Multi-stage hydraulic telescopic propelling mechanism of mining grouting drilling machine

Abstract

The invention discloses a multi-stage hydraulic telescopic propulsion mechanism of a mining grouting drilling machine in the technical field of mining grouting drilling machines, which comprises a support base, a first-stage telescopic arm, a second-stage telescopic arm, a multi-stage linkage hydraulic cylinder group, a propulsion sliding table and an impact energy recovery and buffer assembly, and is characterized in that the multi-stage linkage hydraulic cylinder group comprises a first-stage hydraulic cylinder and a second-stage hydraulic cylinder; the impact energy recycling and buffering assembly comprises a supporting barrel, a mandrel is installed in the supporting barrel, one end of the mandrel is fixedly connected with a floating piston, the other end of the mandrel is connected with the bottom of the supporting barrel through a reset spring, the floating piston divides an inner cavity of a piston rod of the second-stage hydraulic cylinder into an energy storage cavity and a spring cavity, and the energy storage cavity is communicated with an energy accumulator through an oil way. Oil supplementing one-way valves are arranged between the energy storage cavities and rodless cavities of the corresponding first-stage hydraulic cylinder and second-stage hydraulic cylinder. According to the propelling mechanism, rebound impact force in drilling can be converted into hydraulic potential energy to be stored in the energy accumulator, impact loads are obviously buffered, and key components such as a hydraulic cylinder and a telescopic arm are protected.

Description

Technical Field

[0001] This invention relates to the field of mining grouting drilling rig technology, and in particular to a multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drilling rig. Background Technology

[0002] Mining grouting drilling rigs are key equipment used in mine roadway support, water plugging, and reinforcement projects. They need to drill grouting holes into rock strata in narrow and complex underground spaces. Currently, common mining drilling rig propulsion mechanisms mainly include gear and rack type, chain drive type, and hydraulic cylinder direct push type.

[0003] However, during the drilling process, traditional mining drilling rig propulsion mechanisms often encounter sudden changes in rock type (such as moving from soft rock to hard rock, encountering fissures or boulders), causing the drill rod to be subjected to huge reverse impact forces instantly, i.e., "rebound impact" or "stuck drill" phenomenon. This impact load is characterized by suddenness and high peak value, which can cause serious damage to the drilling rig's propulsion mechanism, such as internal leakage of hydraulic cylinders, deformation of mechanical structure, loosening or breakage of connecting parts. At the same time, the severe vibration also affects the hole quality and operational safety. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-stage hydraulic telescopic propulsion mechanism for mining grouting drills, thereby solving the problems mentioned in the background section.

[0005] The objective of this invention is achieved as follows: a multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig, comprising:

[0006] Support base, used for connection to the drilling rig body;

[0007] A primary telescopic arm is slidably nested within the support base;

[0008] The secondary telescopic arm is slidably nested within the primary telescopic arm;

[0009] A multi-stage linkage hydraulic cylinder group includes a primary hydraulic cylinder and a secondary hydraulic cylinder. The cylinder body of the primary hydraulic cylinder is fixed on a support base, and the output end of the primary hydraulic cylinder is connected to a primary telescopic arm. The cylinder body of the secondary hydraulic cylinder is fixed on the primary telescopic arm, and the output end of the secondary hydraulic cylinder is connected to the secondary telescopic arm.

[0010] The slide is fixed to the free end of the secondary telescopic boom, and a drill rod is installed at the front end;

[0011] An impact energy recovery and buffer assembly is fixedly connected to the ends of the piston rods of the primary and secondary hydraulic cylinders, and includes a support cylinder disposed at the ends of the piston rods of the primary and secondary hydraulic cylinders. A spindle is installed inside the support cylinder. A floating piston is fixedly connected to one end of the spindle, and the other end of the spindle is connected to the bottom of the support cylinder through a return spring. The floating piston divides the inner cavity of the support cylinder into an energy storage chamber and a spring chamber. The energy storage chamber is filled with hydraulic oil and is connected to an external accumulator through an oil circuit. A one-way valve for replenishing oil is provided between the energy storage chamber and the corresponding rodless chamber of the primary and secondary hydraulic cylinders.

