A mechanical arm device for drilling holes through faults in a fully mechanized mining working face and a method for using the same

Abstract

A drilling manipulator device for a fully mechanized mining face through a fault and a method for using the device, the device comprises a walking mechanism, a horizontal rotary attitude adjustment mechanism, a vertical lifting attitude adjustment mechanism, a pitching and flipping attitude adjustment mechanism and a punching mechanism; the walking mechanism is arranged on a scraper conveyor, the horizontal rotary attitude adjustment mechanism is arranged on the walking mechanism, the vertical lifting attitude adjustment mechanism is arranged on the horizontal rotary attitude adjustment mechanism, the pitching and flipping attitude adjustment mechanism is arranged on the vertical lifting attitude adjustment mechanism, and the punching mechanism is arranged on the pitching and flipping attitude adjustment mechanism. The method is as follows: when encountering a fault, the device in a laid-down and retracted state is placed on the scraper conveyor at the end of the tunnel; the rail limiter locks the pin row; the walking mechanism is controlled to move forward a set distance; the rail limiter is reset after unlocking the pin row; the above actions are repeated until the device moves to the fault; the device is adjusted to a lifting working state; the top support of the device is fixed between the tunnel roof and the scraper conveyor; the rotation angle, lifting height and pitch angle of the punching mechanism are adjusted to complete the punching operation.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine machinery, and in particular relates to a fully mechanized mining working face through-fault drilling manipulator device and a use method thereof. Background Art

[0002] Comprehensive mining working faces are often accompanied by various faults, no carbon pillars and other geological structures in coal seams. Due to the existence of these geological structures, the coal mining machine will not be able to advance normally during the working process, which will lead to the inability to achieve continuous coal mining operations, resulting in a significant reduction in operating efficiency. Because the drum pick teeth under existing conditions are limited by strength and cannot directly cut the hard rock of the fault, in order to allow the coal mining operation to continue, it is necessary to drill holes in the hard rock of geological structures such as faults and no carbon pillars, and then fill the holes with safe explosives. Finally, blasting is used to loosen the hard rock of geological structures such as faults and no carbon pillars. After that, the loose rock is cut by the coal mining machine drum at a lower advancement speed and cutting depth to achieve normal advancement of the coal mining machine.

[0003] However, the above-mentioned blasting rock breaking method is not only complicated and time-consuming, but also usually requires the use of pneumatic drills for impact drilling. When using pneumatic drills for drilling, the working face air ducts and water pipes need to be connected to the work site, and the drilling process requires high professional skills of the operator. Not only is the labor intensity high, but the drilling efficiency is low, which seriously affects the mining efficiency of the working face and prevents the mechanized advantages of the comprehensive mining equipment from being fully utilized. Summary of the invention

[0004] In response to the problems existing in the prior art, the present invention provides a cross-fault drilling robot device for a comprehensive mining working face and a method of use, which can realize automated drilling operations, reduce the labor intensity of underground workers, effectively improve the drilling efficiency, and thus improve the work efficiency of the entire comprehensive mining operation, so that the mechanized advantages of the comprehensive mining equipment can be fully utilized.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a comprehensive mining working face through-fault drilling robot device, including a walking mechanism, a horizontal rotation attitude adjustment mechanism, a vertical lifting attitude adjustment mechanism, a pitch and flip attitude adjustment mechanism and a punching mechanism; the walking mechanism is arranged on a scraper conveyor, the horizontal rotation attitude adjustment mechanism is arranged on the walking mechanism, the vertical lifting attitude adjustment mechanism is arranged on the horizontal rotation attitude adjustment mechanism, the pitch and flip attitude adjustment mechanism is arranged on the vertical lifting attitude adjustment mechanism, and the punching mechanism is arranged on the pitch and flip attitude adjustment mechanism.

[0006] The travel mechanism includes a wheeled chassis, a travel push cylinder and a rail limiter, and the rail limiter includes a limiter base frame, a lateral pressure plate, a lateral pressure plate push cylinder, a vertical pressure plate and a vertical pressure plate push cylinder; the wheeled chassis is located on the groove side of the scraper conveyor, the rail limiter is located on the pin row of the scraper conveyor, one end of the travel push cylinder is hinged to the wheeled chassis, and the other end of the travel push cylinder is hinged to the limiter base frame; the lateral pressure plate push cylinder is horizontally It is arranged that the cylinder end of the lateral pressure plate pushing cylinder is hinged on the limiter base, the lateral pressure plate is vertically fixedly connected to the piston rod end of the lateral pressure plate pushing cylinder, and the lateral pressure plate is opposite to the pin row side of the scraper conveyor; the vertical pressure plate pushing cylinder is vertically arranged with the piston rod facing downward, the cylinder end of the vertical pressure plate pushing cylinder is fixedly connected to the limiter base, the vertical pressure plate is horizontally fixedly installed on the piston rod end of the vertical pressure plate pushing cylinder, and the vertical pressure plate is opposite to the top surface of the pin row of the scraper conveyor.

