Intelligent full-automatic tunneling jumbo

Abstract

The present application belongs to the technical field of coal mine underground development equipment, and particularly relates to an intelligent full-automatic tunneling drill carriage. The technical scheme comprises a machine body, a front stabilizing support, a drill arm, a machine-mounted rock drill, an operating table, a guard plate, a hydraulic system and an electrical system. The machine body is installed below the operating table and the guard plate, the front stabilizing support is arranged at the bottom of the front end of the operating table, the drill arm comprises two sets arranged at the middle of the front end of the operating table, the machine-mounted rock drill comprises two sets respectively hingedly connected to the front end of the left and right drill arms, the operating table is installed at the front upper part of the machine body, the guard plate is fixed to the rear upper part of the machine body, the hydraulic system is installed above the machine body and at the rear left side of the operating table, and the electrical system is installed above the machine body and at the rear right side of the operating table. The present application effectively solves the problems of low intelligence, complex construction process, serious overbreak and underbreak and unsafe operation of the traditional rock drill.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine underground development equipment, and particularly relates to an intelligent full-automatic tunneling drill carriage. BACKGROUND

[0002] In the technical field of coal mine underground development equipment, in recent years, the coal mine equipment requires higher and higher intelligent degree, and the original drilling equipment cannot meet the construction process requirements of the present rock roadway intelligent tunneling. In the rock roadway tunneling of the traditional rock drilling jumbo, a surveying personnel needs to calibrate the center line and waist line, and the calibration process is complex and has errors. Meanwhile, in the rock drilling process, the actual hole position often has a large error with the designed hole position, which leads to the unevenness of the working face after blasting, the serious overbreak and underbreak, and the great safety hazards in the operation of the workers, which seriously restricts and affects the working efficiency of the rock roadway tunneling. SUMMARY

[0003] The present application aims to provide an intelligent full-automatic tunneling drill carriage, which effectively solves the problems of low intelligent degree, complex construction process, serious overbreak and underbreak, and unsafe operation of the traditional rock drilling.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0005] An intelligent full-automatic tunneling drill carriage, comprising a machine body part, a front stabilizing support, a drill arm part, a machine-mounted rock drilling rig, an operation table, a guard plate part, a hydraulic system and an electrical system.

[0006] The machine body part is installed below the operation table and the guard plate part, the front stabilizing support is arranged at the bottom position of the front end of the operation table, the drill arm part has two sets, which are arranged at the middle position of the front end of the operation table in left and right directions, the machine-mounted rock drilling rig has two sets, which are respectively hinged at the front ends of the left and right drill arm parts, the operation table is installed at the upper front position of the machine body part, the guard plate part is fixed at the upper rear position of the machine body part, the hydraulic system is installed above the machine body part, at the left rear side of the operation table, and the electrical system is installed above the machine body part, at the right rear side of the operation table.

[0007] The machine body part is composed of a traveling assembly, a front connecting beam, a platform, a rear connecting beam, a cable winding device and an electromagnetic starter. The traveling assembly has one set, which is installed on both sides of the front connecting beam and the rear connecting beam, and provides support for the machine group traveling. The upper surface of the front connecting beam is connected with the front part of the bottom surface of the platform, the platform is installed on the upper parts of the front connecting beam and the rear connecting beam, the rear connecting beam is connected with the middle and rear parts of the bottom surface of the platform, the cable winding device is installed at the left rear side position of the platform, which facilitates the winding and unwinding of the cable during the machine group traveling, and the electromagnetic starter is installed at the right rear side of the upper surface of the platform, which facilitates the start and stop of the electrical system.

[0008] The front stable support is composed of a support top plate, a support pressing plate, a ball, a right support oil cylinder assembly, a support inner sleeve, a support telescopic oil cylinder, a support outer sleeve and a left support oil cylinder assembly; the upper end surface of the support top plate is connected and fixed with the support pressing plate, the lower end surface of the support top plate is designed with five wear-resistant heads, and the inside of the support top plate is a cylindrical hollow structure; the support pressing plate is a split structure; the lower end spherical structure of the ball is installed in the cylindrical hollow structure inside the support top plate and is fixed by the support pressing plate, the ball is symmetrically installed left and right, and the upper end of the ball is hingedly connected with the right support oil cylinder assembly and the left support oil cylinder assembly; the middle connecting plate of the cylinder body of the right support oil cylinder assembly is connected with the right support inner sleeve, the telescopic rod of the right support oil cylinder assembly is hingedly connected with the ball, the middle connecting plate of the cylinder body of the left support oil cylinder assembly is connected with the left support inner sleeve, and the telescopic rod of the left support oil cylinder assembly is hingedly connected with the ball; the telescopic rods of the right support oil cylinder assembly and the left support oil cylinder assembly are telescopic to drive the ball, the support top plate and the support pressing plate to lift and lower, so as to realize the action of the front stable support to support the ground downward and to be retracted upward; the support inner sleeve is two, which are installed in the support outer sleeve left and right respectively, the support outer sleeve is designed as an upper and lower sleeve structure, the support telescopic oil cylinder is two, which are installed in the upper and lower sleeves of the support outer sleeve left and right respectively, one end of the cylinder body of the left support telescopic oil cylinder is hingedly connected with the internal connecting lug of the support outer sleeve, and the telescopic rod thereof is hingedly connected with the internal connecting lug of the left support inner sleeve; one end of the cylinder body of the right support telescopic oil cylinder is hingedly connected with the internal connecting lug of the support outer sleeve, and the telescopic rod thereof is hingedly connected with the internal connecting lug of the right support inner sleeve; the telescopic rods of the support telescopic oil cylinders are telescopic to drive the support inner sleeves to slide left and right respectively, so as to realize the support function of the front stable support in different width ranges.

[0009] The drill arm part is composed of two sets of left and right symmetrical arrangement, each set of drill arm fixing seat, large connector, small connector, drill arm telescopic oil cylinder, drill arm telescopic outer sleeve, large arm adjusting oil cylinder, drill arm telescopic inner sleeve, small arm adjusting oil cylinder, large arm front connector, front connector, swing cylinder fixing seat, swing cylinder, swing cylinder connecting plate, propeller adjusting oil cylinder; the drill arm fixing seat is installed at the front end of the operation table, one end of the large connector is hinged with the upper connecting lug of the drill arm fixing seat, the other end is hinged with the rear end connecting lug of the drill arm telescopic outer sleeve, one end of the small connector is hinged with the lower connecting lug of the drill arm fixing seat, the other end is hinged with the telescopic rod of the large arm adjusting oil cylinder, the large arm adjusting oil cylinder is composed of two, left and right symmetrical arrangement, the ear ring on the cylinder body end of the large arm adjusting oil cylinder is designed with a joint bearing, which meets the requirement of mechanism movement degree of freedom, the cylinder body end of the large arm adjusting oil cylinder is hinged with the oil cylinder seat at the bottom of the drill arm telescopic outer sleeve, the telescopic rod of the large arm adjusting oil cylinder is hinged with the small connector; the rear end of the drill arm telescopic outer sleeve is hinged with the large connector, the two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve are arranged symmetrically at a certain angle; the drill arm telescopic inner sleeve is nested in the drill arm telescopic outer sleeve, the two oil cylinder seats at the top of the drill arm telescopic inner sleeve are arranged symmetrically at the same angle with the two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve; one end of the cylinder body of the drill arm telescopic oil cylinder is hinged with the inner connecting lug of the drill arm telescopic outer sleeve, one end of the telescopic rod is hinged with the inner connecting lug of the drill arm telescopic inner sleeve, the telescopic rod of the drill arm telescopic oil cylinder drives the drill arm telescopic inner sleeve to slide forward and backward with the drill arm telescopic outer sleeve as the guide, thus driving the whole drill arm part to stretch forward and backward; the small arm adjusting oil cylinder is composed of two, left and right symmetrical arrangement, the ear ring on the cylinder body end of the small arm adjusting oil cylinder is designed with a joint bearing, the cylinder body end of the small arm adjusting oil cylinder is hinged with the oil cylinder seat at the top of the drill arm telescopic inner sleeve, the telescopic rod of the small arm adjusting oil cylinder is hinged with the front connector, one end of the front connector is hinged with the small arm adjusting oil cylinder, the other end is hinged with the upper connecting lug of the swing cylinder fixing seat; one end of the large arm front connector is hinged with the front end connecting lug of the drill arm telescopic inner sleeve, the other end is hinged with the bottom connecting lug of the swing cylinder fixing seat; the cylinder body of the swing cylinder is fixedly connected with the swing cylinder fixing seat, the rotating shaft is fixedly connected with the swing cylinder connecting plate, the rotating shaft of the swing cylinder rotates to drive the swing cylinder connecting plate to rotate 360 degrees left and right; the cylinder body end of the propeller adjusting oil cylinder is hinged with the rear upper connecting lug of the swing cylinder connecting plate, the telescopic rod of the propeller adjusting oil cylinder is hinged with the airborne rock drill, the telescopic rod of the propeller adjusting oil cylinder stretches.

