An intelligent drilling operation robot for underground coal mine with multiple motion modes

Abstract

This invention relates to the field of underground drilling robots in coal mines, specifically an intelligent drilling robot with multiple motion modes for underground coal mines. It includes a tracked chassis capable of moving through roadways, a vertical lifting column fixedly mounted on the tracked chassis, a horizontally extending guide rail fixedly mounted on the telescopic end of the vertical lifting column, a power head base slidably mounted on the guide rail, and a propulsion cylinder installed between the power head base and the guide rail to push the power head base to slide back and forth along the guide rail. A horizontally extending drill rod for rotary drilling is mounted on the power head base. A support column is vertically mounted on the tracked chassis, and a piston rod coaxially and slidably connected within the support column, capable of vertically lifting to hold the roadway roof in place during drilling. This robot is adaptable to complex underground coal mine roadway conditions, offers excellent mobility, dynamically adjusts the drilling height, ensures operational stability through effective rigid support, and achieves smooth and efficient drilling propulsion transmission.

Description

Technical Field

[0001] This invention relates to the field of underground drilling robot technology in coal mines, specifically to an intelligent drilling robot with multiple motion modes for underground coal mine operations. Background Technology

[0002] Currently, drilling equipment in coal mines is mainly divided into two categories: fixed-beam drilling rigs and simple mobile drilling rigs. Although both can meet the drilling needs of simple underground working environments, the actual drilling conditions underground are complex and diverse. As a result, these two types of drilling rigs have some technical problems that make it difficult to complete drilling operations in complex working environments. The specific problems are as follows: 1. Fixed-beam drilling rigs have poor mobility, require auxiliary equipment to be disassembled and reassembled when moving to another site, resulting in low efficiency. In addition, the drilling height is fixed, creating blind spots in operation and poor hole-aligning accuracy, which cannot meet diverse drilling needs.

[0003] 2. Simple mobile drilling rigs are mostly wheeled, which makes them less adaptable to complex underground flooring and prone to slipping and getting stuck. Without effective rigid support, the drilling reaction force and vibration can easily cause equipment displacement and component swaying, resulting in poor deep hole drilling accuracy, easy bending of drill rods, and easy drilling jamming and shutdown.

[0004] 3. The existing drilling rig's lifting and propulsion mechanisms are scattered and have low integration. The propulsion cylinder and the power head base lack stable guidance, the base is prone to jamming and uneven wear, the propulsion force is not smoothly transmitted, and it cannot stably propel the axial direction under complex geological conditions, resulting in low drilling efficiency.

[0005] 4. Some drilling rigs have unreasonable support structure designs. The support components are poorly coordinated with the traveling chassis and lifting mechanism, which makes it impossible to form a stable force-bearing system, making it difficult to offset the drilling reaction force and resulting in insufficient equipment operation stability.

[0006] It is evident that existing underground drilling equipment in coal mines generally suffers from technical problems such as poor mobility and flexibility, low adaptability to roadway terrain, limited drilling height adjustment, insufficient operational stability, and poor coordination among various mechanisms. These problems result in low drilling efficiency, poor accuracy, and a high failure rate, making it difficult to meet the development needs of intelligent and efficient underground drilling operations in coal mines.

[0007] Therefore, developing an intelligent drilling robot that is highly integrated, mobile, dynamically adjustable in drilling height, highly stable in operation, and adaptable to the complex working conditions of underground coal mines has become a pressing technical challenge in this field. Summary of the Invention

[0008] To address the technical problems of poor mobility of drilling rigs in complex roadway conditions, inability to dynamically adjust drilling height, lack of effective rigid support leading to insufficient operational stability, and unsmooth drilling propulsion transmission, this invention provides a multi-motion mode intelligent drilling robot for underground coal mines.

[0009] To achieve the above objectives, the present invention provides the following technical solution: A multi-mode intelligent drilling robot for underground coal mines includes a tracked chassis capable of traveling in roadways. A vertical lifting column is fixedly mounted on the tracked chassis. A horizontally extending guide rail is fixedly mounted on the telescopic end of the vertical lifting column. A power head base is slidably mounted on the guide rail. A propulsion cylinder is installed between the power head base and the guide rail, which can push the power head base to slide back and forth along the guide rail. The propulsion cylinder is powered by a hydraulic pump station. A horizontally extending drill rod for rotary drilling is mounted on the power head base. A support column is vertically mounted on the tracked chassis. A piston rod that can be vertically raised and lowered to hold the roadway roof in the borehole is coaxially slidably connected inside the support column.

[0010] As a further embodiment of the present invention: the propulsion cylinder includes a hydraulic cylinder barrel fixedly installed in the middle cavity of the guide rail, and the axial direction of the hydraulic cylinder barrel is the same as the length direction of the guide rail; a propulsion piston rod is slidably inserted coaxially into the hydraulic cylinder barrel, and the telescopic end of the propulsion piston rod is connected to the power head base.