[0007] The horizontal rotary posture adjustment mechanism includes a rotary drive cylinder and a horizontal rotary table. The rotary drive cylinder is vertically arranged on a wheeled chassis, the stator end of the rotary drive cylinder is fixedly connected to the wheeled chassis, and the horizontal rotary table is horizontally fixedly mounted on the rotor end of the rotary drive cylinder.

[0008] The vertical lifting and posture adjustment mechanism includes a sleeve column, a top support cylinder, a top support head, a column lifting and lowering cylinder, a column lifting and lowering connecting rod, a sliding sleeve, a lifting drive motor, a chain, a sprocket and a lifting drive shaft; the sleeve column adopts a parallel double-column structure, one end of the sleeve column is hinged on the horizontal turntable, and the other end of the sleeve column is a free end; the cylinder end of the top support cylinder is coaxially fixed in the sleeve column, the piston rod of the top support cylinder extends from the free end of the sleeve column to the outside of the sleeve column, and the top support head is fixedly mounted on the piston rod end of the top support cylinder; the piston rod end of the column lifting and lowering cylinder is hinged on the wheeled chassis, the cylinder end of the column lifting and lowering cylinder is hinged at one end of the column lifting and lowering connecting rod, and the other end of the column lifting and lowering connecting rod is fixedly connected to the column at the hinged end of the sleeve column On the body; the sliding sleeve is mounted on the outside of the sleeve column, and a plurality of guide rollers are arranged between the sliding sleeve and the outer facade of the sleeve column, and the sliding sleeve can move linearly along the sleeve column; the chain is arranged on the outer facade of the sleeve column, the chain is parallel to the sleeve column, one end of the chain is fixedly connected to the free end of the sleeve column, and the other end of the chain is fixedly connected to the hinged end of the sleeve column; the lifting drive motor is fixedly connected to the sliding sleeve on one side, the power shaft of the lifting drive motor is fixedly connected to one end of the lifting drive shaft through a coupling, and the other end of the lifting drive shaft is connected to the sliding sleeve on the other side through a bearing, and holes are provided on the sliding sleeves on the left and right sides, and the holes are opposite to the lifting drive shaft, and the sprocket is fixedly mounted on the lifting drive shaft opposite to the hole, and the sprocket is meshed with the chain through the hole.

[0009] The pitch and flip attitude adjustment mechanism includes a worm gear drive motor, a pitch attitude adjustment drive shaft and a pitch attitude adjustment adapter block; the worm gear drive motor is fixedly connected to a sliding sleeve on one side, the worm gear power shaft of the worm gear drive motor is fixedly connected to one end of the pitch attitude adjustment drive shaft, the other end of the pitch attitude adjustment drive shaft is connected to the sliding sleeve on the other side through a bearing, and the pitch attitude adjustment adapter block is fixedly mounted on the pitch attitude adjustment drive shaft.

[0010] The drilling mechanism includes a drilling rig, a drilling rig slide, a slide guide rod, a slide, a slide guide rail, a slide support, a slide guide groove, a drill rod clamp, a clamp mounting plate, a mounting plate guide rod, a guide sleeve, a limit nut, a slide push cylinder, a slide push cylinder and a mounting plate push cylinder; the slide support is fixedly connected to the pitch adjustment adapter block, the slide guide groove is fixedly installed on the top of the slide support, the slide guide rail is fixedly installed on the side of the slide, the slide guide rail is located in the slide guide groove, and the slide can move linearly along the slide guide groove; the cylinder end of the slide push cylinder is fixedly connected to the slide support, the piston rod end of the slide push cylinder is hinged on the slide, and the slide push cylinder is parallel to the slide guide groove; the slide guide rod is fixedly installed on the top of the slide, and the drilling rig slide is installed on the slide guide rod The cam is connected with the guide rail of the drilling rig by the spring, and the end of the piston rod of the sliding plate is hinged on the sliding plate of the drilling rig, and the sliding plate is parallel to the guide rod of the sliding plate; the drilling rig is fixed on the top of the drilling rig slide; the guide sleeve is fixed on the top of the slide support, and the guide sleeve is sleeved on the guide rod of the mounting plate, and the clamp mounting plate is fixedly connected to one end of the mounting plate guide rod, and the limit nut is fixedly mounted on the other end of the mounting plate guide rod, and the mounting plate guide rod can move linearly along the guide sleeve; the drill rod clamp is mounted on the clamp mounting plate; the cylinder end of the mounting plate pushing cylinder is fixedly connected to the slide support, and the piston rod end of the mounting plate pushing cylinder is hinged on the clamp mounting plate, and the mounting plate pushing cylinder is parallel to the mounting plate guide rod.

