为解决碎软煤层中瓦斯抽采钻孔作业常出现的喷孔、塌孔、堵孔及埋钻等情况，研发出一款适用于碎软煤层的ZDY4500LFK型自动化钻机；围绕碎软煤层自动化施工难点，介绍了该钻机的机械结构及控制原理，研究分析了钻机在碎软煤层中运用自适应钻进、钻杆自动定位修正、协同式钻杆加卸路径规划等技术原理。现场试验验证结果表明：该钻机高成孔率、高人均效率、高安全性、高携杆量等作业优势，为碎软煤层安全高效生产提供了技术保障。

In order to solve the problems of spout hole, collapse hole, plugging hole and buried drilling in gas extraction drilling operation in broken soft coal seam, a type of ZDY4500LFK automatic drilling machine suitable for broken soft coal seam is developed. This paper focuses on the difficulties in the automatic construction of broken soft coal seam, introduces the mechanical structure and control principle of the drill, and studies and analyzes the technical principles of adaptive drilling, automatic positioning and correction of drill pipe, cooperative drill pipe loading and unloading path planning in broken soft coal seam. The field test verifies the advantages of the drill such as high porosity, high per capita efficiency, high safety and high rod carrying capacity, which provides technical support for the safe and efficient production of soft crushed coal seam.