfer tray. The robotic arm moves laterally and retracts into the rod chamber to grab the next drill rod and execute the next action.

[0039] S5: During the movement of the transfer pallet, the pressure change of the transfer pallet advance and retreat pressure sensor in the monitoring system is used to determine whether the right end pressure and time have reached the position point of the extension robot arm. When the reading of the transfer pallet advance and retreat pressure sensor is >13Mpa, the transfer pallet moves to the right to the waiting point of the extension robot arm and executes the next action.

[0040] S6: During the rod extension process, the rod extension gripper opens, and the extension status of the first and second rod extension arms is determined by a combination of pressure and time. The pressure change of the second rod extension arm extension pressure sensor in the monitoring system is monitored. When the set pressure of 20 MPa is met, the extension time ts is delayed based on the pressure feedback to ensure that the first and second rod extension arms are fully extended. When the gripper moves down and touches the drill pipe, the rod extension gripper proximity switch retracts and triggers a switch signal, the indicator light illuminates, and when the feedback signal from the rod extension gripper proximity switch to the controller changes from 0 to 1, after waiting for ts, the rod extension gripper closes and the second rod extension arm retracts, and the next action is executed.

[0041] S7: The extension arm detects whether the extension arm is parallel to the feed guide rail when the drill rod is being added via the extension arm positioning proximity switch installed below the feed guide rail. When the controller feedback signal changes from 0 to 1, the extension arm rotates forward. The current position of the extension arm is obtained through the extension arm rotation angle encoder located at the bottom of the extension arm swing cylinder. The extension arm rotation angle encoder feedback to the controller is 90°. Combined with the positioning detection plate at the bottom of the extension arm, it ensures that the extension arm swings back to the drill rod point and waits. It monitors the pressure changes of the extension pressure sensors of the first and second extension arms in the system. When the set pressure of 20 MPa is met, and the extension time ts is delayed according to the pressure feedback, it ensures that the first and second extension arms are fully extended and executes the next action.

[0042] S8: Monitor the pressure change of the main clamp pressure sensor in the monitoring system. At this time, the main clamp clamps and holds the drill rod, the rod extension gripper opens, and the first and second rod extension arms retract. The rod extension arm rotation angle encoder at the bottom of the rod extension arm swing cylinder obtains the current rod extension arm rotation angle encoder feedback controller angle value as 0°. At the same time, the rod extension arm zero position detection is performed. When the rod extension arm zero position proximity switch is in the horizontal initial position, the next action is executed.

[0043] S9: The power head feeds forward, and the displacement of the power head on the feed guide rail is fed back in real time through the power head displacement encoder. When it reaches the upper clamping point 1, the real-time position of the power head on the feed guide rail is obtained, and the power head displacement encoder feeds back to the controller with an output of 20, and the upper clamping is performed to execute the next action.

[0044] S10: Monitor the changes in the main clamping pressure sensor in the monitoring system. When the pressure sensor at pump I of the motor pump group feeds back 10 MPa to the controller, it indicates that the clamping is complete, the clamp opens, and the real-time position of the power head on the feed guide rail is obtained. The power head feeds to the clamping point 2, and the power head displacement encoder feeds back 100 to the controller, performing the clamping of the intermediate drill rod with the preceding drill rod. Monitor the changes in the unclamping pressure sensor in the system. The clamp is unclamped and held. When the unclamping pressure sensor feeds back 10 MPa to the controller, the connection between the intermediate drill rod and the preceding drill rod is completed automatically. The water valve is opened, and then one drill rod is drilled automatically. When the power head drills to the front end of the guide rail position, the water valve is closed, and the next action is executed.

[0045] S11: Real-time feedback of the power head's movement displacement on the feed guide rail is obtained through the power head displacement encoder. When the power head reaches the start point of uncoupling the active drill rod and the front drill rod, the real-time position of the power head on the feed guide rail is obtained. The clamp is unclamped and uncoupled. The changes of the unclamping pressure sensor in the system are monitored. The clamp is unclamped and held. When the unclamping pressure sensor feeds back to the controller that it is 10 MPa, the power head is retracted to the last end of the guide rail after uncoupling is completed. Steps S2-S10 are repeated until the designed drilling depth is reached.