[0011] The method for using the fault drilling manipulator device for a fully mechanized mining working face comprises the following steps:

[0012] Step 1: When the coal mining machine encounters a fault during advancement, the coal mining machine stops, and the fully-mechanized working face through-fault drilling manipulator device is placed as a whole on the scraper conveyor at the end of the tunnel. At this time, the fully-mechanized working face through-fault drilling manipulator device is in a laid-down and retracted state;

[0013] Step 2: Control the piston rods of the lateral pressure plate push cylinder and the vertical pressure plate push cylinder to extend, so that the lateral pressure plate is pressed against the side of the pin row, and the vertical pressure plate is pressed against the pin row from the top surface. At this time, the freedom of the rail limiter relative to the scraper conveyor pin row is locked;

[0014] Step 3: Control the piston rod of the travel push cylinder to extend. Since the freedom of the rail limiter is locked, the piston rod of the travel push cylinder will push the wheeled chassis forward a set distance;

[0015] Step 4: Control the piston rods of the lateral pressure plate push cylinder and the vertical pressure plate push cylinder to retract, so that the lateral pressure plate and the vertical pressure plate are separated from the pin row. At this time, the freedom of the rail limiter relative to the scraper conveyor pin row is restored;

[0016] Step 5: Control the piston rod of the travel cylinder to retract, and the rail limiter is pulled back to the initial position;

[0017] Step 6: Repeat steps 2 to 5 until the fault drilling manipulator device of the fully mechanized mining face moves to the fault as a whole;

[0018] Step 7: Control the piston rod of the column lifting and lowering cylinder to extend until the sleeve column is adjusted to a vertical state; at the same time, control the worm gear drive motor to rotate the pitch adjustment drive shaft to ensure that the punching mechanism on the pitch adjustment adapter block always remains in a horizontal state during the erection of the sleeve column;

[0019] Step 8: Control the piston rod of the top support cylinder to extend upward until the top of the top support rests against the tunnel roof, so that the fault drilling manipulator device of the fully mechanized mining working face is fixed as a whole between the tunnel roof and the scraper conveyor;

[0020] Step 9: Control the action of the rotary drive cylinder to rotate the horizontal turntable to a set angle; at the same time, control the action of the lifting drive motor to rotate the lifting drive shaft, thereby driving the sprocket to rotate. Through the meshing action of the sprocket and the chain, the sprocket will roll and lift along the chain until the sleeve is lifted to a set height, thereby lifting the drilling mechanism to a set height; at the same time, control the action of the worm gear drive motor to rotate the pitch adjustment drive shaft until the drilling rod in the drilling mechanism reaches a set angle with the fault;

[0021] Step 10: First, control the piston rod of the mounting plate push cylinder to extend until the clamp mounting plate rests against the fault surface; then start the drilling rig to drive the drill rod to rotate, and then control the slide push cylinder to move, so that the drilling rig slide drives the drilling rig drill rod to complete a feed; when the first feed is completed, control the slide push cylinder to move, so that the slide drives the drilling rig slide and the drilling rig drill rod to complete a second feed; when the second feed is completed, control the clamp mounting plate, the drilling rig slide and the slide to return to the initial position to complete a drilling operation;

[0022] Step 11: Adjust the rotation angle of the horizontal turntable, the lifting height of the sliding sleeve and the pitch angle of the punching mechanism, and repeat step 10 to complete the drilling operation of another hole;

[0023] Step 12: Repeat steps 10 and 11 until the remaining holes are drilled.

[0024] Beneficial effects of the present invention:

[0025] The cross-fault drilling manipulator device and use method of the comprehensive mining working face of the present invention can realize automated drilling operations, reduce the labor intensity of underground workers, effectively improve the drilling efficiency, and then improve the work efficiency of the entire comprehensive mining operation, so that the mechanization advantages of the comprehensive mining equipment can be fully utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a fully mechanized mining face through-fault drilling manipulator device (in a lifted working state) of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a fully mechanized mining face through-fault drilling manipulator device (in a laid-down and stowed state) of the present invention;

[0028] Figure 3 It is a schematic diagram of the assembly of the wheeled chassis and the horizontal rotation posture adjustment mechanism of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the rail limiter of the present invention;

[0030] Figure 5 It is a schematic diagram of the assembly of the sleeve column, the supporting oil cylinder, the supporting head, the chain and the column raising and lowering connecting rod of the present invention;

