A mine drilling system based on electronic compass orientation

Abstract

The present invention provides a mining drilling system based on electronic compass orientation, including a horizontal drilling device and a vertical drilling device, wherein the horizontal drilling device includes: a drilling mechanism; a supporting mechanism, which includes a front end plate and a rear end plate, wherein the upper end of the rear end plate is connected to the front end of the drilling mechanism, and the upper end of the rear end plate is connected to the rear end of the drilling mechanism; a front end adjustment mechanism for realizing the lifting and lowering of the front end plate; a rear end adjustment mechanism for realizing the lifting and lowering of the rear end plate; and an orientation mechanism, which is fixed on the upper end of the drilling mechanism and is parallel to the drilling direction of the drilling mechanism. The orientation mechanism uses the direction finding principle of the electronic compass in the geomagnetic field to provide accurate display of the direction and three-dimensional posture of the drilling machine in real time, and a corresponding adjustment mechanism is provided to adjust the posture of the drilling machine to ensure that the three holes are perpendicular to each other.

Description

Technical Field

[0001] The present invention relates to a mine drilling machine, and in particular to a mine drilling system based on electronic compass orientation. Background Art

[0002] With the continuous advancement of science and technology, the mining of stone (such as marble, granite, etc.) has gradually developed from blasting to rope sawing. Rope sawing has the advantages of safety, environmental protection, low scrap rate and high efficiency. Before using rope saw mining, at least three holes must be drilled to pass the rope. It is very important that the three holes are perpendicular to each other and interconnected. To ensure that the three holes are perpendicular to each other and interconnected, it is necessary to give the mining puncher (hereinafter referred to as the puncher) an accurate drilling direction in actual operation. However, the mining punchers on the market now do not have the function of providing direction. The mining punchers rely on personal experience to orient the punchers. Manual adjustments can only be made roughly, and the direction adjustment error is large. In addition, the punchers on the market do not have a direction (attitude) adjustment mechanism. When working in the field, the ground where the puncher works is usually not flat (that is, not in a horizontal state). The three holes usually need to be drilled are two horizontal holes on the horizontal ground and a vertical hole perpendicular to the ground. If the puncher cannot be guaranteed to be in a vertical state when drilling vertical holes and cannot be guaranteed to be in a horizontal state and have a certain direction when drilling horizontal holes, then the three holes cannot be guaranteed to be perpendicular to each other and interconnected.

[0003] The above method based on personal experience is inefficient, and the quality of the ore mined is not high, which restricts the further development of the ore mining industry. Therefore, it is very necessary to develop a mine drilling system with directional and regulating functions. Summary of the invention

[0004] The present invention provides a mine drilling system based on electronic compass orientation, which utilizes the direction finding principle of the electronic compass in the geomagnetic field in the orientation mechanism to provide accurate display of the direction and three-dimensional posture of the drilling machine in real time, and sets a corresponding adjustment mechanism to adjust the posture of the drilling machine to ensure that the three holes are perpendicular to each other.

[0005] To achieve the above object, the technical solution of the present invention is:

[0006] A mine drilling system based on electronic compass orientation includes a horizontal drilling device and a vertical drilling device, wherein the horizontal drilling device includes:

[0007] Drilling mechanism;

[0008] The supporting mechanism comprises a front end plate and a rear end plate, wherein a rotation through hole is arranged in the middle of the front end plate; the rear end upper surface of the front end plate is connected to the front end of the drilling mechanism, and the front end upper surface of the rear end plate is connected to the rear end of the drilling mechanism;

[0009] A front end adjustment mechanism is arranged under the front end plate and is used to realize the lifting and lowering of the front end plate. A front end top plate bolt is arranged on the front end of the front end adjustment mechanism. The front end top plate bolt matches and passes through the rotating through hole, so that the drilling mechanism can rotate around the front end top plate bolt.

[0010] A rear end adjustment mechanism, which is arranged below the rear end plate and is used to realize the lifting and lowering of the rear end plate;

[0011] The orientation mechanism is fixed on the drilling mechanism and comprises an electronic compass, and the electronic compass is parallel to the drilling direction of the drilling mechanism.

[0012] Furthermore, a vertical punching device is also included, and the vertical punching device includes:

[0013] Drilling mechanism;

[0014] A support plate, which is arranged below the drilling mechanism, with front and rear ends extending out of the drilling mechanism;

[0015] A front end support mechanism, comprising a front end support seat and at least two support rods arranged in the front end support seat and capable of adjusting relative heights;

[0016] A rear end support mechanism, one end of which is hinged to the rear end of the support plate, and the other end of which is used for supporting on the ground;

[0017] The orientation mechanism is fixed on the drilling mechanism and comprises an electronic compass, and the electronic compass is parallel to the drilling direction of the drilling mechanism.