[0010] The drill boom part is a double-triangle drill boom translation mechanism design, and the three-triangle amplitude mechanism is composed of a drill boom fixing seat, a drill boom telescopic outer sleeve, two large-arm adjusting oil cylinders, a large connector, and a small connector; the front triangle translation mechanism is composed of a swing cylinder fixing seat, a drill boom telescopic inner sleeve, two small-arm adjusting oil cylinders, a large-arm front connector, and a front connector, wherein the large-arm adjusting oil cylinder on the left side or the right side is connected in series with the small-arm adjusting oil cylinder on the right side or the left side, the rod cavity of the large-arm adjusting oil cylinder on the left side or the right side is communicated with the rodless cavity of the small-arm adjusting oil cylinder on the right side or the left side, the telescopic rod of the large-arm adjusting oil cylinder on the left side or the right side is extended or retracted, and at the same time, the telescopic rod of the small-arm adjusting oil cylinder on the right side or the left side is retracted or extended according to a certain proportion coefficient, the drill boom part and the front-end machine-mounted rock drill are driven to realize up-down and left-right adjustment through the coordinated action of the two large-arm adjusting oil cylinders and the two small-arm adjusting oil cylinders, and the automatic positioning of the rock drilling blast hole is facilitated.

[0011] The drill boom telescopic oil cylinder, the large-arm adjusting oil cylinder, the small-arm adjusting oil cylinder, and the propeller adjusting oil cylinder are internally designed with displacement sensors for measuring the displacement of the corresponding oil cylinders; the swing cylinder is internally designed with an angle sensor for measuring the rotation angle of the swing cylinder.

[0012] The machine-mounted rock drill is composed of a front rock holder, a middle rock holder, a tension device, a drilling mechanism, a sliding seat, a pushing cylinder seat, a pushing cylinder, a slide rail, a slide rail telescopic cylinder, a slide rail bracket, a slide rail fixing plate, a slide rail pressing block, a oil pipe fixing seat I, a steel wire rope assembly I, a steel wire rope assembly II, a oil pipe fixing seat II and a laser target; the front rock holder is fixed at the front end of the slide rail, the middle rock holder is installed on the slide rail, and a rope wheel structure is designed in the middle rock holder; the tension device is fixed on the outer side of the slide rail, and is used for adjusting the tension of the steel wire rope assembly I and the steel wire rope assembly II; the drilling mechanism and the sliding seat are installed on the slide rail in front and back, and a rope wheel and a hose reel structure are arranged in the sliding seat; the pushing cylinder seat is installed at the middle position of the slide rail rear side plate, the pushing cylinder is installed in the slide rail, the cylinder body front end of the pushing cylinder is fixedly connected with the middle rock holder, the cylinder body rear end of the pushing cylinder is fixedly connected with the sliding seat, the telescopic rod of the pushing cylinder is hinged with the pushing cylinder seat, one end of the steel wire rope assembly I is fixedly connected with the tension device, the direction of the steel wire rope assembly I is changed through the rope wheel structure of the sliding seat, the other end of the steel wire rope assembly I is fixedly connected with the rear steel wire sleeve in the drilling mechanism, one end of the steel wire rope assembly II is fixedly connected with the tension device, the direction of the steel wire rope assembly II is changed through the rope wheel structure of the middle rock holder, the other end of the steel wire rope assembly II is fixedly connected with the front steel wire sleeve in the drilling mechanism, when the telescopic rod of the pushing cylinder is extended, the pushing cylinder drives the middle rock holder to move forward, the rope wheel in the middle rock holder moves forward, the steel wire rope assembly II moves around the rope wheel structure in the middle rock holder, so that the drilling mechanism moves forward at twice the pushing speed of the pushing cylinder, and the middle rock holder and the sliding seat move forward at the same pushing speed of the pushing cylinder; when the telescopic rod of the pushing cylinder is retracted, the pushing cylinder drives the sliding seat to move backward, the rope wheel structure in the sliding seat moves backward, the steel wire rope assembly I moves around the rope wheel in the sliding seat, so that the drilling mechanism moves backward at twice the return speed of the pushing cylinder, and the middle rock holder and the sliding seat move backward at the same retraction speed of the pushing cylinder; the oil pipe fixing seat I and the oil pipe fixing seat II are fixed on the inner side of the slide rail, and are matched with the hose reel structure in the sliding seat, so that the hose of the machine-mounted rock drill is kept in correct order and proper tightness; the slide rail fixing plate and the slide rail pressing block are installed in two groups in front and back, are symmetrically arranged, the upper plane of the slide rail fixing plate is fixedly connected with the slide rail pressing block, the lower plane of the slide rail fixing plate is fixedly connected with the slide rail bracket, the upper plane of the slide rail bracket is fixed with the slide rail fixing plate, the middle part of the slide rail bracket is provided with a sleeve structure, the front end connecting lug of the bottom of the slide rail bracket is hinged with the swing cylinder connecting plate in the drill arm part, and the rear end connecting lug of the bottom of the slide rail bracket is hinged with the pusher adjusting oil cylinder in the drill arm part; the cylinder body of the slide rail telescopic cylinder is hinged with the inner connecting lug of the sleeve of the slide rail bracket, the telescopic rod of the slide rail telescopic cylinder is hinged with the connecting lug at the rear end of the slide rail bottom, and the telescopic rod of the slide rail telescopic cylinder drives the machine-mounted rock drill to slide forward and backward.The laser target is provided with a circular hole.

[0013] The displacement sensor is arranged in the advancing oil cylinder and the slide rail telescopic oil cylinder to measure the displacement of each oil cylinder.

[0014] The drilling mechanism is composed of a hydraulic rock drill, a rock drilling pressure sensor, a rock drill mounting plate, a rock drill motor rotation pressure sensor, a rock drill slide fixing plate, a rock drill slide pressing block and a steel wire sleeve; the hydraulic rock drill is mounted on the rock drill mounting plate; the rock drilling pressure sensor is arranged at the middle part of the hydraulic rock drill to detect the rock drilling pressure; the upper part of the rock drill mounting plate is fixed with the hydraulic rock drill and the steel wire sleeve, and the lower part of the rock drill mounting plate is connected with the rock drill slide fixing plate; the rock drill motor rotation pressure sensor is arranged at the rear part of the hydraulic rock drill to detect the rock drill motor rotation pressure; the rock drill slide fixing plate is composed of four pieces arranged in two groups symmetrically in front and back; the upper part of the rock drill slide fixing plate is connected with the rock drill mounting plate, and the lower part is fixedly connected with the rock drill slide pressing block; the rock drill slide pressing block is composed of four pieces arranged in two groups symmetrically in front and back; the rock drill mounting plate, the rock drill slide fixing plate and the rock drill slide pressing block are assembled and can slide along the slide rail under the driving of the advancing oil cylinder; the steel wire sleeve is composed of two pieces connected with the middle part of the rock drill mounting plate; the front steel wire sleeve is connected with the steel wire rope assembly II, and the rear steel wire sleeve is connected with the steel wire rope assembly I.