[0011] As a further embodiment of the present invention: two fixing plates are fixedly installed at intervals on the lower side of the hydraulic cylinder barrel, and both fixing plates are fixed to the guide rail by means of bolt connection.

[0012] As a further embodiment of the present invention: a guide rail support seat is fixedly installed at the bottom of the guide rail, and a clamp is fixedly installed on one side of the guide rail support seat, and the clamp is coaxially and slidably sleeved on the support column.

[0013] As a further embodiment of the present invention: a frame is installed on a tracked chassis, and a support platform is installed on the frame. The vertical lifting column and the support column are both vertically installed on the support platform.

[0014] As a further embodiment of the present invention: a rotating sleeve with a horizontally arranged axis is installed on the power head base, and the chisel is coaxially rotated and passed through the rotating sleeve.

[0015] As a further embodiment of the present invention, a hydraulic motor is coaxially connected to the tail of the drill rod.

[0016] As a further embodiment of the present invention: a water supply sleeve is installed on the power head base, and the water supply sleeve is coaxially sleeved on the outside of the drill rod.

[0017] As a further embodiment of the present invention, a drill tail sleeve is installed at the head of the drill rod.

[0018] As a further aspect of the present invention: the propulsion cylinder provides the rated propulsion force F to the drill rod. p The calculation formula is as follows: ; In the formula, K represents the load fluctuation coefficient under operating conditions; P s This indicates the system working pressure provided by the hydraulic pump station; D indicates the inner diameter of the hydraulic cylinder barrel. Indicates the mechanical efficiency of the hydraulic cylinder; This represents the surrounding rock stress correction factor, which is determined based on the mine roadway burial depth and tectonic stress conditions. This represents the drill rod wear correction factor, which is determined based on the actual drilling mileage of the drill rod.

[0019] The rated thrust of the propulsion cylinder is the effective output thrust adapted to the working conditions of underground coal mines. The derivation is based on Pascal's law, combined with the working characteristics of hydraulic cylinders and the specific working conditions of underground coal mines, and gradually introduces correction and reserve coefficients. The derivation process is as follows: (a) Derivation of thrust in basic hydraulic cylinder theory The basic theoretical thrust of a hydraulic cylinder is generated by the system's working pressure acting on the effective bearing surface of the cylinder. The effective bearing surface of the hydraulic cylinder is circular, and the formula for calculating its effective bearing area S is: ; According to Pascal's law, the thrust generated by pressure acting on a bearing surface is the product of the pressure and the bearing area. Therefore, under lossless conditions, the basic theoretical thrust F0 directly generated by the system working pressure in the hydraulic cylinder is: ; (b) Introducing mechanical efficiency correction for propulsion cylinders In actual operation, the propulsion cylinder suffers from mechanical losses such as seal friction, hydraulic oil leakage due to the clearance between the cylinder barrel and piston rod, and cannot achieve 100% output of the basic theoretical thrust. Therefore, the mechanical efficiency of the propulsion cylinder is introduced. By correcting the basic theoretical thrust, the effective output thrust of the propulsion cylinder itself, unaffected by external operating conditions, is obtained, as shown in the formula: ; (c) Introduce specific working condition corrections for underground coal mines The complex geological and operational environment of underground coal mines causes additional losses in propulsion force. To address specific underground conditions such as mine roadway depth, structural stress, and wear and tear on drill rods, two correction factors are added to further correct F1, resulting in the effective propulsion force F2 under conventional underground conditions. ; (d) Introduce the load fluctuation coefficient under operating conditions The hardness of coal seams in underground coal mines fluctuates randomly, and sudden loads such as interbedded rock and hard rock faults are easily encountered during drilling. To ensure that the propulsion system does not stall or jam when the load changes abruptly, a load fluctuation coefficient K (K>1) is introduced to reserve power for the propulsion cylinder to adapt to sudden load changes. Combined with the effective propulsion force F2 under normal underground working conditions, the rated propulsion force F of the propulsion cylinder suitable for all working conditions in underground coal mines is finally obtained. p Calculation formula: ; As a further aspect of the present invention, the theoretical torque T output by the hydraulic motor-driven power head assembly is calculated using the following formula: ; In the formula, This indicates the pressure difference between the inlet and outlet of the hydraulic motor in the power head assembly; q represents the displacement of the hydraulic motor. This represents the mechanical efficiency coefficient of a hydraulic motor. This represents the coal-rock friction correction coefficient, which is determined based on the Protodyakonov coefficient of coal and rock in underground coal mines. This represents the hydraulic oil viscosity correction factor, which is determined based on the temperature and humidity of the underground coal mine working environment.

[0020] As a further aspect of the present invention: the formula for calculating the actual drilling power W of the power head assembly during drilling operations is as follows: ; In the formula, : Characterizes the work done by the hydraulic motor driving the drill rod to overcome rotational friction and break the rock; axial propulsion term This characterizes the work done by the propulsion cylinder to overcome the compressive stress of the rock and the frictional force of the borehole wall. Where v is the actual drilling speed (mm / min); overall efficiency correction. : Characterizes the mechanical transmission efficiency and environmental impact compensation from the hydraulic pump station to the end effector; Table The borehole deviation correction coefficient is determined based on the deviation angle of the coal mine borehole. This represents the dust resistance correction coefficient, which is determined based on the dust concentration at the working surface in the coal mine; n is the rotational speed of the drill rod (rpm).

