Control method of single-mechanical arm drill rod loading and unloading automatic control engineering drilling rig

Abstract

The present application belongs to the field of coal mine drilling equipment, and discloses a control method of a single manipulator drill rod loading and unloading automatic control engineering drill, which comprises a drill vehicle body, a hydraulic system, an electric control system, an anchoring system, a posture adjusting device, a power head, a rack, a gripper, a manipulator, a drill rod box and a sensor system. An unobstructed drill rod conveying space is arranged between the drill rod box and the rack. The power head is provided with an open chuck with an opening penetrating the wall for loading or taking out the drill rod in the radial direction. A single four-joint series manipulator is arranged in the conveying space and is switched between the rod taking station and the rod feeding station through horizontal translation. The control method comprises a posture adjusting control process, a rod loading process and a rod unloading process. The posture adjusting control process realizes three-degree-of-freedom adjustment of the azimuth angle, the inclination angle and the height through a rotary reducer, an inclination angle reducer and a double-oil-cylinder drive. In the rod loading process and the rod unloading process, the drill rod is radially fed or taken out from the side of the chuck, and the single manipulator independently completes the whole process transfer.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine drilling equipment, and relates to a control method for an engineering drilling rig with automatic control of single manipulator drill rod loading and unloading. Background Technology

[0002] With the development trend of intelligent drilling technology in coal mines, achieving automation and unmanned drilling operations has become an important direction for technological progress in the industry. Automatic control engineering drilling rigs integrate functions such as walking, anchoring, attitude adjustment, drilling, and drill pipe loading / unloading, and are the core equipment for intelligent drilling in coal mines. Automatic drill pipe loading / unloading, as a frequently performed key process in the drilling operation, is one of the core links in achieving the goal of "reducing manpower and increasing efficiency," and its efficiency and reliability directly affect the overall drilling efficiency of the drilling rig. The robotic arm, as the key actuator for automatic drill pipe loading / unloading, is responsible for grabbing and transferring drill pipes from the drill pipe box to the power head. Its structural design, spatial layout, and control methods directly determine the efficiency, reliability, and degree of automation of drill pipe loading / unloading. Therefore, the design of the system control logic of the entire drilling rig, the coordinated control between subsystems, and the drill pipe loading / unloading control method are key factors restricting the overall performance of the automatic drilling rig.

[0003] Currently, there are two main technical solutions for the drill pipe loading and unloading process of existing automatic drilling rigs in coal mines: Option 1: Dual-Manipulator Collaborative Operation. This option uses two independent mechanisms: a rod-feeding manipulator (auxiliary manipulator) and a clamping manipulator (primary manipulator). The auxiliary manipulator picks up the drill rod from the drill rod box and delivers it to the transfer position, whereupon the primary manipulator clamps the drill rod and delivers it to the power head. This option has the following significant spatial layout issues: First, the drill rod transfer process requires a handover between the primary and auxiliary manipulators, resulting in a longer transfer path and increased non-drilling auxiliary time. Second, the dual-manipulator solution requires two independent drive mechanisms and installation positions on the drilling rig body, significantly increasing the overall space occupied by the mechanisms, especially in the vertical direction. Third, the multi-mechanism linkage requires precise coordination of the action sequence and timing, leading to complex control processes, potential timing deviations, and impacting the stability of automated operations.

[0004] Option 2: 6-DOF industrial robot solution. This type of robot is a general-purpose design with redundant degrees of freedom. The planning of drill pipe loading and unloading paths is complex and time-consuming. Its rigid joint characteristics are prone to rigid collisions during the clamping process, requiring the addition of an active compliant control module, which increases the system complexity and cost. In addition, the 6-DOF industrial robot also has a high requirement for height space.

[0005] In addition, the existing drilling rigs generally adopt a fixed bearing layout for their attitude adjustment devices, and the frame is cantilevered and installed on the outside of the tracked vehicle. This means that when the drill rod is transferred from the drill rod box to the drilling axis of the frame, it must cross the attitude adjustment device. The transportation route is complicated, and the rod is prone to interference with the anchor column fixed above the attitude adjustment device during the transportation process, which affects construction safety.

[0006] In summary, existing drill pipe loading and unloading systems suffer from problems such as long conveying paths, large space occupation, and interference between the conveying path and the attitude adjustment device and anchoring system in the spatial layout design between the manipulator, drill pipe box and frame. They cannot meet the industry's development needs for efficient, continuous and stable automated drilling in the low and confined space of underground coal mines. Summary of the Invention

[0007] In view of this, the purpose of the present invention is to solve the above problems and provide a control method for an engineering drilling rig with automatic control of single manipulator for loading and unloading drill rods.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A control method for an automated single-manipulator drill rod loading and unloading engineering drilling rig is disclosed. The drilling rig includes a rig body, a hydraulic system, an electrical control system, an anchoring system, an attitude adjustment device, a power head, a frame, a clamp, a manipulator, a drill rod box, and a sensor system. The rig body serves as the load-bearing component for all systems and parts of the drilling rig, enabling the rig to move. The hydraulic system provides hydraulic power to all actuators of the drilling rig. The electrical control system is the control center of the drilling rig, receiving and sending control commands and processing sensor data. The anchoring system extends upwards and downwards during drilling to abut against the top and bottom of the tunnel, respectively, to stabilize the rig. The drill rod box is mounted on the rig body and is used to store drill rods. The power head and clamp are mounted on the frame, forming a drill rod loading and unloading axis between the power head and the clamp. The drill pipe box is arranged opposite to the frame, the frame is mounted on a support, and the support is connected to one end of the drilling rig body to form a cantilever structure. The frame is fixed to the outside of the drilling rig body and is located on the side of the support facing the drill pipe box. An anchoring cylinder is provided at the end of the support away from the drilling rig body for anchoring support, so that an unobstructed drill pipe transport space is formed between the drill pipe box and the frame. The power head includes a gearbox and an open chuck connected to the output end of the gearbox. The open chuck includes a chuck housing, which is a hollow structure with a through hole in the middle for the drill rod to pass through. The side wall has an opening that penetrates the wall in the circumferential direction for the drill rod to be loaded or unloaded radially. The chuck housing has at least one slip, which moves radially along the chuck housing to clamp or release the drill rod. A robotic arm is installed in the drill pipe conveying space. The robotic arm is a four-joint series robotic arm, which includes a lifting joint, a tilting joint, a rotating joint and a gripper joint connected in series. It can horizontally switch between the drill pipe box rod picking station and the frame rod conveying station by translation joint. The sensor system includes an angle sensor mounted on the robotic arm and an inspection sensor for detecting the number of drill rods in the drill rod box. The attitude adjustment device includes a rotary table, a rotary reducer, a tilt reducer, a height adjustment cylinder, a lifting cylinder, a lifting column, a lifting sleeve, and a locking mechanism. The rotary table is rotatably mounted on the drilling rig body via the rotary reducer, and is used to drive the frame to rotate in the horizontal plane to adjust the azimuth angle. The support is located below the rotary table, and one end of the support is vertically slidably connected to the rotary table via the height adjustment column. The height adjustment cylinder is located between the rotary table and the support, and is used to drive the support to move downward relative to the rotary table to achieve height adjustment below the reference plane. The lifting column is mounted on the support, and the lifting sleeve is fitted on the outside of the lifting column and slides up and down along the lifting column. The lifting cylinder is located inside the lifting sleeve, and is used to drive the lifting sleeve to move upward to achieve height adjustment above the reference plane. The tilt reducer is mounted on the side of the lifting sleeve facing the drilling rig body, and the other side of the tilt reducer is connected to the frame, and is used to drive the frame to rotate in the vertical plane to adjust the tilt angle. The locking mechanism is located between the rotary table and the support, and is used to lock and position the device after the height adjustment is completed. The control method includes an attitude control process, a pole loading process, and a pole unloading process. The attitude control process is as follows: A1. Azimuth angle adjustment: The electronic control system drives the rotary reducer to rotate the rotary table in the horizontal plane, thereby adjusting the azimuth angle of the frame; A2. Height Adjustment: The electronic control system drives the lifting cylinder to adjust the height above the reference surface based on the position of the target opening height relative to the reference surface, or drives the height adjustment cylinder to adjust the height below the reference surface. A3. Tilt Angle Adjustment: The electronic control system drives the tilt angle reducer to rotate the frame in the vertical plane, thereby adjusting the tilt angle of the frame; A4. Locking and positioning: After the height is adjusted to the correct position, the electronic control system controls the locking mechanism to lock, forming a triangular fixed structure with the rotary table and support; The rod installation process is as follows: B1. Selecting and adjusting the height of the selected column: The electronic control system drives the translation joint to move the robot arm horizontally within the unobstructed drill rod conveying space to the top of the designated column of the drill rod box, and drives the lifting joint to adjust the gripper to a suitable height for grasping the designated drill rod. B2. Grab rod lifting: The electronic control system drives the gripper to clamp the drill rod and drives the lifting joint to lift the robot arm to a height that does not interfere with the drill rod box and the drill rod inside. B3. Translational Conveying: The electrical control system drives the translational joint to move the robot arm in the direction of the frame to the rod delivery station within the unobstructed drill rod conveying space; B4. Attitude adjustment: The electronic control system drives the tilting joint to make the gripper face the frame, and drives the rotary joint to align the drill rod axis with the drill rod unloading axis on the frame. B5. Drill rod feeding into the chuck: The electronic control system drives the translation joint to move the robot arm towards the frame, and radially feeds the drill rod into the chuck from the side of the open chuck. After the control jaws clamp the drill rod under hydraulic drive, the robot arm releases the jaws and moves backward to exit. B6. Engaging Drilling: The electrical control system controls the power head to drive the drill rod to rotate in the forward direction, and completes the thread engagement with the drill rod held by the chuck. After the chuck is released, the power head drives all the drill rods to start drilling. The unloading process is as follows: C1. Unlocking: The electrical control system controls the power head to rotate the drill rod held in the open chuck in the opposite direction, loosening it from the thread of the drill rod held by the chuck, and controlling the power head to retract to the front of the frame; C2. Rod Removal: The electric control system drives the robot arm to move to the rod delivery station, drives the chuck to clamp the drill rod from the side of the open chuck, controls the chuck to release the drill rod, and then the robot arm removes the drill rod from the chuck radially from the side and moves it out in the opposite direction. C3. Posture recovery: The electronic control system controls the robot arm to adjust by reverse flipping, rotation, and lifting joints so that the gripper faces the drill pipe box and the drill pipe held is parallel to the drill pipe axis inside the drill pipe box; C4. Returning and Placing the Drill Rod: The electronic control system drives the translation joint to move the robot arm back to the designated column in the drill rod box within the unobstructed drill rod transport space, drives the lifting joint to adjust the gripper to a suitable height for placing the drill rod back, and drives the gripper to release and place the drill rod back into the drill rod box.

[0009] Furthermore, the specific process of height adjustment in step A2 is as follows: the support is a J-shaped frame structure, one end of the support is equipped with an inclination reducer, and the other end is located below the rotary table and is vertically slidably connected to the rotary table through the height adjustment column; displacement sensors are installed inside the height adjustment cylinder and outside the lifting cylinder to record the cylinder extension and retraction amount respectively, and the two parts are combined to comprehensively measure the real-time opening height of the frame.

