Abstract
Considering that'heading must be explored'is strictly implemented in roadway excavation, the large volume of the bolter miner (BM) makes it impossible for conventional drilling rigs (DR) to deploy and drill in front of it quickly and easily. This paper proposes a new type of airborne DR. Based on the analysis of the excavation face's working conditions and functional requirements, the overall structure design and operation process design of the new DR were completed. To improve the mutual adaptation of the new DR and the BM, improve the intelligent level of the DR, and complete the drilling operation efficiently, this paper studies key technologies such as automatic control technology, kinematics analysis, interference collision detection technology, and coupling mechanics analysis of the DR. Firstly, based on the kinematics analysis of the system, a collision detection method suitable for the equipment is proposed by using the bounding box collision detection technology. Then, the overall architecture of the control system is proposed. According to the hardware and software of the overall architecture design system, the coupling mechanical model of the DR and the BM is established. The mechanical effects and strength of the connecting parts of the DR and the BM under various working conditions were analyzed, and the feasibility and reliability of the structural design were verified. Finally, the industrial test of the DR was carried out at the coal mine site. The test results show that the BM airborne DR developed in this paper meets the requirements of the water exploration and drainage drilling process parameters in most coal mines. Compared with the traditional operation method, the DR of the BM studied in this project only needs to manually control the hydraulic valve group to complete the start-up preparation deployment of the drilling rig. The overall efficiency of advanced exploration has increased by 35%.