[0015] The operation platform is composed of an explosion-proof computer, an operation panel, a double-shaft inclination sensor, a proportional valve, a seat and a cab; the explosion-proof computer is mounted at the front end of the operation panel; the operation panel is composed of two pieces mounted on the upper surface of the operation frame of the cab; the operation panel includes the operation handle, the operation switch, the operation keyboard, the hole finding and drilling switching button, the high and low impact switching button, the horizontal function switching button, the emergency stop button and ten pressure gauges of each execution mechanism; the double-shaft inclination sensor is arranged at the bottom of the cab to measure the levelness of the vehicle body and obtain the pitch angle and the roll angle; the proportional valve is arranged at the bottom of the cab to control the movement of each oil cylinder and the swing cylinder by receiving the control signal sent by the programmable controller; the seat is designed in two pieces side by side and is arranged at the rear end of the cab shell and can be folded; the cab is arranged at the front part of the platform of the machine body and adopts a frame structure.

[0016] The guard plate part is composed of an oil tank guard, a programmable controller, an air compressor, an air compressor guard, a cable winding guard and a laser emitter; the oil tank guard is installed on the upper part of the oil tank of the hydraulic system and can protect the hydraulic system and its pipelines; the programmable controller is installed below the upper panel of the oil tank guard and can receive the instructions from the explosion-proof computer and the signals of the sensors of each oil cylinder, swing cylinder and hydraulic rock drill and output the control signals of each proportional valve; the air compressor is installed on the upper part of the oil tank of the hydraulic system and is used for lubricating the hydraulic rock drill; the air compressor guard is installed above the air compressor and is used for protecting the air compressor; the cable winding guard is installed above the cable winding device and is used for protecting the cable winding device and its cable; and the laser emitter is installed on the side of the cable winding guard.

[0017] The intelligent full-automatic drilling jumbo adopts the above technical scheme, adopts full-automatic rock drilling rig positioning technology, can realize accurate automatic positioning, drilling and reaming according to different cross-sections of the roadway, has high automation degree and is easy to operate, can adjust the rock drilling control parameters according to different specifications and rock stratum conditions of the roadway, so that the torque, rotating speed, impact power and advancing parameters of the rock drill reach the best matching, can realize automatic and manual switching through the computer operation interface, is provided with two groups of drilling arms and drilling advancing mechanisms, is cooperatively controlled by the computer, and the two groups of drilling arms and drilling advancing mechanisms can independently perform drilling operation and do not interfere with each other in automatic and manual operation, the drilling arm adopts a double-triangle translational adjustment mechanism and can automatically level and accurately position, the drilling advancing mechanism adopts a combined advancing mode of an oil cylinder and a steel cable, has large advancing force and long advancing distance, the hydraulic system adopts load-sensitive control, which reduces energy consumption and eliminates the possibility of system thermal failure, and the main control switch of the electrical system adopts a combined switch and an intelligent operation system to realize starting and stopping of the pump station motor, automatic control of the drilling arm and provide various protection functions, so that the whole machine is safer and more efficient.

[0018] (1) The unit adopts full-automatic rock drilling rig positioning technology, can realize functions such as body positioning, drilling arm positioning and automatic drilling according to different cross-sections of the roadway, can automatically find the position of the drilling arm and drill a hole by one-key operation, has high intelligence and is easy to operate;

[0019] (2) Two groups of drilling arms and drilling advancing mechanisms are provided, are cooperatively controlled by the computer, and the two groups of drilling arms and drilling advancing mechanisms can be simultaneously and independently operated without interference;

[0020] (3) The drilling arm adopts a double-triangle translational adjustment mechanism and can automatically level and accurately position;

[0021] (4) The drilling jumbo provided with the on-board rock drill has large advancing distance, can form a head-on blast hole at one time, does not need to connect and change drill rods, and greatly improves the construction efficiency.

[0022] (5) The hydraulic rock drill with impact and large torque rotation function is adopted, the rock hardness range is wide, the rock drilling control parameters can be adjusted according to different rock systems, so that the torque, rotating speed, impact power and advancing parameters of the rock drill are optimally matched.

[0023] (6) The main control switch of the electrical system adopts a combination switch and an intelligent operation system to realize the start and stop of the pump station motor, automatic control of the drilling arm and provide various protection functions, so that the whole machine is safer and more efficient. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic diagram of the embodiment of the application;

[0025] Figure 2 is a top view of Figure 1 ;

[0026] Figure 3 is a structural schematic diagram of the machine body part in Figure 1 ;

[0027] Figure 4 is a structural schematic diagram of the front stabilizing support in Figure 1 ;

[0028] Figure 5 is a structural schematic diagram of the drilling arm part in Figure 1 ;

[0029] Figure 6 is a structural schematic diagram of the machine-mounted rock drill in Figure 1 ;

[0030] Figure 7 is a top view of Figure 6 ;

[0031] Figure 8 is a structural schematic diagram of the drilling mechanism in Figure 6 ;

[0032] Figure 9 is a structural schematic diagram of the operation table in Figure 1 ;

[0033] Figure 10 is a structural schematic diagram of the guard plate part in Figure 1 . DETAILED DESCRIPTION

[0034] As shown in Figure 1 , Figure 2 , the intelligent full-automatic tunneling drill vehicle described in the embodiment comprises a machine body part 1, a front stabilizing support 2, a drilling arm part 3, a machine-mounted rock drill 4, an operation table 5, a guard plate part 6, a hydraulic system 7 and an electrical system 8.

[0035] AsFigure 3 As shown, the body part 1 is installed below the operating platform 5 and the guard plate part 6, the front stabilizing support 2 is arranged at the bottom position of the front end of the operating platform 5, the drill arm part 3 is two sets, arranged at the middle position of the front end of the operating platform 5, the on-board rock drill 4 is two sets, respectively hinged at the front end of the left and right drill arm parts 3, the operating platform 5 is installed at the upper front position of the body part 1, the guard plate part 6 is fixed at the upper rear position of the body part 1, the hydraulic system 7 is installed above the body part 1, at the left rear side of the operating platform 5, and the electrical system 8 is installed above the body part 1, at the right rear side of the operating platform 5.

[0036] The body part 1 is composed of a walking assembly 1-1, a front connecting beam 1-2, a platform 1-3, a rear connecting beam 1-4, a cable winding device 1-5, and an electromagnetic starter 1-6. The walking assembly 1-1 is one set, installed on both sides of the front connecting beam 1-2 and the rear connecting beam 1-4, providing support for the walking of the machine set. The upper surface of the front connecting beam 1-2 is connected with the front part of the bottom surface of the platform 1-3, the platform 1-3 is installed on the upper part of the front connecting beam 1-2 and the rear connecting beam 1-4, the rear connecting beam 1-4 is connected with the middle and rear part of the bottom surface of the platform 1-3, the cable winding device 1-5 is installed at the left rear side of the platform 1-3, facilitating the winding and unwinding of the cable during the walking of the machine set, and the electromagnetic starter 1-6 is installed at the right rear side of the upper surface of the platform 1-3, facilitating the start and stop of the electrical system 8.

