Hydraulic manipulator for fully hydraulic tunnel drilling rig used in coal mines and its control method

Abstract

The present invention relates to a hydraulic manipulator supporting a fully hydraulic tunnel drill for coal mines and a control method thereof, belonging to the technical field of tunnel drilling rigs, including a tunnel drilling rig, wherein the rear end of the tunnel drilling rig is provided with a connecting body, the upper end of the connecting body is provided with a water-convenient disassembly mechanism that is slidably plugged and fixed to the connecting body, and the side of the connecting body is provided with a manipulator upper drill rod mechanism. The manipulator upper drill rod mechanism includes a drill rod storage box, an upper drill rod assembly is provided between the drill rod storage box and the connecting body, and drill rods are provided on the upper drill rod assembly and in the drill rod storage box. The upper drill rod assembly includes a swinging oil cylinder, a fixed support clamping rod is provided on one side of the swinging oil cylinder, a movable clamping block that is movably clamped with the fixed support clamping rod is provided at the front upper end of the fixed support clamping rod, and a grabbing oil cylinder is provided at the rear end of the movable clamping block and the rear upper end of the fixed support clamping rod. It has the characteristics of compact structure, small space occupation, convenient operation and good operating stability. It solves the problems of large workload and safety hazards in drilling rig shifting, repositioning and rod changing operations.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel drilling machines, and in particular to a hydraulic manipulator matched with a fully hydraulic tunnel drilling machine for coal mines and a control method thereof. Background Art

[0002] The Chinese patent "Device and method for automatic loading and unloading of drill rods for tunnel drilling rigs with rear straightening and water stool", application number CN201911233541.8, discloses a water stool, a rear straightening and unscrewing mechanism, a rotator, a machine-residual drill rod, a hole drill rod and a clamp. The clamp is used to clamp the hole drill rod when loading and unloading the drill rod. The rotator clamps the machine-residual drill rod and drives it to rotate, thereby realizing the threaded unscrewing of the machine-residual drill rod and the hole drill rod, as well as the machine-residual drill rod and the water stool. The rear straightening and unscrewing mechanism is installed at the rear end of the rotator. The middle of the water stool is a flat and narrow structure or an outer square structure. The rear straightening and unscrewing mechanism includes a base plate, a floating mechanism, a straightening mechanism, a caliper plate and a positioning motor.

[0003] Currently, exploration is a prerequisite for ensuring safe mining in coal mines, and coal mine tunnel drilling rigs are crucial equipment for this exploration. In practice, coal mine tunnel drilling rigs operate in a harsh and cramped environment, requiring manual handling and rod replacement. This labor-intensive and inefficient operation poses significant safety risks, severely impacting production costs and efficiency.

[0004] The Chinese patent application, "Automatic Drill Rod Loading and Unloading Device for Horizontal Directional Drilling Rigs," with application number CN201320608798.9, discloses an automatic drill rod loading and unloading device for horizontal directional drilling rigs. A guide sleeve is welded to a column, and a horizontal guide rod is mounted within the column guide sleeve. One end of the horizontal guide rod is fixed to a horizontal mounting seat. A horizontal limit mounting plate is fixed to the column, and one end of a horizontal sliding cylinder is fixed to the horizontal mounting seat and the other end to the column guide sleeve. A vertical guide rod is mounted on the horizontal mounting seat, and one end of a vertical sliding cylinder is fixed to the horizontal mounting seat and the other end to the vertical mounting seat. A second induction switch is mounted on the vertical mounting seat, and a gripper cylinder is connected to the vertical mounting seat and the gripper, respectively. This structure occupies a large space and is used separately from the drilling rig. It needs to be repositioned each time the drilling rig is moved, making it inconvenient to operate and transport. Summary of the Invention

[0005] This invention primarily addresses the shortcomings of the prior art by providing a hydraulic manipulator for a fully hydraulic tunnel drill for coal mines and its control method. The manipulator features a compact structure, small footprint, convenient operation, and excellent operational stability. Its fixed structure with the drill rig eliminates the labor-intensive and potentially hazardous repositioning and manual handling of drill rods required for drill rig relocation. While ensuring personnel safety, it also improves drilling efficiency and the safety of the drilling process, meeting the demands of operating in narrow tunnels.

[0006] The above technical problems of the present invention are mainly solved by the following technical solutions:

[0007] A hydraulic manipulator for a fully hydraulic tunnel drill for coal mines includes a tunnel drill, a connecting body at the rear end of the tunnel drill, a water-operated detachable mechanism at the upper end of the connecting body that is slidably plugged into the connecting body, and a manipulator upper drill rod mechanism on the side of the connecting body. The manipulator upper drill rod mechanism includes a drill rod storage box, an upper drill rod assembly disposed between the drill rod storage box and the connecting body, and drill rods disposed on the upper drill rod assembly and within the drill rod storage box.