[0031] Figure 6 It is a schematic diagram of the assembly of the pitch and flip attitude adjustment mechanism and the vertical lifting attitude adjustment mechanism (the sleeve column etc. are not shown) of the present invention;

[0032] Figure 7 It is a structural schematic diagram of the punching mechanism of the present invention;

[0033] In the figure, 1 is a walking mechanism, 2 is a horizontal rotation adjustment mechanism, 3 is a vertical lifting adjustment mechanism, 4 is a pitching and flipping adjustment mechanism, 5 is a punching mechanism, 6 is a scraper conveyor, 7 is a wheeled chassis, 8 is a walking and pushing cylinder, 9 is a rail limiter, 10 is a limiter base frame, 11 is a lateral pressure plate, 12 is a lateral pressure plate pushing cylinder, 13 is a vertical pressure plate, 14 is a vertical pressure plate pushing cylinder, 15 is a rotary drive cylinder, 16 is a horizontal turntable, 17 is a sleeve column, 18 is a top support cylinder, 19 is a top support head, 20 is a column lifting and lowering cylinder, 21 is a column lifting and lowering connecting rod, 22 is a sliding sleeve, 23 is a lifting and lowering drive motor, 24—chain, 25—sprocket, 26—lifting drive shaft, 27—guide roller, 28—coupling, 29—worm gear drive motor, 30—pitch attitude adjustment drive shaft, 31—pitch attitude adjustment adapter block, 32—drilling rig, 33—drilling rig slide, 34—slide guide rod, 35—slide, 36—slide guide rail, 37—slide support, 38—slide guide groove, 39—drill rod clamp, 40—clamp mounting plate, 41—mounting plate guide rod, 42—guide sleeve, 43—limit nut, 44—slide push cylinder, 45—slide push cylinder, 46—mounting plate push cylinder, 47—hole. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 7 As shown, a manipulator device for drilling holes through faults in a comprehensive mining working face includes a walking mechanism 1, a horizontal rotating attitude adjustment mechanism 2, a vertical lifting attitude adjustment mechanism 3, a pitching and flipping attitude adjustment mechanism 4 and a punching mechanism 5; the walking mechanism 1 is arranged on a scraper conveyor 6, the horizontal rotating attitude adjustment mechanism 2 is arranged on the walking mechanism 1, the vertical lifting attitude adjustment mechanism 3 is arranged on the horizontal rotating attitude adjustment mechanism 2, the pitching and flipping attitude adjustment mechanism 4 is arranged on the vertical lifting attitude adjustment mechanism 3, and the punching mechanism 5 is arranged on the pitching and flipping attitude adjustment mechanism 4.

[0036] The traveling mechanism 1 includes a wheeled chassis 7, a traveling push cylinder 8 and a rail stopper 9, and the rail stopper 9 includes a stopper frame 10, a lateral pressure plate 11, a lateral pressure plate push cylinder 12, a vertical pressure plate 13 and a vertical pressure plate push cylinder 14; the wheeled chassis 7 is located on the groove side of the scraper conveyor 6, the rail stopper 9 is located on the pin row of the scraper conveyor 6, one end of the traveling push cylinder 8 is hinged on the wheeled chassis 7, and the other end of the traveling push cylinder 8 is hinged on the stopper frame 10; the lateral pressure plate push cylinder 12 is hinged on the pin row of the scraper conveyor 6, and the travel push cylinder 8 is hinged on the travel push cylinder 8. It is arranged horizontally, and the cylinder end of the lateral pressure plate pushing cylinder 12 is hinged on the limiter base 10, and the lateral pressure plate 11 is vertically fixed to the piston rod end of the lateral pressure plate pushing cylinder 12, and the lateral pressure plate 11 is opposite to the pin row side of the scraper conveyor 6; the vertical pressure plate pushing cylinder 14 is arranged vertically with the piston rod facing downward, and the cylinder end of the vertical pressure plate pushing cylinder 14 is fixed on the limiter base 10, and the vertical pressure plate 13 is horizontally fixed to the piston rod end of the vertical pressure plate pushing cylinder 14, and the vertical pressure plate 13 is opposite to the top surface of the pin row of the scraper conveyor 6.

[0037] The horizontal rotary posture adjustment mechanism 2 includes a rotary drive cylinder 15 and a horizontal rotary table 16 . The rotary drive cylinder 15 is vertically arranged on the wheeled chassis 7 . The stator end of the rotary drive cylinder 15 is fixedly connected to the wheeled chassis 7 . The horizontal rotary table 16 is horizontally fixedly mounted on the rotor end of the rotary drive cylinder 15 .

