Intelligent explosion-proof drilling machine based on gas concentration detection

Abstract

This invention relates to the field of coal mine drilling technology and proposes an intelligent explosion-proof drilling rig based on gas concentration detection. The rig includes a quadruped tracked robot with a slidable shock absorber mounted on its top. The shock absorber is used to absorb vibrations during coal mine drilling. The top of the shock absorber is equipped with a universal arm, a drilling gas detection component, and a sealing explosion-proof component. Through the arrangement of the drilling gas detection component and the front-end gas detection component, the drilling gas detection component extracts gas from the bottom of the borehole through the central hole of the drill pipe body using an oil-free diaphragm pump for real-time detection. The front-end gas detection component forcibly collects gas escaping from the borehole opening using an axial flow motor for independent analysis. The two sets of detection data are mutually verified, significantly improving the comprehensiveness and accuracy of gas concentration monitoring and solving the problems of insufficient monitoring accuracy, insufficient sealing effect, and insufficient reliability in existing technologies.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine drilling, and specifically, to an intelligent explosion-proof drill based on gas concentration detection. Background Art

[0002] Currently, in the field of gas control and explosion-proof safety drilling in coal mines, the existing technology has developed a variety of drilling equipment with gas detection functions to achieve real-time monitoring of gas concentration during the drilling process.

[0003] The existing Chinese patent with the application number 201820801164.8 discloses an intelligent explosion-proof device for gas drainage boreholes. The device includes a drilling mechanism, an explosion-proof box body, a gas sensor, a control unit, and a plugging mechanism. Its technical solution detects the concentration by setting a gas sensor near the drilling mechanism, and when the detected gas concentration exceeds the standard, the control unit starts the plugging mechanism to plug the borehole, thereby realizing the interlocking control of detection and explosion prevention.

[0004] However, the above existing technology still has the following deficiencies in practical applications: Firstly, its gas sensor is only set near the drilling mechanism, which belongs to single-point detection and cannot independently monitor the gas escaping near the borehole mouth. When gas abnormally gushes out due to poor sealing or geological changes at the borehole mouth, it is difficult to detect in time and form an early warning mechanism. Secondly, the plugging mechanism of the device is relatively independent of the detection system, lacking an integrated design with the drill pipe body. The plugging slurry needs to be transported to the borehole mouth through an additional pipeline, and it is impossible to use the internal channel of the drill pipe to directly inject slurry for plugging from the bottom of the borehole, so the plugging efficiency and effect are limited. Thirdly, its overall structure adopts a fixed or simple track mobile design, without integrating a universal arm with multi-degree-of-freedom adjustment and an adaptive walking platform, and does not fully consider the impact of the剧烈 high-frequency vibration generated during the drilling process on precision detection instruments. In the complex and changeable coal mine roadway environment, its positioning accuracy, operation flexibility, and anti-vibration reliability still need to be improved. Fourthly, the device lacks a front-end auxiliary detection component and cannot form a double-end contrast monitoring of gas gushing during the drilling process at the bottom and the mouth of the borehole, resulting in insufficient safety redundancy. Summary of the Invention

[0005] The present invention proposes an intelligent explosion-proof drill based on gas concentration detection, which solves the problems of insufficient monitoring accuracy, insufficient plugging effect, and insufficient reliability in the related technology.

[0006] The technical solution of the present invention is as follows: An intelligent explosion-proof drill based on gas concentration detection includes a quadruped tracked robot; A shock-absorbing seat is slidably assembled on the top of the quadruped tracked robot, and the shock-absorbing seat is used for shock absorption during coal mine drilling. A universal arm, a drilling gas detection component, and a plugging explosion-proof component are respectively arranged on the top of the shock-absorbing seat; The top of the universal arm is equipped with a telescopic arm. The drilling gas detection component and the sealing and explosion-proof component are both connected to the telescopic arm. The universal arm is used to adjust the drilling position in all directions. The telescopic arm is used to adjust the drilling depth. The drilling gas detection component is used to detect the gas concentration at the drilling position. The sealing and explosion-proof component is used to seal the drilling position in an explosion-proof manner when the gas concentration is too high. The bottom of the telescopic boom is also equipped with a front-end gas detection component, which is used to detect the gas concentration at the front end of the telescopic boom.

[0007] As a preferred embodiment of the present invention, the quadruped tracked robot is composed of a mounting base, on both sides of the mounting base are mounted with double-sided drive tracks, and two symmetrically arranged cylinder-driven legs are provided on one side of the double-sided drive tracks.

[0008] As a preferred embodiment of the present invention, the shock absorber base is composed of a connecting base, the connecting base is slidably assembled inside the mounting base, and two symmetrically arranged connecting blocks are fixedly connected to the bottom of the connecting base. Three arc-shaped equidistant shock absorbers are connected between one side of the connecting block and the mounting base.

[0009] As a preferred embodiment of the present invention, a control component is installed on one side of the shock absorber base. The control component consists of a handheld control panel, a wire feeding reel, and a power module. The handheld control panel is pluggably disposed on the top of the connecting base. The wire feeding reel is disposed on the top of the connecting base on the side of the handheld control panel. The power module is disposed on the bottom of the connecting base. Four corner identifiers are disposed at the four corners of the top of the connecting base.