[0018] Preferably, the front end adjustment mechanism includes a front end lifting top plate, a front end lifting bottom plate, a first front end lifting connecting rod, a second front end lifting connecting rod, a front end screw rod, a front end screw rod rotating handle, and a front end lifting plate push rod;

[0019] The first front lifting link and the second front lifting link are connected to both sides of the front lifting top plate and the front lifting bottom plate, and the first front lifting link and the second front lifting link cross in the middle and are connected by a front lifting bolt;

[0020] The front end lifting plate push rod is connected between the second front end lifting connecting rod, and the front end lifting plate push rod moves linearly under the drive of the front end screw rod. The front end of the front end screw rod matches and passes through the front lifting bottom plate and is connected with the rear end of the front end screw rod rotating handle.

[0021] Preferably, the rear end adjustment mechanism includes a rear end lifting top plate, a rear end lifting bottom plate, a first rear end lifting connecting rod, a second rear end lifting connecting rod, a rear end screw rod, a rear end screw rod rotating handle, and a rear end lifting plate push rod;

[0022] The first rear lifting link and the second rear lifting link are connected to both sides of the rear lifting top plate and the rear lifting bottom plate, and the first rear lifting link and the second rear lifting link cross in the middle and are connected by a rear lifting bolt;

[0023] The rear end lifting plate push rod is connected between the second rear end lifting connecting rods. The rear end lifting plate push rod moves linearly under the drive of the rear end screw rod. The front end of the rear end screw rod matches and passes through the rear end lifting bottom plate and is connected with the rear end of the rear end screw rod rotating handle.

[0024] Preferably, a rear end relative sliding unit that rotates around the front end top plate bolt is matchedly arranged at the bottom of the rear end plate and the top of the rear end adjustment mechanism, and a rear end top plate bolt is arranged at the top of the rear end adjustment mechanism, and the rear end plate is provided with an indicating groove for accommodating the rear end top plate bolt to pass through, and the indicating groove is marked with an angle scale.

[0025] Preferably, the front-end support mechanism includes a front-end support seat and a support rod, the front-end support seat is surrounded by a front panel, a left side panel, a rear panel, and a right side panel, the front panel is provided with a support hole to accommodate the support rod to pass through, and a gap is left between the support hole and the support rod, the two support rods are connected by a connecting rod, screw holes are provided at both ends of the connecting rod, and the screw holes are matched with adjustment bolts, and the left side panel and the right side panel are respectively provided with a first slide groove to accommodate the forward and backward movement of the adjustment bolt. More preferably, the front-end support mechanism also includes a bolt stopper rod, and the bolt stopper rod includes a sliding portion and a stopper rod portion; a second slide groove is also provided above the first slide groove of the left side panel and the right side panel, and a third slide groove connected to the second slide groove is also provided on the top of the left side panel and the right side panel; the lower end of the stopper rod bolt passes through the sliding portion and the third slide groove to extend into the second slide groove, and is fastened by a stopper rod nut; the upper end of the baffle portion is connected to the sliding portion, and the middle or lower portion blocks the rear side of the adjustment bolt.

[0026] Preferably, the upper end of the rear end support mechanism is connected to a first ear plate, the rear end of the support plate is connected to a second ear plate, and a rear end fixing bolt and a rear end fixing nut pass through the first ear plate and the second ear plate to fasten the rear end support mechanism and the support plate; the rear end support mechanism is a retractable structure.

[0027] Preferably, an air pressure sensor is provided in the orientation mechanism, and the air pressure sensor has the function of measuring height.

[0028] Preferably, the center of the orientation mechanism is installed at a position 10 to 50 cm away from the front end of the front end plate and directly above the axis of the rotating shaft at a distance of 20 to 50 cm.

[0029] The above-mentioned mining drilling system based on electronic compass orientation adopts an innovative combination of new electronic technology electronic compass and traditional mechanical drilling machine, which provides accurate direction and posture information for drilling machine orientation. On this basis, a direction adjustment mechanism is designed for the drilling machine, which is used for adjusting small angles and can solve the drilling machine posture problem. This mechanism further improves the accuracy of direction adjustment. Under precise orientation, the required three holes can be perpendicular to each other, which can greatly improve the efficiency and quality of ore mining.

[0030] The present invention further provides an air pressure sensor in the orientation mechanism for measuring height, which cooperates with the angle measuring function of the electronic compass to ensure that the three holes are perpendicular to each other and interconnected, further improving the mechanization and automation level of ore mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the present invention.

[0032] Figure 2 yes Figure 1 Schematic diagram of the top view structure.

[0033] Figure 3 It is a three-dimensional structural schematic diagram of the front end adjustment mechanism.

[0034] Figure 4 It is a structural schematic diagram of a vertical punching device.