[0038] The vertical lifting and posture adjustment mechanism 3 includes a sleeve column 17, a supporting cylinder 18, a supporting head 19, a column lifting cylinder 20, a column lifting connecting rod 21, a sleeve 22, a lifting drive motor 23, a chain 24, a sprocket 25 and a lifting drive shaft 26; the sleeve column 17 adopts a parallel double-column structure, one end of the sleeve column 17 is hinged on the horizontal turntable 16, and the other end of the sleeve column 17 is a free end; the cylinder end of the supporting cylinder 18 is coaxially fixed The piston rod of the supporting cylinder 18 is sleeved in the sleeve column 17, and extends from the free end of the sleeve column 17 to the outside of the sleeve column 17. The supporting head 19 is fixedly mounted on the piston rod end of the supporting cylinder 18. The piston rod end of the column lifting cylinder 20 is hinged on the wheeled chassis 7, and the cylinder end of the column lifting cylinder 20 is hinged on one end of the column lifting connecting rod 21, and the other end of the column lifting connecting rod 21 is fixedly connected to the column at the hinged end of the sleeve column 17. The sliding sleeve 22 is sleeved on the outside of the sleeve column 17, and a plurality of guide rollers 27 are arranged between the sliding sleeve 22 and the outer surface of the sleeve column 17, so that the sliding sleeve 22 can move linearly along the sleeve column 17; the chain 24 is arranged on the outer surface of the sleeve column 17, the chain 24 is parallel to the sleeve column 17, one end of the chain 24 is fixedly connected to the free end of the sleeve column 17, and the other end of the chain 24 is fixedly connected to the hinged end of the sleeve column 17; the lifting drive motor 23 is fixedly connected to a On the sliding sleeve 22 on the side, the power shaft of the lifting drive motor 23 is fixedly connected to one end of the lifting drive shaft 26 through a coupling 28, and the other end of the lifting drive shaft 26 is connected to the sliding sleeve 22 on the other side through a bearing. Holes 47 are provided on the sliding sleeves 22 on the left and right sides, and the holes 47 are opposite to the lifting drive shaft 26. The sprocket 25 is fixedly sleeved on the lifting drive shaft 26 opposite to the hole 47, and the sprocket 25 is meshed with the chain 24 through the hole 47.

[0039] The pitch and flip attitude adjustment mechanism 4 includes a worm gear drive motor 29, a pitch attitude adjustment drive shaft 30 and a pitch attitude adjustment adapter block 31; the worm gear drive motor 29 is fixedly connected to the sliding sleeve 22 on one side, the worm gear power shaft of the worm gear drive motor 29 is fixedly connected to one end of the pitch attitude adjustment drive shaft 30, and the other end of the pitch attitude adjustment drive shaft 30 is connected to the sliding sleeve 22 on the other side through a bearing, and the pitch attitude adjustment adapter block 31 is fixedly mounted on the pitch attitude adjustment drive shaft 30.

[0040] The drilling mechanism 5 includes a drilling machine 32, a drilling machine slide 33, a slide guide rod 34, a slide 35, a slide guide rail 36, a slide support 37, a slide guide groove 38, a drill rod clamp 39, a clamp mounting plate 40, a mounting plate guide rod 41, a guide sleeve 42, a limit nut 43, a slide push cylinder 44, a slide push cylinder 45 and a mounting plate push cylinder 46; the slide support 37 is fixedly connected to the pitch adjustment adapter block 31, and the slide guide groove 38 is fixedly mounted on the slide The slide rail 36 is fixedly mounted on the side of the slide 35, and the slide rail 36 is located in the slide guide groove 38. The slide 35 can move linearly along the slide guide groove 38; the cylinder end of the slide push cylinder 44 is fixedly connected to the slide support 37, and the piston rod end of the slide push cylinder 44 is hinged on the slide 35. The slide push cylinder 44 is parallel to the slide guide groove 38; the slide guide rod 34 is fixedly mounted on the top of the slide 35, and the drilling rig slide 33 is installed on the slide The drilling rig slide 33 is on the slide guide rod 34, and the drilling rig slide 33 can move linearly along the slide guide rod 34; the cylinder end of the slide push cylinder 45 is fixedly connected to the slide 35, and the piston rod end of the slide push cylinder 45 is hinged on the drilling rig slide 33, and the slide push cylinder 45 is parallel to the slide guide rod 34; the drilling rig 32 is fixedly mounted on the top of the drilling rig slide 33; the guide sleeve 42 is fixedly mounted on the top of the slide support 37, and the guide sleeve 42 is sleeved on the mounting plate guide rod 41, and the clamp is mounted The mounting plate 40 is fixedly connected to one end of the mounting plate guide rod 41, and the limit nut 43 is fixedly installed at the other end of the mounting plate guide rod 41. The mounting plate guide rod 41 can move linearly along the guide sleeve 42; the drill rod clamp 39 is installed on the clamp mounting plate 40; the cylinder end of the mounting plate push cylinder 46 is fixedly connected to the slide support 37, and the piston rod end of the mounting plate push cylinder 46 is hinged on the clamp mounting plate 40, and the mounting plate push cylinder 46 is parallel to the mounting plate guide rod 41.