[0037] As shown in the figure, Figure 4As shown, the front stable support 2 is composed of a support top plate 2-1, a support pressing plate 2-2, a ball 2-3, a right support oil cylinder assembly 2-4, a support inner sleeve 2-5, a support telescopic oil cylinder 2-6, a support outer sleeve 2-7, and a left support oil cylinder assembly 2-8; the upper end surface of the support top plate 2-1 is connected and fixed with the support pressing plate 2-2, the lower end surface of the support top plate 2-1 is designed with five wear-resistant heads, and the inside of the support top plate 2-1 is a cylindrical hollow structure; the support pressing plate 2-2 is a split structure; the lower end spherical structure of the ball 2-3 is installed in the cylindrical hollow structure inside the support top plate 2-1 and is fixed with the support pressing plate 2-2, the ball 2-3 is symmetrically installed left and right, and the upper end of the ball 2-3 is respectively hinged with the right support oil cylinder assembly 2-4 and the left support oil cylinder assembly 2-8; the middle connecting plate of the cylinder body of the right support oil cylinder assembly 2-4 is connected with the right support inner sleeve 2-5, the telescopic rod of the right support oil cylinder assembly 2-4 is hinged with the ball 2-3, the middle connecting plate of the cylinder body of the left support oil cylinder assembly 2-8 is connected with the left support inner sleeve 2-5, and the telescopic rod of the left support oil cylinder assembly 2-8 is hinged with the ball 2-3; the telescopic rods of the right support oil cylinder assembly 2-4 and the left support oil cylinder assembly 2-8 are telescopic, which drives the ball 2-3 and the support top plate 2-1 and the support pressing plate 2-2 to lift, so as to realize the action of the front stable support 2 to be tightly supported to the ground downward and to be retracted upward; the support inner sleeve 2-5 is two in total and is respectively installed in the support outer sleeve 2-7 left and right, the support outer sleeve 2-7 is designed as a sleeve structure, the support telescopic oil cylinder 2-6 is two in total and is installed in the upper and lower sleeves of the support outer sleeve 2-7 left and right, one end of the cylinder body of the left support telescopic oil cylinder 2-6 is hinged with the internal connecting lug of the support outer sleeve 2-7, the telescopic rod thereof is hinged with the internal connecting lug of the left support inner sleeve 2-5, one end of the cylinder body of the right support telescopic oil cylinder 2-6 is hinged with the internal connecting lug of the support outer sleeve 2-7, and the telescopic rod thereof is hinged with the internal connecting lug of the right support inner sleeve 2-5; the telescopic rod of the support telescopic oil cylinder 2-6 is telescopic, which drives the support inner sleeve 2-5 to slide left and right respectively, so as to realize the support function of the front stable support 2 in different width ranges.

[0038] As Figure 5As shown, the drill arm part 3 has two sets of left-right symmetrical arrangement, each of which is composed of a drill arm fixing seat 3-1, a large connecting head 3-2, a small connecting head 3-3, a drill arm telescopic oil cylinder 3-4, a drill arm telescopic outer sleeve 3-5, a large arm adjusting oil cylinder 3-6, a drill arm telescopic inner sleeve 3-7, a small arm adjusting oil cylinder 3-8, a large arm front connecting head 3-9, a front connecting head 3-10, a swing cylinder fixing seat 3-11, a swing cylinder 3-12, a swing cylinder connecting plate 3-13, and a propeller adjusting oil cylinder 3-14; the drill arm fixing seat 3-1 is installed at the front end of the operating table 5, one end of the large connecting head 3-2 is hinged to the upper connecting lug of the drill arm fixing seat 3-1, and the other end is hinged to the rear connecting lug of the drill arm telescopic outer sleeve 3-5, one end of the small connecting head 3-3 is hinged to the lower connecting lug of the drill arm fixing seat 3-1, and the other end is hinged to the telescopic rod of the large arm adjusting oil cylinder 3-6, the large arm adjusting oil cylinder 3-6 has two left-right symmetrical arrangements, the ear rings on the cylinder body ends of the large arm adjusting oil cylinder 3-6 are designed with joint bearings to meet the requirements of the mechanism movement degree of freedom, the cylinder body ends of the large arm adjusting oil cylinder 3-6 are hinged to the oil cylinder seats at the bottom of the drill arm telescopic outer sleeve 3-5, and the telescopic rod of the large arm adjusting oil cylinder 3-6 is hinged to the small connecting head 3-3; the rear end of the drill arm telescopic outer sleeve 3-5 is hinged to the large connecting head 3-2, and the two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve 3-5 are arranged in a symmetrical manner at a certain angle; the drill arm telescopic inner sleeve 3-7 is nested in the drill arm telescopic outer sleeve 3-5, the two oil cylinder seats at the top of the drill arm telescopic inner sleeve 3-7 are arranged in a symmetrical manner at the same angle as the two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve 3-5; one end of the cylinder body of the drill arm telescopic oil cylinder 3-4 is hinged to the internal connecting lug of the drill arm telescopic outer sleeve 3-5, one end of the telescopic rod of the drill arm telescopic oil cylinder 3-4 is hinged to the internal connecting lug of the drill arm telescopic inner sleeve 3-7, the telescopic rod of the drill arm telescopic oil cylinder 3-4 drives the drill arm telescopic inner sleeve 3-7 to slide forward and backward with the drill arm telescopic outer sleeve 3-5 as the guide, thereby driving the whole drill arm part 3 to telescope forward and backward; the small arm adjusting oil cylinder 3-8 has two left-right symmetrical arrangements, the ear rings on the cylinder body ends of the small arm adjusting oil cylinder 3-8 are designed with joint bearings, the cylinder body ends of the small arm adjusting oil cylinder 3-8 are hinged to the oil cylinder seats at the top of the drill arm telescopic inner sleeve 3-7, the telescopic rod of the small arm adjusting oil cylinder 3-8 is hinged to the front connecting head 3-10, one end of the front connecting head 3-10 is hinged to the small arm adjusting oil cylinder 3-8, and the other end is hinged to the upper connecting lug of the swing cylinder fixing seat 3-11; one end of the large arm front connecting head 3-9 is hinged to the front end connecting lug of the drill arm telescopic inner sleeve 3-7, and the other end is hinged to the bottom connecting lug of the swing cylinder fixing seat 3-11; the front end of the swing cylinder fixing seat 3-11 is fixedly connected with the cylinder body of the swing cylinder 3-12, and the rear end is hinged to the large arm front connecting head 3-9 and the front connecting head 3-10, respectively; the cylinder body of the swing cylinder 3-12 is fixed with the swing cylinder fixing seat 3-11, the rotating shaft of the swing cylinder 3-12 is connected with the swing cylinder connecting plate 3-13, and the rotating shaft of the swing cylinder 3-12 can drive the swing cylinder connecting plate 3-13 to rotate 360° left and right.The cylinder end of the propeller adjusting oil cylinder 3-14 is hinged to the rear upper side connecting lug of the swing cylinder connecting plate 3-13, the telescopic rod of the propeller adjusting oil cylinder 3-14 is hinged to the mobile rock drill 4, and the telescopic rod of the propeller adjusting oil cylinder 3-14 is telescoped.

[0039] The drill boom part 3 is designed as a double-triangle drill boom translation mechanism, the drill boom fixed seat 3-1, the drill boom telescopic outer sleeve 3-5, two large-arm adjusting oil cylinders 3-6, a large connecting head 3-2 and a small connecting head 3-3 constitute a rear triangle amplitude mechanism, the swing cylinder fixed seat 3-11, the drill boom telescopic inner sleeve 3-7, two small-arm adjusting oil cylinders 3-8, a large-arm front connecting head 3-9 and a front connecting head 3-10 constitute a front triangle translation mechanism, wherein the large-arm adjusting oil cylinder 3-6 on the left side or the right side is connected in series with the small-arm adjusting oil cylinder 3-8 on the right side or the left side, the rod cavity of the large-arm adjusting oil cylinder 3-6 on the left side or the right side is communicated with the rodless cavity of the small-arm adjusting oil cylinder 3-8 on the right side or the left side, the telescopic rod of the large-arm adjusting oil cylinder 3-6 on the left side or the right side is extended or retracted, and the telescopic rod of the small-arm adjusting oil cylinder 3-8 on the right side or the left side is retracted or extended according to a certain proportion coefficient, so that the drill boom part 3 and the front-end mobile rock drill 4 are driven to realize up-down and left-right adjustment through the coordinated action of the two large-arm adjusting oil cylinders 3-6 and the two small-arm adjusting oil cylinders 3-8, thereby facilitating the automatic positioning of the rock drilling blast hole.