[0035] Figure 5 yes Figure 4 Schematic diagram of the structure viewed from above.

[0036] Figure 6 yes Figure 4 Schematic diagram of the right view structure.

[0037] Figure 7 It is a structural diagram of the support rod.

[0038] In the figure, an orienting mechanism 1, a drilling mechanism 2, a front end plate 3, a rear upper end cover 4, a rear end plate 5, a front upper end cover 6, a first ear plate 7, a front panel 8, a shift rod bolt 9, a support rod 10, a rear end lifting top plate 11, a rear end screw rod rotating handle 12, a first rear end lifting connecting rod 13, a rear end lifting bottom plate 14, a rear end lifting bolt 15, a second rear end lifting connecting rod 16, a shift rod nut 17, an adjustment bolt 18, a first slide 19, a left side plate 20, a support plate 21, a front end lifting top plate 22, a second front end lifting connecting rod 23, and a front end lifting bottom plate 24 , front end screw rotating handle 25, first front end lifting connecting rod 26, front end lifting bolt 27, front end top plate bolt 28, rear end top plate bolt 29, rear end screw 30, rear end support mechanism 31, front end screw 32, front end lifting plate push rod 33, indicator slide groove 34, support foot 35, bolt stop rod 36, second slide groove 37, rear end fixing bolt 38, vertical limit hole 39, rear panel 40, right side panel 41, third slide groove 42, second ear plate 43, rear end fixing nut 44, connecting rod 45, support rod bolt 46, support rod nut 47. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with specific embodiments, but the protection scope of the present invention is not limited to the following embodiments.

[0040] A mine drilling system based on electronic compass orientation, including a horizontal drilling device, such as Figure 1 and 2 As shown, the horizontal punching device includes: a supporting mechanism, a drilling mechanism, a front-end adjustment mechanism, a rear-end adjustment mechanism and an orientation mechanism. Each mechanism of the horizontal punching device is described below:

[0041] The drilling mechanism 2 can be used to drill holes in boulders. The mechanism adopts existing drilling equipment. When drilling, it can move forward to drill holes, and can move backward to exit after drilling. This is a prior art, and can adopt a drilling machine similar to the invention patent with authorization announcement number CN205078173U and the invention patent with authorization announcement number CN208934585U. The supporting mechanism includes a front end plate 3 and a rear end plate 5. The upper surface of the rear end of the front end plate 3 is connected to the front end of the drilling mechanism 2, and the upper surface of the front end of the rear end plate 5 is connected to the rear end of the drilling mechanism 2. The fixing method can be bolt connection, and of course, welding can be used according to the situation; a rotating through hole is set in the middle of the front end plate 3. The middle here means that the rotating through hole is located on the center line of the front end plate 3 in the front and rear directions. A horizontal limit hole can be set in front of the front end plate 3 to limit the front end drill bit of the drilling mechanism 2, so as to ensure that the drill bit does not have a large position deviation when drilling holes, and remains parallel to the directional mechanism. The front-end adjustment mechanism is arranged below the front-end plate 3 and is used to realize the lifting and lowering of the front-end plate 3. A front-end top plate bolt 28 is arranged above the front-end top plate bolt 28 through the front upper end cover 6. The front-end top plate bolt 28 matches and passes through the rotating through hole, so that the drilling mechanism 2 can rotate around the front-end top plate bolt 28 to realize the rotation adjustment of the drilling mechanism 2 angle. Of course, the front-end top plate bolt 28 is arranged on the part above the front-end plate 3 with a corresponding front-end top plate bolt 28 stopper, the size of which is larger than the size of the rotating through hole, so that when the front-end top plate bolt 28 is working, the front-end plate 3 will not be separated from the front-end top plate bolt 28. The rear-end adjustment mechanism is arranged below the rear-end plate 5 and is used to realize the lifting and lowering of the rear-end plate 5. The horizontal position of the horizontal punching device during horizontal punching can be adjusted by the cooperation of the front-end adjustment mechanism and the rear-end adjustment mechanism. The orientation mechanism 1 is fixed directly above the front of the drilling mechanism 2 and includes an electronic compass. The electronic compass is parallel to the punching direction of the drilling mechanism 2 to ensure that the direction angle calculated by the electronic compass is consistent with the direction angle of the drilling mechanism 2. This is an existing product and will not be described in detail here.

[0042] Furthermore, in addition to punching two holes in the horizontal direction, this embodiment also provides a corresponding vertical punching device for punching holes in the vertical direction, such as Figures 4 to 6 As shown, the vertical punching device includes: a drilling mechanism 2, a support plate 21, a front support mechanism, a rear support mechanism 31 and an orientation mechanism 1. Each mechanism of the vertical punching device is described below:

[0043] The drilling mechanism 2 and the orienting mechanism 1 both use the same components as the horizontal punching device. The front-end support mechanism includes a front-end support seat and at least two support rods 10 arranged in the front-end support seat and having adjustable relative heights. The support rods 10 can slide in the front-end support seat to adjust the height. The relative heights between the support rods 10 are adjustable to adjust the heights of the support rods 10 according to the ground conditions so that the drilling mechanism 2 can punch vertical holes. The rear-end support mechanism 31 has one end hinged to the rear end of the support plate 21 and the other end used to support on the ground to vertically erect the drilling mechanism 2.