Claims

1. A fully automatic drilling control method for a coal mine intelligent drilling rig, the intelligent drilling rig comprising a tracked vehicle body (2) and a drilling host (8), a rod loading and unloading robotic arm (7), a rod replenishment device (6), a motor pump unit (3), and a controller (4) mounted on the tracked vehicle body (2); characterized in that, The control method receives signals from various sensors, encoders and proximity switches on the intelligent coal mine drilling rig through the controller (4), and monitors the drilling data of the drilling rig in real time to realize fully automatic drilling control of the intelligent coal mine drilling rig. The main clamping pressure sensor and the unclamping pressure sensor are installed on the clamping and unclamping assembly (3-1) of the drilling host (8) to monitor the pressure changes of the clamping and unclamping assembly (3-1) in the clamping / unclamping states; the drilling host (8) is also equipped with a power head displacement encoder to provide real-time feedback on the position of the power head (3-3); The motor pump set (3) is equipped with a pump I pressure sensor to monitor the pressure changes of pump I. The transfer tray (4-4) of the rod replenishment device (6) is equipped with a transfer tray advance and retreat pressure sensor and a transfer tray proximity switch to monitor the pressure change of the transfer tray (4-4) in two states: when it advances to the rod position waiting point and when it replenishes the rod position waiting point, and to detect whether there is a drill rod in the transfer tray (4-4); the rod replenishment arm (5-1) of the rod replenishment device (6) is equipped with a Y-direction pull rope displacement encoder and an X-direction pull rope displacement encoder to detect displacement changes in real time; a rod replenishment gripper proximity switch (5-3) is provided next to the rod replenishment gripper (5-2) of the rod replenishment device (6) to detect whether there is a drill rod in the rod replenishment gripper (5-2) and in the rod chamber (4-1); The rod-adding and unloading robotic arm (7) has a rod-adding arm slender arm (6-6) with a corresponding rod-adding arm rotation angle encoder to detect the rotation angle. The first rod-adding arm (6-3) and the second rod-adding arm (6-5) are respectively equipped with a first rod-adding arm extension pressure sensor and a second rod-adding arm extension pressure sensor to monitor the pressure changes in the extension and retraction states of the first and second rod-adding arms. The rod-adding arm (6-1) of the rod-adding and unloading robotic arm (7) has a rod-adding arm position proximity switch and a rod-adding arm zero position proximity switch to detect whether the rod-adding arm (6-1) is in position or in the initial position.

2. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 1, characterized in that, The drilling host (8) includes a feed guide rail (3-2), a center angle adjustment device (3-5) located below the feed guide rail (3-2), a front angle adjustment device (3-6) located at the front end of the feed guide rail (3-2), a power head (3-3) and its active drill rod (3-4) located on the feed guide rail (3-2), and a clamping and uncoupling assembly (3-1) located on the feed guide rail (3-2). The power head (3-3) can move on the feed guide rail (3-2), and the power head (3-3) and the active drill rod (3-4) are coaxial with the clamping and uncoupling assembly (3-1). The clamping and uncoupling assembly (3-1) includes a clamp and an uncoupling device arranged coaxially. The clamp is closer to the power head (3-3), and the uncoupling device can rotate under the action of the uncoupling cylinder. A main clamping pressure sensor and an unclamping pressure sensor are respectively arranged at the clamp and the uncoupling device.

3. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 1, characterized in that, The rod replenishment device (6) includes a rod magazine (4-1), a rod replenishment manipulator (4-2), a sliding guide rail (4-3), a transfer tray (4-4), and a rack guide rail. The side and front of the rod magazine (4-1) are fixed to the sliding guide rail (4-3) and the rack guide rail, respectively. The rod replenishment manipulator (4-2) is clamped on the rack guide rail and can slide along the rack guide rail. The transfer tray (4-4) is clamped on the sliding guide rail (4-3) and can slide along the sliding guide rail (4-3). The transfer tray advance and retreat pressure sensor is installed on the transfer tray advance and retreat digital valve through a pressure measuring oil pipe thread. The transfer tray proximity switch is installed on the end of the transfer tray (4-4) near the oil tank.

4. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 1, characterized in that, The rod-repairing robot (4-2) includes a vertical rod-repairing arm (5-1), a rod-repairing vertical arm (5-5), a horizontal beam (5-4) connecting the rod-repairing arm (5-1) and the rod-repairing vertical arm (5-5), a rod-repairing gripper (5-2) connected to the lower end of the rod-repairing vertical arm (5-5), and a rod-repairing gripper proximity switch (5-3) located next to the rod-repairing gripper (5-2); the rod-repairing arm (5-1) can extend and retract vertically and can move horizontally along the rack and pinion guide rail. The pole-repairing boom (5-5) can drive the pole-repairing gripper (5-2) to extend and retract vertically, realizing the vertical gripping / placement of the drill rod in the pole chamber (4-1); one end of the Y-axis pull rope displacement encoder is fixed to the machine body, and the other end is connected to the boom cylinder in the pole-repairing boom (5-1); the X-axis pull rope displacement encoder is installed on the side of the pole chamber (4-1) near the feed guide rail (3-2), one end is fixed to the pole chamber (4-1), and the other end is connected to the pole-repairing boom (5-1).

5. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 1, characterized in that, The robotic arm (7) for adding and unloading rods includes, in sequence, an angle-adjusting cylinder, a rod-adding main arm (6-1), a rod-adding horizontal arm, a rod-adding secondary arm (6-6), a rod-adding gripper (6-2), and a rod-adding gripper proximity switch (6-4); the angle-adjusting cylinder can adjust the angle of the rod-adding main arm (6-1), and the rod-adding horizontal arm drives the rod-adding secondary arm (6-6) to rotate through a swing cylinder; the rod-adding main arm (6-1) is perpendicular to the rod-adding horizontal arm, and the rod-adding horizontal arm is perpendicular to the rod-adding secondary arm (6-6); the rod-adding secondary arm (6-6) includes a first rod-adding secondary arm (6-3) and a second rod-adding secondary arm (6-5) connected in parallel, the first... The extension and retraction of the first extension arm (6-3) can drive the extension gripper (6-2) to extend / retract; the first extension arm extension pressure sensor and the second extension arm extension pressure sensor are installed on the extension digital valves of the first extension arm (6-3) and the second extension arm (6-5) through the pressure measuring oil pipe thread; the extension arm rotation angle encoder is located at the bottom of the swing cylinder; the extension arm position proximity switch is located below the feed guide rail (3-2) and rises and falls with the feed guide rail (3-2); the extension arm zero position proximity switch is located on the body of the drilling host (8) and does not rise and fall with the feed guide rail (3-2).

6. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 1, characterized in that, Includes the following steps: S1: During the first run of the drilling rig, the rod chamber of the rod replenishment device is used to detect drill rods and count rods by using the Y-axis pull rope displacement encoder, the X-axis pull rope displacement encoder and the rod replenishment gripper proximity switch. S2: Based on the real-time signal changes of the main clamping pressure sensor and the unclamping pressure sensor, determine whether the clamp has completed the clamping or unclamping action. Obtain the real-time position of the power head through the power head displacement encoder, and perform uncoupling between the active drill rod and the preceding drill rod at the starting point. After uncoupling, the power head moves to the last end of the feed guide rail and feeds back its displacement to the controller. At the same time, the supplementary rod gripper grabs the drill rod from the first column of the rod magazine. When the supplementary rod gripper moves down and touches the drill rod, the supplementary rod gripper proximity switch feeds back a signal to the controller, and the supplementary rod gripper closes to grab the drill rod. S3: During the process of grabbing the drill rod, monitor the pressure change of the transfer tray advance and retreat pressure sensor. When the reading of the transfer tray advance and retreat pressure sensor is >13Mpa, it is determined that the transfer tray has reached the waiting point for the drill rod replenishment position. S4: The X-axis pull rope displacement encoder and the Y-axis pull rope displacement encoder feed back to the controller that the rod replenishment device has reached the rod replenishment position waiting point. When the rod replenishment gripper moves down and touches the drill rod, the rod replenishment gripper proximity switch signal is transmitted to the controller. The rod replenishment gripper puts the drill rod into the transfer tray, and the transfer tray proximity switch detects the drill rod. S5: Monitor the pressure change of the transfer pallet forward and backward pressure sensor. When the reading of the transfer pallet forward and backward pressure sensor is >13Mpa, it is determined that the transfer pallet has reached the waiting point of the lever position. S6: During the rod extension process, monitor the pressure change of the second rod extension arm extension pressure sensor. When the set pressure of 20 MPa is met, the first and second rod extension arms are fully extended. When the rod extension gripper moves down and touches the drill rod, the rod extension gripper proximity switch sends a feedback signal to the controller, the rod extension gripper closes, and the second rod extension arm retracts. S7: When the boom extension position proximity switch detects that the boom extension is in position, the boom extension arm rotates forward. The boom extension arm rotation angle encoder obtains the boom extension arm position feedback controller value of 90° to ensure that the boom extension arm swings to the upper drill rod point and waits. The pressure changes of the first boom extension pressure sensor and the second boom extension pressure sensor are monitored. When the set pressure of 20 MPa is met, the first boom extension arm and the second boom extension arm are fully extended. S8: Monitor the pressure change of the main clamp pressure sensor. At this time, the clamp clamps the drill rod and holds it, the rod extension gripper opens, the first rod extension arm and the second rod extension arm retract, the rod extension arm rotates and the angle value of the controller is 0° through the rod extension arm rotation angle encoder. At the same time, the rod extension arm zero position proximity switch detects the rod extension arm at zero position and is in the initial position. S9: The power head feeds forward, and the displacement of the power head on the feed guide rail is fed back in real time through the power head displacement encoder. When the upper clamping point 1 is reached, the power head displacement encoder feeds back to the controller with an output of 20, and the upper clamping is performed. S10: Monitor the changes in the main clamping pressure sensor in the monitoring system. When the I-pump pressure sensor of the motor pump group feeds back 10 MPa to the controller, it indicates that the clamping is complete, the clamp opens, and the real-time position of the power head on the feed guide rail is obtained. The power head feeds to the clamping point 2, and the power head displacement encoder feeds back 100 to the controller, performing the clamping of the intermediate drill rod with the preceding drill rod. The clamp is then removed, tightened, and held. When the unclamping pressure sensor feeds back 10 MPa to the controller, the connection between the intermediate drill rod and the preceding drill rod is completed automatically, and the fully automatic drilling of one drill rod is performed. The power head drills to the foremost position. S11: The power head displacement encoder provides real-time feedback on the displacement of the power head on the feed guide rail. When it reaches the starting point of the uncoupling between the active drill rod and the front drill rod, it performs uncoupling. When the uncoupling pressure sensor feeds back to the controller that it is 10 MPa, the uncoupling is completed and the power head retracts to the last end. Repeat S2-S10 until the designed drilling depth is reached.

7. The fully automatic drilling control method for intelligent coal mine drilling rigs as described in claim 6, characterized in that, S1 includes: Y-direction positioning: a Y-direction pull rope displacement encoder detects the displacement change of the supplementary rod arm in the Y-axis direction in real time; the cylinder stroke of the supplementary rod arm is fixed, and the controller dynamically calibrates the precise Y-coordinate position of each layer of drill rod in the rod chamber based on the data collected by the Y-direction pull rope displacement encoder and the working state of the cylinder of the supplementary rod arm; X-direction positioning: an X-direction pull rope displacement encoder monitors the displacement of the supplementary rod arm in the X-axis direction in real time and calibrates the X-coordinate position of the drill rod in the rod chamber; when the supplementary rod gripper descends and contacts the drill rod, the supplementary rod gripper proximity switch is triggered, and the signal is transmitted to the controller to realize the accurate identification and counting of drill rods at each position in the rod chamber.

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