[0012] When the drill rod rebounds due to a sudden change in rock strata during drilling, the impact force is transmitted to the piston rod of the secondary hydraulic cylinder through the secondary telescopic arm, forcing the floating piston to compress the energy storage chamber and pressurize the hydraulic oil in the energy storage chamber into the accumulator to store it as hydraulic potential energy.

[0013] Preferably, the cylinder body of the primary hydraulic cylinder and the support base, as well as the cylinder body of the secondary hydraulic cylinder and the primary telescopic arm, are connected by hinged joints.

[0014] Preferably, the accumulator is a piston accumulator or a diaphragm accumulator, and the accumulator is connected to the oil circuit via a high-pressure hose.

[0015] Preferably, an energy storage control valve block is connected in series on the high-pressure hose, and the energy storage control valve block includes at least one overflow valve and one first shut-off valve.

[0016] Preferably, the multi-stage hydraulic telescopic propulsion mechanism further includes a controller and a pressure sensor. The controller is integrated in the electrical control cabinet of the grouting drilling rig body, and the pressure sensor is fixedly installed on the accumulator. The accumulator control valve block and the pressure sensor are both electrically connected to the controller.

[0017] Preferably, a second shut-off valve is connected in series between the oil outlet of the accumulator and the oil inlet pipeline of the multi-stage linkage hydraulic cylinder group. The second shut-off valve is electrically connected to the controller. When the pressure of the accumulator reaches a set threshold and the system requires auxiliary thrust, the controller controls the second shut-off valve to release the hydraulic oil stored in the accumulator to provide auxiliary thrust.

[0018] Preferably, the reset spring is a butterfly spring assembly or a hydraulic spring.

[0019] Preferably, the outer walls of both the primary telescopic arm and the secondary telescopic arm are provided with rolling bearing assemblies, and the inner walls of both the support base and the primary telescopic arm are provided with sliding grooves corresponding to the rolling bearing assemblies.

[0020] Preferably, the rolling bearing assembly includes load-bearing rollers distributed vertically and guide rollers distributed horizontally.

[0021] Preferably, the surface of the support base is symmetrically and fixedly connected with guide rails, and the bottom of the push slide is fixedly connected with a slider, which is slidably connected to the guide rails.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. By setting up impact energy recovery and buffer components, the rebound impact force caused by sudden changes in rock strata during drilling can be converted into hydraulic potential energy and stored in the accumulator, instead of letting the impact force be rigidly borne by the structural components. This significantly buffers the impact load, protects key components such as hydraulic cylinders and telescopic booms, and extends the service life of the equipment. At the same time, the recovered energy can be released when needed to provide auxiliary propulsion force and improve energy utilization efficiency.

[0024] 2. By adopting a multi-level nested sliding structure consisting of a support base, a first-level telescopic arm, and a second-level telescopic arm, and driven by an independently controlled multi-level linkage hydraulic cylinder group, the overall size of the mechanism is small when it is retracted, making it easy to arrange and move in mine roadways. When it is needed to work, it can extend step by step to obtain a propulsion stroke far exceeding the length of the main body, greatly enhancing the flexibility of operation.

[0025] 3. By setting up a dual guiding mechanism of rolling bearing assembly and guide rail slider, the motion accuracy and stability during multi-stage extension and propulsion are ensured, reducing jamming and uneven wear. By integrating pressure sensor, controller and electronically controlled valve block, the accumulator pressure can be monitored in real time, and the energy storage and release process can be intelligently controlled, improving the system's automation level and adaptability to working conditions. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the multi-stage hydraulic telescopic propulsion mechanism of a mining grouting drill in one embodiment.

[0028] Figure 2 for Figure 1 A magnified schematic diagram of the structure at point A in the diagram.

[0029] Figure 3 This is a schematic diagram of a two-stage telescopic arm structure in one embodiment.

[0030] Figure 4 This is a cross-sectional structural diagram of the primary telescopic arm and the secondary telescopic arm in one embodiment.

[0031] Figure 5 This is a schematic diagram of the impact energy recovery and buffering component structure in one embodiment.

[0032] Figure 6 This is a schematic diagram of a partial structure of the impact energy recovery and buffering component in one embodiment.

[0033] Figure 7 This is a schematic diagram of the impact energy recovery and buffering process structure in one embodiment.