[0044] When working, assume that the XOY plane is the horizontal ground, and the Z axis is perpendicular to the ground (the X, Y, and Z axes are mutually perpendicular). In practice, the punching operator needs to punch two holes on the horizontal ground that intersect at one point, and also punch a hole that is perpendicular to the ground and intersects with the first two holes at the same time (that is, the three must intersect in pairs). Assuming that the operator wants to punch three holes along the X, Y, and Z axes, and finally intersect at point O, first use the vertical punching device to punch a hole along the Z axis. The electronic compass on the vertical punching device can detect whether the puncher is in a vertical state. If it is not in a vertical state, the system will emit sound and light to prompt the operator to correct the posture of the puncher. By adjusting the rear end support seat, the puncher is in a state perpendicular to the ground; after completing the Z-axis punching, drill the holes of the X and Y axes. Assuming that the direction of the next punching point is 60° south, and this direction is the direction of the X axis pointing to point O, the obtained direction data is input Insert the electronic compass into the horizontal punching machine. The electronic compass will prompt the operator to correct the direction and posture of the punching machine (whether it is in a horizontal state) according to the direction obtained. After moving the punching machine to the approximate required direction, the front end plate 3 is rotated around the front end top plate bolt 28 by pushing the rear end plate 5 of the horizontal punching device to achieve a slight angle adjustment. The front end lifting top plate 22 and the rear end lifting top plate 11 are in a horizontal position by rotating the front end screw rotating handle 25 and the rear end screw rotating handle 12. Even if the punching machine is in a horizontal state, the punching operation is performed after the correction is completed. The punching operation of the Y axis is similar to that of the X axis. When the punching operation is completed, the cutting line of the rope saw machine passes through the hole XOZ, and then the XOZ plane is cut. Similarly, the XOY plane and the YOZ plane are cut.

[0045] The hardware structure and software system of the electronic compass are prior art, and are briefly introduced below:

[0046] (1) Hardware composition

[0047] The electronic compass hardware system is constructed by using the MEMS 6-axis sensor mpu6500 (accelerometer + gyroscope) and the three-axis magnetoresistive sensor HMC5883L, and taking the single-chip microcomputer stm32vet6 as the main control chip. The complementary algorithm is used to fuse and filter the data of the magnetic sensor and the acceleration sensor, and the electronic compass error model is constructed. On the basis of inclination compensation, the heading angle α, pitch angle φ and roll angle θ with higher accuracy are obtained.

[0048] HMC5883L uses Honeywell anisotropic magnetoresistive (AMR) technology. These anisotropic sensors have the characteristics of high sensitivity in the axial direction and high linear precision. The solid-phase structure with low sensitivity to the orthogonal axis can be used to measure the direction and magnitude of the geomagnetic field, and its measurement range is from milligauss to 8 gauss. The chip has a built-in 12-bit AD converter and I²C bus communication. It is small in size, high in precision, low in cost, and can output data of the three axes of X, Y, and Z, which is convenient for data fusion processing with accelerometers.

[0049] The power supply voltage of MPU-6500 is 1.71~3.6V, which can use a common power supply with the stm32 chip, improving the integration of circuit design; the chip contains a 16-bit AD converter, which can achieve high-precision AD conversion and improve the accuracy of the equipment; the measurement range of the accelerometer is programmable, and the user can set the range as needed: ±2g, ±4g, ±8g, ±16g, with a wide measurable range, which improves the accuracy of measurement; at the same time, the gyroscope has good dynamic performance and can identify tiny rotations of objects; the chip can communicate with other chips through the SPI communication interface, and the speed is as high as 1MHZ, which can meet real-time operation and control and improve the real-time performance of the system.