[0010] As a preferred embodiment of the present invention, the universal arm is composed of a rotating base, a first transmission arm, a second transmission arm, and a third transmission arm; The rotating base is mounted on the top of the connecting seat, and a connecting column is fixedly connected to the top of the rotating base. The first transmission arm is rotatably mounted on the top of the connecting column. At least one first hinge cylinder is movably hinged on the connecting column and the first transmission arm. A sliding arm is slidably assembled inside the first transmission arm. A telescopic cylinder is installed inside the first transmission arm. The sliding arm is installed at the output end of the telescopic cylinder. The second transmission arm is rotatably mounted on one side of the sliding arm. At least one second hinge cylinder is movably hinged on both the second transmission arm and the sliding arm. A rotary motor is mounted on one end of the second transmission arm. A vision recognition device and several circumferentially distributed lighting lamps are respectively mounted on the output end of the rotary motor. A third transmission arm is provided on one side of the rotating motor, and a connecting arm is fixedly connected to one side of the third transmission arm. The connecting arm is fixedly sleeved on the output shaft of the rotating motor, and a mounting plate is fixedly connected to the top of the third transmission arm.

[0011] As a preferred embodiment of the present invention, the telescopic arm is composed of a first telescopic rail, a second telescopic rail, and a drill rod drive motor; The first telescopic rail is installed on the top of the mounting plate, and a drill rod guide arm is installed on the top of the first telescopic rail. The second telescopic rail is installed on the drill rod guide arm, and a telescopic plate is fixedly connected to the top of the second telescopic rail. The drill rod drive motor is installed on the top of the telescopic plate.

[0012] As a preferred embodiment of the present invention, the telescopic arm further includes a drill rod body and a fixed connecting sleeve. The drill rod body is rotatably mounted on the output end of the transmission motor and rotatably mounted inside the drill rod guide arm. A drill bit is fixedly connected to one end of the drill rod body. The drill bit is provided with a plurality of circumferentially distributed drill wings and through holes. The through holes are connected to the drill rod body. The fixed connecting sleeve is fixedly connected to the top of the telescopic plate, and a sealing rotating block is fixedly connected to the other end of the drill rod body. The sealing rotating block is rotatably installed inside the fixed connecting sleeve, and an external connecting sleeve is fixedly connected to one side of the fixed connecting sleeve. One end of the external connecting sleeve is fixedly connected to a tee connector, and the drilling gas detection component is connected to one of the connectors of the tee connector.

[0013] As a preferred embodiment of the present invention, the drilling gas detection assembly consists of a connecting pipe and an oil-free diaphragm pump. The oil-free diaphragm pump is installed on the top of the connecting seat. A switching valve is connected to one of the connecting heads of the tee connector. The two ends of the connecting pipe are respectively connected to the switching valve and the oil-free diaphragm pump. A pre-filter, a steam-water separator, a flame arrester, and a gas concentration detector are sequentially installed on the connecting pipeline from the switching valve to the oil-free diaphragm pump.

[0014] As a preferred embodiment of the present invention, the sealing and explosion-proof assembly consists of an explosion-proof mixer and a conveying pipe. The explosion-proof mixer is installed on the top of the connecting seat, and the two ends of the conveying pipe are respectively connected to the other connector of the tee connector and the output end of the explosion-proof mixer. A one-way valve and a plunger pump are installed on the delivery pipeline from the other connector of the tee connector and the side of the explosion-proof mixer.

[0015] As a preferred embodiment of the present invention, the front-end gas detection assembly consists of a front-end detection box, which is fixedly connected to the bottom of the drill rod guide arm. A dustproof grid is fixedly connected to one end of the front-end detection box. An axial flow motor and a detection channel are installed inside the front-end detection box, and a gas concentration detection pipe is installed inside the detection channel.

[0016] The working principle and beneficial effects of this invention are as follows: 1. This invention, through the setting of structures such as drilling gas detection components and front-end gas detection components, uses an oil-free diaphragm pump to extract gas from the bottom of the hole through the central hole of the drill pipe body for real-time detection. The front-end gas detection component uses an axial flow motor to forcibly collect gas escaping from the hole opening for independent analysis. The two detection data are mutually verified, which significantly improves the comprehensiveness and accuracy of gas concentration monitoring.

[0017] 2. This invention, through the design of explosion-proof sealing components and drill rod body, etc., when the gas concentration detector detects an excess, the control system starts the plunger pump, which presses the sealing slurry prepared by the explosion-proof mixer into the tee connector through the delivery pipeline, and then directly injects it into the bottom of the borehole and the cracks in the borehole wall through the central hole of the drill rod body and the through hole of the drill bit. The drilling rod itself completes rapid grouting and sealing, effectively preventing gas from escaping.

[0018] 3. This invention utilizes a quadruped tracked robot and a shock-absorbing base to enable the quadruped tracked robot to move flexibly via double-sided transmission tracks. The robot also uses cylinder-driven legs to extend anti-slip pads to lift the body and form a stable support. The shock-absorbing base uses three arc-shaped, equidistantly distributed shock absorbers connected between the connecting block at the bottom of the base and the mounting base to effectively isolate the severe high-frequency vibrations generated during drilling, ensuring that the upper-level precision testing instruments can operate continuously and reliably in a stable environment. Attached Figure Description

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the overall structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the transmission component of the present invention; Figure 4 This is a schematic diagram of the overall structure of the expansion component of the present invention; Figure 5 This is a schematic diagram of the overall structure of the present invention; Figure 6 This is a cross-sectional view of the overall structure of the present invention; Figure 7 This is a schematic diagram of the overall structure of the transmission component of the present invention; Figure 8 This is a schematic diagram of the overall structure of the expansion component of the present invention; Figure 9 This is a schematic diagram of the overall structure of the present invention; Figure 10 This is a cross-sectional view of the overall structure of the present invention; Figure 11 This is a schematic diagram of the overall structure of the transmission component of the present invention; Figure 12 This is a schematic diagram of the overall structure of the expansion component of the present invention; Figure 13 This is a schematic diagram of the overall structure of the present invention; Figure 14 This is a cross-sectional view of the overall structure of the present invention.

