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The application of automatic drilling machines in coal mines is becoming increasingly popular, and the degree of automation of drilling machines is also constantly improving. This study addresses key challenges in the automation of drill pipe handling by proposing an optimized control algorithm for the inspection of multi-column drill pipe boxes in underground coal mine drilling rigs. Using a secondary robotic arm equipped with vertical displacement sensors and proximity switches, the system dynamically updates the number of drill rods via a threshold judgment method and implements a layered loading/unloading strategy to minimize the robotic arm’s movement path. This approach significantly enhances operational efficiency and maintains data integrity under recording deviations. The proposed strategy reduces inspection time by over 33% and maintains a misjudgment rate below 0.1%. Implemented on the ZYWL-4000Y drilling rig, this system demonstrates substantial improvements in automated drilling operations, contributing directly to advancements in robotic control systems and industrial automation within harsh environments.

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Research on Optimization of Inspection and Control Strategy for Multi Column Drill Pipe Box of Automatic Drilling

  • 会议论文

  • 发表日期：

    2026年

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  • Yi QIN,
  • Keyu Chen

摘要

The application of automatic drilling machines in coal mines is becoming increasingly popular, and the degree of automation of drilling machines is also constantly improving. This study addresses key challenges in the automation of drill pipe handling by proposing an optimized control algorithm for the inspection of multi-column drill pipe boxes in underground coal mine drilling rigs. Using a secondary robotic arm equipped with vertical displacement sensors and proximity switches, the system dynamically updates the number of drill rods via a threshold judgment method and implements a layered loading/unloading strategy to minimize the robotic arm’s movement path. This approach significantly enhances operational efficiency and maintains data integrity under recording deviations. The proposed strategy reduces inspection time by over 33% and maintains a misjudgment rate below 0.1%. Implemented on the ZYWL-4000Y drilling rig, this system demonstrates substantial improvements in automated drilling operations, contributing directly to advancements in robotic control systems and industrial automation within harsh environments.