[0050] (2) Electronic compass software system

[0051] 1) System initialization: initialization of each peripheral of the microcontroller, such as system timer, serial port, clock, SPI interface, and I²C interface;

[0052] 2) Sensor calibration: Because electronic components have zero point drift and temperature drift, each sensor needs to be calibrated by software before working to improve the accuracy of the sensor. The accelerometer recalibrates the zero point of each axis through the horizontal calibration method to obtain the zero point offset value of the X, Y, and Z axes; the magnetometer recalibrates the zero point of each axis through the ellipsoid calibration method to obtain the zero point offset value of the X, Y, and Z axes;

[0053] 3) Data acquisition: The chip acquires data from the sensor through the communication interface, and the acquired data is used for attitude calculation. The chip acquires the Hx, Hy, Hz three-axis data of the magnetic sensor HMC5883L through the I²C communication interface, and acquires the Ax, Ay, Az three-axis data of the sensor MPU-6500 acceleration and the Gx, Gy, Gz three-axis data of the gyroscope through the SPI communication interface;

[0054] 4) Attitude calculation: The acquired data is subjected to complementary filtering and data fusion to obtain the attitude data of the object in space, namely, the heading angle α, pitch angle φ and roll angle ;

[0055] 5) Horizontal punching mode: In the horizontal punching mode, the pitch and roll angles of the puncher are equal to 0° (that is, the puncher is in a horizontal state), and the heading angle α needs to be manually input. First, enter the punching direction angle of the puncher (due north is 0°, due east is 90°, due south is 180°, and due west is 270°), and then the system detects whether the direction of the puncher drill bit is correct. If the drill bit direction is consistent with the input punching direction, it is considered that the mechanical calibration is completed. After the calibration is completed, the system enters the punching state. Because the puncher frame will vibrate violently when punching, the punching direction of the puncher may be offset, so the direction of the puncher needs to be detected in real time. Therefore, in the punching state, the system will detect the direction of the puncher in real time. If the error between the puncher direction and the previously input direction is greater than the system setting error, the system will issue an audible and visual prompt, and recalibration is required.

[0056] 6) Vertical punching mode: In vertical punching mode, the pitch angle of the punching machine Equal to 90° (i.e. the puncher is drilling perpendicular to the ground), at this time the puncher posture is the system default. This mode also has the same correction function and real-time posture detection function as the horizontal mode.

[0057] In addition to ensuring that the three holes are vertical, it is also necessary to ensure that the three holes intersect. To achieve this goal, this embodiment further provides an air pressure sensor in the orientation mechanism. The air pressure sensor has the function of measuring height. The air pressure sensor is a prior art, and the following is a brief introduction:

[0058] Atmospheric pressure changes with altitude. The higher the altitude, the lower the pressure. The altitude is calculated based on the atmospheric pressure value. The pressure sensor is added to the orientation mechanism. The STM32 chip reads the data of the pressure sensor through SPI communication, and then calculates the current altitude of the punch according to P=100KPa-H*10kPa / km (P is atmospheric pressure, H is altitude).

[0059] The MS5611 pressure sensor is a new generation of high-resolution pressure sensor with SPI and I²C bus interfaces launched by MEAS (Switzerland), with a resolution of up to 5cm. The sensor module includes a high-linearity pressure sensor and an ultra-low-power 24-bit analog-to-digital converter. The MS5611 provides an accurate 24-bit digital pressure value and temperature value as well as different operating modes to increase conversion speed and optimize current consumption. High-resolution temperature output can realize altimeter / thermometer functions without additional sensors. It can be connected to almost any microcontroller. The communication protocol is simple and does not require programming of the internal registers of the device. The MS5611 pressure sensor is only 5.0 mm × 3.0 mm × 1.0 mm in size and can be integrated in mobile devices.

[0060] When in use, the punching process to ensure that the three holes intersect is:

[0061] 1. Select the vertical punching mode according to the prompts on the electronic compass OLED screen, then adjust the punch to a vertical state. Check whether the punch is in a vertical state according to the prompts on the OLED screen. If it is, start the punch to perform the punching operation.

[0062] 2. After completing the vertical punching operation, use an electronic compass alone (not installed on the punching machine) to keep the electronic compass in a horizontal state, and measure the directions of the next two horizontal holes with the vertical hole as the center of the circle. After determining the directions, remember them with paper and pen. These two directions will be used for horizontal punching next.

[0063] 3. Select the horizontal punching mode according to the prompts on the electronic compass OLED screen, then enter the first punching direction determined in the previous step, adjust the direction of the puncher according to the prompts on the electronic compass OLED screen, and adjust the puncher to a horizontal state. After the adjustment is completed, start the puncher to perform the punching operation.

[0064] 4. After completing the first horizontal punching operation, the system records the height of the puncher for the first horizontal punching, selects the horizontal punching mode again according to the prompt on the electronic compass OLED screen, inputs the punching direction determined in the second step, adjusts the direction of the puncher according to the prompt on the electronic compass OLED screen, and adjusts the puncher to a horizontal state. At the same time, when punching the second horizontal hole, the air pressure sensor monitors whether it is at the same height as the first hole. If it is at the same height, it will issue an instruction to continue punching. Otherwise, it will issue an audible and visual reminder to the operator to correct the current height of the puncher. After the adjustment is completed, start the puncher to perform the punching operation.