[0010] Furthermore, in step A1, the azimuth angle adjustment is achieved by driving the rotary table through the rotary reducer to rotate the frame in the horizontal plane, so that the frame is precisely aligned with any construction point on the left side, right side, and front end of the roadway, thereby achieving full-section fan-shaped borehole coverage.

[0011] Furthermore, in step A3, the two sides of the tilt reducer are connected to the lifting sleeve and the frame respectively through flanges. The tilt reducer is both a connecting part between the frame and the attitude adjustment device and a driving element for adjusting the tilt angle of the frame. The tilt angle is measured by a tilt sensor installed on the tilt reducer.

[0012] Furthermore, in step A4, the locking mechanism is a hydraulic cylinder or a lead screw, with its two ends hinged to the rotary table and the support, respectively. When the height of the support is adjusted to the correct position, the locking mechanism locks and positions itself. The locking mechanism, the rotary table, and the support form a triangular fixed structure, which enhances the load-bearing stability and structural rigidity of the support in the working state.

[0013] Furthermore, it also includes the anchoring control process: the electrical control system controls the piston rod of the anchoring cylinder located at the end of the support away from the drilling rig body to extend downwards, and the base plate installed at the lower end of the piston rod presses against the ground to provide bottom support force; at the same time, it controls the hydraulic cylinder inside the lifting column to extend upwards to abut against the top of the roadway to provide top support force. The bottom anchoring cylinder and the hydraulic cylinder inside the top lifting column form a double anchoring, and the rod installation process is executed after the anchoring is completed.

[0014] Furthermore, the attitude adjustment control process is executed before the rod installation process and is not repeated during the continuous drilling of multiple drill rods until the drilling direction needs to be adjusted, at which point the attitude adjustment control process is re-executed.

[0015] Furthermore, the lifting joint is driven to lift by a lifting cylinder; the tilting joint includes a tilting seat, a tilting reducer, and a tilting arm, with the tilting reducer mounted on the tilting seat to drive the tilting arm to rotate; the rotary joint includes a rotary reducer and a rotary arm, with the rotary reducer mounted on the end of the tilting arm away from the tilting seat to drive the rotary arm to rotate; the gripper joint includes a clamping cylinder, which drives the grippers to open and close.

[0016] Furthermore, the lifting cylinder is installed vertically inside the column, and the piston rod end of the lifting cylinder passes upward through the top of the column and is fixedly connected to the tilting seat. It drives the tilting seat and its connected tilting joint, rotary joint, and gripper joint to move up and down as a whole in the vertical direction. The tilting reducer drives the tilting arm to rotate about a direction perpendicular to the axis of the lifting cylinder. The rotary reducer drives the rotary arm to rotate about a direction perpendicular to the axis of the tilting arm. The clamping cylinder drives the gripper to open and close to clamp or release the drill rod.

[0017] Furthermore, the tilting seat includes a cylinder connecting seat and a reducer connecting seat connected to each other. The cylinder connecting seat is fixedly connected to the piston rod end of the lifting cylinder by a pin or screw, and the tilting reducer is fixedly installed on one side of the reducer connecting seat. The tilting arm includes a connecting flange, a rotating arm, and a rotary reducer connecting seat. The connecting flange is located at one end of the tilting arm near the tilting seat and is fixedly connected to the output end of the tilting reducer by screws. The rotating arm is a hollow cylindrical structure connected between the connecting flange and the rotary reducer connecting seat. The rotary reducer is fixedly installed on one side of the rotary reducer connecting seat. The slewing arm includes a reducer flange, a connecting pipe, and a gripper body. The reducer flange is located at one end of the slewing arm near the slewing reducer and is fixedly connected to the output end of the slewing reducer by screws. The connecting pipe is a hollow cylindrical structure connected between the reducer flange and the gripper body. The clamping cylinder and the gripper are installed in the gripper body.

[0018] Furthermore, the specific process of attitude adjustment in step B4 is as follows: the electric control system drives the lifting cylinder to adjust the gripper to a suitable height for conveying the drill rod to the frame, drives the tilting reducer to rotate the tilting arm so that the gripper faces the frame, and drives the slewing reducer to rotate the slewing arm so that the drill rod axis is aligned with the drill rod unloading axis on the frame.

[0019] Furthermore, the specific process of taking the drill rod in step C2 is as follows: the electrical control system drives the translation joint to move the robot arm towards the frame to the rod delivery station, drives the lifting cylinder to adjust the gripper to a suitable height for clamping the drill rod from the side opening of the open chuck, drives the tilting reducer to rotate the tilting arm so that the gripper faces the frame, drives the rotary reducer to rotate the rotary arm so that the gripper clamping axis is aligned with the drill rod unloading axis of the frame, the gripper clamps the drill rod from the side opening of the open chuck and then the slips are released, and the robot arm clamps the drill rod and moves backward to exit.

[0020] Furthermore, the specific process of attitude recovery in step C3 is as follows: the electronic control system drives the rotary reducer to rotate the rotary arm in the opposite direction to the initial angle, drives the tilting reducer to rotate the tilting arm in the opposite direction until the chuck faces the drill pipe box, and drives the lifting cylinder to lower the chuck to a height suitable for putting the drill pipe back.

[0021] Furthermore, in step B5, when the drill rod is fed into the chuck, the opening of the open-type chuck is a V-shaped opening that extends from the outer wall of the chuck housing inward to the central through hole. The outer width is greater than the width at the junction of the inner side and the through hole. The drill rod is radially fed into the chuck from the side along the guide of the V-shaped opening.

[0022] Furthermore, the open-type chuck has a cylinder and a drive disc symmetrically arranged on both sides divided by the opening, and the drive disc is equipped with a spring assembly; The method of clamping the drill rod with the slips in step B5 is as follows: the electrical control system controls the hydraulic oil to enter the oil chamber formed between the cylinder and the drive plate through the clamping oil passage on the chuck housing, and pushes the drive plate to move the slips radially toward the center of the passage to clamp the drill rod; In step C2, the method for releasing the drill rod by the slips is as follows: the electrical control system stops supplying pressurized oil to the oil chamber, and the spring assembly pushes the drive disc to move the slips radially away from the center of the through hole, so that the slips are in the normally open state.

[0023] Furthermore, the cylinder is a cylindrical structure, with one end having a flange fixed to the chuck housing by screws; the cylinder is embedded in the cylinder guide hole of the chuck housing, and the inner hole of the cylinder mates with the outer wall of the drive disc, providing guidance for the radial movement of the drive disc; The slip has an arc surface on the side facing the drill pipe that matches the outer diameter of the drill pipe. Several force-enhancing teeth are provided on the arc surface to enhance the clamping friction. The slip has a groove on the side facing the drive disc. The drive disc has a slot for the slip to pass through at the end facing the slip. The slot has protrusions on both sides that match the groove of the slip. The drive disc drives the slip to move back and forth radially along the chuck.

[0024] Furthermore, the power head also includes an angle plate mounted on the chuck housing and a chuck positioning sensor fixed on the transmission, with the angle plate arranged at a fixed angle to the opening of the open chuck; Before feeding the rod into the disk in step B5, there is also an opening positioning step: when the chuck rotates, the angle disk generates an opening position signal when it passes the chuck positioning sensor. After receiving the signal, the electronic control system controls the chuck to stop rotating so that the opening faces the direction of the robot arm.

[0025] Furthermore, before removing the drill rod in step C2, an opening positioning step is also included: after the electronic control system controls the chuck to stop rotating so that the opening faces the direction of the robot arm, the robot arm clamps the drill rod from the side of the opening.

[0026] Furthermore, in the opening positioning step, the angle disk rotates synchronously. When the angle disk passes the chuck positioning sensor, the sensor generates an opening position signal. Every time the electronic control system receives this signal, it controls the chuck to stop rotating, so that the opening is accurately facing the direction of the robot arm.

[0027] Furthermore, the power head also includes a water guide located inside the output main shaft of the transmission and a slider connected to the tail end of the water guide; the water guide includes a water guide housing, a rotating shaft, and a drive rod, the water guide housing is circumferentially fixed and axially slidably connected to the output main shaft, the rotating shaft is rotatably installed inside the water guide housing, and the front end of the drive rod passes through the through hole of the open chuck for docking with the drill rod; the slider includes a frame and a drive cylinder; After the rod is fed into the disc in step B5 and before the drill string is engaged in step B6, a water guide docking step is also included: the electric control system controls the piston rod of the drive cylinder to retract, the frame moves the water guide forward to the working position, the drive rod passes through the open chuck and docks with the drill string, and the flushing water is delivered to the inside of the drill string through the water channel connecting the drive rod and the rotating shaft.

[0028] Furthermore, in the water-connecting step, the outer surface of the front end of the active rod has a taper, forming a conical seal with the sealing ring at the rear end of the drill rod.

[0029] Furthermore, two sliding frames are symmetrically arranged on the frame, and the sliding frames are slidably connected to the gearbox housing; at least one sliding frame is provided with an identification groove, which cooperates with a sliding positioning sensor installed on the housing. In the water supply docking step, the electronic control system detects the position status of the slider by using the identification slot and the sliding positioning sensor: when the sliding positioning sensor signal is disconnected, it indicates that the slider is in the state of delivering the water supply to the working position.

[0030] Furthermore, after the shackle in step C1, there is also a water pipe retraction step: the electronic control system controls the piston rod of the drive cylinder to extend, the frame drives the water pipe to be pulled back, and the drive rod exits the open chuck area.

[0031] Furthermore, a drill pipe box self-inspection step is included before step B1: During system initialization, the drill pipe box is in an empty state, and the inspection sensor collects the distance data D0 from the sensor to the bottom of the empty box as the reference distance; After the drill pipe box is loaded into the drill pipe, the robot arm drives the inspection sensor to move along a direction perpendicular to the drill pipe axis to scan the top of each row of drill pipes at a set period. The precise position of the current drill pipe column is determined based on the minimum distance point in the scan trajectory; During real-time monitoring, the inspection sensor measures the real-time distance D from the top of the drill pipe in column a to the sensor. Therefore, the theoretical number of drill pipes in column a is:

[0032] Where, N a Where D is the number of drill pipes, D0 is the distance data from the inspection sensor to the bottom of the empty box, D is the actual distance from the inspection sensor to the top of the drill pipe, d is the diameter of the drill pipe, and Round is the rounding function.

[0033] Furthermore, in the drill pipe box self-inspection step, the inspection sensor is connected to the communication module via a mining cable, and the sensor data is uploaded to the controller of the electrical control system via a bus.

[0034] Furthermore, during the translation process of the robot arm within the unobstructed drill pipe transport space in steps B3 and C4, the drill pipe transport path does not pass through any anchoring structure, and the robot arm can directly complete the entire transfer process from the drill pipe box to the frame without crossing any obstacles.

[0035] Furthermore, the specific process of translational conveying in step B3 is as follows: the electrical control system drives the translational joint, which is driven by a hydraulic motor or drive motor, and is transmitted through a gear rack mechanism or ball screw mechanism, so that the entire robot arm is horizontally translated to the rod delivery station in the direction close to the frame.

[0036] Furthermore, after the drilling in step B6, there is also a robot arm retraction step: the electronic control system controls the robot arm to move in the opposite direction and exit the range of motion of the power head, returning to the initial state to wait for the next loading and unloading command.

[0037] Furthermore, after the robot arm returns to its initial state in step C4, the electronic control system controls the robot arm to wait for the next round of the rod loading or unloading process.