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention effectively improves the adaptability of the equipment to complex underground roadway terrain in coal mines. By setting a vertical lifting column on the tracked chassis, the height of the lifting end can be dynamically adjusted according to the drilling height requirements of the mine roadway, completely eliminating the blind spots caused by the fixed height of traditional drilling equipment. At the same time, the vertical lifting column and the hydraulically driven tracked chassis work together to enable the equipment to move smoothly and accurately in roadway environments with uneven floors, mud, or steep slopes, effectively solving the technical problems of difficult relocation and low hole-fixing accuracy of traditional drilling equipment.

[0022] 2. This invention significantly improves the stability of equipment during drilling operations. By adopting a support column top-support structure with an internal piston rod, combined with the connection method of the guide rail support seat and the clamp, the guide rail is stably installed on the support column. The guide rail is fixedly connected to the clamp and the guide rail support seat, while the clamp and the support column are in sliding fit. This provides stable support for the guide rail without affecting the height adjustment of the guide rail as the column rises and falls vertically. During operation, the piston rod can extend upward and press against the tunnel roof, forming a stable rigid support system. This system can effectively resist the reaction force and vibration impact generated by the drill bit cutting the rock, limit the sliding displacement of the clamp along the support column, and prevent axial displacement or swaying of the guide rail. This ensures the straightness of deep hole drilling and the drilling accuracy, and solves the technical defects of poor stability of traditional equipment during high-intensity drilling.

[0023] 3. This invention achieves accurate prediction and intelligent control of the rated thrust of the propulsion cylinder. Based on the introduction of the working condition load fluctuation coefficient into the thrust calculation model, it adds the surrounding rock stress correction coefficient and the drill rod wear correction coefficient, constructing a digital mechanical model adapted to the specific working conditions of underground coal mines, making the thrust calculation results more consistent with the actual underground working conditions. The system can automatically adjust the pressure parameters of the propulsion cylinder according to the changes in coal seam hardness, roadway depth, structural stress, and actual wear and tear of the drill rod. It ensures sufficient drilling feed force in hard rock sections and avoids the problem of drill rod bending damage caused by excessive thrust in soft rock sections, achieving dual optimization of drilling efficiency and equipment service life.

[0024] 4. This invention effectively solves the problem of stuck drill in complex geological environments in underground coal mines. It adds a coal-rock friction correction coefficient and a hydraulic oil viscosity correction coefficient to the theoretical torque calculation model of the hydraulic motor. By accurately matching the friction correction coefficient with the Protodyakonov coefficient of coal and rock, and dynamically adjusting the viscosity correction coefficient based on underground temperature and humidity, the calculated torque value accurately reflects the actual effective output of the hydraulic motor. The system monitors the pressure difference between the inlet and outlet of the power head assembly in real time, and combines multiple correction coefficients to achieve real-time torque compensation. In complex working conditions such as rock inclusions and sudden changes in rock hardness, the torque output can be adjusted in a timely manner, significantly reducing the risk of stuck drill due to insufficient torque and greatly improving the equipment's continuous operation capability under harsh geological conditions.

[0025] 5. This invention achieves precise power monitoring and adaptive adjustment throughout the entire process of underground drilling operations in coal mines. It adds borehole deviation correction coefficients and dust resistance correction coefficients to the actual drilling power calculation model, fully considering the characteristics of underground coal mine drilling, such as easy deviation and high dust concentration at the working surface. It specifically corrects the combined power of rotary cutting and axial propulsion, enabling the power calculation value to accurately capture the dynamic load state of the power head assembly in complex geological formations. The model clearly defines the energy coupling relationship between the propulsion system and the power head, providing precise control basis for the equipment to adjust its energy efficiency ratio in real time according to working conditions such as rock hardness, borehole deviation angle, and dust concentration. This achieves drilling operations with optimal power consumption, providing solid technical support for the implementation of constant power adaptive drilling technology in underground coal mines. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the robot's overall structure.

[0027] Figure 2 This is a top-view structural diagram of the robot.

[0028] Figure 3 A schematic diagram of the assembly structure of the hydraulic cylinder and the guide rail.

[0029] In the diagram: 10. Tracked chassis; 11. Frame; 12. Support platform; 13. Protective cover; 14. Base; 20. Hydraulic pump station; 21. Multi-way oil pipe; 22. Water pipe; 23. Oil inlet pipe; 24. Oil outlet pipe; 30. Vertical lifting column; 40. Guide rail; 41. Guide rail support seat; 42. Clamp; 50. Support column; 51. Piston rod; 60. Power head assembly; 61. Power head base; 62. Hydraulic motor; 63. Water supply sleeve; 64. Drill rod; 65. Drill tail sleeve; 66. Rotating sleeve; 70. Propulsion cylinder; 71. Hydraulic cylinder barrel; 72. Fixing plate; 73. Propulsion piston rod; 80. LiDAR. Detailed Implementation

[0030] 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.