[0065] 5. After completing the above steps, the drilling operation is completed, and it can be ensured that the three holes are perpendicular to each other and connected.

[0066] Furthermore, this embodiment further provides a front end adjustment mechanism that is particularly convenient for adjusting the height. Figure 3 As shown, the front end adjustment mechanism includes a front end lifting top plate 22, a front end lifting bottom plate 24, a first front end lifting connecting rod 26, a second front end lifting connecting rod 23, a front end screw 32, a front end screw rotating handle 25, and a front end lifting plate push rod 33; the front end lifting top plate 22 and the front end lifting bottom plate 24 are both connected with the first front end lifting connecting rod 26 and the second front end lifting connecting rod 23, the first front end lifting connecting rod 26 and the second front end lifting connecting rod 23 are crossed in the middle and are rotatably connected through the front end lifting bolt 27; the second front end lifting connecting rod 26 and the second front end lifting connecting rod 23 are connected to the front end lifting bottom plate 24; the second front end lifting connecting rod 26 and the second front end lifting connecting rod 23 are connected to the front end lifting bottom plate 24; the second front end lifting connecting rod 26 and the second front end lifting connecting rod 23 are connected to the front end lifting bottom plate 24; the first ... 23 is connected with a front lifting plate push rod 33, and the front lifting plate push rod 33 moves linearly under the drive of the front screw 32. The front end of the front screw 32 matches and passes through the front lifting bottom plate 24, and is connected with the rear end of the front screw rotating handle 25, that is, the front lifting bottom plate 24 has a protruding block protruding upward, and a through hole is provided to accommodate the front screw 32 to pass through. The middle of the front lifting plate push rod 33 is also penetrated with a screw hole, which matches the external thread of the front screw 32, so that the front screw 32 can push the front lifting plate push rod 33 to move linearly. In this embodiment, there are two first front lifting connecting rods 26 and second front lifting connecting rods 23, and the first front lifting connecting rod 26 is rotatably connected to the front lifting top plate 22. The front lifting top plate 22 and the front lifting bottom plate 24 are connected to the second front lifting connecting rod 23. A front lifting chute is provided at the position where the front lifting top plate 22 and the front lifting bottom plate 24 are connected to the second front lifting connecting rod 23. In order to realize the rise and fall of the front lifting top plate 22, the second front lifting connecting rod 23 will move left and right in the front lifting chute, and the height adjustment of the front lifting top plate 22 is realized by adjusting the angle. When the operator operates, the front end screw rod 32 is rotated to drive the front end lifting plate push rod 33 to move forward or backward linearly, thereby driving the second front end lifting connecting rod 23 to move, thereby realizing the rising and falling of the front end lifting top plate 22.

[0067] Furthermore, the rear-end adjustment mechanism includes a rear-end lifting top plate 11, a rear-end lifting bottom plate 14, a first rear-end lifting link 13, a second rear-end lifting link 16, a rear-end screw, a rear-end screw rotating handle 12, and a rear-end lifting plate push rod; the rear-end lifting top plate 11 and the rear-end lifting bottom plate 14 are both connected with the first rear-end lifting link 13 and the second rear-end lifting link 16, the first rear-end lifting link 13 and the second rear-end lifting link 16 are crossed in the middle and connected by the rear-end lifting bolt 15; the rear-end lifting plate push rod is connected between the second rear-end lifting link 16, and the rear-end lifting plate push rod moves linearly under the drive of the rear-end screw, and the front end of the rear-end screw matches and passes through the rear-end lifting bottom plate 14 and is connected with the rear end of the rear-end screw rotating handle 12. The structure and working principle of the rear-end adjustment mechanism are the same as those of the front-end adjustment mechanism.

[0068] Furthermore, a rear end relative sliding unit that rotates around the front end top plate bolt 28 is matched to be provided at the bottom of the rear end plate 5 and the top of the rear end adjustment mechanism. Specifically, the front end plate 3 rotates relative to the front end top plate bolt 28, and the rear end plate 5 also moves. To ensure that the rear end plate 5 does not separate from the rear end adjustment mechanism in the vertical direction, a relative sliding unit for movement and limiting is provided on the rear end plate 5 and the rear end adjustment mechanism. The relative sliding unit can be a rear end lifting top plate 11 of the rear end adjustment mechanism, on which a rear end lifting top plate protrusion with a larger upper end and a smaller lower end is provided, and a rear end plate slide groove is provided under the rear end plate 5, and the rear end lifting top plate protrusion matches the rear end plate slide groove, and the rear end plate slide groove is shaped to match the moving trajectory of the rear end lifting top plate protrusion. Of course, the relative sliding unit can take a variety of forms, not limited to the forms indicated in this embodiment. A rear end top plate bolt 29 is provided on the top of the rear end adjustment mechanism through the rear end cover 5, and the rear end plate 5 is provided with an indicating slot 34 for accommodating the rear end top plate bolt 29 to pass through. The indicating slot 34 is marked with an angle scale. In this embodiment, the original range of the angle is ±2°. According to the distance between the front end top plate bolt 28 and the indicating slot 34, the range is expanded to a certain multiple, and the angle is used for reference when adjusting small angles.