[0038] Furthermore, the angle sensor includes a flip angle sensor and a rotation angle sensor; the flip angle sensor is located on the flip base on the side opposite to the flip reducer, and its detection shaft is connected to the flip arm through a coupling, used to detect the rotation angle of the flip arm; the rotation angle sensor is located on the flip arm on the side opposite to the rotation reducer, used to detect the rotation angle of the rotation arm; the flip angle sensor and the rotation angle sensor are preferably rotary encoders, providing angle feedback signals for the precise positioning control of each joint of the robot, realizing closed-loop control of the robot's movement.

[0039] Furthermore, the inspection sensor is fixedly installed on the flip arm or flip seat of the robot arm. The inspection sensor adopts a laser distance sensor or an ultrasonic distance sensor, which scans over the drill rod box to detect the number of drill rods when the robot arm moves.

[0040] Furthermore, the chuck housing is divided into two symmetrical sides by the opening, which are provided with slip guide grooves and cylinder guide holes, respectively for the installation and movement guidance of the slips and cylinder; the bottom of the chuck housing is provided with a slag leakage hole for discharging coal slag generated during drilling operations; the open-type chuck also includes a chuck front end cover, which is installed in the end cover mounting stepped hole of the chuck housing by screws to axially position the slips.

[0041] Furthermore, the outer surface of the water pipe housing is hexagonal, and one end of the gearbox output shaft is provided with a hexagonal hole that mates with it. The hexagonal outer surface of the water pipe housing is embedded in the hexagonal hole, forming a circumferentially fixed and axially sliding mating relationship.

[0042] Furthermore, a rotary sealing ring is provided between the rotating shaft and the water supply device housing to achieve rotary sealing and isolate external contaminants; a sealing ring is provided at the threaded connection between the water supply connector and the rotating shaft; a sealing structure is provided between the front end cover and the water supply device housing; and a sealing ring is provided at the front end of the threaded connection between the front end cover and the drive rod.

[0043] Furthermore, the other end of the frame is provided with a through hole in the middle, and the water pipe is fixedly installed in the through hole; the frame is also provided with a pin hole, which extends through the through hole, and is used to limit the water pipe along the front end along the axial direction by means of a pin or screw.

[0044] The beneficial effects of this invention are as follows: 1. This invention, through a relative spatial layout structure of "drill rod box - robot - frame" with the drill rod box and frame arranged opposite each other along the drill rod conveying direction and the robot located between them, makes the translation path of the robot straight along the drill rod conveying direction, which greatly shortens the transmission path of the drill rod from the drill rod box to the frame, significantly reduces the auxiliary time and operation procedures for drill rod loading and unloading, and improves the overall efficiency of automated drill rod loading and unloading.

[0045] 2. Achieving full-process operation by replacing dual manipulators with a single manipulator. A single four-joint tandem manipulator can independently complete the entire process of grabbing, lifting, translating, flipping, and returning the drill pipe to the power head for release within an unobstructed drill pipe transport space. This single manipulator accomplishes all the functions that previously required dual manipulators working together, eliminating the drill pipe handover link between the main and auxiliary manipulators. It eliminates the need for secondary positioning or dedicated transfer mechanisms, significantly shortens the drill pipe transfer path, substantially reduces auxiliary time and operational procedures for drill pipe loading and unloading, and improves the overall efficiency of automated drill pipe loading and unloading.

[0046] 3. The open-type chuck enables radial loading and unloading of drill pipes, significantly reducing the axial space requirements of the power head. The open-type chuck's housing sidewall has circumferential openings that penetrate the wall, allowing the drill pipe to be radially inserted or removed by a robotic arm from the side, eliminating the need for axial insertion and significantly shortening non-drilling auxiliary time for drill pipe connection and removal. The circumferential opening structure creates an unobstructed open operating view and maintenance space, allowing for direct observation of the real-time wear status of the chuck's internal slips, enabling rapid replacement of worn parts and switching between slips of different inner diameters.

[0047] 4. This invention decomposes the torque transmission and water connection functions of the traditional active drill rod. The drill rod is directly clamped by an open-type chuck to transmit rotational torque, and the active rod in the water introducer enables water connection and sealing, thus completely eliminating the traditional active drill rod. Because the active drill rod is eliminated, the threaded connection between the active drill rod and the drill rod is no longer required during loading and unloading, significantly simplifying the process, shortening non-drilling auxiliary time, and significantly improving drilling efficiency. Furthermore, in this invention, torque is directly transmitted to the drill rod via the open-type chuck through the slips, eliminating the vulnerable intermediate component of the active drill rod, effectively extending the service life of the core power head components, and reducing equipment maintenance frequency and downtime.

[0048] 5. Significantly reduces the number of mechanisms and space occupation. The single-manipulator four-joint tandem structure only requires one set of driving actuators, including a lifting cylinder, a tilting reducer, a slewing reducer, and a clamping cylinder. Compared to the existing technology where dual manipulators each have their own independent driving actuators, this significantly reduces the number of driving and actuator mechanisms. Combined with a relative spatial layout, the required vehicle mounting space and movement space are significantly reduced, especially effectively reducing the space occupation in the vertical direction, thus improving the adaptability of the drilling rig to working conditions in low and narrow underground mine tunnels.

[0049] 6. The sensor system enables precise positioning and drill pipe management for automated control. Angle sensors provide angle feedback signals for the precise positioning control of each joint of the robotic arm, achieving closed-loop control of the robotic arm's movement. Inspection sensors enable non-contact detection of the number of drill pipes in the drill pipe box, using laser or ultrasonic distance measurement principles to count the number of drill pipes in each row, providing data for drill pipe loading and unloading scheduling and drill pipe surplus management.

[0050] 7. A non-contact real-time detection and management control method for drill pipe boxes enables precise drill pipe management. This invention establishes a complete self-inspection and control method for drill pipe boxes, including four steps: benchmark calibration, drill pipe scanning, drill pipe column position locking, and drill pipe counting processing. Using inspection sensors based on laser or ultrasonic ranging principles, the system collects the empty box benchmark distance during initialization and accurately calculates the number of drill pipes in each column during real-time detection, providing accurate data for the scheduling of drill pipe loading and unloading operations and the management of remaining drill pipe inventory for the entire drilling rig.

[0051] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the drilling rig layout used in this invention.

[0053] Figure 2 This is a schematic diagram of the attitude adjustment device in this invention.

[0054] Figure 3 for Figure 2 A schematic diagram of the rotary table.

[0055] Figure 4 This is an isometric view of the robot arm facing the frame in this invention.

[0056] Figure 5 This is an isometric view of the robot arm facing the drill pipe box in this invention.

[0057] Figure 6 This is an isometric view of the flip-up seat in this invention.

[0058] Figure 7 This is an isometric view of the tilting arm in this invention.

[0059] Figure 8 This is an isometric view of the slewing arm in this invention.

[0060] Figure 9 This is an isometric view of the open-type chuck power head used in this invention.

[0061] Figure 10 for Figure 9 A full sectional view of the side.

[0062] Figure 11 This is an isometric view of the open-type chuck in this invention.

[0063] Figure 12 for Figure 11 Half-section view of the right end face.

[0064] Figure 13 for Figure 11 Left end view.

[0065] Figure 14 for Figure 11 Axonometric view of the chuck housing.

[0066] Figure 15 This is an isometric view of the cylinder.

[0067] Figure 16 This is an isometric view of the right side of the drive disc.

[0068] Figure 17 This is an isometric view of the left side of the drive disc.

[0069] Figure 18 This is a schematic diagram of the slider.

[0070] Figure 19 This is a schematic diagram of a water purifier.

[0071] Figure 20 for Figure 19 A sectional view.

[0072] Figure 21 This is a cross-sectional view of the output spindle of the transmission.

[0073] Figure 22 for Figure 21 The left view.

[0074] Reference numerals: 1-tracked undercarriage; 2-hydraulic system; 3-electric control system; 4-anchoring system; 5-power head; 6-attitude adjustment device; 7-frame; 8-gripper; 9-manipulator; 10-drill rod box; 501-Open-type chuck; 502-Gearbox; 503-Slider; 504-Motor; 505-Water guide; 506-Chuck positioning sensor; 50101-Chuck housing; 50102-Connecting disc; 50103-Angle disc; 50104-Stop; 50105-Chuck front end cover; 50106-Slip; 50107-Cylinder; 50108-Spring assembly; 50109-Drive disc; 50101a-Counter groove; 50101b-Stop mounting groove; 50101c-End cover mounting stepped hole; 50101d-Slip guide groove; 50101e - Cylinder guide hole; 50201 - Oil sleeve; 50202 - Housing; 50203 - Gear train; 50204 - Transmission output spindle; 50204a - Hexagonal hole; 50204b - Through hole; 50204c - Spindle external thread; 50301 - Frame; 50301a - Pin hole; 50301b - Sliding frame; 50301c - Identification groove; 50301d - Through hole; 50302 - Drive cylinder; 50501 - Water connector; 50502 - Water connector housing; 50503 - Rotating shaft; 50504 - Front cover; 50505 - Drive rod; 601-Rotary table; 602-Rotary reducer; 603-Height adjustment cylinder; 604-Anchoring cylinder; 605-Tilting reducer; 606-Lifting column; 607-Lifting cylinder; 608-Lifting sleeve; 609-Locking mechanism; 610-Support; 611-Height adjustment column; 901-Lifting cylinder; 902-Column; 903-Tilting seat; 904-Tilting reducer; 905-Rotary reducer; 906-Tilting arm; 907-Slewing arm; 908-Clamping cylinder; 909-Gripper; 910-Tilting angle sensor; 911-Inspection sensor; 912-Slewing angle sensor; 90301-Cylinder connector; 90302-Reducer connector; 90601-Connecting flange; 90602-Slewing arm; 90603-Slewing reducer connector; 90701-Reducer flange; 90702-Connecting pipe; 90703-Gripper body. Detailed Implementation

[0075] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0076] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0077] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0078] Example 1 like Figures 1-22 As shown, this is a control method for an engineering drilling rig with automatic control of single-manipulator drill rod loading and unloading. The drilling rig consists of a tracked chassis 1, a hydraulic system 2, an electrical control system 3, an anchoring system 4, a power head 5, an attitude adjustment device 6, a frame 7, a clamp 8, a manipulator 9, a drill rod box 10, and a sensor system. The subsystems work together to form a complete drilling rig.

[0079] The functions of each subsystem of the drilling rig are as follows: The tracked undercarriage 1 is the load-bearing component for all systems and parts of the drilling rig, enabling it to move to the designated construction position in the underground mine roadway. The hydraulic system 2 is the power source for the entire drilling rig, using an electric motor-driven hydraulic pump to provide hydraulic power to all actuators. The electrical control system 3 is the control center of the entire drilling rig, receiving and sending control commands, processing sensor data, and using programs to drive hydraulic valves and mechanisms to perform corresponding actions according to the commands, achieving automated control of the entire drilling rig. The anchoring system 4 is the stabilizing mechanism for the entire rig during drilling. Hydraulic cylinders extend upwards and downwards, respectively, to press against the roof and floor of the roadway, lifting the tracked undercarriage off the ground and providing stable support during drilling. The power head 5 is the drilling rotation power output and drill rod clamping mechanism, using an open-type chuck 501 to clamp the drill rod, enabling rotary drilling. The attitude adjustment device 6 is the actuator for adjusting the drilling height, inclination angle, and azimuth angle. The frame 7 is the supporting component for the power head 5 and the clamp 8, and also the driving component for drilling feed. It contains a feed cylinder to provide driving force for the power head's advance and retreat. The clamp 8 is the drill pipe clamping component at the borehole opening, ensuring the drill pipe does not fall out of the hole, and works with the power head 5 to connect and disconnect the drill pipes. The robotic arm 9 is the drill pipe transport component, enabling fully automated reciprocating motion of the drill pipe between the drill pipe box 10 and the frame 7. The drill pipe box 10 is an onboard drill pipe storage device located on the drilling rig body for storing drill pipes ready for use. The sensor system provides angle feedback and drill pipe quantity data support for the automated control of the entire drilling rig.