[0040] The drill boom telescopic oil cylinder 3-4, the large-arm adjusting oil cylinder 3-6, the small-arm adjusting oil cylinder 3-8 and the propeller adjusting oil cylinder 3-14 are internally designed with displacement sensors for measuring the displacement of each oil cylinder, and the swing cylinder 3-12 is internally designed with an angle sensor for measuring the rotation angle of the swing cylinder.

[0041] As Figure 6 , Figure 7As shown, the airborne rock drill 4 is composed of a front prop 4-1, a middle prop 4-2, a tension device 4-3, a drilling mechanism 4-4, a sliding seat 4-5, a pushing cylinder seat 4-6, a pushing cylinder 4-7, a sliding rail 4-8, a sliding rail telescopic cylinder 4-9, a sliding rail bracket 4-10, a sliding rail fixing plate 4-11, a sliding rail pressing block 4-12, a oil pipe fixing seat I 4-13, a steel wire rope assembly I 4-14, a steel wire rope assembly II 4-15, a oil pipe fixing seat II 4-16, a laser target 4-17; the front prop 4-1 is fixed at the front end of the sliding rail 4-8, the middle prop 4-2 is installed on the sliding rail 4-8, and the middle prop 4-2 is internally designed with a rope wheel structure; the tension device 4-3 is fixed on the outer side of the sliding rail 4-8, used to adjust the tension of the steel wire rope assembly I 4-14 and the steel wire rope assembly II 4-15; the drilling mechanism 4-4 and the sliding seat 4-5 are installed on the sliding rail 4-8 in front and back, the sliding seat 4-5 is internally provided with a rope wheel and a hose reel structure; the pushing cylinder seat 4-6 is installed at the middle position of the rear side plate of the sliding rail 4-8, the pushing cylinder 4-7 is installed inside the sliding rail 4-8, the cylinder body front end of the pushing cylinder 4-7 is fixedly connected with the middle prop 4-2, the cylinder body rear end of the pushing cylinder 4-7 is fixedly connected with the sliding seat 4-5, the telescopic rod of the pushing cylinder 4-7 is hinged with the pushing cylinder seat 4-6, one end of the steel wire rope assembly I 4-14 is fixedly connected with the tension device 4-3, the direction of the steel wire rope assembly I 4-14 is changed through the rope wheel structure of the sliding seat 4-5 in the middle, the other end of the steel wire rope assembly I 4-14 is fixedly connected with the rear steel wire sleeve 4-4-7 in the drilling mechanism 4-4, one end of the steel wire rope assembly II 4-15 is fixedly connected with the tension device 4-3, the direction of the steel wire rope assembly II 4-15 is changed through the rope wheel structure of the middle prop 4-2 in the middle, the other end of the steel wire rope assembly II 4-15 is fixedly connected with the front steel wire sleeve 4-4-7 in the drilling mechanism 4-4, when the telescopic rod of the pushing cylinder 4-7 is extended, the pushing cylinder 4-7 drives the middle prop 4-2 to move forward, the rope wheel inside the middle prop 4-2 moves forward accordingly, the steel wire rope assembly II 4-15 moves around the rope wheel structure inside the middle prop 4-2, thereby realizing the forward movement of the drilling mechanism 4-4 at twice the pushing speed of the pushing cylinder 4-7, at the same time, the middle prop 4-2 and the sliding seat 4-5 move forward at the same pushing speed of the pushing cylinder 4-7; when the telescopic rod of the pushing cylinder 4-7 is retracted, the pushing cylinder 4-7 drives the sliding seat 4-5 to move backward, the rope wheel structure inside the sliding seat 4-5 moves backward accordingly, the steel wire rope assembly I 4-14 moves around the rope wheel inside the sliding seat 4-5, thereby realizing the backward movement of the drilling mechanism 4-4 at twice the return speed of the pushing cylinder 4-7, at the same time, the middle prop 4-2 and the sliding seat 4-5 move backward at the same retraction speed of the pushing cylinder 4-7.The oil pipe fixing seat I 4-13, the oil pipe fixing seat II 4-16 are fixed on the inner side of the slide rail 4-8, and the oil pipe fixing seat I 4-13, the oil pipe fixing seat II 4-16 are matched with the hose reel structure in the sliding seat 4-5, so that the hoses of the mobile rock drilling rig 4 are kept in correct order and proper tightness;The slide rail fixing plate 4-11 and the slide rail pressing block 4-12 are divided into two groups, each group is symmetrically arranged, the upper plane of the slide rail fixing plate 4-11 is fixedly connected with the slide rail pressing block 4-12, the lower plane of the slide rail fixing plate 4-11 is fixedly connected with the slide rail bracket 4-10, the upper plane of the slide rail bracket 4-10 is fixedly connected with the slide rail fixing plate 4-11, the middle part of the slide rail bracket 4-10 is provided with a sleeve structure, the front end connecting lug of the bottom of the slide rail bracket 4-10 is hinged with the swing cylinder connecting plate 3-13 in the drill arm part 3, and the rear end connecting lug of the bottom of the slide rail bracket 4-10 is hinged with the pusher adjusting oil cylinder 3-14 in the drill arm part 3;The cylinder body of the slide rail telescopic oil cylinder 4-9 is hinged with the inner connecting lug of the sleeve of the slide rail bracket 4-10, the telescopic rod of the slide rail telescopic oil cylinder 4-9 is hinged with the connecting lug at the rear end of the bottom of the slide rail 4-8, and the telescopic rod of the slide rail telescopic oil cylinder 4-9 drives the mobile rock drilling rig 4 to slide forward and backward.

[0042] The push oil cylinder 4-7 and the slide rail telescopic oil cylinder 4-9 are provided with displacement sensors inside, which are used to measure the displacement of each oil cylinder.

[0043] As Figure 8As shown, the drilling mechanism 4-4 consists of a hydraulic rock drill 4-4-1, a rock drilling pressure sensor 4-4-2, a rock drill mounting plate 4-4-3, a rock drill motor rotation pressure sensor 4-4-4, a rock drill slide fixing plate 4-4-5, a rock drill slide pressure block 4-4-6, and a wire sleeve 4-4-7. The hydraulic rock drill 4-4-1 is mounted on the rock drill mounting plate 4-4-3. The rock drilling pressure sensor 4-4-2 is installed in the middle of the hydraulic rock drill 4-4-1 to detect the rock drilling pressure. The upper part of the rock drill mounting plate 4-4-3 is fixed to the hydraulic rock drill 4-4-1 and the wire sleeve 4-4-7, and the lower part of the rock drill mounting plate 4-4-3 is connected and fixed to the rock drill slide fixing plate 4-4-5. The rock drill motor rotation pressure sensor 4-4-4... 4-4 is installed at the rear of the hydraulic rock drill 4-4-1 to detect the rotational pressure of the rock drill motor; there are four rock drill slide fixing plates 4-4-5, arranged symmetrically in two groups. The upper part of the rock drill slide fixing plate 4-4-5 is connected and fixed to the rock drill mounting plate 4-4-3, and the lower part is fixedly connected to the rock drill slide pressure block 4-4-6. There are four rock drill slide pressure blocks 4-4-6, arranged symmetrically in two groups. After the rock drill mounting plate 4-4-3, rock drill slide fixing plates 4-4-5, and rock drill slide pressure blocks 4-4-6 are assembled, they can slide back and forth along the slide rail 4-8 under the drive of the propulsion cylinder 4-7; there are two wire sleeves 4-4-7, which are connected and fixed to the middle position of the rock drill mounting plate 4-4-3 at the front and rear respectively. The front wire sleeve 4-4-7 is connected to the wire rope assembly II. 4-15 connection, the rear wire sleeve 4-4-7 is connected to the wire rope assembly I4-14.