[0021] In the image: 1. Quadruped tracked robot; 11. Double-sided drive track; 12. Cylinder-driven legs; 13. Mounting base; 2. Vibration damper seat; 21. Connecting seat; 22. Connecting block; 23. Vibration damper; 24. Four-corner identifier; 3. Control components; 31. Handheld control panel; 32. Cable reel; 33. Power module; 4. Universal arm; 41. Rotating base; 42. Connecting column; 421. First articulated cylinder; 43. First transmission arm; 44. Sliding arm; 441. Telescopic cylinder; 442. Second articulated cylinder; 45. Second transmission arm; 46. Rotating motor; 461. Vision recognition device; 462. Lighting lamp; 47. Third transmission arm; 471. Connecting arm; 472. Mounting plate; 5. Telescopic boom; 51. First telescopic rail; 52. Drill rod guide arm; 53. Second telescopic rail; 54. Telescopic plate; 55. Drill rod drive motor; 56. Drill rod body; 561. Sealing rotating block; 562. Fixed connecting sleeve; 563. External connecting sleeve; 564. T-joint; 57. Drill bit; 571. Drill blade; 572. Through hole; 6. Drilling gas detection kit; 61. Switching valve; 62. Connecting pipeline; 63. Pre-filter; 64. Gas-water separator; 65. Flame arrester; 66. Gas concentration detector; 67. Oil-free diaphragm pump; 7. Explosion-proof sealing components; 71. Check valve; 72. Delivery pipeline; 73. Plunger pump; 74. Explosion-proof mixer; 8. Front-end gas detection component; 81. Front-end detection box; 82. Dustproof grille; 83. Axial flow motor; 84. Detection channel; 85. Gas concentration detection pipeline. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] Example like Figures 1-14 As shown, an intelligent explosion-proof drilling rig based on gas concentration detection includes a quadruped tracked robot 1; The top of the quadruped tracked robot 1 is slidably equipped with a shock absorber 2, which is used to absorb the vibration during coal mine drilling. The top of the shock absorber 2 is equipped with a universal arm 4, a drilling gas detection component 6, and a sealing and explosion-proof component 7. The top of the universal arm 4 is equipped with a telescopic arm 5. The drilling gas detection component 6 and the sealing and explosion-proof component 7 are both connected to the telescopic arm 5. The universal arm 4 is used to adjust the drilling position in all directions, the telescopic arm 5 is used to adjust the drilling depth, the drilling gas detection component 6 is used to detect the gas concentration at the drilling position, and the sealing and explosion-proof component 7 is used to seal the drilling position in an explosion-proof manner when the gas concentration is too high. The bottom of the telescopic boom 5 is also equipped with a front gas detection component 8, which is used to detect the gas concentration at the front end of the telescopic boom 5.

[0024] An intelligent explosion-proof drilling rig based on gas concentration detection is constructed using a quadruped tracked robot 1 capable of adapting to complex terrain. A shock-absorbing base 2 is slidably mounted on the top of the quadruped tracked robot 1 via a guide rail and chute. The shock-absorbing base 2 serves as the mounting foundation for the upper structure, effectively isolating and buffering the intense high-frequency vibrations generated by the drill bit breaking coal and rock during coal drilling operations. A universal arm 4, a drilling gas detection component 6, and an explosion-proof sealing component 7 are mounted on the top of the shock-absorbing base 2. A telescopic arm 5 is located at the end of the universal arm 4's power output section. The working ends of the drilling gas detection component 6 and the explosion-proof sealing component 7 are connected to the core drilling tool inside the telescopic arm 5 via pipelines or mechanical connections. The universal arm 4 integrates multiple servo rotary joints for adjusting the drilling space. The telescopic boom 5 is equipped with a universal adjustment mechanism to ensure that the drill bit can be aligned with the preset drilling coordinates. The telescopic boom 5 is used to control the drilling depth through an internal multi-stage hydraulic or electric telescopic structure. The drilling gas detection component 6 is connected to the inside of the borehole through an air passage to detect the concentration of gas gushing from the bottom of the hole in real time during drilling. The sealing and explosion-proof component 7 is connected to the grouting channel of the telescopic boom 5. When the gas concentration is detected to be too high or there is a sudden abnormality, it is used to perform emergency explosion-proof sealing operations at the drilling location by injecting inert media or sealing materials into the borehole under high pressure. In addition, a front-end gas detection component 8 is also set at the bottom of the telescopic boom 5 near the drill bit. The front-end gas detection component 8 is independent of the drilling gas detection component 6 and is used to assist in detecting the concentration of gas escaping from the front end of the telescopic boom 5, that is, near the borehole opening, forming a dual-end monitoring system.

[0025] The quadruped tracked robot 1 consists of a mounting base 13, on both sides of which are mounted double-sided drive tracks 11. Two symmetrically arranged cylinder-driven legs 12 are provided on one side of each double-sided drive track 11.