[0080] In the overall layout of the drilling rig, the drill rod box 10 is located on the side of the drilling rig body near the main body and is used to store drill rods. The power head 5 and the clamp 8 are located on the frame 7, and the power head 5 and the clamp 8 form a drill rod receiving and unloading axis. The drill rod box 10 and the frame 7 are arranged opposite each other. The frame 7 is set on the support 610 of the attitude adjustment device 6. The support 610 is connected to one end of the drilling rig body, forming a cantilever structure, which fixes the frame 7 to the outside of the drilling rig body. An anchoring cylinder 604 is provided at the end of the support 610 away from the drilling rig body for anchoring support, so that an unobstructed drill rod transport space is formed between the drill rod box 10 and the frame 7. A single robotic arm 9 is provided between the drill rod box 10 and the frame 7. The robotic arm 9 moves horizontally in the drill rod conveying space along the direction of approaching or moving away from the frame 7 through the translation joint set on the drill rig body. It switches between the rod picking station of the drill rod box 10 and the rod delivery station of the frame 7 to complete the entire process of gripping and conveying the drill rod.

[0081] This embodiment eliminates obstructions and barriers in the intermediate area between the drill rod box 10 and the frame 7, forming an unobstructed drill rod transport space from the drill rod box 10 to the frame 7. A single robot arm 9 can independently complete the entire process of drill rod transfer within this unobstructed space, eliminating the drill rod handover link between the main and auxiliary robot arms, and eliminating the need for secondary positioning or a dedicated transfer mechanism.

[0082] I. Attitude Adjustment Device Control Method The attitude adjustment device 6 consists of a rotary table 601, a rotary reducer 602, a height adjustment cylinder 603, an anchoring cylinder 604, an inclination reducer 605, a lifting column 606, a lifting cylinder 607, a lifting sleeve 608, a locking mechanism 609, a support 610, and a height adjustment column 611. It is a key subsystem for the drilling rig to achieve multi-angle and multi-height drilling operations.

[0083] The rotary table 601 is rotatably mounted on the drilling rig body via a rotary reducer 602. The rotary reducer 602 is the rotary drive element of the rotary table 601, driving the rotary table 601 to rotate in the horizontal plane, thereby adjusting the azimuth angle of the frame 7 and enabling the drilling rig to cover construction points in different directions of the roadway. A guide sleeve is provided at the front end of the rotary table 601 to guide the vertical sliding of the height adjustment column 611.

[0084] The support 610 has a J-shaped frame structure and is the core load-bearing component connecting the frame and the drilling rig body. Its structural design directly affects the load-bearing stability of the entire drilling rig. One end of the support 610 is equipped with a tilt reducer 605. The two sides of the tilt reducer 605 are connected to the lifting sleeve 608 and the frame 7, which is equipped with the power head 5, respectively, through flanges. The tilt reducer 605 is both a connector between the frame and the attitude adjustment device and a driving element for adjusting the frame tilt angle. The other end of the support 610 is located below the rotary table 601. The bottom end of the height adjustment column 611 is fixedly connected to the support 610. The main body of the height adjustment column 611 slides through the guide sleeve at the front end of the rotary table 601, so that the support 610 is vertically slidably connected to the rotary table 601 through the height adjustment column 611.

[0085] The height adjustment cylinder 603 is located between the rotary table 601 and the support 610. It is used to drive the support 610 to move downward relative to the rotary table 601, thereby achieving height adjustment below the reference plane and enabling the drilling rig to adapt to low-position drilling conditions.

[0086] A locking mechanism 609 is located between the rotary table 601 and the support 610. The locking mechanism 609 is a hydraulic cylinder or a lead screw, with its two ends hinged to the rotary table 601 and the support 610, respectively. When the height of the support 610 is adjusted to the correct position, the locking mechanism 609 locks in place, forming a triangular fixed structure with the rotary table 601 and the support 610. This enhances the load-bearing stability and structural rigidity of the support 610 during operation, ensuring the stability and reliability of the drilling rig throughout the drilling process.

[0087] The lifting column 606 is mounted on the support 610, serving as a guide rail for the vertical movement of the lifting sleeve 608. The lifting column 606 is a hollow cylindrical structure with a hydraulic cylinder inside its cavity for anchoring the tunnel roof and providing top support. Together with the bottom anchoring cylinder, it forms a dual anchoring system for the entire drilling rig. The lifting sleeve 608 is a cavity structure formed by plate enclosure, with the lifting cylinder 607 housed within its cavity. Sliding guide sleeves are located on both sides of the outer cavity of the lifting sleeve 608, each sleeve fitting around the outside of the lifting column 606 to maintain guiding accuracy as the lifting sleeve 608 slides up and down along the column. A flange for mounting the tilt reducer 605 is located on the side of the lifting sleeve 608 facing the drilling rig body. The lifting cylinder 607 drives the lifting sleeve 608 to move upwards along the lifting column 606, achieving height adjustment above the reference plane.

[0088] Anchoring cylinders 604 are fixedly installed on both sides of the support 610 at the end away from the rotary table 601. The piston rod of the anchoring cylinder 604 can extend downward, and a base plate is installed at the lower end of the piston rod. The base plate presses against the ground, providing bottom support force during drilling operations. The bottom anchoring cylinder 604, combined with the built-in hydraulic cylinder of the top lifting column 606, forms a double anchoring scheme, providing comprehensive support for the entire drilling rig during drilling.

[0089] The specific execution process of the attitude control procedure is as follows: Step A1, Azimuth Angle Adjustment: The electrical control system 3 drives the rotary reducer 602 to rotate the rotary table 601 in the horizontal plane, adjusting the azimuth angle of the frame 7. The azimuth angle adjustment range is from 0 degrees to 360 degrees, so that the frame can be accurately aligned with any construction point on the left side, right side, and front end of the roadway, achieving full-section fan-shaped borehole coverage.

[0090] Step A2, Height Adjustment: Assume the reference height position is when the lifting cylinder 607 and the height adjustment cylinder 603 are fully retracted. The electronic control system 3 selects the driving mode based on the target opening height relative to the reference surface: if the target height is higher than the reference surface, the piston rod of the lifting cylinder 607 is extended to increase the opening height; if the target height is lower than the reference surface, the piston rod of the height adjustment cylinder 603 is extended to decrease the opening height. Displacement sensors are installed inside the height adjustment cylinder 603 and outside the lifting cylinder 607 to record the cylinder extension and retraction amounts, respectively. The two parts are combined to comprehensively measure the real-time opening height of the frame.

[0091] Step A3, tilt angle adjustment: The electronic control system 3 drives the tilt reducer 605 to rotate the frame 7 in the vertical plane, adjusting the tilt angle of the frame 7, which is measured by the tilt sensor installed on the tilt reducer 605.

[0092] Step A4, locking and positioning: After the height is adjusted to the correct position, the electronic control system 3 controls the locking mechanism 609 to lock and position. The locking mechanism 609, the rotary table 601, and the support 610 form a triangular fixed structure, which enhances the load-bearing stability and structural rigidity of the support 610 in the working state.

[0093] Anchoring steps: After the attitude control process is completed, the electrical control system 3 controls the piston rod of the anchoring cylinder 604 to extend downward, and the bottom plate at the lower end of the piston rod presses against the ground to provide bottom support force; at the same time, it controls the hydraulic cylinder built into the lifting column 606 to extend upward and abut against the top of the tunnel to provide top support force. After completing the double anchoring, the rod installation process is then executed.

[0094] The attitude adjustment control process is executed before the rod installation process and is not repeated during the continuous drilling of multiple drill rods until the drilling direction needs to be adjusted. Through the coordinated adjustment of the azimuth, inclination, and height of the attitude adjustment device, the frame can be precisely aligned with any construction point on the left, right, or front side of the roadway, achieving full-section fan-shaped borehole coverage. This allows for full-section, full-area drilling operations in the roadway without frequent adjustments to the machine's position.

[0095] II. Robotic Arm Control Methods The robotic arm 9 is a four-joint serial robotic arm, which includes a lifting joint, a flipping joint, a rotating joint and a gripper joint connected in series. The joints are connected in series to form a single robotic arm full-process operation mechanism, which can independently complete all actions of gripping, lifting, flipping, rotating and releasing the drill rod from the drill rod box 10 to the frame 7. It is the core actuator for realizing the automated loading and unloading of drill rods in the drilling rig.

[0096] The lifting joint consists of a lifting cylinder 901 and a column 902. The lifting cylinder 901 is installed vertically inside the column 902, and the piston rod end of the lifting cylinder 901 passes upward through the top of the column 902 and is fixedly connected to the tilting seat 903 of the upper tilting joint. The lifting cylinder 901 drives the tilting seat 903 and the tilting joint, rotary joint, and gripper joint connected above it to move up and down through the extension and retraction of the piston rod, thereby adjusting the position of the robot in the vertical direction. A connecting block is provided on one side of the column 902, which is used to connect with the translation joint fixed on the drilling rig body. The translation joint is fixed on the drilling rig body and located in the unobstructed drill rod conveying space between the drill rod box 10 and the frame 7. It is driven by a hydraulic motor or drive motor and transmitted through a gear rack mechanism or ball screw mechanism to realize the horizontal translation movement of the robot in the direction of approaching or moving away from the frame 7.

[0097] The tilting joint consists of a tilting base 903, a tilting reducer 904, and a tilting arm 906. The tilting base 903 comprises two interconnected parts: a cylinder connecting base 90301 and a reducer connecting base 90302. The piston rod of the lifting cylinder 901 is fixedly connected to the cylinder connecting base 90301 via a pin or screw, transmitting the lifting motion of the lifting cylinder 901 to the tilting base 903. The tilting reducer 904 is fixedly mounted on one side of the reducer connecting base 90302, and a tilting angle sensor 910 is mounted on the opposite side of the reducer connecting base 90302. The output end of the tilting reducer 904 is connected to one end of the tilting arm 906, driving the tilting arm 906 to rotate about a direction perpendicular to the axis of the lifting cylinder 901. The rotational motion of the tilting arm 906 causes the rotary joint and gripper joint mounted on it to tilt together, realizing the attitude conversion of the drill pipe between different directions.