[0034] Figure label:

[0035] 100. Support base; 110. Hinge seat; 120. Guide rail; 200. Primary telescopic boom; 210. Rolling bearing assembly; 211. Load-bearing roller; 212. Guide roller; 220. Slide groove; 300. Secondary telescopic boom; 400. Multi-stage linkage hydraulic cylinder assembly; 410. Primary hydraulic cylinder; 420. Secondary hydraulic cylinder; 500. Advancement slide; 510. Drill rod; 520. Slider; 600. Impact energy recovery. 601. Buffer assembly; 602. High-pressure hose; 603. Energy storage control valve block; 604. Overflow valve; 605. First shut-off valve; 610. Second shut-off valve; 620. Support cylinder; 630. Mandrel; 640. Floating piston; 650. Return spring; 660. Energy storage chamber; 670. Spring chamber; 680. Oil circuit; 690. Accumulator; 700. Oil replenishment check valve; 800. Controller; 800. Pressure sensor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figures 1-7 As shown, this embodiment provides a multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill, including a support base 100, a primary telescopic arm 200, a secondary telescopic arm 300, a multi-stage linkage hydraulic cylinder group 400, a propulsion slide 500, and an impact energy recovery and buffer assembly 600.

[0039] The support base 100 is used to fix the frame of the drilling rig body (not shown in the figure) and serves as the installation base for the entire propulsion mechanism. The support base 100 has a hollow guide cavity.

[0040] The first-stage telescopic arm 200 is slidably nested in the guide cavity of the support base 100, and the second-stage telescopic arm 300 is slidably nested in the first-stage telescopic arm 200. Through the two-stage nesting structure, the extension and retraction of the telescopic arms can be realized, thereby adjusting the position of the propulsion slide 500.

[0041] Please refer to Figure 1 and Figure 2 The multi-stage linkage hydraulic cylinder group 400 includes a primary hydraulic cylinder 410 and a secondary hydraulic cylinder 420. The cylinder body of the primary hydraulic cylinder 410 is fixed to the support base 100 via a hinge seat 110, and the output end of its piston rod is connected to the tail end of the primary telescopic arm 200. The cylinder body of the secondary hydraulic cylinder 420 is fixed to the tail end of the primary telescopic arm 200 via another hinge seat 110, and the output end of its piston rod is connected to the tail end of the secondary telescopic arm 300. When the piston rod of the primary hydraulic cylinder 410 extends, it pushes the primary telescopic arm 200 to extend out of the support base 100. At the same time, the piston rod of the secondary hydraulic cylinder 420 can move relatively independently, pushing the secondary telescopic arm 300 to extend out of the primary telescopic arm 200, thereby realizing two-stage independent telescopic movements and increasing the propulsion stroke.

[0042] The push slide 500 is fixed to the free end of the front end of the secondary telescopic boom 300. A drill rod 510 for drilling is installed at the front end of the push slide 500. In order to ensure the stability of the push slide 500 during the extension and retraction process, a guide rail 120 extending in the extension and retraction direction is fixedly connected to the surface of the support base 100. A slider 520 adapted to the guide rail 120 is fixedly connected to the bottom of the push slide 500. The slider 520 is slidably connected to the guide rail 120 to form an auxiliary guide.

[0043] Please refer to Figure 3 and Figure 4 To reduce frictional resistance and wear during the sliding process of the telescopic arm, rolling bearing assemblies 210 are provided on the outer walls of both the primary telescopic arm 200 and the secondary telescopic arm 300. Correspondingly, sliding grooves 220 that roll with the rolling bearing assemblies 210 are provided on the inner walls of both the support base 100 and the primary telescopic arm 200. Preferably, the rolling bearing assembly 210 includes load-bearing rollers 211 distributed vertically and guide rollers 212 distributed horizontally. The load-bearing rollers 211 mainly bear the weight of the telescopic arm and the load, while the guide rollers 212 are used to limit the swing of the telescopic arm in the horizontal plane and ensure the accuracy of linear motion.

[0044] Please refer to Figure 1 and Figure 5There are two impact energy recovery and buffer components 600. Specifically, a support cylinder 610 is fixedly connected to the piston rod end of the secondary hydraulic cylinder 420 via a support plate (not shown in the figure). A spindle 620 is installed inside the support cylinder 610. A floating piston 630 is fixedly connected to the front end of the spindle 620. The rear end of the spindle 620 is connected to the bottom of the support cylinder 610 via a return spring 640. The return spring 640 can be a butterfly spring assembly to provide a large elastic force in a limited space, or a small hydraulic spring can be used.