[0041] The method for using the fault drilling manipulator device for a fully mechanized mining working face comprises the following steps:

[0042] Step 1: When the coal mining machine encounters a fault during advancement, the coal mining machine stops, and the fully-mechanized working face through-fault drilling manipulator device is placed as a whole on the scraper conveyor 6 at the end of the tunnel. At this time, the fully-mechanized working face through-fault drilling manipulator device is in a laid-down and retracted state;

[0043] Step 2: Control the piston rods of the lateral pressure plate push cylinder 12 and the vertical pressure plate push cylinder 14 to extend, so that the lateral pressure plate 11 is pressed against the side of the pin row, and the vertical pressure plate 13 is pressed against the pin row from the top surface, at which time the freedom of the rail limiter 9 relative to the pin row of the scraper conveyor 6 is locked;

[0044] Step 3: Control the piston rod of the travel push cylinder 8 to extend. Since the freedom of the rail limiter 9 is locked, the piston rod of the travel push cylinder 8 will push the wheeled chassis 7 forward by a set distance.

[0045] Step 4: Control the piston rods of the lateral pressure plate push cylinder 12 and the vertical pressure plate push cylinder 14 to retract, so that the lateral pressure plate 11 and the vertical pressure plate 13 are both separated from the pin row. At this time, the freedom of the rail limiter 9 relative to the pin row of the scraper conveyor 6 is restored;

[0046] Step 5: Control the piston rod of the travel cylinder 8 to retract, and the rail limiter 9 is pulled back to the initial position;

[0047] Step 6: Repeat steps 2 to 5 until the fault drilling manipulator device of the fully mechanized mining face moves to the fault as a whole;

[0048] Step 7: Control the piston rod of the column lifting and lowering cylinder 20 to extend until the sleeve column 17 is adjusted to a vertical state; at the same time, control the worm gear drive motor 29 to operate to rotate the pitch adjustment drive shaft 30 to ensure that the punching mechanism 5 on the pitch adjustment adapter block 31 always maintains a horizontal state during the erection of the sleeve column 17;

[0049] Step 8: Control the piston rod of the top support cylinder 18 to extend upward until the top support head 19 abuts against the tunnel roof, so that the fully mechanized mining face through-fault drilling manipulator device is fixed as a whole between the tunnel roof and the scraper conveyor 6;

[0050] Step nine: Control the slewing drive cylinder 15 to move so that the horizontal turntable 16 rotates to a set angle; at the same time, control the lifting drive motor 23 to move so that the lifting drive shaft 26 rotates, thereby driving the sprocket 25 to rotate. Through the meshing action of the sprocket 25 and the chain 24, the sprocket 25 will roll and lift along the chain 24 until the sliding sleeve 22 is lifted to a set height, thereby lifting the punching mechanism 5 to a set height; at the same time, control the worm gear drive motor 29 to move so that the pitch adjustment drive shaft 30 rotates until the drill rod of the drill rig 32 in the punching mechanism 5 reaches a set angle with the fault;

[0051] Step 10: First, control the piston rod of the mounting plate push cylinder 46 to extend until the clamp mounting plate 40 is against the fault surface; then start the drilling rig 32 to drive the drill rod to rotate, and then control the slide push cylinder 45 to move, so that the drilling rig slide 33 drives the drilling rig 32 drill rod to complete a feed; when the first feed is completed, control the slide push cylinder 44 to move, so that the slide 35 drives the drilling rig slide 33 and the drilling rig 32 drill rod to complete a second feed; when the second feed is completed, control the clamp mounting plate 40, the drilling rig slide 33 and the slide 35 to return to the initial position, and complete a drilling operation;

[0052] Step 11: adjust the rotation angle of the horizontal turntable 16, the lifting height of the sliding sleeve 22 and the pitch angle of the drilling mechanism 5, repeat step 10, and complete the drilling operation of another hole;

[0053] Step 12: Repeat steps 10 and 11 until the remaining holes are drilled.