[0098] The tilting arm 906 includes a connecting flange 90601, a swing arm 90602, and a rotary reducer connecting seat 90603. The connecting flange 90601 is located at the end of the tilting arm 906 near the tilting seat 903 and is fixedly connected to the output end of the tilting reducer 904 by screws, transmitting the output torque of the tilting reducer 904 to the tilting arm 906. The swing arm 90602 has a hollow cylindrical structure, reducing the weight of the tilting arm 906 while maintaining structural strength. The swing arm 90602 connects the connecting flange 90601 and the rotary reducer connecting seat 90603, forming the main structure of the tilting arm 906. The rotary reducer connecting seat 90603 is located at the other end of the tilting arm 906 away from the tilting seat 903. The rotary reducer 905 is fixedly installed on one side of the rotary reducer connecting seat 90603, and a rotation angle sensor 912 is installed on the opposite side of the rotary reducer connecting seat 90603.

[0099] The rotary joint consists of a rotary reducer 905 and a rotary arm 907. The rotary reducer 905 is fixedly mounted on one side of the rotary reducer connecting seat 90603 of the tilting arm 906. The output end of the rotary reducer 905 is connected to the rotary arm 907, driving the rotary arm 907 to rotate about a direction perpendicular to the axis of the tilting arm 906. The rotation of the rotary arm 907 enables the adjustment of the angle of the gripper and the gripped drill rod in the horizontal plane, allowing the robot to accurately deliver the drill rod to the axial position of the power head.

[0100] The slewing arm 907 includes a reducer flange 90701, a connecting pipe 90702, and a gripper body 90703. The reducer flange 90701 is located at one end of the slewing arm 907 near the slewing reducer 905, and is fixedly connected to the output end of the slewing reducer 905 by screws, transmitting the output torque of the slewing reducer 905 to the slewing arm 907. The connecting pipe 90702 is a hollow cylindrical structure, connecting the reducer flange 90701 and the gripper body 90703, forming the main structure of the slewing arm 907. The gripper body 90703 is located at the end of the slewing arm 907 and is used to mount the clamping cylinder 908 and the gripper 909.

[0101] The chuck joint consists of a clamping cylinder 908 and a chuck 909, and is installed in the chuck body 90703 at the end of the rotary arm 907. The clamping cylinder 908 drives the chuck 909 to open and close, thereby clamping or releasing the drill pipe. When the chuck 909 is open, it allows the drill pipe to enter or leave the clamping area; when the chuck 909 is closed, it reliably clamps the drill pipe, ensuring the stability of the drill pipe's position during transport.

[0102] The robotic arm sensor system includes a tilt angle sensor 910, a patrol sensor 911, and a rotation angle sensor 912, providing crucial data support for the automated control of the entire drilling rig. The tilt angle sensor 910 is fixedly mounted on the reducer connecting seat 90302 of the tilting base 903, opposite to the tilting reducer 904. Its detection shaft is connected to the tilting arm 906 via a coupling, used to detect the rotation angle of the tilting arm 906 in real time. A rotary encoder is preferred for the tilt angle sensor 910. The rotation angle sensor 912 is fixedly mounted on the rotary reducer connecting seat 90603 of the tilting arm 906, opposite to the rotary reducer 905, used to detect the rotation angle of the rotary arm 907 in real time. A rotary encoder is preferred for the rotation angle sensor 912. The detection data from the tilt angle sensor 910 and the rotation angle sensor 912 provide angular feedback signals for the precise position control of each joint of the robotic arm, realizing closed-loop control of the robotic arm's movement.

[0103] The inspection sensor 911 is fixedly installed at an appropriate position on the tilting arm 906 or the tilting base 903. The inspection sensor 911 is preferably a non-contact distance sensor such as a laser distance sensor or an ultrasonic sensor. The inspection sensor 911 is connected to the communication module via a mining cable and uploads sensor data to the controller of the electrical control system 3 via a bus. The inspection sensor 911 is used to scan over the drill rod box 10 during the robot's translation, detecting the distance from the top of each row of drill rods in the drill rod box 10 to the sensor, in order to count the number of drill rods in each row and the total number of drill rods, providing data for the overall drill rod management and operation scheduling of the drilling rig.

[0104] III. Power Head Control Method The power head 5 is the core actuator of the drilling rig. It consists of an open chuck 501, a gearbox 502, a slider 503, a motor 504, a water supply device 505, a chuck positioning sensor 506, etc., and integrates the functions of drill pipe clamping, rotary power output, drill pipe radial loading and unloading, and flushing water delivery.

[0105] The open-type chuck 501 is a hydraulic counter-thrust structure, consisting of a chuck housing 50101, a connecting plate 50102, an angle plate 50103, a stop block 50104, a chuck front cover 50105, a slip 50106, a cylinder 50107, a spring assembly 50108, and a drive plate 50109.

[0106] The chuck housing 50101 serves as the main support for mounting all chuck components. It is a hollow, irregularly shaped shell structure with a central through-hole for the passage of drill rods and the water guide 505. The sidewalls of the chuck housing 50101 have circumferentially V-shaped openings that penetrate the wall, allowing the drill rods to be inserted or removed radially. The V-shaped openings extend inward from the outer wall of the chuck housing to the central through-hole, with the outer width greater than the width at the junction of the inner side and the through-hole. The top of the housing is provided with a stop block mounting groove 50101b for axial positioning and screw installation of the stop block 50104; the left end face is provided with a recessed groove 50101a for connection with the transmission output main shaft 50204, and the bottom surface of the recessed groove 50101a is provided with a pin hole for main shaft connection and a clamping oil passage hole; the right end is provided with an end cover mounting stepped hole 50101c for installing the chuck front end cover 50105; the housing is separated by a V-shaped opening and symmetrically provided with a slip guide groove 50101d and a cylinder guide hole 50101e for installation and movement guidance of the slip 50106 and the cylinder 50107, respectively; the bottom is provided with a slag leakage hole to prevent the coal slag generated during drilling from accumulating in the chuck.

[0107] The connecting plate 50102 is a connecting part between the open-type chuck 501 and the transmission output main shaft 50204. It is provided with a set of through holes to realize the fixed connection between the connecting plate 50102 and the chuck housing 50101. It is provided with internal threads to connect with the external threads 50204c of the transmission output main shaft 50204, so that the open-type chuck 501 is completely fitted on the transmission output main shaft 50204 and rotates with the main shaft.

[0108] Angle plate 50103 is an arc-shaped plate that is installed on the rear end face of chuck housing 50101 and paired with chuck positioning sensor 506 installed at the front end of gearbox 502. Angle plate 50103 and V-shaped opening of open chuck 501 are arranged at a fixed angle. When the sensor signal is turned on, it indicates that the V-shaped opening of open chuck 501 is in a position suitable for loading drill rod from robot arm 9.

[0109] The stop block 50104 is a long strip-shaped part with an approximately trapezoidal cross section, which is fixed in the stop block mounting groove 50101b of the chuck housing 50101 by screws.

[0110] The chuck front cover 50105 is installed in the end cover mounting stepped hole 50101c of the chuck housing 50101 by screws, so as to achieve axial positioning of the slip 50106.

[0111] The slip 50106 has an arc surface on its right side that matches the outer diameter of the drill pipe, and several force-enhancing teeth to increase the friction for clamping the drill pipe. The upper and lower sides have grooves that connect to the protrusions of the drive disc 50109, which drives the slip 50106 to reciprocate radially along the chuck.

[0112] The cylinder 50107 is a cylindrical structure with a flange at one end. A through hole is provided on the left flange, and the cylinder 50107 is fixed to the chuck housing 50101 with screws. The cylinder 50107 is embedded in the cylinder guide hole 50101e of the chuck housing 50101. The inner hole of the cylinder 50107 mates with the outer wall of the drive disc 50109, providing guidance for the movement of the drive disc 50109. Notches are provided on both sides of the cylinder 50107 wall for the passage of the slips 50106.

[0113] The spring assembly 50108 is installed in the spring hole of the drive disc 50109, and its exposed end face mates with the bottom surface of the cylinder guide hole 50101e of the chuck housing 50101. The slip 50106 is in a normally open state under the action of the spring assembly 50108.

[0114] The drive disc 50109 is cylindrical in shape. The right end has a slot for the slip 50106 to pass through. The upper and lower sides of the slot have protrusions that engage with the slots of the slip 50106 to achieve radial positioning of the slip 50106 along the chuck. A spring hole is located on the right end face. An oil chamber is located on the left end to store pressurized oil entering from the clamping oil passage of the chuck housing 50101, thereby driving the slip 50106 to clamp the drill rod.

[0115] The clamping and releasing control method of the open-type chuck 501 is as follows: During clamping, the electronic control system 3 controls hydraulic oil to enter the oil chamber between the cylinder 50107 and the drive plate 50109 through the clamping oil passage on the chuck housing 50101, pushing the drive plate 50109 and the slips 50106 towards the center of the chuck, thereby clamping the drill rod in the chuck. During releasing, the electronic control system 3 stops supplying pressurized oil, and the drive plate 50109 moves away from the center of the chuck under the action of the spring assembly 50108, thereby releasing the drill rod.

[0116] Precise control of the chuck opening is achieved by a signaling unit consisting of a chuck positioning sensor 506 and an angle disk 50103. The chuck positioning sensor 506 is fixed to the power head 5, and the angle disk 50103 is mounted on the chuck housing 50101, arranged at a fixed angle to the V-shaped opening of the open-type chuck 501. When the open-type chuck 501 rotates, the angle disk 50103 rotates synchronously. When the angle disk 50103 passes the chuck positioning sensor 506, the sensor generates an opening position signal. During the automatic drill pipe loading and unloading process, the electrical control system 3, upon receiving this signal, controls the open-type chuck 501 to stop rotating, ensuring that the V-shaped opening of the open-type chuck 501 precisely faces the robot arm 9. The chuck positioning sensor 506 is preferably a Hall sensor, laser sensor, or other distance or position sensor.

[0117] The transmission 502 is generally a single-stage or multi-stage gearbox, including an oil supply sleeve 50201, a housing 50202, a gear train 50203, and a transmission output shaft 50204. The oil supply sleeve 50201 is the oil supply device for the open-type chuck 501. Hydraulic oil enters the open-type chuck 501 through oil passages set on the oil supply sleeve 50201 and the transmission output shaft 50204, achieving clamping. The housing 50202 is the mounting and support component for the gear train 50203 and related parts. The gear train 50203, through different tooth configurations, achieves changes in speed and torque from the motor 504 to the transmission output shaft 50204.

[0118] The transmission output spindle 50204 is the power output shaft of the transmission 502. The left end of the transmission output spindle 50204 has a hexagonal hole 50204a, which provides circumferential positioning for the water guide 505, allowing the water guide 505 to rotate with the transmission output spindle 50204; the through hole 50204b is a channel through which the water guide 505 as a whole or the drill rod passes; the outer side of the right end is the spindle external thread 50204c, which mates with the internal thread of the connecting plate 50102 to fix the open chuck 501 on the transmission output spindle 50204.

[0119] The slider 503 consists of a frame 50301 and a drive cylinder 50302. Two symmetrically arranged sliding brackets 50301b at the front end of the frame 50301 are slidably connected to the rear end of the housing 50202 of the transmission 502. At least one sliding bracket 50301b has an identification groove 50301c on its lower or side surface, which pairs with a sliding positioning sensor mounted on the transmission 502. The sliding positioning sensor is preferably a Hall effect sensor or a laser sensor. When the sensor signal is disconnected, it indicates that the slider 503 is in the position to deliver the water pipe 505 into place. A through hole 50301d is located in the middle of the rear end of the frame 50301 to facilitate the installation of the water pipe 505. A pin hole 50301a extends through the through hole 50301d for inserting a pin or screw for axial positioning of the water pipe 505. The piston rod of the drive cylinder 50302 is fixed to the rear end of the transmission 502, and the cylinder barrel is fixedly connected to the frame 50301. The piston rod of the drive cylinder 50302 extends out of the drive frame 50301 and moves toward the rear end of the transmission 502. The piston rod retracts into the drive frame 50301 and moves forward.