[0026] The quadruped tracked robot 1 consists of a mounting base 13, which is cast from high-strength metal profiles and is hollow inside to accommodate the power source and control circuitry. On both sides of the mounting base 13, symmetrical double-sided drive tracks 11 are mounted via drive shafts and load-bearing wheels. Each double-sided drive track 11 is driven by an independent hydraulic motor or explosion-proof motor. The robot's forward, backward, and turning movements are achieved by controlling the speed difference between the two tracks. To further enhance the robot's passability and stability in rugged alleyways, additional features are installed near each double-sided drive track 11. Each unit is equipped with two symmetrically arranged cylinder-driven feet 12. The cylinder body of each cylinder-driven foot 12 is hinged to the side of the mounting base 13, and the piston rod end is equipped with an anti-slip pad. In the non-working state, the cylinder-driven feet 12 retract and do not interfere with the movement of the tracks. When the drilling rig needs to strengthen the support for positioning and drilling, the control system sends a command to the solenoid valve of the cylinder-driven foot 12. High-pressure gas enters the cylinder, pushes the piston rod to extend, and makes the pad close to the ground, thereby lifting the robot body, distributing the pressure on the tracks, and ensuring the stability of the overall platform during drilling operations.

[0027] The shock absorber 2 is composed of a connecting seat 21, which is slidably assembled inside the mounting seat 13. Two symmetrically arranged connecting blocks 22 are fixedly connected to the bottom of the connecting seat 21. Three arc-shaped equidistant shock absorbers 23 are connected between one side of the connecting block 22 and the mounting seat 13.

[0028] The vibration damper 2 consists of a connecting seat 21. The bottom of the connecting seat 21 is equipped with a slider, which slides into the guide groove corresponding to the top of the mounting seat 13. This allows the entire upper structure to be adjusted along the length of the mounting seat 13. The bottom of the connecting seat 21 extends downward and is fixedly connected to two symmetrically arranged connecting blocks 22. The two connecting blocks 22 pass through the opening at the top of the mounting seat 13 and extend into the internal cavity of the mounting seat 13. Between the side of each connecting block 22 and the inner side wall of the mounting seat 13, three equally spaced shock absorbers 23 are connected. The shock absorbers 23 are preferably spring dampers or hydraulic buffers. Their two ends are fixed to the connecting blocks 22 and the mounting seat 13 by pins or bolts, respectively. When the drilling rig vibrates, the vibration energy is transmitted to the connecting blocks 22 through the connecting seat 21, which in turn compresses or stretches the shock absorbers 23. The spring element and damping medium inside the shock absorber 23 work together to convert the mechanical vibration energy into heat energy and dissipate it, thereby reducing the vibration amplitude transmitted to the upper instrument.

[0029] A control component 3 is installed on one side of the shock absorber 2. The control component 3 consists of a handheld control panel 31, a wire feeding reel 32, and a power module 33. The handheld control panel 31 is pluggably mounted on the top of the connecting base 21. The wire feeding reel 32 is mounted on the top of the connecting base 21 on the side of the handheld control panel 31. The power module 33 is mounted on the bottom of the connecting base 21. Four corner identifiers 24 are provided at the four corners of the top of the connecting base 21.

[0030] A control component 3 is integrated and installed on one side of the shock absorber 2. The control component 3 consists of a handheld control panel 31, a wire feeding reel 32, and a power module 33. The handheld control panel 31 is a portable operating terminal with an explosion-proof shell, which integrates an LCD screen, operation buttons, and an emergency stop switch. Normally, it can be detachably mounted on a dedicated interface seat on the top of the connecting base 21 via a snap-fit. The wire feeding reel 32 is mounted on the connecting base 21 and located on one side of the handheld control panel 31. The wire feeding reel 32 is an automatic wire feeding type winding reel, with a multi-core shielded cable wound inside. One end of the cable is connected to the control bus inside the robot, and the other end is connected to... The handheld control panel 31 is connected. When the operator removes the handheld control panel 31 and moves away from the robot for remote control operation, the cable reel 32 automatically releases or retracts the cable according to the tension to ensure communication connection. The power module 33 is fixedly installed at the bottom of the connecting base 21. It integrates an explosion-proof transformer, frequency converter, relay and power distribution unit. It is responsible for converting the external mine high-voltage power supply into the low-voltage power required by the robot's various actuators and distributing power according to control commands. Four-corner identifiers 24 are set on the four corners of the connecting base 21. The four-corner identifiers 24 are used to identify the four corners of the equipment environment to determine the surrounding environment.

[0031] The universal arm 4 consists of a rotating base 41, a first transmission arm 43, a second transmission arm 45, and a third transmission arm 47. A rotating base 41 is mounted on top of a connecting base 21. A connecting column 42 is fixedly connected to the top of the rotating base 41. A first transmission arm 43 is rotatably mounted on top of the connecting column 42. At least one first hinge cylinder 421 is movably hinged on the connecting column 42 and the first transmission arm 43. A sliding arm 44 is slidably assembled inside the first transmission arm 43. A telescopic cylinder 441 is installed inside the first transmission arm 43. The sliding arm 44 is installed at the output end of the telescopic cylinder 441. The second transmission arm 45 is rotatably mounted on one side of the sliding arm 44. At least one second hinge cylinder 442 is movably hinged on the second transmission arm 45 and the sliding arm 44. A rotary motor 46 is mounted on one end of the second transmission arm 45. A visual recognition device 461 and several circumferentially distributed lighting lamps 462 are respectively mounted on the output end of the rotary motor 46. A third transmission arm 47 is provided on one side of the rotating motor 46, and a connecting arm 471 is fixedly connected to one side of the third transmission arm 47. The connecting arm 471 is fixedly sleeved on the output shaft of the rotating motor 46, and a mounting plate 472 is fixedly connected to the top of the third transmission arm 47.

