China Coal Research Institute Xi'an Research Institute Co.Ltd.,China Coal Technology and Engineering Group
Corp.

The luffing mechanism of drilling rig is used to adjust the opening parameters of the borehole ,that is, azimuth angle,inclination angle, and height.Accordin g to the structural differences of different types of dilling rig and the construction characteristics of borehole in underground coal mine,this paper summarizes the adjust ment requirements to opening parameters and proposes the research goal,which can rapidly and accurately adjust the parameters of the borehole and safeguard the st ability of drilling construction.It is concluded that the luffing mechanism of drilling rig in underground coal mine has overall characteristics of small size,large adjustment range of parameters,reliable stability in construction,and high automation in the process of adjustment.According to the analysis of structural characteristics,auxiliary st able mode,control method, applicable range ,and advantages and disadvantages of several common luffing mechanisms in underground coal mine,the key research direc tions in terms of structure and control methods of luffing mechanism are proposed in the process of development from drilling rig to drilling robot.lt is suggested that the research should focus on the development of automatic locking device of joint,demand of automatic loading and unloading drillpipes,the intelligent adjustment of openin g parameters,the coordinate control of opening parameters with chassis leveling and body stability.The research results provide an approach for the equipment intellect ualization of drilling rig in underground coal mine.

国家科技重大专项任务(2016ZX05045-003-002)