[0031] This invention relates to a robot adapted to various drilling operations in coal mines, including water exploration, gas extraction, and geological exploration. It is particularly suitable for complex working conditions in medium-hard / hard coal seams with uneven, muddy, and sloping roadways and significant depths. After assembly and debugging, the robot can achieve adaptive adjustment of drilling height, precise positioning of the working area, and intelligent control of power parameters. This effectively solves the technical problems of traditional drilling equipment, such as difficulty in relocation, low hole alignment accuracy, poor stability, easy jamming, and inaccurate power control, thus realizing intelligent, continuous, and efficient underground drilling operations in coal mines.

[0032] Please see Figures 1-3 The core of the robot consists of six major parts: tracked chassis 10, hydraulic power system, lifting and adjustment mechanism, rigid support mechanism, drilling power mechanism, and detection and positioning module. Each component is rigidly connected or slidably fitted through frame 11, base 14, clamp 42, bolts, etc. The hydraulic pump station 20 provides power source for the entire equipment. Combined with the power parameter calculation model for coal mine working conditions, it realizes real-time adaptive control of propulsion force, torque, and drilling power.

[0033] I. Assembly and Implementation of the Overall Mechanical Structure of the Robot

[0034] The mechanical structure assembly of the robot follows the sequence of "foundation bearing → power support → lifting and fixing → drilling and execution → testing and matching". All assembly processes must ensure the horizontality, verticality, and coaxiality of the components. The specific assembly steps are as follows: 1. Assembly of tracked chassis and foundation load-bearing structure The frame 11 is symmetrically fixed to the top center area of ​​the tracked chassis 10 using high-strength bolts. The support platform 12 is laid horizontally on top of the frame 11 and rigidly fixed with bolts. The overall levelness of the support platform 12 is calibrated using a level to control the levelness error within the set range. A protective cover plate 13 is welded to the front end of the support platform 12. The protective cover plate 13 is made of steel plate to protect and block coal and rock debris during drilling operations.

[0035] 2. Installation and fixing of the hydraulic pump station

[0036] Install the hydraulic pump station 20 in the rear area of ​​the support platform 12. After installation, ensure that there is sufficient space around it for maintenance and operation.

[0037] 3. Assembly of lifting and adjusting mechanism and rigid support mechanism

[0038] Along the length of the support platform 12, a vertical lifting column 30 and a support column 50 are installed sequentially in front of the hydraulic pump station 20. The vertical lifting column 30 is fixed to the support platform 12 through the base 14, and the contact point between the base 14 and the support platform 12 is fully welded for reinforcement. The support column 50 is directly fully welded to the support platform 12. The verticality of the two is calibrated by a plumb bob, and the verticality error is controlled within the set range to ensure the accuracy of the lifting and supporting actions.

[0039] The piston rod 51 is pre-installed inside the support column 50. The sliding parts are coated with high-temperature and wear-resistant grease to ensure that the piston rod 51 can extend and retract smoothly without jamming.

[0040] 4. Assembly of guide rails and fixed connectors

[0041] The guide rail 40 is slidably mounted on the support column 50 via the guide rail support base 41 and the clamp 42. The clamp 42 adopts a double semi-circular structure and is fastened with bolts. The guide rail support base 41 and the guide rail 40 are fixed by welding to ensure the support strength.

[0042] The rear end of the guide rail 40 is connected to the lifting end of the vertical lifting column 30 by bolt fastening, so that the height of the guide rail 40 can be adjusted synchronously with the vertical lifting column 30. A rotating sleeve 66 is installed at the front end of the guide rail 40 for the rotation and guidance of the drill rod 64 during drilling operations.

[0043] 5. Assembly of the drilling power mechanism

[0044] The power head base 61 is slidably mounted on the guide rail 40 to ensure that the power head base 61 can reciprocate smoothly along the axis of the guide rail 40; molybdenum-based grease is applied to the sliding surface to improve wear resistance.

[0045] The power head assembly 60 is fixed to the power head base 61 via a flange. A hydraulic motor 62 is installed at the rear end of the power head base 61. The output shaft of the hydraulic motor 62 is connected to the input shaft of the power head assembly 60 by a spline to ensure the stability of torque transmission.

[0046] A water supply sleeve 63, a drill rod 64, and a drill tail sleeve 65 are sequentially and coaxially installed at the front end of the power head assembly 60. The water supply sleeve 63 and the power head assembly 60 are connected by a threaded seal, and the seal is wrapped with polytetrafluoroethylene raw material tape. One end of the drill rod 64 is inserted into the water supply sleeve 63, and the other end passes through the rotating sleeve 66 and is installed with the drill tail sleeve 65. The coaxiality error of the entire drilling actuator is controlled within the set range to avoid the generation of eccentric load during drilling.