[0044] like Figure 8 As shown, the control panel 5 consists of an explosion-proof computer 5-1, an operation panel 5-2, a dual-axis tilt sensor 5-3, a proportional valve 5-4, a seat 5-5, and a cab 5-6. The explosion-proof computer 5-1 is installed at the front end of the operation panel 5-2. There are two operation panels 5-2, one on the left and one on the right, installed on the upper surface of the control frame in the cab 5-6. Each operation panel 5-2 includes operating handles, operating switches, an operating keyboard, a hole finding and drilling switch, a high-stroke and low-stroke switch, a translation function switch, an emergency stop button, and a ten-stroke switch. A pressure gauge; the dual-axis tilt sensor 5-3 is installed at the bottom of the cab 5-6 to measure the levelness of the vehicle body and obtain the pitch and roll angles; the proportional valve 5-4 is installed at the bottom of the cab 5-6 and controls the movement of each cylinder and the swing cylinder 3-12 by receiving control signals from the programmable controller 6-2; two seats 5-5 are designed side by side and installed at the rear end of the cab 5-6 shell, which can be folded down; the cab 5-6 is installed at the front of the platform 1-3 of the body section 1, and the cab 5-6 adopts a frame structure.

[0045] like Figure 10As shown, the guard plate part 6 is composed of an oil tank cover 6-1, a programmable controller 6-2, an air compressor 6-3, an air compressor cover 6-4, a cable winding cover 6-5, and a laser emitter 6-6; the oil tank cover 6-1 is installed on the upper part of the oil tank of the hydraulic system 7, and can protect the hydraulic system 7 and its pipelines; the programmable controller 6-2 is installed below the upper panel of the oil tank cover 6-1, and can receive the instructions sent by the explosion-proof computer 5-1 and the signals of the sensors of each oil cylinder, the swing cylinder 3-12 and the hydraulic rock drill 4-4-1, and output the control signals of each proportional valve 5-4; the air compressor 6-3 is installed on the upper part of the oil tank of the hydraulic system 7, and is used for lubricating the hydraulic rock drill 4-4-1; the air compressor cover 6-4 is installed above the air compressor 6-3, and is used for protecting the air compressor 6-3; the cable winding cover 6-5 is installed above the cable winding device 1-5, and is used for protecting the cable winding device 1-5 and its cable; and the laser emitter 6-6 is installed on the side of the cable winding cover 6-5.

Claims

1. An intelligent, fully automated tunneling drilling rig, characterized by: The machine body (1), front stabilizing support (2), drill arm (3), on-board rock drill (4), operating platform (5), guard plate (6), hydraulic system (7) and electrical system (8) are included. The machine body (1) is installed below the operating platform (5) and the guard plate (6), the front stabilizing support (2) is arranged at the bottom of the front end of the operating platform (5), the drill arm (3) is two sets, arranged at the middle of the front end of the operating platform (5), the on-board rock drill (4) is two sets, respectively hinged at the front end of the left and right drill arms (3), the operating platform (5) is installed above the front part of the machine body (1), the guard plate (6) is fixed above the rear part of the machine body (1), the hydraulic system (7) is installed above the machine body (1), the right rear side of the operating platform (5), the electrical system (8) is installed above the machine body (1), the right rear side of the operating platform (5). The airborne rock drilling rig (4) consists of a front drill bit holder (4-1), a middle drill bit holder (4-2), a tensioning device (4-3), a drilling mechanism (4-4), a sliding seat (4-5), a propulsion cylinder seat (4-6), a propulsion cylinder (4-7), a slide rail (4-8), a slide rail telescopic cylinder (4-9), a slide rail bracket (4-10), a slide rail fixing plate (4-11), a slide rail pressure block (4-12), and an oil pipe fixing seat. (4-13) Wire rope assembly (4-14) Wire Rope Assembly (4-15) Oil pipe fixing seat Composed of (4-16) and laser target (4-17); the front support rod (4-1) is fixed to the front end of the slide rail (4-8), the middle support rod (4-2) is installed on the slide rail (4-8), and the middle support rod (4-2) has a rope wheel structure inside; the tensioning device (4-3) is fixed to the outer side of the slide rail (4-8) to adjust the wire rope assembly. (4-14) Wire Rope Assembly The tension of (4-15); the drilling mechanism (4-4) and the sliding seat (4-5) are installed on the slide rail (4-8) respectively, front and rear. The sliding seat (4-5) is equipped with a rope wheel and a hose reel structure; the propulsion cylinder seat (4-6) is installed in the middle of the rear side plate of the slide rail (4-8), the propulsion cylinder (4-7) is installed inside the slide rail (4-8), the front end of the cylinder body of the propulsion cylinder (4-7) is fixedly connected to the center support drill bit (4-2), the rear end of the cylinder body of the propulsion cylinder (4-7) is fixedly connected to the sliding seat (4-5), and the telescopic rod of the propulsion cylinder (4-7) is hinged to the propulsion cylinder seat (4-6). The wire rope assembly (4-14) One end is fixedly connected to the tensioning device (4-3), and the middle part is changed by the rope pulley structure of the sliding seat (4-5) to change the wire rope assembly. (4-14) direction, wire rope assembly The other end of (4-14) is fixedly connected to the rear wire sleeve (4-4-7) in the drilling mechanism (4-4), the wire rope assembly (4-15) One end is fixedly connected to the tensioning device (4-3), and the middle part is changed by the rope pulley structure of the central support device (4-2) to modify the wire rope assembly. (4-15) direction, wire rope assembly The other end of (4-15) is fixedly connected to the front wire sleeve (4-4-7) in the drilling mechanism (4-4). When the telescopic rod of the push cylinder (4-7) extends, the push cylinder (4-7) drives the middle support rod (4-2) to move forward, and the rope wheel inside the middle support rod (4-2) moves forward accordingly. (4-15) around the rope wheel structure inside the middle of the support drill, (4-2) movement, so as to realize the drilling mechanism (4-4) to double the push cylinder (4-7) forward movement of the push speed, while the middle of the support drill (4-2), sliding seat (4-5) with the same push cylinder (4-7) forward movement of the push speed; the push cylinder (4-7) telescopic rod retraction, push cylinder (4-7) driven sliding seat (4-5) backward movement, sliding seat (4-5) inside the rope wheel structure with the back, steel wire rope assembly (4-14) around the rope wheel inside the sliding seat (4-5) movement, so as to realize the drilling mechanism (4-4) to double the push cylinder (4-7) backward movement of the return speed, while the middle of the support drill (4-2), sliding seat (4-5) with the same push cylinder (4-7) backward movement of the retraction speed; the oil pipe fixed seat (4-13), oil pipe fixed seat (4-16) fixed in the inner side of the slide rail (4-8), oil pipe fixed seat (4-13), oil pipe fixed seat (4-16) with the hose reel structure in the sliding seat (4-5) to cooperate with the machine mounted rock drill (4) hose to keep the correct order and proper tightness; the slide rail fixed plate (4-11), slide rail pressure block (4-12) is installed in two groups, each group is symmetrically arranged, the upper surface of the slide rail fixed plate (4-11) is fixedly connected with the slide rail pressure block (4-12), the lower surface of the slide rail fixed plate (4-11) is fixedly connected with the slide rail bracket (4-10), the upper surface of the slide rail bracket (4-10) is fixed with the slide rail fixed plate (4-11), the middle of the slide rail bracket (4-10) is provided with a sleeve structure, the bottom front connecting lug of the slide rail bracket (4-10) is hinged with the swing cylinder connecting plate (3-13) in the drill arm part (3), and the bottom rear connecting lug of the slide rail bracket (4-10) is hinged with the pusher adjusting oil cylinder (3-14) in the drill arm part (3); the cylinder body of the slide rail telescopic oil cylinder (4-9) is hinged with the connecting lug inside the sleeve of the slide rail bracket (4-10), the telescopic rod of the slide rail telescopic oil cylinder (4-9) is hinged with the connecting lug at the bottom rear end of the slide rail (4-8), and the telescopic rod of the slide rail telescopic oil cylinder (4-9) drives the machine mounted rock drill (4) to slide forward and backward; the two laser targets (4-17) are installed on the side surface of the slide rail bracket (4-10) in front and back, and the structure is provided with a circular hole; The drilling mechanism (4-4) is composed of a hydraulic rock drill (4-4-1), a rock drilling pressure sensor (4-4-2), a rock drill mounting plate (4-4-3), a rock drill motor rotation pressure sensor (4-4-4), a rock drill slide fixing plate (4-4-5), a rock drill slide pressure block (4-4-6), and a steel wire sleeve (4-4-7). The hydraulic rock drill (4-4-1) is mounted on the rock drill mounting plate (4-4-3), and the rock drilling pressure sensor (4-4-2) is mounted at the middle position of the hydraulic rock drill (4-4-1) to detect the rock drilling pressure. The upper part of the rock drill mounting plate (4-4-3) is fixed with the hydraulic rock drill (4-4-1) and the steel wire sleeve (4-4-7), and the lower part of the rock drill mounting plate (4-4-3) is connected and fixed with the rock drill slide fixing plate (4-4-5). The rock drill motor rotation pressure sensor (4-4-4) is installed at the rear of the hydraulic rock drill (4-4-1) to detect the rock drill motor rotation pressure. The rock drill slide fixing plate (4-4-5) has four pieces, which are symmetrically arranged in two groups. The upper part of the rock drill slide fixing plate (4-4-5) is connected and fixed with the rock drill mounting plate (4-4-3), and the lower part is fixedly connected with the rock drill slide pressure block (4-4-6). The rock drill slide pressure block (4-4-6) has four pieces, which are symmetrically arranged in two groups. The rock drill mounting plate (4-4-3), the rock drill slide fixing plate (4-4-5), and the rock drill slide pressure block (4-4-6) can slide forward and backward along the slide rail (4-8) under the driving of the advancing oil cylinder (4-7) after assembly. The steel wire sleeve (4-4-7) has two pieces, which are connected and fixed with the middle part of the rock drill mounting plate (4-4-3) from front to back. The front steel wire sleeve (4-4-7) is connected with the steel wire rope assembly (4-15), and the rear steel wire sleeve (4-4-7) is connected with the steel wire rope assembly (4-14). (4-15) connection. (4-14) connection.

2. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The machine body (1) is composed of a walking assembly (1-1), a front connecting beam (1-2), a platform (1-3), a rear connecting beam (1-4), a cable winding device (1-5) and an electromagnetic starter (1-6); the walking assembly (1-1) is one, installed on both sides of the front connecting beam (1-2) and the rear connecting beam (1-4), providing support for the walking of the machine; the upper surface of the front connecting beam (1-2) is connected with the front part of the bottom surface of the platform (1-3), the platform (1-3) is installed on the upper part of the front connecting beam (1-2) and the rear connecting beam (1-4), the rear connecting beam (1-4) is connected with the middle and rear part of the bottom surface of the platform (1-3), the cable winding device (1-5) is installed at the left rear side of the platform (1-3), facilitating the winding and unwinding of the cable during the walking of the machine, and the electromagnetic starter (1-6) is installed at the right rear side of the upper surface of the platform (1-3), facilitating the start and stop of the electrical system (8).

3. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The front stable support (2) is composed of a support top plate (2-1), a support pressing plate (2-2), a ball (2-3), a right support oil cylinder assembly (2-4), a support inner sleeve (2-5), a support telescopic oil cylinder (2-6), a support outer sleeve (2-7), and a left support oil cylinder assembly (2-8); the upper end surface of the support top plate (2-1) is connected and fixed with the support pressing plate (2-2), the lower end surface of the support top plate (2-1) is designed with five wear-resistant heads, and the inside of the support top plate (2-1) is a cylindrical hollow structure; the support pressing plate (2-2) is a split structure; the lower spherical structure of the ball (2-3) is installed in the cylindrical hollow structure inside the support top plate (2-1) and is fixed with the support pressing plate (2-2), the ball (2-3) is symmetrically installed left and right, and the upper end of the ball (2-3) is hingedly connected with the right support oil cylinder assembly (2-4) and the left support oil cylinder assembly (2-8); the middle connecting plate of the cylinder body of the right support oil cylinder assembly (2-4) is connected with the right support inner sleeve (2-5), the telescopic rod of the right support oil cylinder assembly (2-4) is hingedly connected with the ball (2-3), the middle connecting plate of the cylinder body of the left support oil cylinder assembly (2-8) is connected with the left support inner sleeve (2-5), and the telescopic rod of the left support oil cylinder assembly (2-8) is hingedly connected with the ball (2-3); the telescopic rods of the right support oil cylinder assembly (2-4) and the left support oil cylinder assembly (2-8) are telescopic, drive the ball (2-3) and the support top plate (2-1) and the support pressing plate (2-2) to lift, and thus the action of the front stable support (2) to be tightly supported on the ground downward and to be retracted upward is realized; the support inner sleeve (2-5) is two in total and is installed in the support outer sleeve (2-7) left and right respectively, the support outer sleeve (2-7) is designed as a sleeve structure, the support telescopic oil cylinder (2-6) is two in total and is installed in the upper and lower sleeves of the support outer sleeve (2-7) left and right respectively, one end of the cylinder body of the left support telescopic oil cylinder (2-6) is hingedly connected with the internal connecting lug of the support outer sleeve (2-7), the telescopic rod thereof is hingedly connected with the internal connecting lug of the left support inner sleeve (2-5), one end of the cylinder body of the right support telescopic oil cylinder (2-6) is hingedly connected with the internal connecting lug of the support outer sleeve (2-7), and the telescopic rod thereof is hingedly connected with the internal connecting lug of the right support inner sleeve (2-5); the telescopic rods of the support telescopic oil cylinder (2-6) are telescopic, drive the support inner sleeve (2-5) to slide left and right respectively, and thus the support function of the front stable support (2) in different width ranges is realized.

4. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The drill arm part (3) has two sets, which are arranged symmetrically, each of which is composed of a drill arm fixing seat (3-1), a large connector (3-2), a small connector (3-3), a drill arm telescopic oil cylinder (3-4), a drill arm telescopic outer sleeve (3-5), a large arm adjusting oil cylinder (3-6), a drill arm telescopic inner sleeve (3-7), a small arm adjusting oil cylinder (3-8), a large arm front connector (3-9), a front connector (3-10), a swing cylinder fixing seat (3-11), a swing cylinder (3-12), a swing cylinder connecting plate (3-13), and a propeller adjusting oil cylinder (3-14). The drill arm fixing seat (3-1) is installed at the front end of the operating table (5). One end of the large connector (3-2) is hinged to the upper connecting lug of the drill arm fixing seat (3-1), and the other end is hinged to the rear connecting lug of the drill arm telescopic outer sleeve (3-5). One end of the small connector (3-3) is hinged to the lower connecting lug of the drill arm fixing seat (3-1), and the other end is hinged to the telescopic rod of the large arm adjusting oil cylinder (3-6). The large arm adjusting oil cylinder (3-6) has two, which are arranged symmetrically. The ear ring on the cylinder end of the large arm adjusting oil cylinder (3-6) is designed with a joint bearing, which meets the requirement of the freedom degree of mechanism movement. The cylinder end of the large arm adjusting oil cylinder (3-6) is hinged to the oil cylinder seat at the bottom of the drill arm telescopic outer sleeve (3-5). The telescopic rod of the large arm adjusting oil cylinder (3-6) is hinged to the small connector (3-3). The rear end of the drill arm telescopic outer sleeve (3-5) is hinged to the large connector (3-2). The two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve (3-5) are arranged symmetrically at a certain angle. The drill arm telescopic inner sleeve (3-7) is nested in the drill arm telescopic outer sleeve (3-5). The two oil cylinder seats at the top of the drill arm telescopic inner sleeve (3-7) are arranged symmetrically at the same angle as the two oil cylinder seats at the bottom of the drill arm telescopic outer sleeve (3-5). One end of the cylinder body of the drill arm telescopic oil cylinder (3-4) is hinged to the internal connecting lug of the drill arm telescopic outer sleeve (3-5). One end of the telescopic rod of the drill arm telescopic oil cylinder (3-4) is hinged to the internal connecting lug of the drill arm telescopic inner sleeve (3-7). The telescopic rod of the drill arm telescopic oil cylinder (3-4) drives the drill arm telescopic inner sleeve (3-7) to slide forward and backward with the drill arm telescopic outer sleeve (3-5) as the guide, thereby driving the whole drill arm part (3) to stretch forward and backward. The small arm adjusting oil cylinder (3-8) has two, which are arranged symmetrically. The ear ring on the cylinder end of the small arm adjusting oil cylinder (3-8) is designed with a joint bearing. The cylinder end of the small arm adjusting oil cylinder (3-8) is hinged to the oil cylinder seat at the top of the drill arm telescopic inner sleeve (3-7). The telescopic rod of the small arm adjusting oil cylinder (3-8) is hinged to the front connector (3-10). One end of the front connector (3-10) is hinged to the small arm adjusting oil cylinder (3-8). The other end is hinged to the upper connecting lug of the swing cylinder fixing seat (3-11). One end of the large arm front connector (3-9) is hinged to the front end connecting lug of the drill arm telescopic inner sleeve (3-7). The other end is hinged to the bottom connecting lug of the swing cylinder fixing seat (3-11).The front end of the swing cylinder fixing seat (3-11) is fixedly connected with the cylinder body of the swing cylinder (3-12), and the rear end is hingedly connected with the large arm front connecting head (3-9) and the front connecting head (3-10) respectively; the cylinder body of the swing cylinder (3-12) is fixed with the swing cylinder fixing seat (3-11), the rotating shaft of the swing cylinder (3-12) is fixedly connected with the swing cylinder connecting plate (3-13), and the rotating shaft of the swing cylinder (3-12) can drive the swing cylinder connecting plate (3-13) to rotate 360° left and right; the cylinder body end of the propeller adjusting oil cylinder (3-14) is hingedly connected with the rear upper connecting lug of the swing cylinder connecting plate (3-13), the telescopic rod of the propeller adjusting oil cylinder (3-14) is hingedly connected with the airborne rock drill (4), and the telescopic rod of the propeller adjusting oil cylinder (3-14) is telescopic. The drill boom part (3) is designed as a double-triangle drill boom translational mechanism, and is composed of a drill boom fixing seat (3-1), a drill boom telescopic outer sleeve (3-5), two large-arm adjusting oil cylinders (3-6), a large connector (3-2) and a small connector (3-3) to form a rear triangle amplitude mechanism; a swing cylinder fixing seat (3-11), a drill boom telescopic inner sleeve (3-7), two small-arm adjusting oil cylinders (3-8), a large-arm front connector (3-9) and a front connector (3-10) to form a front triangle translational mechanism, wherein the large-arm adjusting oil cylinder (3-6) on the left side or the right side is connected in series with the small-arm adjusting oil cylinder (3-8) on the right side or the left side, the rod cavity of the large-arm adjusting oil cylinder (3-6) on the left side or the right side is communicated with the rodless cavity of the small-arm adjusting oil cylinder (3-8) on the right side or the left side, the telescopic rod of the large-arm adjusting oil cylinder (3-6) on the left side or the right side is extended or retracted, and at the same time, the telescopic rod of the small-arm adjusting oil cylinder (3-8) on the right side or the left side is retracted or extended at a certain proportional coefficient, so that the drill boom part (3) and the front-end machine-mounted rock drill (4) are driven to realize up-down and left-right adjustment through the coordinated action of the two large-arm adjusting oil cylinders (3-6) and the two small-arm adjusting oil cylinders (3-8), thereby facilitating the automatic positioning of the rock drilling blast hole.

5. The intelligent full-automatic drilling jumbo according to claim 4, characterized in that: The drill boom telescopic oil cylinder (3-4), the large-arm adjusting oil cylinder (3-6), the small-arm adjusting oil cylinder (3-8) and the propeller adjusting oil cylinder (3-14) are internally designed with displacement sensors for measuring the displacement of each oil cylinder.

6. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The propeller oil cylinder (4-7) and the slide rail telescopic oil cylinder (4-9) are internally provided with displacement sensors for measuring the displacement of each oil cylinder.

7. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The operation platform (5) is composed of an explosion-proof computer (5-1), an operation panel (5-2), a double-shaft inclination sensor (5-3), a proportional valve (5-4), a seat (5-5) and a cab (5-6); the explosion-proof computer (5-1) is installed at the front end of the operation panel (5-2); the operation panel (5-2) is composed of two operation panels installed side by side on the upper surface of the operation frame of the cab (5-6), and each operation panel (5-2) includes an operation handle, an operation switch, an operation keyboard, a hole finding and drilling switching button, a high and low impact switching button, a translational function switching button, an emergency stop button and ten pressure gauges; the double-shaft inclination sensor (5-3) is installed at the bottom of the cab (5-6) to measure the levelness of the vehicle body and obtain the pitch angle and the roll angle; the proportional valve (5-4) is installed at the bottom of the cab (5-6) to control the movement of each oil cylinder and the swing cylinder (3-12) by receiving the control signals sent by the programmable controller (6-2); the seat (5-5) is designed with two seats installed side by side at the rear end of the cab (5-6) and can be folded; the cab (5-6) is installed at the front end of the platform (1-3) of the machine body part (1) and adopts a frame structure.

8. The intelligent full-automatic drilling jumbo according to claim 1, characterized in that: The guard plate part (6) is composed of an oil tank guard (6-1), a programmable controller (6-2), an air compressor (6-3), an air compressor guard (6-4), a cable winding guard (6-5), and a laser emitter (6-6); the oil tank guard (6-1) is installed on the upper part of an oil tank of a hydraulic system (7) and can protect the hydraulic system (7) and its pipelines; the programmable controller (6-2) is installed below the upper panel of the oil tank guard (6-1); the programmable controller (6-2) can receive instructions from an explosion-proof computer (5-1) and signals from sensors of each oil cylinder, an oscillating cylinder (3-12), and a hydraulic rock drill (4-4-1), and output control signals of each proportional valve (5-4); the air compressor (6-3) is installed on the upper part of the oil tank of the hydraulic system (7) and is used for lubricating the hydraulic rock drill (4-4-1); the air compressor guard (6-4) is installed above the air compressor (6-3) and is used for protecting the air compressor (6-3); the cable winding guard (6-5) is installed above a cable winding device (1-5) and is used for protecting the cable winding device (1-5) and its cable; and the laser emitter (6-6) is installed on the side of the cable winding guard (6-5).

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