[0032] The universal arm 4 is a multi-joint structure consisting of a rotating base 41, a first transmission arm 43, a second transmission arm 45, and a third transmission arm 47. The rotating base 41 is bolted to the top of the connecting seat 21 and integrates a high-precision slewing bearing and a servo motor to achieve 360-degree rotation of the entire arm in the horizontal plane. A connecting column 42 is fixedly connected to the top of the rotating base 41. The root of the first transmission arm 43 is rotatably mounted on the top of the connecting column 42 via a horizontal pin, forming the first rotating joint. At least one first hinge cylinder 421 is movably hinged between the side wall of the connecting column 42 and the side wall of the first transmission arm 43. The extension and retraction of the first hinge cylinder 421 drives the first transmission arm 43 to pitch and swing around the pin. The interior of the first transmission arm 43 is hollow and slidably fitted with a sliding arm 44. A telescopic cylinder 47 is installed inside the first transmission arm 43. 41. The root of the sliding arm 44 is installed at the output end of the telescopic cylinder 441 to realize the telescopic adjustment of the arm length. The root of the second transmission arm 45 is rotatably installed at the front end of the sliding arm 44. At least one second hinge cylinder 442 is movably hinged on the second transmission arm 45 and the sliding arm 44 to drive the second transmission arm 45 to swing relative to the sliding arm 44. A rotary motor 46 is installed at the front end of the second transmission arm 45. The rotary motor 46 is an explosion-proof servo motor. A vision recognition device 461 and several circumferentially distributed lighting lamps 462 are installed at the end of its output shaft. A connecting arm 471 is fixedly connected to one side of the third transmission arm 47. The connecting arm 471 is fixedly sleeved on the output shaft of the rotary motor 46. Therefore, the rotary motor 46 can directly drive the third transmission arm 47 to rotate. A flat mounting plate 472 is fixedly connected to the top of the third transmission arm 47 for installing the subsequent telescopic arm 5.

[0033] The telescopic boom 5 consists of a first telescopic rail 51, a second telescopic rail 53, and a drill rod drive motor 55; The first telescopic rail 51 is installed on the top of the mounting plate 472, and the drill rod guide arm 52 is installed on the top of the first telescopic rail 51. The second telescopic rail 53 is installed on the drill rod guide arm 52, and the telescopic plate 54 is fixedly connected to the top of the second telescopic rail 53. The drill rod drive motor 55 is installed on the top of the telescopic plate 54.

[0034] The telescopic boom 5 is specifically composed of a first telescopic rail 51, a second telescopic rail 53, and a drill rod drive motor 55. The first telescopic rail 51 is made of high-strength aluminum alloy profile, and its bottom is bolted to the top of the mounting plate 472 of the universal arm 4. A drill rod guide arm 52 is installed on the top of the first telescopic rail 51. The drill rod guide arm 52 has a wear-resistant guide sleeve inside for supporting and guiding the drill rod. The second telescopic rail 53 is installed on the drill rod guide arm 52 and is arranged parallel to the first telescopic rail 51. The two are connected by a slider and slide rail structure. This forms a two-stage telescopic mechanism. A telescopic plate 54 is fixedly connected to the top of the second telescopic rail 53. The drill rod drive motor 55 is installed on the top of the telescopic plate 54. The drill rod drive motor 55 is an explosion-proof variable frequency speed control motor. Its output shaft is connected to the drill rod to provide rotational power to the drill rod. When it is necessary to adjust the drilling depth, the control system drives the hydraulic cylinder inside the second telescopic rail 53 to make the second telescopic rail 53 slide forward relative to the first telescopic rail 51, thereby driving the drill rod drive motor 55 and the drill rod to move forward together, so as to realize the adjustment of the drilling depth.

[0035] The telescopic boom 5 also includes a drill rod body 56 and a fixed connecting sleeve 562. The drill rod body 56 is rotatably mounted on the output end of the transmission motor and rotatably mounted inside the drill rod guide arm 52. One end of the drill rod body 56 is fixedly connected to a drill bit 57. The drill bit 57 is provided with several circumferentially distributed drill wings 571 and through holes 572. The through holes 572 are connected to the drill rod body 56. The fixed connecting sleeve 562 is fixedly connected to the top of the telescopic plate 54, and the other end of the drill rod body 56 is fixedly connected to the sealing rotating block 561. The sealing rotating block 561 is rotatably installed inside the fixed connecting sleeve 562, and the side of the fixed connecting sleeve 562 is fixedly connected to the external connecting sleeve 563. One end of the external connecting sleeve 563 is fixedly connected to a tee connector 564, and the drilling gas detection component 6 is connected to one of the connectors of the tee connector 564.

[0036] The telescopic boom 5 also includes a drill rod body 56 and a fixed connecting sleeve 562. The drill rod body 56 is a hollow seamless steel pipe, the rear end of which is connected to the output shaft of the drill rod drive motor 55 via a coupling. The rod body is rotatably mounted on a bearing support seat inside the drill rod guide arm 52. The front end of the drill rod body 56 is fixedly connected to a drill bit 57 via a threaded connection. The drill bit 57 is provided with several circumferentially distributed carbide drill blades 571 and a central through hole 572. The through hole 572 is connected to the central hole of the drill rod body 56 to form a channel for conveying gas and sealing medium. The fixed connecting sleeve 562 is fixedly connected to the top of the telescopic plate 54, located behind the drill rod drive motor 55. After passing through the hollow shaft of the drill rod drive motor 55, a sealing rotating block 561 is fixedly connected at the end. The sealing rotating block 561 is rotatably installed inside the fixed connecting sleeve 562 through bearings and a rotating sealing ring to ensure the airtightness of the connection when the drill rod rotates. An external connecting sleeve 563 is fixedly connected to one side of the fixed connecting sleeve 562 through a flange. The internal channel of the external connecting sleeve 563 communicates with the internal cavity of the fixed connecting sleeve 562. A three-way connector 564 is fixedly connected to the end of the external connecting sleeve 563. The drilling gas detection component 6 is connected to one of the connectors of the three-way connector 564, thereby establishing a gas sampling channel through the central hole of the drill rod body 56 and the through hole 572 at the drill bit 57.