[0120] Motor 504 is generally a variable hydraulic motor, which is the power element for rotating the power head 5. Its output power is transmitted to the open chuck 501 through the gearbox 502, and then the open chuck 501 drives the drill rod to rotate.

[0121] The water-passing device 505 consists of a water-passing connector 50501, a water-passing device housing 50502, a rotating shaft 50503, a front end cover 50504, and an active rod 50505. The front end of the water-passing connector 50501 is threaded to the rotating shaft 50503, and the rear end has a water-passing hole for connecting to an external water pipe. The outer surface of the water-passing device housing 50502 is hexagonal. The rotating shaft 50503 is supported by bearings and installed inside the water-passing device housing 50502. A sealing ring at the rear end achieves a rotary seal to isolate contaminants such as coal slag. The front end is pressed by the front end cover 50504, simultaneously achieving axial limiting and sealing. The rear end of the active rod 50505 is threaded to the front end cover 50504. A sealing ring is added to the threaded front end to enhance the water sealing effect. The outer surface of the front end of the active rod 50505 has a certain taper, which cooperates with the sealing ring at the root of the internal thread at the rear end of the open-type chuck 501 to form a conical seal.

[0122] The water guide 505 employs a multi-stage sealing structure, specifically including: a rotary sealing ring between the rear end of the rotating shaft 50503 and the water guide housing 50502, used to achieve rotary sealing and isolate external contaminants; a sealing ring at the threaded connection between the water connector 50501 and the rotating shaft 50503; an end-face sealing structure between the front cover 50504 and the water guide housing 50502; a threaded front sealing ring between the front cover 50504 and the drive rod 50505; and a conical seal between the tapered surface of the front end of the drive rod 50505 and the drill pipe sealing ring. These multi-stage sealing structures together constitute a complete sealing and protection system, effectively isolating contaminants such as coal slag and ensuring long-term sealing reliability under harsh environments of high-pressure flushing water and dust.

[0123] The water inlet connector 50501, the rotating shaft 50503, and the drive rod 50505 are connected in series, and each has a connected water channel inside. During operation, high-pressure flushing water enters the water inlet at the rear end of the water inlet connector 50501 through an external water pipe, flows through the internal channels of the water inlet connector 50501, the rotating shaft 50503, and the drive rod 50505 in sequence, and is finally output from the front end of the drive rod 50505 to the center hole inside the drill pipe, reaching the bottom of the hole to achieve the flushing and slag removal function during drilling.

[0124] IV. Drill Pipe Box Self-Inspection Control Method During system initialization, the drill rod box 10 is empty. The inspection sensor 911 collects the distance data D0 from the sensor to the bottom of the empty box as a reference distance and stores it in the internal register of the controller of the electronic control system 3. After the drill rods are loaded into the drill rod box, the robot arm 9 drives the inspection sensor 911 to move along a direction perpendicular to the drill rod axis to scan the top of each column of drill rods at a set period. The precise position of the current column of drill rods is determined based on the minimum value point of the distance data in the trajectory. During real-time detection, the inspection sensor 911 measures the real-time distance D from the top of the a-th column of drill rods in the drill rod box 10 to the sensor. The theoretical number of drill rods in the a-th column is then:

[0125] Where d is the diameter of a single drill pipe, and Round is the rounding function; for N a Rounding up yields the actual number of drill rods in column a, allowing for the statistical analysis of all drill rods in drill rod box 10. This provides data for scheduling drill rod loading and unloading operations and managing drill rod inventory for the entire drilling rig.

[0126] V. Control Methods for Pole Mounting Process Initial state: The drill rod box 10 contains a certain number of drill rods; the number of drill rods in the drill rod box 10 has been counted by the inspection sensor 911; the robot arm 9 is in the initial rod picking position, located in the unobstructed drill rod conveying space on the drilling rig body, the gripper 909 is released and facing the drill rod box 10, and the clamping axis is parallel to the drill rods in the drill rod box 10; the opening height, inclination angle and azimuth angle of the frame 7 have been adjusted to the correct position through the attitude control process, the locking mechanism 609 has been locked, and the anchoring has been completed; the chuck positioning sensor 506 and the angle plate 50103 have cooperated to control the open chuck 501 to rotate to the direction of the V-shaped opening facing the robot arm 9 and stop; the open chuck 501 and the gripper 8 are both released.

[0127] Step B1, Column Height Adjustment: The electronic control system 3 drives the translation joint to move the robotic arm 9 horizontally within the unobstructed drill rod transport space, aligning it above the designated column of the drill rod box 10. The lifting cylinder 901 drives the gripper 909 to adjust to a suitable height for grasping the designated drill rod.

[0128] Step B2, gripper lifting: The electrical control system 3 drives the gripper 909 to clamp the drill pipe, and the lifting cylinder 901 drives the tilting seat 903 and its connected tilting joint, rotary joint and gripper joint to lift the whole to a height that does not interfere with the drill pipe box 10 and the drill pipe in it.

[0129] Step B3, Translation and Conveying: The electrical control system 3 drives the translation joint, which is driven by a hydraulic motor or drive motor and transmitted through a gear and rack mechanism or ball screw mechanism. This allows the robot arm 9 to move horizontally to the rod delivery position within the unobstructed drill rod conveying space, along the direction closest to the frame 7. Throughout the translation process, the drill rod conveying path is unobstructed and does not require crossing any anchoring structures.

[0130] Step B4, posture adjustment: The electric control system 3 drives the lifting cylinder 901 to adjust the gripper 909 to a suitable height for conveying the drill rod to the frame 7, drives the tilting reducer 904 to rotate the tilting arm 906 so that the gripper 909 faces the frame 7, and drives the rotary reducer 905 to rotate the rotary arm 907 so that the drill rod axis is aligned with the drill rod unloading axis on the frame 7.

[0131] Opening positioning steps: The chuck positioning sensor 506 and the angle disk 50103 work together to control the opening chuck 501 to stop rotating, so that the V-shaped opening is precisely facing the direction of the robot arm 9.

[0132] Step B5, Drill Rod Feeding: The electronic control system 3 drives the translation joint to move the robot arm 9 towards the frame 7, radially feeding the drill rod into the chuck from the V-shaped opening side of the open-type chuck 501. After the drill rod is fed in, the electronic control system 3 controls hydraulic oil to enter the oil chamber formed between the cylinder 50107 and the drive plate 50109 through the clamping oil hole on the chuck housing 50101, pushing the drive plate 50109 to move the slip 50106 radially towards the center of the through hole to clamp the drill rod. After the slip 50106 clamps, the robot arm 9 releases the gripper 909 and moves back out.

[0133] Water guide assembly steps: After the feed rod is inserted into the plate, the electronic control system 3 controls the piston rod of the drive cylinder 50302 of the slider 503 to retract. The frame 50301 drives the water guide 505 forward to the working position. The drive rod 50505 passes through the open chuck 501 and assembles with the drill pipe. The taper at the front end of the drive rod 50505 forms a conical seal with the sealing ring at the rear end of the drill pipe. Flushing water is delivered to the inside of the drill pipe through the water connector 50501, the rotating shaft 50503, and the water channel connecting the drive rod 50505. During the water guide assembly process, the electronic control system 3 detects the position status of the slider 503 through the identification slot 50301c in conjunction with the sliding positioning sensor. When the sliding positioning sensor signal is disconnected, it indicates that the slider 503 is in the state of delivering the water guide 505 to the working position.

[0134] Step B6, Drilling Engagement: The electrical control system 3 controls the power head 5 to rotate the drill rod forward, completing the threaded engagement with the drill rod held by the chuck 8. The chuck 8 releases, and the power head 5 drives all the drill rods to begin drilling.

[0135] Robotic arm retraction steps: After the engagement drilling, the electronic control system 3 controls the robotic arm 9 to move in the opposite direction and exit the range of motion of the power head 5, returning to the initial state to wait for the next loading and unloading command.

[0136] VI. Control Methods for Unloading the Rod Initial state: There is enough space in the drill rod box 10 to accommodate the retrieved drill rods; the number of drill rods in the drill rod box 10 has been counted by the inspection sensor 911; the robot arm 9 is in the initial position for picking up the rods; the gripper 8 clamps the drill rods; the chuck positioning sensor 506 and the angle plate 50103 work together to control the open chuck 501 to rotate to the V-shaped opening facing the robot arm 9 and then stop.

[0137] Step C1, Unlocking: The electrical control system 3 controls the power head 5 to drive the drill rod held in the open chuck 501 to rotate in the opposite direction, completely loosening the thread between the drill rod held by the chuck 8 and the power head 5 to retract to the front end of the frame 7, so that the unlocked end of the drill rod is removed from the drill rod in the chuck 8.

[0138] Water pipe retraction procedure: After unhooking, the electronic control system 3 controls the piston rod of the drive cylinder 50302 of the slider 503 to extend, and the frame 50301 drives the water pipe 505 to pull back, and the drive rod 50505 exits the area of ​​the open chuck 501. The position status of the slider 503 is detected by the identification slot 50301c in conjunction with the sliding positioning sensor.

[0139] Step C2, Drill Rod Retrieval: The electronic control system 3 drives the translation joint to move the robot arm 9 towards the frame 7 to the drill rod delivery position. It drives the lifting cylinder 901 to adjust the gripper 909 to a suitable height for clamping the drill rod from the V-shaped opening on the side of the open-type chuck 501. The system then drives the tilting reducer 904 to rotate the tilting arm 906 so that the gripper 909 faces the frame 7. Finally, the system drives the rotary reducer 905 to rotate the rotary arm 907 so that the gripping axis of the gripper 909 is aligned with the drill rod unloading axis of the frame 7. After the gripper 909 clamps the drill rod from the V-shaped opening of the open-type chuck 501, the electronic control system 3 stops supplying pressurized oil to the open-type chuck 501. The slip 50106 moves outward under the action of the spring assembly 50108 to release the drill rod. The robot arm 9 removes the drill rod radially from the side of the open-type chuck 501, and the gripper 909 moves backward while clamping the drill rod to retract.

[0140] Step C3, posture recovery: The electronic control system 3 drives the rotary reducer 905 to rotate the rotary arm 907 in the opposite direction to the initial angle, drives the tilt reducer 904 to rotate the tilt arm 906 in the opposite direction until the chuck 909 faces the drill pipe box 10, drives the lifting cylinder 901 to lower the chuck 909 to a suitable height for putting back the drill pipe, so that the chuck 909 faces the drill pipe box 10 and the drill pipe held is parallel to the drill pipe axis inside the drill pipe box 10.

[0141] Step C4, Returning and Placing the Drill Rod: The electronic control system 3 drives the translation joint to continuously retract the robot arm 9 within the unobstructed drill rod transport space to the designated column suitable for placing the drill rod. The lifting cylinder 901 adjusts the gripper 909 to the appropriate height for placing the drill rod, and the clamping cylinder 908 releases the gripper 909, placing the drill rod back into the drill rod box 10. The robot arm 9 returns to its initial state, awaiting the next round of rod loading or unloading procedures.