[0045] The floating piston 630 divides the internal cavity of the support cylinder 610 into two parts: an energy storage chamber 650 located in front of the floating piston 630 and a spring chamber 660 located behind the floating piston 630. The energy storage chamber 650 is pre-filled with hydraulic oil. The energy storage chamber 650 is connected to an external accumulator 680 through an oil passage 670. The accumulator 680 is preferably a piston type or a diaphragm type and is connected to the oil passage 670 through a high-pressure hose 601. The energy storage chambers 650 of the two impact energy recovery and buffer components 600 are respectively connected to the oil supply lines of the corresponding first-stage hydraulic cylinder 410 and second-stage hydraulic cylinder 420 through oil replenishment lines. An oil replenishment check valve 690 is provided in the oil replenishment line, which allows oil to be replenished from the rodless chamber of the first-stage hydraulic cylinder 410 and the second-stage hydraulic cylinder 420 to the energy storage chamber 650 to prevent insufficient oil in the energy storage chamber 650 due to internal leakage.

[0046] Working principle (buffering and energy recovery):

[0047] When the drill pipe 510 encounters a hard interlayer or cavity during drilling, causing a sudden change in rock strata and generating a violent rebound impact, the impact force will be transmitted in the reverse direction through the push slide 500 and the secondary telescopic arm 300 to the support cylinder 610 of the impact energy recovery and buffer component 600. This impact force is transmitted to the internal spindle 620 and floating piston 630, overcoming the preload of the return spring 640 and pushing the floating piston 630 to move towards the energy storage chamber 650. The movement of the floating piston 630 compresses the volume of the energy storage chamber 650, and the hydraulic oil inside is forced into the external accumulator 680 through the oil passage 670.

[0048] The gas (nitrogen) in the accumulator 680 is compressed, thereby converting the mechanical energy of the impact into the pressure energy (hydraulic potential energy) of the hydraulic oil and storing it. During this process, the impact energy is gradually absorbed, forming a buffer and protecting the hydraulic cylinder, telescopic arm and other structures from rigid impact. After the impact ends, the floating piston 630 is reset under the restoring force of the return spring 640. If the accumulator chamber 650 generates a vacuum due to the discharge of oil, the oil replenishment check valve 690 opens, replenishing a small amount of hydraulic oil from the rodless chamber of the corresponding first-stage hydraulic cylinder 410 and second-stage hydraulic cylinder 420, ensuring that the system is ready to deal with the next impact at any time.

[0049] Example 2

[0050] like Figure 1 as well as Figures 5-7 As shown, based on Example 1, this example further optimizes the control and safety protection of the energy recovery system.

[0051] A storage control valve block 602 is connected in series on the high-pressure hose 601 that connects to the accumulator 680. The storage control valve block 602 includes at least an overflow valve 603 and a first shut-off valve 604. The overflow valve 603 is used to set the maximum safe operating pressure of the accumulator 680 to prevent overpressure. The first shut-off valve 604 can be used to cut off the oil circuit 670 during maintenance, or the system can actively control the opening and closing of the storage function.

[0052] The multi-stage hydraulic telescopic propulsion mechanism also includes a controller 700 and a pressure sensor 800. The controller 700 is usually integrated in the electrical control cabinet of the grouting drilling rig body. The pressure sensor 800 is fixedly installed on the accumulator 680 and is used to monitor the pressure in the accumulator 680 in real time. The electrical control components in the energy storage control valve block 602 and the pressure sensor 800 are both electrically connected to the controller 700.

[0053] In order to reuse the recovered energy, a second shut-off valve 605 is connected in series between the oil outlet of the accumulator 680 and the oil inlet of the multi-stage linkage hydraulic cylinder group 400. The second shut-off valve 605 is preferably an electronically controlled proportional valve or a switching valve and is electrically connected to the controller 700.

[0054] The control process of the impact energy recovery and buffer component 600 is an automated process based on its specific mechanical and hydraulic structure. Its core operation revolves around two stages: "impact energy storage" and "energy release and utilization." The specific process is as follows:

[0055] I. Energy Storage (Buffering and Recovery) Control Process

[0056] This process runs automatically during drilling operations to cope with sudden shocks.