[0054] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A method for using a cross-fault drilling manipulator device for a fully mechanized mining working face, characterized in that: The fully mechanized mining face through-fault drilling manipulator device comprises a walking mechanism, a horizontal rotary attitude adjustment mechanism, a vertical lifting attitude adjustment mechanism, a pitching and flipping attitude adjustment mechanism and a punching mechanism; the walking mechanism is arranged on the scraper conveyor, the horizontal rotary attitude adjustment mechanism is arranged on the walking mechanism, the vertical lifting attitude adjustment mechanism is arranged on the horizontal rotary attitude adjustment mechanism, the pitching and flipping attitude adjustment mechanism is arranged on the vertical lifting attitude adjustment mechanism, and the punching mechanism is arranged on the pitching and flipping attitude adjustment mechanism; The travel mechanism includes a wheeled chassis, a travel push cylinder and a rail limiter, and the rail limiter includes a limiter base frame, a lateral pressure plate, a lateral pressure plate push cylinder, a vertical pressure plate and a vertical pressure plate push cylinder; the wheeled chassis is located on the groove side of the scraper conveyor, the rail limiter is located on the pin row of the scraper conveyor, one end of the travel push cylinder is hinged to the wheeled chassis, and the other end of the travel push cylinder is hinged to the limiter base frame; the lateral pressure plate push cylinder is horizontally The cylinder end of the lateral pressure plate push cylinder is hinged on the limiter base frame, the lateral pressure plate is vertically fixedly connected to the piston rod end of the lateral pressure plate push cylinder, and the lateral pressure plate is directly opposite to the pin row side of the scraper conveyor; the vertical pressure plate push cylinder is vertically arranged with the piston rod facing downward, the cylinder end of the vertical pressure plate push cylinder is fixedly connected to the limiter base frame, the vertical pressure plate is horizontally fixedly installed on the piston rod end of the vertical pressure plate push cylinder, and the vertical pressure plate is directly opposite to the pin row top surface of the scraper conveyor; The horizontal rotary posture adjustment mechanism comprises a rotary drive cylinder and a horizontal rotary table, wherein the rotary drive cylinder is vertically arranged on a wheeled chassis, the stator end of the rotary drive cylinder is fixedly connected to the wheeled chassis, and the horizontal rotary table is horizontally fixedly mounted on the rotor end of the rotary drive cylinder; The vertical lifting and posture adjustment mechanism includes a sleeve column, a top support cylinder, a top support head, a column lifting and lowering cylinder, a column lifting and lowering connecting rod, a sliding sleeve, a lifting drive motor, a chain, a sprocket and a lifting drive shaft; the sleeve column adopts a parallel double-column structure, one end of the sleeve column is hinged on the horizontal turntable, and the other end of the sleeve column is a free end; the cylinder end of the top support cylinder is coaxially fixed in the sleeve column, the piston rod of the top support cylinder extends from the free end of the sleeve column to the outside of the sleeve column, and the top support head is fixedly mounted on the piston rod end of the top support cylinder; the piston rod end of the column lifting and lowering cylinder is hinged on the wheeled chassis, the cylinder end of the column lifting and lowering cylinder is hinged at one end of the column lifting and lowering connecting rod, and the other end of the column lifting and lowering connecting rod is fixedly connected to the column at the hinged end of the sleeve column On the body; the sliding sleeve is sleeved on the outside of the sleeve column, and a plurality of guide rollers are arranged between the sliding sleeve and the outer facade of the sleeve column, and the sliding sleeve can move linearly along the sleeve column; the chain is arranged on the outer facade of the sleeve column, the chain is parallel to the sleeve column, one end of the chain is fixedly connected to the free end of the sleeve column, and the other end of the chain is fixedly connected to the hinged end of the sleeve column; the lifting drive motor is fixedly connected to the sliding sleeve on one side, the power shaft of the lifting drive motor is fixedly connected to one end of the lifting drive shaft through a coupling, and the other end of the lifting drive shaft is connected to the sliding sleeve on the other side through a bearing, and holes are provided on the sliding sleeves on the left and right sides, and the holes are opposite to the lifting drive shaft, and the sprocket is fixedly sleeved on the lifting drive shaft opposite to the hole, and the sprocket is meshed with the chain through the hole; The pitch and flip attitude adjustment mechanism comprises a worm gear drive motor, a pitch attitude adjustment drive shaft and a pitch attitude adjustment adapter block; the worm gear drive motor is fixedly connected to a sliding sleeve on one side, the worm gear power shaft of the worm gear drive motor is fixedly connected to one end of the pitch attitude adjustment drive shaft, the other end of the pitch attitude adjustment drive shaft is connected to the sliding sleeve on the other side through a bearing, and the pitch attitude adjustment adapter block is fixedly mounted on the pitch attitude adjustment drive shaft; The drilling mechanism includes a drilling rig, a drilling rig slide, a slide guide rod, a slide, a slide guide rail, a slide support, a slide guide groove, a drill rod clamp, a clamp mounting plate, a mounting plate guide rod, a guide sleeve, a limit nut, a slide push