[0047] 6. Assembly of the hydraulic cylinder

[0048] The hydraulic cylinder barrel 71 of the propulsion cylinder 70 is rigidly connected to the guide rail 40 through two fixing plates 72. The fixing plates 72 and the guide rail 40 are double-fixed by welding and bolts to improve the connection strength. The extended end of the propulsion piston rod 73 is connected to the power head base 61 through a pull rod to ensure that the axis of the propulsion piston rod 73 is completely aligned with the axis of the guide rail 40, preventing jamming or uneven wear during the propulsion process.

[0049] 7. Installation of the detection and positioning module

[0050] A lidar 80 is fixed at the bottom front end of the guide rail 40. The detection scanning surface of the lidar 80 is parallel to the axis of the guide rail 40. The detection range of the lidar 80 covers a range of 5-10m in front of the drilling operation, and is used for accurate hole alignment on the working face and real-time monitoring of the straightness of the hole during the drilling process.

[0051] II. Piping Connection and Commissioning Implementation of Hydraulic Drive System

[0052] The hydraulic pump station 20 is the power core of all hydraulic actuators of this robot. The hydraulic system pipeline connection follows the principle of "dedicated pipes for specific purposes, separate control of different routes, and reliable sealing", and is divided into three categories: pressure oil pipeline, cooling water pipeline, and hydraulic motor inlet and return oil pipeline. All pipelines use special high-pressure seamless steel pipes for underground coal mines, and the joints adopt a compression fitting sealing structure. After the connection is completed, pressure holding and leakage tests must be performed to ensure no leakage. The specific connection and debugging steps are as follows: 1. Pressure oil pipeline connection The multiple oil pipes 21 of the hydraulic pump station 20 are connected to the oil injection holes of the propulsion cylinder 70, the vertical lifting column 30, and the support column 50, respectively. Each pressure oil pipe is equipped with a high-pressure ball valve, a hydraulic control valve, and a precision pressure gauge in series to realize independent pressure regulation and on / off control of each hydraulic actuator.

[0053] 2. Cooling water pipe connection

[0054] The water pipe 22 of the hydraulic pump station 20 is connected to the water injection hole of the water supply jacket 63. The water pipe 22 is a special high-pressure resistant rubber hose for underground coal mines. A flow regulating valve and a rotor flow meter are installed on the pipeline to achieve precise control of the cooling water flow and meet the cooling and slag removal needs of the drill rod 64 under different drilling conditions.

[0055] 3. Connection of hydraulic motor inlet and return oil lines

[0056] The inlet pipe 23 and outlet pipe 24 of the hydraulic pump station 20 are connected to the inlet and outlet of the hydraulic motor 62, respectively. A differential pressure sensor and an electromagnetic flow valve are installed in the pipeline. The differential pressure sensor monitors the pressure difference between the inlet and outlet of the hydraulic motor 62 in real time. The electromagnetic flow valve is used to adjust the flow rate of the hydraulic oil to achieve precise control of the speed of the hydraulic motor 62.

[0057] 4. Overall Pipeline Sealing and Pressure Retention Test

[0058] After all pipeline connections are completed, conduct sealing inspections on the compression fittings, threaded connections, flange connections, etc. Apply soap water at the joints and observe that no bubbles are generated, indicating qualified sealing. Fix all pipelines to prevent joint loosening caused by pipeline shaking during equipment movement or operation.

[0059] Conduct a pressure retention test on the hydraulic system: Close all hydraulic control valves, start the hydraulic pump station 20, adjust the system working pressure to 1.2 times the rated working pressure, and maintain the pressure for 30 minutes. During the pressure retention process, observe that the values of each pressure gauge do not drop, and no leakage occurs at all joints and hydraulic components, which is considered qualified; if there is leakage, immediately stop the machine to relieve the pressure, replace the seals, and then conduct the pressure retention test again.

[0060] After the no-load commissioning and pressure retention test of the hydraulic components are qualified, start the hydraulic pump station 20, adjust the system pressure to 50% of the rated working pressure, and respectively control the piston rods 51 of the propulsion cylinder 70, the vertical lifting column 30, and the support column 50 to perform no-load reciprocating movements. Each action runs continuously 10 times to ensure smooth movement, no jamming, and no abnormal noise; at the same time, test the no-load rotation of the hydraulic motor 62, with smooth speed adjustment and no jitter, to complete the no-load commissioning of the hydraulic system.

[0061] III. Calculation and Calibration Implementation of Core Power Parameters

[0062] The intelligent control core of this robot is a power parameter calculation model adapted to the exclusive working conditions in coal mines. It includes three core formulas: rated propulsion force, theoretical torque, and actual drilling power. It is necessary to collect basic parameters according to the specific underground operation conditions, determine the values of each correction coefficient and reserve coefficient, complete the calculation of the three core parameters, and based on the calculation results, conduct parameter calibration and set the adjustment range to provide a numerical basis for the real-time adaptive control of subsequent drilling operations.