[0057] Impact triggering and transmission: When the drill pipe 510 encounters a rebound impact, the impact force is transmitted through the secondary telescopic arm 300 and the primary telescopic arm 200 to the support cylinder 610 of the corresponding impact energy recovery and buffer component 600.

[0058] Mechanical buffering and energy conversion: Under the action of impact force, the spindle 620 and floating piston 630 in the support cylinder 610 compress the return spring 640 and move backward. The floating piston 630 compresses the energy storage chamber 650, and the hydraulic oil in it is forced into the external energy accumulator 680 through the oil circuit 670. The impact kinetic energy is converted into hydraulic potential energy and stored.

[0059] Pressure monitoring and safety protection: Pressure sensor 800 monitors the pressure of accumulator 680 in real time, and overflow valve 603 in energy storage control valve block 602 sets the maximum pressure threshold to prevent overload.

[0060] System reset: After the impact ends, the floating piston 630 resets under the action of the reset spring 640, and the oil replenishment check valve 690 replenishes oil from the rodless chambers of the first-stage hydraulic cylinder 410 and the second-stage hydraulic cylinder 420, so that the component returns to the standby state.

[0061] II. Energy Release (Assisted Propulsion) Control Process

[0062] This process is actively triggered by the control system when conditions are met in order to achieve energy reuse.

[0063] Release condition determination: The controller 700 continuously receives signals from the pressure sensor 800 and determines two conditions:

[0064] Has the pressure in accumulator 680 reached the preset release threshold?

[0065] Is the drilling rig's hydraulic system in a condition that requires auxiliary thrust, such as high-load start-up or passing through a fractured zone?

[0066] Execute the release command: When the above conditions are met simultaneously, the controller 700 issues commands in sequence:

[0067] The first shut-off valve 604 on the energy storage control valve block 602 is closed to suspend the energy recovery circuit.

[0068] Open the second shut-off valve 605, which connects the oil outlet of the accumulator 680 to the oil inlet line of the multi-stage linkage hydraulic cylinder group 400.

[0069] Auxiliary power output: The high-pressure oil stored in the accumulator 680 is released through the second shut-off valve 605 and injected into the oil inlet pipeline of the multi-stage linkage hydraulic cylinder group 400, providing instantaneous auxiliary propulsion for the first-stage hydraulic cylinder 410 and the second-stage hydraulic cylinder 420.

[0070] End of release and reset: When the pressure of the accumulator 680 drops to a low threshold or the auxiliary demand disappears, the controller 700 closes the second shut-off valve 605 and reopens the first shut-off valve 604, resetting the system to the energy recovery standby state.

[0071] Energy release and auxiliary propulsion principle: When the pressure sensor 800 detects that the pressure in the accumulator 680 reaches a higher threshold preset in the controller 700 (indicating that sufficient energy has been stored), and the drilling system requires greater instantaneous propulsion force during subsequent drilling (e.g., when passing through fractured zones or requiring high starting torque), the controller 700 can send a command. On the one hand, the command controls the first shut-off valve 604 to close, suspending the energy recovery function (to avoid interference); on the other hand, it controls the second shut-off valve 605 to open, releasing the high-pressure hydraulic oil stored in the accumulator 680 through the second shut-off valve 605 and injecting it into the oil inlet pipeline of the multi-stage linkage hydraulic cylinder group 400. This provides additional flow and pressure supplement to the pressure oil output by the main pump, thereby providing an instantaneous auxiliary propulsion force for the first-stage hydraulic cylinder 410 and the second-stage hydraulic cylinder 420, helping the drill bit overcome resistance. This not only recovers and utilizes impact energy and improves energy utilization, but also enhances the drilling rig's adaptability in complex formations.