cylinder, a slide push cylinder and a mounting plate push cylinder; the slide support is fixedly connected to the pitch adjustment adapter block, the slide guide groove is fixedly installed on the top of the slide support, the slide guide rail is fixedly installed on the side of the slide, the slide guide rail is located in the slide guide groove, and the slide can move linearly along the slide guide groove; the cylinder end of the slide push cylinder is fixedly connected to the slide support, the piston rod end of the slide push cylinder is hinged on the slide, and the slide push cylinder is parallel to the slide guide groove; the slide guide rod is fixedly installed on the top of the slide, and the drilling rig slide is installed on the slide guide rod The cam is connected with the guide rail of the drilling rig by the spring, and the end of the piston rod of the sliding plate is hinged on the sliding plate of the drilling rig, and the sliding plate is parallel to the guide rod of the sliding plate; the drilling rig is fixed on the top of the drilling rig slide; the guide sleeve is fixed on the top of the slide support, and the guide sleeve is sleeved on the guide rod of the mounting plate, and the clamp mounting plate is fixedly connected to one end of the guide rod of the mounting plate, and the limit nut is fixedly installed on the other end of the guide rod of the mounting plate, and the mounting plate guide rod can move linearly along the guide sleeve; the drill rod clamp is installed on the clamp mounting plate; the cylinder end of the mounting plate pushing oil cylinder is fixedly connected to the slide support, and the end of the piston rod of the mounting plate pushing oil cylinder is hinged on the clamp mounting plate, and the mounting plate pushing oil cylinder is parallel to the mounting plate guide rod; The method for using the fault drilling manipulator device for a fully mechanized mining working face comprises the following steps: Step 1: When the coal mining machine encounters a fault during advancement, the coal mining machine stops, and the fully-mechanized working face through-fault drilling manipulator device is placed as a whole on the scraper conveyor at the end of the tunnel. At this time, the fully-mechanized working face through-fault drilling manipulator device is in a laid-down and retracted state; Step 2: Control the piston rods of the lateral pressure plate push cylinder and the vertical pressure plate push cylinder to extend, so that the lateral pressure plate is pressed against the side of the pin row, and the vertical pressure plate is pressed against the pin row from the top surface. At this time, the freedom of the rail limiter relative to the scraper conveyor pin row is locked; Step 3: Control the piston rod of the travel push cylinder to extend. Since the freedom of the rail limiter is locked, the piston rod of the travel push cylinder will push the wheeled chassis forward a set distance; Step 4: Control the piston rods of the lateral pressure plate push cylinder and the vertical pressure plate push cylinder to retract, so that the lateral pressure plate and the vertical pressure plate are separated from the pin row. At this time, the freedom of the rail limiter relative to the scraper conveyor pin row is restored; Step 5: Control the piston rod of the travel cylinder to retract, and the rail limiter is pulled back to the initial position; Step 6: Repeat steps 2 to 5 until the fault drilling manipulator device of the fully mechanized mining face moves to the fault as a whole; Step 7: Control the piston rod of the column lifting and lowering cylinder to extend until the sleeve column is adjusted to a vertical state; at the same time, control the worm gear drive motor to rotate the pitch adjustment drive shaft to ensure that the punching mechanism on the pitch adjustment adapter block always remains in a horizontal state during the erection of the sleeve column; Step 8: Control the piston rod of the top support cylinder to extend upward until the top of the top support rests against the tunnel roof, so that the fault drilling manipulator device of the fully mechanized mining working face is fixed as a whole between the tunnel roof and the scraper conveyor; Step 9: Control the action of the rotary drive cylinder to rotate the horizontal turntable to a set angle; at the same time, control the action of the lifting drive motor to rotate the lifting drive shaft, thereby driving the sprocket to rotate. Through the meshing action of the sprocket and the chain, the sprocket will roll and lift along the chain until the sleeve is lifted to a set height, thereby lifting the drilling mechanism to a set height; at the same time, control the action of the worm gear drive motor to rotate the pitch adjustment drive shaft until the drilling rod in the drilling mechanism reaches a set angle with the fault; Step 10: First, control the piston rod of the mounting plate push cylinder to extend until the clamp mounting plate rests against the fault surface; then start the drilling rig to drive the drill rod to rotate, and then control the slide push cylinder to move, so that the drilling rig slide drives the drilling rig drill rod to complete a feed; when the first feed is completed, control the slide push cylinder to move, so that the slide drives the drilling rig slide and the drilling rig drill rod to complete a second feed; when the second feed is completed, control the clamp mounting plate, the drilling rig slide and the slide to return to the initial position to complete a drilling operation; Step 11: Adjust the rotation angle of the horizontal turntable, the lifting height of the sliding sleeve and the pitch angle of the punching mechanism, and repeat step 10 to complete the drilling operation of another hole; Step 12: Repeat steps 10 and 11 until the remaining holes are drilled.

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