[0142] VII. Continuous Drilling Control When multiple drill rods need to be drilled continuously, the electrical control system 3 cyclically executes the rod loading and drilling operation process. After each cycle, the remaining drill rod quantity data in the drill rod box 10 is updated through the inspection sensor 911. The continuous drilling process ends when the number of drill rods in the drill rod box 10 is zero. During continuous drilling, the attitude adjustment control process is not repeatedly executed until the drilling direction needs to be adjusted, at which point the attitude adjustment control process is re-executed.

[0143] This drilling rig adopts a single-manipulator four-joint tandem structure. Through the coordinated operation of the attitude adjustment control process, the rod loading process, and the rod unloading process, a single manipulator 9 independently completes the entire process of transferring the drill rod from the drill rod box 10 to the power head 5. At the control level, the electrical control system 3 uniformly coordinates the azimuth angle, tilt angle, and height three-degree-of-freedom adjustment of the attitude adjustment device, the action sequence of the four joints of the manipulator, the opening positioning of the open chuck, the docking and retraction of the water guide, and the drill rod quantity detection by the inspection sensor. This achieves fully automated control of the entire process from attitude adjustment and positioning to drill rod loading and unloading and then to drilling execution. It eliminates the drill rod handover link and transfer mechanism of the main and auxiliary manipulators in the dual-manipulator scheme, significantly shortens the drill rod transmission path and non-drilling auxiliary time, simplifies the number of drive mechanisms and installation space requirements of the entire drilling rig, simplifies the automated control process, improves the efficiency and stability of automatic drill rod loading and unloading, and enhances the adaptability of the entire drilling rig in low and narrow underground roadways of coal mines.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control method for an automated engineering drilling rig with a single robotic arm for loading and unloading drill rods, characterized in that, The drilling rig includes a rig body, a hydraulic system, an electrical control system, an anchoring system, an attitude adjustment device, a power head, a frame, a clamp, a robotic arm, a drill rod box, and a sensor system. The rig body serves as the load-bearing component for all systems and parts of the drilling rig, enabling the rig to move. The hydraulic system provides hydraulic power to all the actuators of the drilling rig. The electrical control system is the control center of the drilling rig, receiving and sending control commands and processing sensor data. The anchoring system extends upwards and downwards during drilling to abut against the top and bottom of the tunnel, respectively, to stabilize the rig. The drill rod box is mounted on the rig body and is used to store drill rods. The power head and clamp are mounted on the frame, with a drill rod connection / disconnection axis formed between the power head and the clamp. The drill pipe box is arranged opposite to the frame, the frame is mounted on a support, and the support is connected to one end of the drilling rig body to form a cantilever structure. The frame is fixed to the outside of the drilling rig body and is located on the side of the support facing the drill pipe box. An anchoring cylinder is provided at the end of the support away from the drilling rig body for anchoring support, so that an unobstructed drill pipe transport space is formed between the drill pipe box and the frame. The power head includes a gearbox and an open chuck connected to the output end of the gearbox. The open chuck includes a chuck housing, which is a hollow structure with a through hole in the middle for the drill rod to pass through. The side wall has an opening that penetrates the wall in the circumferential direction for the drill rod to be loaded or unloaded radially. The chuck housing has at least one slip, which moves radially along the chuck housing to clamp or release the drill rod. A robotic arm is installed in the drill pipe conveying space. The robotic arm is a four-joint series robotic arm, which includes a lifting joint, a tilting joint, a rotating joint and a gripper joint connected in series. It can horizontally switch between the drill pipe box rod picking station and the frame rod conveying station by translation joint. The sensor system includes an angle sensor mounted on the robotic arm and an inspection sensor for detecting the number of drill rods in the drill rod box. The attitude adjustment device includes a rotary table, a rotary reducer, a tilt reducer, a height adjustment cylinder, a lifting cylinder, a lifting column, a lifting sleeve, and a locking mechanism. The rotary table is rotatably mounted on the drilling rig body via the rotary reducer, and is used to drive the frame to rotate in the horizontal plane to adjust the azimuth angle. The support is located below the rotary table, and one end of the support is vertically slidably connected to the rotary table via the height adjustment column. The height adjustment cylinder is located between the rotary table and the support, and is used to drive the support to move downward relative to the rotary table to achieve height adjustment below the reference plane. The lifting column is mounted on the support, and the lifting sleeve is fitted on the outside of the lifting column and slides up and down along the lifting column. The lifting cylinder is located inside the lifting sleeve, and is used to drive the lifting sleeve to move upward to achieve height adjustment above the reference plane. The tilt reducer is mounted on the side of the lifting sleeve facing the drilling rig body, and the other side of the tilt reducer is connected to the frame, and is used to drive the frame to rotate in the vertical plane to adjust the tilt angle. The locking mechanism is located between the rotary table and the support, and is used to lock and position the device after the height adjustment is completed. The control method includes an attitude control process, a pole loading process, and a pole unloading process. The attitude control process is as follows: A1. Azimuth angle adjustment: The electronic control system drives the rotary reducer to rotate the rotary table in the horizontal plane, thereby adjusting the azimuth angle of the frame; A2. Height Adjustment: The electronic control system drives the lifting cylinder to adjust the height above the reference surface based on the position of the target opening height relative to the reference surface, or drives the height adjustment cylinder to adjust the height below the reference surface. A3. Tilt Angle Adjustment: The electronic control system drives the tilt angle reducer to rotate the frame in the vertical plane, thereby adjusting the tilt angle of the frame; A4. Locking and positioning: After the height is adjusted to the correct position, the electronic control system controls the locking mechanism to lock, forming a triangular fixed structure with the rotary table and support; The rod installation process is as follows: B1. Selecting and adjusting the height of the selected column: The electronic control system drives the translation joint to move the robot arm horizontally within the unobstructed drill rod conveying space to the top of the designated column of the drill rod box, and drives the lifting joint to adjust the gripper to a suitable height for grasping the designated drill rod. B2. Grab rod lifting: The electronic control system drives the gripper to clamp the drill rod and drives the lifting joint to lift the robot arm to a height that does not interfere with the drill rod box and the drill rod inside. B3. Translational Conveying: The electrical control system drives the translational joint to move the robot arm in the direction of the frame to the rod delivery station within the unobstructed drill rod conveying space; B4. Attitude adjustment: The electronic control system drives the tilting joint to make the gripper face the frame, and drives the rotary joint to align the drill rod axis with the drill rod unloading axis on the frame. B5. Drill rod feeding into the chuck: The electronic control system drives the translation joint to move the robot arm towards the frame, and radially feeds the drill rod into the chuck from the side of the open chuck. After the control jaws clamp the drill rod under hydraulic drive, the robot arm releases the jaws and moves backward to exit. B6. Engaging Drilling: The electrical control system controls the power head to drive the drill rod to rotate in the forward direction, and completes the thread engagement with the drill rod held by the chuck. After the chuck is released, the power head drives all the drill rods to start drilling. The unloading process is as follows: C1. Unlocking: The electrical control system controls the power head to rotate the drill rod held in the open chuck in the opposite direction, loosening it from the thread of the drill rod held by the chuck, and controlling the power head to retract to the front of the frame; C2. Rod Removal: The electric control system drives the robot arm to move to the rod delivery station, drives the chuck to clamp the drill rod from the side of the open chuck, controls the chuck to release the drill rod, and then the robot arm removes the drill rod from the chuck radially from the side and moves it out in the opposite direction. C3. Posture recovery: The electronic control system controls the robot arm to adjust by reverse flipping, rotation, and lifting joints so that the gripper faces the drill pipe box and the drill pipe held is parallel to the drill pipe axis inside the drill pipe box; C4. Returning and Placing the Drill Rod: The electronic control system drives the translation joint to move the robot arm back to the designated column in the drill rod box within the unobstructed drill rod transport space, drives the lifting joint to adjust the gripper to a suitable height for placing the drill rod back, and drives the gripper to release and place the drill rod back into the drill rod box.

2. The control method according to claim 1, characterized in that, The specific process of height adjustment in step A2 is as follows: The support is a J-shaped frame structure. One end of the support is equipped with an inclination reducer, and the other end is located below the rotary table and is vertically slidably connected to the rotary table through the height adjustment column. Displacement sensors are installed inside the height adjustment cylinder and outside the lifting cylinder to record the cylinder extension and retraction amount respectively. The two parts are combined to comprehensively measure the real-time opening height of the frame.

3. The control method according to claim 1, characterized in that, In step A1, the azimuth angle adjustment is achieved by driving the rotary table through the rotary reducer to rotate the frame in the horizontal plane, so that the frame is precisely aligned with any construction point on the left side, right side, and front end of the roadway, thus achieving full-section fan-shaped borehole coverage.

4. The control method according to claim 1, characterized in that, In step A3, the two sides of the tilt reducer are connected to the lifting sleeve and the frame respectively through flanges. The tilt reducer is both a connecting part between the frame and the attitude adjustment device and a driving element for adjusting the tilt angle of the frame. The tilt angle is measured by the tilt angle sensor installed on the tilt reducer.

5. The control method according to claim 1, characterized in that, In step A4, the locking mechanism is a hydraulic cylinder or a lead screw, with its two ends hinged to the rotary table and the support, respectively. When the height of the support is adjusted to the correct position, the locking mechanism locks and positions itself. The locking mechanism, the rotary table, and the support form a triangular fixed structure, which enhances the load-bearing stability and structural rigidity of the support in the working state.

6. The control method according to claim 1, characterized in that, It also includes the anchoring control process: the electrical control system controls the piston rod of the anchoring cylinder located at the end of the support away from the drilling rig body to extend downwards, and the base plate installed at the lower end of the piston rod presses against the ground to provide bottom support force; at the same time, it controls the hydraulic cylinder inside the lifting column to extend upwards to abut against the top of the tunnel to provide top support force. The bottom anchoring cylinder and the hydraulic cylinder inside the top lifting column form a double anchoring. After the anchoring is completed, the rod installation process is executed.

7. The control method according to claim 1, characterized in that, The attitude adjustment control process is executed before the rod installation process and is not repeated during the continuous drilling of multiple drill rods until the drilling direction needs to be adjusted, at which point the attitude adjustment control process is re-executed.

8. The control method according to claim 1, characterized in that, The lifting joint is driven by a lifting cylinder to move up and down; the tilting joint includes a tilting seat, a tilting reducer and a tilting arm, the tilting reducer is mounted on the tilting seat to drive the tilting arm to rotate; the rotary joint includes a rotary reducer and a rotary arm, the rotary reducer is mounted on the end of the tilting arm away from the tilting seat to drive the rotary arm to rotate; the gripper joint includes a clamping cylinder, the clamping cylinder drives the gripper to open and close.

9. The control method according to claim 8, characterized in that, The lifting cylinder is installed vertically inside the column. The piston rod end of the lifting cylinder passes upward through the top of the column and is fixedly connected to the tilting seat. It drives the tilting seat and its connected tilting joint, rotation joint and gripper joint to move up and down as a whole in the vertical direction. The tilting reducer drives the tilting arm to rotate about a direction perpendicular to the axis of the lifting cylinder; the slewing reducer drives the slewing arm to rotate about a direction perpendicular to the axis of the tilting arm; the clamping cylinder drives the jaws to open and close to clamp or release the drill rod.