[0037] The drilling gas detection assembly 6 consists of a connecting pipe 62 and an oil-free diaphragm pump 67. The oil-free diaphragm pump 67 is installed on the top of the connecting seat 21. A switching valve 61 is connected to one of the connecting heads of the tee connector 564. The two ends of the connecting pipe 62 are connected to the switching valve 61 and the oil-free diaphragm pump 67, respectively. A pre-filter 63, a steam-water separator 64, a flame arrester 65, and a gas concentration detector 66 are sequentially installed on the connecting pipeline 62, from the switching valve 61 to the oil-free diaphragm pump 67.

[0038] The drilling gas detection component 6 specifically consists of a connecting pipe 62 and an oil-free diaphragm pump 67. The oil-free diaphragm pump 67 serves as the power source for gas sampling and is installed on top of the connecting seat 21. One of the connectors of the tee connector 564 is connected to an explosion-proof electric switching valve 61 to control the on / off state of the gas path. The connecting pipe 62 is made of anti-static, corrosion-resistant rubber or metal hose, and its two ends are connected to the outlet of the switching valve 61 and the inlet of the oil-free diaphragm pump 67, respectively. On the connecting pipe 62, the gas flows from the switching valve 61 to the oil-free diaphragm pump according to the gas flow direction. A pre-filter 63, a steam-water separator 64, a flame arrester 65, and a gas concentration detector 66 are installed sequentially between 67. When the oil-free diaphragm pump 67 starts and generates negative pressure, the gas in the borehole is extracted through the drill bit through hole 572 and the drill rod center hole, and then passes through the pre-filter 63 to filter coal dust particles, the steam-water separator 64 to remove moisture, and the flame arrester 65 to prevent flame propagation. Finally, it enters the gas concentration detector 66. The infrared or catalytic combustion sensor inside the gas concentration detector 66 converts the gas concentration into an electrical signal, which is transmitted to the control component 3 in real time to realize the detection of drilling gas.

[0039] The explosion-proof sealing assembly 7 consists of an explosion-proof mixer 74 and a conveying pipe 72. The explosion-proof mixer 74 is installed on the top of the connecting seat 21. The two ends of the conveying pipe 72 are respectively connected to the other connector of the tee connector 564 and the output end of the explosion-proof mixer 74. A one-way valve 71 and a plunger pump 73 are installed on the conveying pipeline 72 from another connector of the tee connector 564 and the side of the explosion-proof mixer 74.

[0040] The explosion-proof sealing assembly 7 specifically consists of an explosion-proof mixer 74 and a conveying pipeline 72. The explosion-proof mixer 74 is installed on top of the connecting seat 21. The explosion-proof mixer 74 is an integrated device that combines a mixing motor, mixing blades, and a sealing tank. It is used to prepare and store inert slurry or polymer materials for sealing. The conveying pipeline 72 also uses a high-pressure hose, with its two ends connected to the other connector of the tee connector 564 and the output port of the explosion-proof mixer 74, respectively. On the conveying pipeline 72, according to the medium flow direction, a one-way valve 71 and a plunger pump are installed sequentially from the other connector of the tee connector 564 toward the explosion-proof mixer 74. 73. A one-way valve 71 is installed at one end near the tee connector 564 to prevent gas or liquid in the borehole from flowing back into the sealing system. The plunger pump 73 is driven by an explosion-proof motor to provide high-pressure delivery power for the sealing slurry. When the gas concentration detector 66 detects that the concentration exceeds the safety threshold, the control system first closes the switching valve 61 and stops the drilling. Then, it starts the plunger pump 73 to press the sealing slurry in the explosion-proof mixer 74 into the tee connector 564 through the delivery pipe 72. Then, it passes through the fixed connecting sleeve 562 and the center hole of the drill rod, and finally is pressed out from the through hole 572 of the drill bit 57, injecting it into the bottom of the borehole and the cracks in the borehole wall to achieve rapid sealing and explosion protection.

[0041] The front-end gas detection component 8 consists of a front-end detection box 81, which is fixedly connected to the bottom of the drill rod guide arm 52. A dustproof grille 82 is fixedly connected to one end of the front-end detection box 81. An axial flow motor 83 and a detection channel 84 are installed inside the front-end detection box 81. A gas concentration detection pipe 85 is installed inside the detection channel 84.

[0042] The front-end gas detection component 8 consists of a front-end detection box 81, which is fixedly connected to the bottom of the drill rod guide arm 52 by a bracket, close to the drill bit 57. It is used to monitor the gas concentration near the borehole opening. The front-end detection box 81 has an air inlet at the end facing the drill bit and is fixedly connected to a metal dustproof grille 82 to prevent large pieces of coal slag from entering the box. An axial flow motor 83 and an independent detection channel 84 are installed inside the front-end detection box 81. When the axial flow motor 83 is started, it will force the air near the drill bit 57 into the front-end detection box 81 and flow through the detection channel 84. An independent gas concentration detection pipe 85 is installed inside the detection channel 84. The gas concentration detection pipe 85 transmits the collected gas concentration signal to the control component 3 through a wire, as a supplement and verification of the data of the drilling gas detection component 6, forming a double protection. Once an abnormal increase in the front-end gas concentration is detected, the control system can issue an early warning and automatically trigger the sealing explosion-proof component 7 when necessary, thereby more comprehensively ensuring the safety of drilling operations.

