Development and application of automatic drilling rig for bedding in broken soft coal seam

In order to solve the problems existing in the conventional rig for bedding drilling in broken soft coal seam, such as shallow drilling depth, easy sticking, difficulty in adjusting the posture of construction fan-shaped hole, an automatic drilling rig for bedding of broken soft coal seam was developed. In this paper, the overall structure, parameters and hydraulic system of the drilling rig were introduced; the key factors affecting the reliability of shackle under high-speed drilling conditions were analyzed, and the self-adaptive adjustment technology of the motor displacement of the power head was studied; matrix drill rod box with large capacity and collaborative rod delivery technology of dual manipulators based on path planning were studied; the main factors affecting sticking were analyzed, and the adaptive anti-sticking technology was developed; according to the characteristics of fan-shaped hole distribution for bedding drilling, a suspended rotary lifting mechanism was developed. Field tests show that the drilling rig has a reasonable structure, reliable operation, and cooperates with relevant drilling tool. When the automatic drilling is carried out in the broken soft coal seam, the drilling depth can be increased by more than one time. The research results are expected to provide a reference for the design of automatic drilling rigs for related coal mines and the drilling construction of broken soft coal seams.