10. The control method according to claim 8, characterized in that, The tilting seat includes a hydraulic cylinder connecting seat and a reducer connecting seat connected to each other. The hydraulic cylinder connecting seat is fixedly connected to the piston rod end of the lifting hydraulic cylinder by a pin or screw. The tilting reducer is fixedly installed on one side of the reducer connecting seat. The tilting arm includes a connecting flange, a rotating arm, and a rotary reducer connecting seat. The connecting flange is located at one end of the tilting arm near the tilting seat and is fixedly connected to the output end of the tilting reducer by screws. The rotating arm is a hollow cylindrical structure connected between the connecting flange and the rotary reducer connecting seat. The rotary reducer is fixedly installed on one side of the rotary reducer connecting seat. The slewing arm includes a reducer flange, a connecting pipe, and a gripper body. The reducer flange is located at one end of the slewing arm near the slewing reducer and is fixedly connected to the output end of the slewing reducer by screws. The connecting pipe is a hollow cylindrical structure connected between the reducer flange and the gripper body. The clamping cylinder and the gripper are installed in the gripper body.

11. The control method according to claim 8, characterized in that, The specific process of attitude adjustment in step B4 is as follows: the electric control system drives the lifting cylinder to adjust the gripper to a suitable height for conveying the drill rod to the frame, drives the tilting reducer to rotate the tilting arm so that the gripper faces the frame, and drives the slewing reducer to rotate the slewing arm so that the drill rod axis is aligned with the drill rod unloading axis on the frame.

12. The control method according to claim 8, characterized in that, The specific process of removing the drill rod in step C2 is as follows: The electrical control system drives the translation joint to move the robot arm towards the frame to the rod delivery position, drives the lifting cylinder to adjust the gripper to a suitable height for clamping the drill rod from the side opening of the open chuck, drives the tilting reducer to rotate the tilting arm so that the gripper faces the frame, drives the rotary reducer to rotate the rotary arm so that the gripper clamping axis is aligned with the drill rod unloading axis of the frame, the gripper clamps the drill rod from the side opening of the open chuck and then the slips are released, and the robot arm clamps the drill rod and moves backward to exit.

13. The control method according to claim 8, characterized in that, The specific process of attitude recovery in step C3 is as follows: the electronic control system drives the rotary reducer to rotate the rotary arm in the opposite direction to the initial angle, drives the tilt reducer to rotate the tilt arm in the opposite direction until the chuck faces the drill pipe box, and drives the lifting cylinder to lower the chuck to a height suitable for putting the drill pipe back.

14. The control method according to claim 1, characterized in that, In step B5, when the drill rod is fed into the chuck, the opening of the open-type chuck is a V-shaped opening that extends from the outer wall of the chuck housing inward to the central through hole. The outer width is greater than the width at the junction of the inner side and the through hole. The drill rod is radially fed into the chuck from the side along the guide of the V-shaped opening.

15. The control method according to claim 1, characterized in that, The open-type chuck is divided into two symmetrical sides by an opening, with a cylinder and a drive disc, and a spring assembly on the drive disc; The method of clamping the drill rod with the slips in step B5 is as follows: the electrical control system controls the hydraulic oil to enter the oil chamber formed between the cylinder and the drive plate through the clamping oil passage on the chuck housing, and pushes the drive plate to move the slips radially toward the center of the passage to clamp the drill rod; In step C2, the method for releasing the drill rod by the slips is as follows: the electrical control system stops supplying pressurized oil to the oil chamber, and the spring assembly pushes the drive disc to move the slips radially away from the center of the through hole, so that the slips are in the normally open state.

16. The control method according to claim 15, characterized in that, The cylinder is a cylindrical structure, with one end having a flange fixed to the chuck housing by screws; the cylinder is embedded in the cylinder guide hole of the chuck housing, and the inner hole of the cylinder mates with the outer wall of the drive disc to provide guidance for the radial movement of the drive disc; The slip has an arc surface on the side facing the drill pipe that matches the outer diameter of the drill pipe. Several force-enhancing teeth are provided on the arc surface to enhance the clamping friction. The slip has a groove on the side facing the drive disc. The drive disc has a slot for the slip to pass through at the end facing the slip. The slot has protrusions on both sides that match the groove of the slip. The drive disc drives the slip to move back and forth radially along the chuck.

17. The control method according to claim 1, characterized in that, The power head also includes an angle plate mounted on the chuck housing and a chuck positioning sensor fixed on the transmission. The angle plate is arranged at a fixed angle to the opening of the open chuck. Before feeding the rod into the disk in step B5, there is also an opening positioning step: when the chuck rotates, the angle disk generates an opening position signal when it passes the chuck positioning sensor. After receiving the signal, the electronic control system controls the chuck to stop rotating so that the opening faces the direction of the robot arm.

18. The control method according to claim 17, characterized in that, Before removing the drill rod in step C2, there is also an opening positioning step: after the electronic control system controls the chuck to stop rotating so that the opening faces the direction of the robot arm, the robot arm clamps the drill rod from the side of the opening.

19. The control method according to claim 17, characterized in that, In the opening positioning step, the angle disk rotates synchronously. When the angle disk passes the chuck positioning sensor, the sensor generates an opening position signal. Every time the electronic control system receives this signal, it controls the chuck to stop rotating, so that the opening is accurately facing the direction of the robot arm.

20. The control method according to claim 1, characterized in that, The power head also includes a water guide located inside the output main shaft of the transmission and a slider connected to the tail end of the water guide; the water guide includes a water guide housing, a rotating shaft and a drive rod, the water guide housing is circumferentially fixed and axially slidably connected to the output main shaft, the rotating shaft is rotatably installed inside the water guide housing, and the front end of the drive rod passes through the through hole of the open chuck for docking with the drill rod; the slider includes a frame and a drive cylinder; After the rod is fed into the disc in step B5 and before the drill string is engaged in step B6, a water guide docking step is also included: the electric control system controls the piston rod of the drive cylinder to retract, the frame moves the water guide forward to the working position, the drive rod passes through the open chuck and docks with the drill string, and the flushing water is delivered to the inside of the drill string through the water channel connecting the drive rod and the rotating shaft.

21. The control method according to claim 20, characterized in that, In the water-connecting step, the outer surface of the front end of the active rod has a taper, which forms a conical seal with the sealing ring at the rear end of the drill rod.

22. The control method according to claim 20, characterized in that, The frame is symmetrically provided with two sliding frames, which are slidably connected to the gearbox housing; at least one of the sliding frames is provided with an identification groove, which cooperates with the sliding positioning sensor installed on the housing. In the water supply docking step, the electronic control system detects the position status of the slider by using the identification slot and the sliding positioning sensor: when the sliding positioning sensor signal is disconnected, it indicates that the slider is in the state of delivering the water supply to the working position.

23. The control method according to claim 20, characterized in that, Step C1, after the shackle is removed, also includes a water pipe retraction step: the electronic control system controls the piston rod of the drive cylinder to extend, the frame drives the water pipe to be pulled back, and the drive rod exits the open chuck area.

24. The control method according to claim 1, characterized in that, Step B1 is preceded by a drill pipe box self-inspection step: During system initialization, the drill pipe box is in an empty state, and the inspection sensor collects the distance data D0 from the sensor to the bottom of the empty box as the reference distance; After the drill pipe box is loaded into the drill pipe, the robot arm drives the inspection sensor to move along a direction perpendicular to the drill pipe axis to scan the top of each row of drill pipes at a set period. The precise position of the current drill pipe column is determined based on the minimum distance point in the scan trajectory; During real-time monitoring, the inspection sensor measures the real-time distance D from the top of the drill pipe in column a to the sensor. Therefore, the theoretical number of drill pipes in column a is: Where, N a Where D is the number of drill pipes, D0 is the distance data from the inspection sensor to the bottom of the empty box, D is the actual distance from the inspection sensor to the top of the drill pipe, d is the diameter of the drill pipe, and Round is the rounding function.

25. The control method according to claim 24, characterized in that, In the drill pipe box self-inspection step, the inspection sensor is connected to the communication module through a mining cable, and the sensor data is uploaded to the controller of the electrical control system through the bus.

26. The control method according to claim 1, characterized in that, During the translation process of the robot arm in the unobstructed drill pipe transport space in steps B3 and C4, the drill pipe transport path does not pass through any anchoring structure, and the robot arm can directly complete the entire transfer process from the drill pipe box to the frame without crossing any obstacles.

27. The control method according to claim 1, characterized in that, The specific process of translational conveying in step B3 is as follows: the electrical control system drives the translational joint, which is driven by a hydraulic motor or drive motor, and is transmitted through a gear rack mechanism or ball screw mechanism, so that the robot arm moves horizontally to the rod delivery station in the direction close to the frame.

28. The control method according to claim 1, characterized in that, Step B6, after the engagement drilling, also includes a robotic arm retraction step: the electronic control system controls the robotic arm to move in the opposite direction and exit the range of motion of the power head, returning to the initial state to wait for the next loading and unloading command.

29. The control method according to claim 1, characterized in that, After the robot arm returns to its initial state in step C4, the electronic control system controls the robot arm to wait for the next round of the rod loading or unloading process.

30. The control method according to claim 1, characterized in that, The angle sensors include a flip angle sensor and a rotation angle sensor. The flip angle sensor is located on the flip base on the side opposite to the flip reducer, and its detection shaft is connected to the flip arm via a coupling to detect the rotation angle of the flip arm. The rotation angle sensor is located on the flip arm on the side opposite to the rotation reducer to detect the rotation angle of the rotation arm. The flip angle sensor and the rotation angle sensor are preferably rotary encoders to provide angle feedback signals for the precise positioning control of each joint of the robot, thereby realizing closed-loop control of the robot's movement.

31. The control method according to claim 1, characterized in that, The inspection sensor is fixedly installed on the flip arm or flip seat of the robot arm. The inspection sensor adopts a laser distance sensor or an ultrasonic distance sensor, and scans over the drill rod box to detect the number of drill rods when the robot arm moves.

32. The control method according to claim 1, characterized in that, The chuck housing is divided into two symmetrical sides by an opening, which are provided with slip guide grooves and cylinder guide holes, respectively for the installation and movement guidance of the slips and cylinder; the bottom of the chuck housing is provided with a slag leakage hole for discharging coal slag generated during drilling operations; the open-type chuck also includes a chuck front end cover, which is installed in the end cover mounting stepped hole of the chuck housing by screws to axially position the slips.

33. The control method according to claim 20, characterized in that, The outer surface of the water pipe housing is hexagonal, and one end of the gearbox output shaft is provided with a hexagonal hole that matches it. The hexagonal outer surface of the water pipe housing is embedded in the hexagonal hole, forming a circumferentially fixed and axially sliding fit.

34. The control method according to claim 20, characterized in that, A rotary sealing ring is provided between the rotating shaft and the water pipe housing to achieve rotary sealing and isolate external contaminants; a sealing ring is provided at the threaded connection between the water pipe connector and the rotating shaft; a sealing structure is provided between the front cover and the water pipe housing; and a sealing ring is provided at the front end of the threaded connection between the front cover and the drive rod.

35. The control method according to claim 20, characterized in that, The other end of the frame has a through hole in the middle, and the water pipe is fixedly installed in the through hole; the frame also has a pin hole that extends through the through hole, which is used to limit the water pipe along the front end along the axis by means of a pin or screw.

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