[0063] This implementation method takes the operation of a water exploration and drainage borehole in a medium-hard coal seam with a burial depth of 600m as an example. The designed borehole depth is 50m, the borehole diameter is 90mm, the deviation angle of the cross-layer borehole is 2°, the dust concentration in the working face is 10 - 30mg / m³, the underground temperature is 20°C, the humidity is 90%, and there is no obvious tectonic stress. The specific calculation and calibration steps are as follows: 1. Collection of Basic Working Conditions and Equipment Parameters According to the actual underground operation conditions and equipment configuration, determine the values of the basic parameters as follows: Hydraulic system parameters: System working pressure P s = 16MPa, the pressure difference between the inlet and outlet of the hydraulic motor 62 = 14MPa.

[0064] Parameters of the propulsion cylinder 70: Cylinder bore diameter D = 100mm, mechanical efficiency η of the propulsion cylinder 70m =0.92.

[0065] Hydraulic motor 62 parameters: displacement q=200ml / r, hydraulic motor 62 mechanical efficiency η hm =0.9, the rotation speed of the 64-pin drill bit is n=150rpm.

[0066] Operating parameters: Actual drilling speed v = 150 mm / min, mechanical transmission efficiency and environmental impact compensation η s =0.85.

[0067] Values ​​of reserve coefficient and correction coefficient: Operating load fluctuation coefficient K = 1.15 (reserve for hardness fluctuation in medium-hard coal seams), surrounding rock stress correction coefficient η. r =0.88 (no significant structural stress at a burial depth of 600m), drill rod wear correction factor η w =0.95 (for initial use of new drill rods), coal and rock friction correction coefficient η f =0.92 (Protodyakonov coefficient f=3-4 for medium-hard coal seams), hydraulic oil viscosity correction factor η v =0.95 (downhole environment at 20℃ and 90% humidity), borehole deviation correction factor η d =0.93 (skew angle 2°), dust resistance correction factor η k =0.92 (normal dust concentration).

[0068] 2. Calculation and calibration of rated thrust

[0069] Calculation formula: ; Substitute parameters for calculation: ; Parameter calibration: The calculated rated thrust of 111.1 kN is set as the rated output force of the propulsion cylinder 70; simultaneously, the adaptive adjustment range of the thrust is set to 80-120 kN. When the downhole working conditions change, the system can automatically adjust the thrust within this range to adapt to fluctuations in coal seam hardness. This formula incorporates a surrounding rock stress correction coefficient η. r With the wear correction factor η of the drill rod 64 wThe traditional propulsion calculation model is modified specifically for coal mine conditions, effectively offsetting the loss of propulsion force due to the surrounding rock stress caused by the mine depth, while also conforming to the power transmission efficiency characteristics of the new drill rod 64. The load fluctuation coefficient K=1.15 provides reasonable power reserves for sudden changes in coal seam hardness, encounters with interbedded rock or hard rock faults, effectively preventing problems such as stalling or jamming of the propulsion system due to sudden load changes, ensuring the continuity of drilling operations, and avoiding equipment and construction quality problems such as drill rod 64 bending and borehole deviation caused by excessive propulsion force in soft rock sections, thus achieving precise adaptation of propulsion output to the actual working conditions in coal mines.

[0070] 3. Calculation and calibration of theoretical torque

[0071] Calculation formula: ; Substitute parameters for calculation: ; Parameter calibration: The calculated theoretical torque of 350.7 Nm is set as the rated output torque of hydraulic motor 62; simultaneously, the power adaptive adjustment threshold is set to ±10%. When the actual drilling power deviates from the rated power by more than this threshold, the system automatically adjusts the thrust and torque to ensure drilling operations are completed with optimal power consumption. This formula adds a coal and rock friction correction coefficient η to the traditional torque calculation model. f With hydraulic oil viscosity correction factor η v The system is adapted to the friction characteristics of medium-hard coal seams, drill rod 64, and drill bit, as well as the influence of hydraulic oil viscosity changes on torque transmission in an underground environment of 20℃ and 90% humidity. The corrected torque calculation value eliminates torque loss caused by non-operational loads, making it more consistent with actual underground operating conditions. With the real-time dynamic monitoring and adjustment of the pressure difference ΔP between the inlet and outlet of the hydraulic motor 62, the system can promptly compensate for torque when encountering complex geological conditions such as rock inclusions and sudden changes in rock hardness. This provides stable torque support for the drill bit to cut rock and overcome rotational friction, fundamentally reducing the risk of stuck drill in complex geological environments in coal mines and improving the continuous operation capability of the equipment.