[0069] The present embodiment also provides a specific front-end support mechanism, which includes a front-end support seat and a support rod. The front-end support seat is surrounded by a front panel 8, a left side panel 20, a rear panel 40, and a right side panel 41, and is generally a square frame structure. The front panel 8 is provided with a support hole to accommodate the support rod 10 to pass through. The front end of the support rod 10 is preferably pointed to facilitate piercing into the soil, and a gap is left between the support hole and the support rod 10 to leave space for the support rod 10 to tilt left and right to adjust the relative height between the support rods 10. The two support rods 10 are connected by a connecting rod, and screw holes are provided at both ends of the connecting rod. Adjustment bolts 18 are matched with the screw holes. The left side panel 20 and the right side panel 41 are respectively provided with first slide grooves 19 to accommodate the forward and backward movement of the adjustment bolts 18. When the support rod 10 is adjusted to a suitable position, the adjustment bolts 18 are tightened and stuck on the outer side of the first slide groove 19 to prevent the support rod 10 from moving. The third slide groove 42 is a space provided for the lever nut 17 to accommodate the lever nut 17. The upper end of the baffle plate portion is connected to the sliding portion and the middle or lower portion is blocked at the rear side of the adjusting bolt 18. The sliding portion drives the baffle plate portion to move so that the baffle plate portion is adjusted to a suitable position and blocks the rear side of the head of the adjusting bolt 18 when drilling to prevent the adjusting bolt 18 from being displaced. The front panel 8 can be set higher than other panels and can be provided with a vertical limit hole to limit the drill bit at the front end of the drilling mechanism 2 to ensure that the drill bit does not have excessive position deviation when drilling vertically and remains parallel to the positioning mechanism.

[0070] Preferably, the upper end of the rear end support mechanism 31 is connected to the first ear plate 7, and the rear end of the support plate 21 is connected to the second ear plate 43. The rear end fixing bolt 38 passes through the first ear plate 7 and the second ear plate 43 and is fixed by the rear end fixing nut 44 to fasten the rear end support mechanism 31 and the support plate 21. When the angle needs to be adjusted, loosen the rear end fixing nut 44 to adjust it; the rear end support mechanism is a retractable structure, such as Figure 7As shown, the rear-end support mechanism can be designed as a structure in which two sections of support rods can move relative to each other. The connection between the two sections of the support rods is in the form of plug-in connection, and two or more through holes are correspondingly provided, and matched with support rod bolts 46 and support rod nuts 47. The support rod bolts 46 are inserted into appropriate through holes and fastened by support rod nuts 47 to fix the two sections of the support rods. Through holes in different positions can be selected as needed. The two rear-end support mechanisms are connected by a connecting rod 45 to keep rotating at the same angle. The support foot 35 at the lower end of the rear-end support mechanism is preferably set as a combination of a disc-shaped structure and a tip structure. The lower part is a tip structure that can be better inserted into the figure, and the upper part is a disc-shaped structure to keep the entire device stable.

[0071] Furthermore, the center of the orientation mechanism is installed at a position 10 to 50 cm from the front end of the front plate and 20 to 50 cm from the axis of the rotating shaft. This position is convenient for observing the orientation mechanism. The electronic compass has an LED screen that can display parameters such as direction for human-computer interaction.

[0072] Furthermore, the front end plate 3 and the front end adjustment mechanism can be detachably connected, and the rear end plate 5 and the rear end adjustment mechanism can be detachably connected. The front end plate 3 and the front end support mechanism can be detachably connected, and the rear end plate 5 and the rear end support mechanism 31 can be detachably connected. The detachable connection can be bolted, so that it is convenient for transportation and storage, and in actual operation, the drilling mechanism 2 and the orientation mechanism 1 of the vertical punching device and the horizontal punching device can be shared.

