针对煤矿井下钻探工作环境恶劣，工人劳动强度大，容易发生安全事故的情况，设计开发了ZYWL-4000SY型遥控钻机，介绍了该钻机的总体方案，简述了钻机的基本性能参数和主要结构特点，并结合井下钻进施工的流程，详细论述了钻机的液压系统、自适应钻进技术及关键零部件的优化设计等关键技术问题。通过智能防卡钻技术，降低了钻进作业中因地压、瓦斯压力突变导致的抱钻等事故发生的概率，提高了接、卸扣过程中电控比例电磁阀的控制精度及增设溢流系统，满足了动力头钻进与旋转速度的匹配需求，使主动钻杆使用寿命延长2倍以上。通过四关节机械手实现了将钻杆箱中的钻杆准确运送至双夹持器，并与主动钻杆轴线保持一致，为接扣做好准备；并将夹持器卸完扣的钻杆准确送回至钻杆箱，代替人工操作。钻杆箱作为钻杆的盛放系统，与机械手配合实现了打钻和卸钻的完整结合，为钻机连续性工作提供了保障。通过对现场生产应用案例分析证明，遥控钻机可以通过机械手代替工人进行上下钻杆工作，实现一键自动化打钻卸钻，有效降低了工人的劳动强度，实现减人增效；钻机通过防卡钻程序控制钻进过程，有效避免卡钻事故的发生；通过遥控无线操作，避免施工过程中工人与钻机的接触，提高了钻机的安全系数。

In view of the harsh working environment, high labor intensity and the proneness to safety accidents of underground drilling in coal mines, the ZYWL-4000SY remote control drilling rig was designed and developed. In this paper, the general scheme of the drilling rig was introduced. The basic performance parameters and main structural characteristics of the drilling rig were described. Combined with the downhole drilling and construction process, the key technical issues such as the hydraulic system of the drilling rig, the adaptive drilling technology and the optimization design of key components were discussed in detail. Through the intelligent sticking prevention technology, the probability of accidents such as sticking caused by sudden changes in ground pressure and gas pressure during drilling construction is reduced.The control accuracy of the electronically controlled proportional solenoid valve and the overflow system are improved to meet the matching requirements of power head drilling and rotation speed. The service life of active drill pipe is extended by more than twice. Through the four-joint manipulator, the drill pipe in the drill pipe box is accurately transported to the double holder, and is consistent with the axis of the active drill pipe to prepare for the connection, and accurately send the drill pipe which has been unscrewed to the drill pipe box instead of manual operation. The drill pipe box as the boom system of drill pipe, cooperate with the manipulator to realize the complete process of drilling and unloading , provides a mechanical platform for the continuous work of drilling rig.Through the analysis of on-site production application cases, it was proved that the remote-controlled drilling rig can replace the workers with the drill pipe work through the manipulator, realizing one-key automatic drilling and unloading. The worker's labor intensity were effectively reduced, the number of people were reduced and the efficiency were increased. The drilling rig controls the drilling process through the anti-lock drilling program, effectively avoiding the occurrence of drilling seizure accidents. At the same time, through remote control and wireless operation, it avoids the contact between workers and the drilling rig in the process of construction, which improves the safety factor of the drilling rig.