[0072] 4. Calculation and calibration of actual drilling power

[0073] Calculation formula: ; Substitute parameters for calculation: ; Parameter calibration: The calculated actual drilling power of 4.21kW is set as the rated power for drilling operations; simultaneously, the power adaptive adjustment threshold is set to ±10%. When the actual drilling power deviates from the rated power by more than this threshold, the system automatically adjusts the thrust and torque to ensure that drilling operations are completed with optimal power consumption. This formula incorporates a borehole deviation correction coefficient η. d With dust resistance correction factor η k The formula fully considers the power loss of the drill rod 64 due to the 2° deviation of the borehole in the coal mine, as well as the power loss caused by dust jamming the drill rod 64 and increasing the friction of the borehole wall under the normal dust concentration of the working face. This makes the power calculation value more consistent with the energy consumption characteristics of actual underground operations. The rotary cutting term and axial propulsion term in the formula clarify the energy output ratio of the hydraulic motor 62 and the propulsion cylinder 70, and clarify the energy coupling relationship between the propulsion system and the hydraulic motor 62. The calculation results can provide accurate numerical basis for the power regulation of the equipment, enabling the system to adjust the energy efficiency ratio in real time according to changes in working conditions such as rock hardness, borehole deviation, and dust concentration, so as to complete the drilling operation with optimal power consumption. This lays a precise control foundation for realizing constant power adaptive drilling in coal mines.

[0074] By substituting actual underground coal mine operating parameters into the calculation formulas for rated thrust, theoretical torque, and actual drilling power in this invention, the obtained calculation results all conform to the engineering practice requirements for water exploration and drainage drilling operations in hard coal seams. This invention constructs a digital mechanical model adapted to multiple dimensions of underground coal mine operating conditions, such as roadway depth, geological conditions, operating environment, and equipment wear, by adding a coal mine-specific correction coefficient to the traditional hydraulic power calculation model. This effectively solves the problem of the traditional general calculation model being disconnected from actual underground coal mine operating conditions and resulting in large deviations in calculation results.

[0075] The intelligent control system can accurately guide the power output regulation of the robot in the complex geological environment of coal mines, so that the core power parameters such as propulsion force, torque, and drilling power are precisely matched with the different drilling operation requirements in coal mines. This not only ensures the efficiency and quality of drilling operations, but also reduces equipment wear and energy consumption, significantly improving the reliability, adaptability and intelligence level of the equipment in complex working conditions in coal mines, and has good engineering application value.

[0076] IV. Implementation of the Entire Process of Actual Drilling Operations in Coal Mines

[0077] After completing the robot's mechanical structure assembly, hydraulic system debugging, and core power parameter calibration, the robot is transported to the work face via an underground rubber-tired vehicle. Professional operators then perform drilling operations via a remote control console. The operation process follows the steps of "equipment movement and positioning → rigid support construction → pre-operation debugging → intelligent drilling operation → operation completion and withdrawal," with remote control implemented throughout. The specific implementation is as follows: 1. Equipment movement and precise hole positioning Operators control the tracked chassis 10 via a remote control console to move the robot to a designated position on the downhole drilling face. The track walking speed is controlled at 0.5-1m / s to avoid equipment deviation due to excessive speed.

[0078] The lidar 80 is activated to precisely scan and locate the drilling design position. Based on the feedback data from the lidar 80, the position and posture of the robot are finely adjusted so that the axis of the drill rod 64 is completely aligned with the drilling design axis.

[0079] Based on the designed drilling height, the piston rod 51 of the vertical lifting column 30 is remotely controlled to extend and retract, adjusting the height of the guide rail 40 so that the drill rod 64 is aligned with the designed drilling opening.

[0080] 2. Construction of a rigid support system

[0081] The piston rod 51 built into the remote control support column 50 slowly extends upward, so that the top of the piston rod 51 makes close contact with the tunnel roof, forming a triangular rigid support system of "tracked chassis 10-support column 50-tunnel roof", which effectively resists the reaction force and vibration generated by the drill bit cutting the rock during drilling operations, avoids axial displacement or sway of the guide rail 40, and ensures the straightness of the borehole.

[0082] 3. Comprehensive debugging before operation

[0083] Double-check the calibration parameters of rated thrust, theoretical torque, and actual drilling power to ensure that the parameters are without deviation.

[0084] Adjust the cooling water flow rate of the water supply jacket 63 to ensure the cooling effect of the drill rod 64 and the slag discharge effect of the coal and rock slag.

[0085] Start the hydraulic motor 62 and test whether the rotation speed of the chisel 64 reaches the set value of 150 rpm and the speed is stable without vibration; start the propulsion cylinder 70 and test whether the reciprocating motion of the power head base 61 along the guide rail 40 is smooth and without jamming.

[0086] Check that all detection modules (LiDAR 80, differential pressure sensor, flow meter) are working properly and that data transmission is real-time and accurate. Complete comprehensive debugging before operation.

[0087] 4. Drilling operation

[0088] The robot's automatic drilling mode is activated, and the hydraulic motor 62 drives the drill rod 64 to rotate at high speed to cut the rock mass; the propulsion cylinder 70 pushes the power head base 61 to move forward along the guide rail 40 axially, providing continuous propulsion force for drilling, and maintaining the actual drilling speed at about 150 mm / min during the drilling process.