Claims

1. A mine drilling system based on electronic compass orientation, including a horizontal drilling device and a vertical drilling device, characterized in that: The horizontal punching device comprises: Drilling mechanism; The supporting mechanism comprises a front end plate and a rear end plate, wherein a rotation through hole is arranged in the middle of the front end plate; the rear end upper surface of the front end plate is connected to the front end of the drilling mechanism, and the front end upper surface of the rear end plate is connected to the rear end of the drilling mechanism; A front end adjustment mechanism is arranged under the front end plate and is used to realize the lifting and lowering of the front end plate. A front end top plate bolt is arranged on the front end of the front end adjustment mechanism. The front end top plate bolt matches and passes through the rotating through hole, so that the drilling mechanism can rotate around the front end top plate bolt. A rear end adjustment mechanism, which is arranged below the rear end plate and is used to realize the lifting and lowering of the rear end plate; An orientation mechanism, which is fixed on the drilling mechanism and includes an electronic compass, wherein the electronic compass is parallel to the drilling direction of the drilling mechanism; Also included is a vertical punching device, the vertical punching device comprising: Drilling mechanism; A support plate, which is arranged below the drilling mechanism, with front and rear ends extending out of the drilling mechanism; A front end support mechanism, comprising a front end support seat and at least two support rods arranged in the front end support seat and capable of adjusting relative heights; A rear end support mechanism, one end of which is hinged to the rear end of the support plate, and the other end of which is used for supporting on the ground; An orientation mechanism, which is fixed on the drilling mechanism and includes an electronic compass, wherein the electronic compass is parallel to the drilling direction of the drilling mechanism; The front end support mechanism comprises a front end support seat and a support rod, the front end support seat is surrounded by a front panel, a left side panel, a rear panel, and a right side panel, the front panel is provided with a support hole to accommodate the support rod, and a gap is left between the support hole and the support rod, the two support rods are connected by a connecting rod, screw holes are provided at both ends of the connecting rod, and the screw holes are matched with adjustment bolts, and the left side panel and the right side panel are respectively provided with a first slide groove to accommodate the forward and backward movement of the adjustment bolt; The front end support mechanism further comprises a bolt stopper, wherein the bolt stopper comprises a sliding portion and a stopper portion; A second slide groove is further provided above the first slide groove of the left plate and the right plate, and a third slide groove connected to the second slide groove is further provided on the top of the left plate and the right plate; The lower end of the lever bolt passes through the sliding part and the third sliding groove and extends into the second sliding groove, and is fastened by the lever nut; the upper end of the lever part is connected to the sliding part and the middle or lower part is blocked at the rear side of the adjustment bolt; The upper end of the rear end support mechanism is connected to a first ear plate, the rear end of the support plate is connected to a second ear plate, and the rear end fixing bolt and the rear end fixing nut pass through the first ear plate and the second ear plate to fasten the rear end support mechanism and the support plate; the rear end support mechanism is a retractable structure.

2. The mine drilling system based on electronic compass orientation according to claim 1 is characterized by: The front end adjustment mechanism includes a front end lifting top plate, a front end lifting bottom plate, a first front end lifting connecting rod, a second front end lifting connecting rod, a front end screw rod, a front end screw rod rotating handle, and a front end lifting plate push rod; The first front lifting link and the second front lifting link are connected to both sides of the front lifting top plate and the front lifting bottom plate, and the first front lifting link and the second front lifting link cross in the middle and are connected by a front lifting bolt; The front end lifting plate push rod is connected between the second front end lifting connecting rod, and the front end lifting plate push rod moves linearly under the drive of the front end screw rod. The front end of the front end screw rod matches and passes through the front end lifting bottom plate and is connected with the rear end of the front end screw rod rotating handle.

3. The mine drilling system based on electronic compass orientation according to claim 1 is characterized by: The rear end adjustment mechanism includes a rear end lifting top plate, a rear end lifting bottom plate, a first rear end lifting connecting rod, a second rear end lifting connecting rod, a rear end screw rod, a rear end screw rod rotating handle, and a rear end lifting plate push rod; The first rear lifting link and the second rear lifting link are connected to both sides of the rear lifting top plate and the rear lifting bottom plate, and the first rear lifting link and the second rear lifting link cross in the middle and are connected by a rear lifting bolt; The rear end lifting plate push rod is connected between the second rear end lifting connecting rods. The rear end lifting plate push rod moves linearly under the drive of the rear end screw rod. The front end of the rear end screw rod matches and passes through the rear end lifting bottom plate and is connected with the rear end of the rear end screw rod rotating handle.

4. The mine drilling system based on electronic compass orientation according to claim 1 is characterized by: A rear end relative sliding unit that rotates around the front end top plate bolt is matchedly arranged at the bottom of the rear end plate and the top of the rear end adjustment mechanism, and a rear end top plate bolt is arranged on the top of the rear end adjustment mechanism, and the rear end plate is provided with an indicating slot for accommodating the rear end top plate bolt to pass through, and the indicating slot is marked with an angle scale.

5. The mine drilling system based on electronic compass orientation according to claim 1 is characterized by: An air pressure sensor is arranged in the orientation mechanism, and the air pressure sensor has the function of measuring height.

6. The mine drilling system based on electronic compass orientation according to claim 1 is characterized by: The center of the orientation mechanism is installed at a position 10 to 50 cm away from the front end of the front end plate and 20 to 50 cm away from the axis of the rotating shaft.

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