[0072] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill, characterized in that, include: Support base (100) for connection with the drilling rig body; The primary telescopic arm (200) is slidably nested within the support base (100); The secondary telescopic arm (300) is slidably nested within the primary telescopic arm (200); A multi-stage linkage hydraulic cylinder group (400) includes a first-stage hydraulic cylinder (410) and a second-stage hydraulic cylinder (420). The cylinder body of the first-stage hydraulic cylinder (410) is fixed on the support base (100), and the output end of the first-stage hydraulic cylinder (410) is connected to the first-stage telescopic arm (200). The cylinder body of the second-stage hydraulic cylinder (420) is fixed on the first-stage telescopic arm (200), and the output end of the second-stage hydraulic cylinder (420) is connected to the second-stage telescopic arm (300). The push slide (500) is fixed to the free end of the secondary telescopic boom (300), and a drill rod (510) is installed at the front end. An impact energy recovery and buffer assembly (600) is fixedly connected to the ends of the piston rods of the primary hydraulic cylinder (410) and the secondary hydraulic cylinder (420), respectively, and includes a support cylinder (610) disposed at the ends of the piston rods of the primary hydraulic cylinder (410) and the secondary hydraulic cylinder (420). A spindle (620) is installed inside the support cylinder (610). A floating piston (630) is fixedly connected to one end of the spindle (620), and the other end of the spindle (620) is connected to a return spring (640). The floating piston (630) is connected to the bottom of the support cylinder (610). The floating piston (630) divides the inner cavity of the support cylinder (610) into an energy storage chamber (650) and a spring chamber (660). The energy storage chamber (650) is filled with hydraulic oil. The energy storage chamber (650) is connected to an external accumulator (680) through an oil passage 670. The energy storage chamber (650) is provided with a replenishing oil check valve (690) between it and the rodless chamber of the corresponding first-stage hydraulic cylinder (410) and second-stage hydraulic cylinder (420). When the drill rod (510) rebounds due to a sudden change in rock strata during drilling, the impact force is transmitted to the piston rod of the secondary hydraulic cylinder (420) through the secondary telescopic arm (300), forcing the floating piston (630) to compress the energy storage chamber (650) and pressurize the hydraulic oil in the energy storage chamber (650) into the accumulator (680) to store it as hydraulic potential energy.

2. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 1, characterized in that, The cylinder body of the first-stage hydraulic cylinder (410) and the support base (100), as well as the cylinder body of the second-stage hydraulic cylinder (420) and the first-stage telescopic arm (200), are connected by a hinge seat (110).

3. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 1, characterized in that, The accumulator (680) is a piston-type accumulator or a diaphragm-type accumulator, and the accumulator (680) is connected to the oil circuit (670) through a high-pressure hose (601).

4. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 3, characterized in that, The high-pressure hose (602) is connected in series with an energy storage control valve block (602), which includes at least one overflow valve (603) and one first shut-off valve (604).

5. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 4, characterized in that, The multi-stage hydraulic telescopic propulsion mechanism also includes a controller (700) and a pressure sensor (800). The controller (700) is integrated in the electrical control cabinet of the grouting drilling rig body. The pressure sensor (800) is fixedly installed on the accumulator (680). The energy storage control valve block (602) and the pressure sensor (800) are both electrically connected to the controller (700).

6. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 5, characterized in that, A second shut-off valve (605) is connected in series between the oil outlet of the accumulator (680) and the oil inlet of the multi-stage linkage hydraulic cylinder group (400). The second shut-off valve (605) is electrically connected to the controller (700). When the pressure of the accumulator (680) reaches a set threshold and the system needs auxiliary thrust, the controller (700) controls the second shut-off valve (605) to release the hydraulic oil stored in the accumulator (680) to provide auxiliary thrust.

7. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 1, characterized in that, The reset spring (640) is a butterfly spring assembly or a hydraulic spring.

8. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 1, characterized in that, The outer walls of the first-stage telescopic arm (200) and the second-stage telescopic arm (300) are provided with rolling bearing assemblies (210), and the inner walls of the support base (100) and the first-stage telescopic arm (200) are provided with sliding grooves (220) corresponding to the rolling bearing assemblies (210).

9. A multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 8, characterized in that, The rolling bearing assembly (210) includes load-bearing rollers (211) distributed vertically and guide rollers (212) distributed horizontally.

10. The multi-stage hydraulic telescopic propulsion mechanism for a mining grouting drill rig according to claim 1, characterized in that, The surface of the support base (100) is symmetrically fixedly connected with guide rails (120), and the bottom of the push slide (500) is fixedly connected with a slider (520), which is slidably connected to the guide rails (120).

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