[0089] The system collects monitoring data from each detection module in real time and combines it with a power parameter calculation model specific to coal mine working conditions to achieve real-time adaptive control of core power parameters: the lidar 80 monitors the straightness of the borehole in real time, the differential pressure sensor monitors the differential pressure of the hydraulic motor 62 in real time, and the dust sensor monitors the dust concentration at the working surface in real time. The system automatically adjusts the thrust, torque, and drilling power based on the data to ensure the continuity and stability of drilling operations.

[0090] During drilling, if the lidar 80 detects that the borehole deviation angle exceeds 2°, the system will immediately issue an audible and visual alarm signal and automatically stop drilling. The operator can then manually fine-tune the equipment before continuing the operation. If sudden conditions such as rock inclusions or hard rock faults are encountered, the system will automatically activate torque compensation and thrust adjustment to avoid stuck drill bits or stalling.

[0091] 5. Work completion and equipment withdrawal

[0092] When the lidar 80 and the depth sensor detect that the drilling depth has reached the design requirement (50m), a work completion signal is issued, and all actions are stopped in the following order: first stop the hydraulic motor 62, then stop the propulsion cylinder 70, and finally stop the cooling water.

[0093] The piston rod 51 of the remotely controlled support column 50 retracts, releasing the support on the tunnel roof and causing the rigid support system to fail; the lidar 80 is restarted to confirm the position and straightness of the borehole after drilling is completed, and the operation data is recorded.

[0094] The tracked chassis 10 is used to slowly retract the robot to the underground maintenance point to complete the drilling operation. During the retraction, the drill rod 64 is prevented from colliding with the tunnel wall and equipment to avoid damage to the components.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-motion mode intelligent drilling operation robot for underground coal mines, characterized by, The system includes a tracked chassis (10) that can travel in the tunnel, a vertical lifting column (30) fixedly installed on the tracked chassis (10), a horizontally extending guide rail (40) fixedly installed at the telescopic end of the vertical lifting column (30), a power head base (61) slidably installed on the guide rail (40), a propulsion cylinder (70) installed between the power head base (61) and the guide rail (40) that can push the power head base (61) to slide back and forth along the guide rail (40), the propulsion cylinder (70) is powered by a hydraulic pump station (20); a horizontally extending drill rod (64) for rotary drilling is installed on the power head base (61); a support column (50) is vertically installed on the tracked chassis (10), and a piston rod (51) that can be vertically raised and lowered to hold the tunnel roof in the borehole is coaxially slidably connected inside the support column (50).

2. The multi-motion mode intelligent drilling operation robot for underground coal mine of claim 1, wherein, The propulsion cylinder (70) includes a hydraulic cylinder barrel (71) fixedly installed in the middle cavity of the guide rail (40), and the axial direction of the hydraulic cylinder barrel (71) is the same as the length direction of the guide rail (40); the hydraulic cylinder barrel (71) is coaxially slidably inserted with a propulsion piston rod (73), and the extension end of the propulsion piston rod (73) is connected to the power head base (61).

3. The multi-motion mode intelligent drilling operation robot for underground coal mine of claim 2, wherein, Two fixing plates (72) are fixedly installed at intervals on the lower side of the hydraulic cylinder barrel (71), and both fixing plates (72) are fixed to the guide rail (40) by bolt connection.

4. The multi-motion mode intelligent drilling operation robot for underground coal mine of claim 1, wherein, A guide rail support seat (41) is fixedly installed at the bottom of the guide rail (40), and a clamp (42) is fixedly installed on one side of the guide rail support seat (41). The clamp (42) is coaxially slidably sleeved on the support column (50).

5. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, A frame (11) is installed on the tracked chassis (10). A support platform (12) is installed on the frame (11). The vertical lifting column (30) and the support column (50) are both vertically installed on the support platform (12).

6. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, A rotating sleeve (66) with its axis arranged horizontally is installed on the power head base (61), and the drill rod (64) is coaxially rotated and passed through the rotating sleeve (66).

7. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, The tail of the drill rod (64) is coaxially connected to a hydraulic motor (62).

8. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, A water supply sleeve (63) is installed on the power head base (61), and the water supply sleeve (63) is coaxially sleeved on the outside of the drill rod (64).

9. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, The head of the drill rod (64) is fitted with a drill tail sleeve (65).

10. The intelligent drilling robot with multiple motion modes for underground coal mines according to claim 1, characterized in that, The rated thrust force of the drill rod (64) is F p The formula is as follows: ； In the formula, K represents the load fluctuation coefficient under operating conditions; P s The system working pressure provided by the hydraulic pump station (20) is indicated; D represents the inner diameter of the hydraulic cylinder barrel (71); Indicates the mechanical efficiency of the propulsion cylinder (70); This represents the surrounding rock stress correction factor, which is determined based on the mine roadway burial depth and tectonic stress conditions. This represents the drill rod wear correction factor, which is determined based on the actual drilling mileage of the drill rod.

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