[0043] Working principle: First, the operator starts the quadruped tracked robot 1 by means of the handheld control panel 31 that is pluggable on the top of the connecting seat 21, or by the automatic control provided by the power module 33 at the bottom of the connecting seat 21. The quadruped tracked robot 1 is driven by the mounting seat 13 and the double-sided transmission tracks 11 on both sides, and moves in the rugged alley. Upon reaching the designated workstation, the control system sends a command to the solenoid valve of the cylinder movement foot 12. High-pressure gas pushes its piston rod to extend, causing the anti-slip pad at the end to press against the ground, lifting the robot body and ensuring the stability of the work platform. Subsequently, the shock absorber 2, which is slidably assembled inside the mounting base 13, provides vibration buffering for the upper structure through the three arc-shaped equidistant shock absorbers 23 connected between the connecting block 22 at the bottom of its connecting base 21 and the mounting base 13. The universal arm 4 begins to move: the servo motor inside its rotating base 41 drives the entire arm to rotate horizontally, while the first articulation cylinder 421 drives the first transmission arm 43 to pitch and swing at the top of the connecting column 42, the second articulation cylinder 442 drives the second transmission arm 45 to swing on one side of the sliding arm 44, and the sliding arm 44 itself extends out from inside the first transmission arm 43 under the drive of the telescopic cylinder 441, thereby adjusting the mounting plate 472 at the end of the third transmission arm 47 to align with the drilling coordinates. During this process, the vision recognition device 461 at the end of the output shaft of the rotating motor 46, together with the lighting lamp 462, identifies the drilling environment, while the four corner recognition devices 24 connected to the four corners of the base 21 also confirm the surrounding environment of the equipment. When drilling operations begin, the telescopic arm 5 installed on the top of the mounting plate 472 starts working: the drill rod drive motor 55 drives the drill rod body 56 to rotate, and the drill bit 57 at the front end of the drill rod body 56 breaks the coal and rock through its circumferentially distributed drill wings 571; at the same time, the second telescopic rail 53 slides on the drill rod guide arm 52 relative to the first telescopic rail 51, driving the telescopic plate 54 and the drill rod drive motor 55 to move forward, thereby adjusting the drilling depth. During drilling, the drilling gas detection component 6 operates in real time: the oil-free diaphragm pump 67 installed on the top of the connecting seat 21 starts to generate negative pressure, and the gas in the borehole enters the three-way connector 564 through the through hole 572 in the center of the drill bit 57, the center hole of the drill rod body 56, the sealing rotating block 561, the fixed connecting sleeve 562 and the external connecting sleeve 563, and flows into the connecting pipe 62 through the switching valve 61. The gas passes through the pre-filter 63 to filter coal powder, the gas-water separator 64 to remove moisture, and the flame arrester 65 to prevent the spread of flames. Finally, it enters the gas concentration detector 66 for real-time concentration detection, and the detection signal is transmitted to the control component 3. At the same time, the front-end gas detection component 8 is also operating independently: the front-end detection box 81, which is fixedly connected to the bottom of the drill rod guide arm 52, forces the gas near the drill bit 57 to be drawn into the detection channel 84 through the dustproof grid 82, and the gas concentration detection pipe 85 inside the hole will assist in the detection of the gas escaping from the hole. Once the gas concentration detector 66 detects that the gas concentration exceeds the safety threshold, the control system responds immediately: first, it closes the switching valve 61 and stops drilling; then, it starts the sealing and explosion-proof assembly 7; the explosion-proof mixer 74 installed on the top of the connecting seat 21 pressurizes and outputs the sealing slurry prepared inside; the slurry is further pressurized by the plunger pump 73 through the delivery pipeline 72, and backflow is prevented by the one-way valve 71; finally, it enters the three-way connector 564, and then is injected under high pressure into the bottom of the borehole and the cracks in the borehole wall through the through hole 572 of the drill bit 57 along the outer connecting sleeve 563, the fixed connecting sleeve 562, and the center hole of the drill rod body 56, thus achieving rapid explosion-proof sealing. This completes a smart explosion-proof drilling operation process from positioning, drilling, dual-end monitoring to emergency sealing.

[0044] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent explosion-proof drilling rig based on gas concentration detection, comprising a quadruped tracked robot (1), characterized in that; The top of the quadruped tracked robot (1) is slidably equipped with a shock absorber (2), which is used to absorb the vibration during coal mine drilling. The top of the shock absorber (2) is respectively equipped with a universal arm (4), a drilling gas detection component (6) and a sealing explosion-proof component (7). The top of the universal arm (4) is provided with a telescopic arm (5). The drilling gas detection component (6) and the sealing and explosion-proof component (7) are both connected to the telescopic arm (5). The universal arm (4) is used to adjust the drilling position in all directions. The telescopic arm (5) is used to adjust the drilling depth. The drilling gas detection component (6) is used to detect the gas concentration at the drilling position. The sealing and explosion-proof component (7) is used to seal the drilling position for explosion protection when the gas concentration is too high. The bottom of the telescopic arm (5) is also provided with a front gas detection component (8), which is used to detect the gas concentration at the front end of the telescopic arm (5).

2. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 1, characterized in that, The quadruped tracked robot (1) consists of a mounting base (13), on both sides of the mounting base (13) are mounted double-sided drive tracks (11), and on one side of the double-sided drive tracks (11) are two symmetrically arranged cylinder-driven feet (12).

3. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 2, characterized in that, The shock absorber seat (2) is composed of a connecting seat (21). The connecting seat (21) is slidably assembled inside the mounting seat (13). Two symmetrically arranged connecting blocks (22) are fixedly connected to the bottom of the connecting seat (21). Three arc-shaped equidistant shock absorbers (23) are connected between one side of the connecting block (22) and the mounting seat (13).

4. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 3, characterized in that, A control component (3) is installed on one side of the shock absorber (2). The control component (3) consists of a handheld control panel (31), a wire feeding reel (32), and a power module (33). The handheld control panel (31) is pluggably disposed on the top of the connecting base (21). The wire feeding reel (32) is disposed on the top of the connecting base (21) on the side of the handheld control panel (31). The power module (33) is disposed on the bottom of the connecting base (21). Four corner identifiers (24) are disposed at the four corners of the top of the connecting base (21).

5. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 3, characterized in that, The universal arm (4) consists of a rotating base (41), a first transmission arm (43), a second transmission arm (45), and a third transmission arm (47); The rotating base (41) is installed on the top of the connecting base (21). A connecting column (42) is fixedly connected to the top of the rotating base (41). The first transmission arm (43) is rotatably installed on the top of the connecting column (42). At least one first hinge cylinder (421) is movably hinged on the connecting column (42) and the first transmission arm (43). A sliding arm (44) is slidably assembled inside the first transmission arm (43). A telescopic cylinder (441) is installed inside the first transmission arm (43). The sliding arm (44) is installed at the output end of the telescopic cylinder (441). The second transmission arm (45) is rotatably mounted on one side of the sliding arm (44). At least one second hinge cylinder (442) is movably hinged on the second transmission arm (45) and the sliding arm (44). A rotary motor (46) is installed at one end of the second transmission arm (45). A visual recognition device (461) and several circumferentially distributed lighting lamps (462) are respectively installed at the output end of the rotary motor (46). A third transmission arm (47) is provided on one side of the rotating motor (46), and a connecting arm (471) is fixedly connected to one side of the third transmission arm (47). The connecting arm (471) is fixedly sleeved on the output shaft of the rotating motor (46), and a mounting plate (472) is fixedly connected to the top of the third transmission arm (47).

6. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 5, characterized in that, The telescopic arm (5) consists of a first telescopic rail (51), a second telescopic rail (53), and a drill rod drive motor (55); The first telescopic rail (51) is installed on the top of the mounting plate (472), and a drill rod guide arm (52) is installed on the top of the first telescopic rail (51). The second telescopic rail (53) is installed on the drill rod guide arm (52), and a telescopic plate (54) is fixedly connected to the top of the second telescopic rail (53). The drill rod drive motor (55) is installed on the top of the telescopic plate (54).

7. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 6, characterized in that, The telescopic arm (5) also includes a drill rod body (56) and a fixed connecting sleeve (562). The drill rod body (56) is rotatably mounted on the output end of the transmission motor and rotatably mounted inside the drill rod guide arm (52). One end of the drill rod body (56) is fixedly connected to a drill bit (57). The drill bit (57) is provided with several circumferentially distributed drill wings (571) and through holes (572). The through holes (572) are connected to the drill rod body (56). The fixed connecting sleeve (562) is fixedly connected to the top of the telescopic plate (54), and the other end of the drill rod body (56) is fixedly connected to a sealing rotating block (561). The sealing rotating block (561) is rotatably installed inside the fixed connecting sleeve (562), and an external connecting sleeve (563) is fixedly connected to one side of the fixed connecting sleeve (562). One end of the external connecting sleeve (563) is fixedly connected to a tee connector (564), and the drilling gas detection component (6) is connected to one of the connectors of the tee connector (564).

8. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 7, characterized in that, The drilling gas detection assembly (6) consists of a connecting pipe (62) and an oil-free diaphragm pump (67). The oil-free diaphragm pump (67) is installed on the top of the connecting seat (21). A switching valve (61) is connected to one of the connecting heads of the three-way connector (564). The two ends of the connecting pipe (62) are respectively connected to the switching valve (61) and the oil-free diaphragm pump (67). A pre-filter (63), a steam-water separator (64), a flame arrester (65), and a gas concentration detector (66) are sequentially installed on the connecting pipe (62) from the switching valve (61) to the oil-free diaphragm pump (67).

9. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 7, characterized in that, The explosion-proof sealing assembly (7) consists of an explosion-proof mixer (74) and a conveying pipe (72). The explosion-proof mixer (74) is installed on the top of the connecting seat (21). The two ends of the conveying pipe (72) are respectively connected to the other connector of the tee connector (564) and the output end of the explosion-proof mixer (74). A one-way valve (71) and a plunger pump (73) are installed on the conveying pipeline (72) from the other connector of the tee connector (564) and the side of the explosion-proof mixer (74).

10. The intelligent explosion-proof drilling rig based on gas concentration detection according to claim 6, characterized in that, The front-end gas detection assembly (8) consists of a front-end detection box (81), which is fixedly connected to the bottom of the drill rod guide arm (52). A dustproof grid (82) is fixedly connected to one end of the front-end detection box (81). An axial flow motor (83) and a detection channel (84) are installed inside the front-end detection box (81). A gas concentration detection pipe (85) is installed inside the detection channel (84).

Images