[0008] The upper drill rod assembly includes a swing cylinder, a fixed support clamping rod is provided on one side of the swing cylinder, a movable clamping block that is movably clamped with the fixed support clamping rod is provided at the upper front end of the fixed support clamping rod, and a grabbing cylinder is provided at the rear end of the movable clamping block and the upper rear end of the fixed support clamping rod.

[0009] Preferably, the drill rod storage box includes a storage box frame, a lifting bracket is provided between the lower end of the storage box frame and the connecting body, a pair of rod taking cams is provided at the front end of the storage box frame, cam reset springs are provided between the lower part of the rod taking cam and the inner walls on both sides of the storage box frame, a positioning shaft is provided at the front part of the fixed support clamping rod, and the positioning shaft is connected and fixed to the fixed support clamping rod in an integrated manner, and a pair of toggle rods are provided between the two rod taking cams, which are movably contacted with the two ends of the positioning shaft and coaxially plugged and fixed with the rod taking cams.

[0010] Preferably, a hydraulic motor I is provided at the lower rear end of the magazine frame, and a plurality of transmission cam shafts fixed to the magazine frame in a bearing-like manner are provided between the hydraulic motor I and the rod cam, and a transmission sprocket is provided between the hydraulic motor I and one side of the transmission cam shaft.

[0011] Preferably, slips fixed to the movable clamping block and the fixed support clamping rod by countersunk bolts are provided between the movable clamping block and the drill rod, and between the fixed support clamping rod and the drill rod.

[0012] Preferably, a connecting flange pipe fixedly connected to the swing cylinder by bolts is provided between the swing cylinder and the side end of the fixed support clamp rod, and a bracket is provided between the other end of the swing cylinder and the lower end of the connecting fuselage.

[0013] Preferably, the water-container disassembly mechanism includes a disassembly drive assembly, and slide rails bolted to the connecting body are provided on both sides of the lower end of the disassembly drive assembly, a support plate is provided between the slide rail and the disassembly drive assembly, and a slider bolted to the support plate is provided between the support plate and the slide rail. Chain connecting plates bolted to the slider are provided on the outer sides of the slider, and a reciprocating drive motor is provided at the rear of the connecting body, and chains are provided between the two ends of the reciprocating drive motor and the chain connecting plate.

[0014] Preferably, the disassembly drive assembly includes a toilet disassembly box, a faucet is provided in the toilet disassembly box, which is nested in a bearing manner with the toilet disassembly box, a driven gear is provided on the faucet and is key-limitedly sleeved with the faucet, a hydraulic motor II is provided on the side of the faucet, which is nested in a bearing manner with the toilet disassembly box, a driving gear is provided on the hydraulic motor II and is movably tooth-engaged with the driven gear, a piston is provided between the front end of the driving gear and the toilet disassembly box, an O-ring is used for sealing between the piston and the toilet disassembly box, a baffle is provided at the rear end of the driving gear and is spline-inserted with the hydraulic motor II, a number of annularly distributed mold springs are provided between the baffle and the driving gear, and the mold springs are respectively countersunk-nested with the driving gear and the baffle.

[0015] Preferably, a hook assembly is provided between the toilet disassembly box and the support plate, the hook assembly includes a hook seat, a hook is provided at the lower end of the front of the hook seat, a shaft II is provided at the rear of the hook and is limitedly sleeved with the hook seat, a shaft III is provided in the middle of the hook and is limitedly sleeved with the hook seat, a torsion spring is provided between the hook and the toilet disassembly box, and a shaft I is provided on the torsion spring and is limitedly sleeved with the hook seat.

[0016] Preferably, the support plate is provided with a plurality of set screws connected to the slide rail and threadedly sleeved with the support plate, a stop fastening spring sleeved with the slider is provided between the set screws and the slide rail, and a steel ball is provided between the stop fastening spring and the slide rail and is fixedly connected with the stop fastening spring.

[0017] A control method for a hydraulic manipulator equipped with a fully hydraulic tunnel drill for coal mines includes the following steps:

[0018] Step 1: When the drill rod needs to be put on, adjust the height of the lifting bracket according to the diameter requirement of the drill rod to meet the distance between the upper drill rod assembly and the drill rod grabbing.

[0019] Step 2: When the tunnel drilling rig needs to load drill rods, the hydraulic motor I starts to drive the transmission camshaft to rotate through the transmission sprocket, and the drill rods in the drill rod storage box are transported to the rod retrieval cam.

[0020] Step 3: The swing cylinder drives the fixed support clamp rod to move to the rod taking cam. During this process, the grabbing cylinder contracts so that the movable clamp block and the fixed support clamp rod are in an open state. When the positioning shaft on the fixed support clamp rod presses down the toggle rod, the cam reset spring at the lower end of the rod taking cam is stretched, allowing the drill rod to enter the upper drill rod assembly from the rod taking cam.

[0021] Step 4: The grabbing cylinder is stretched to press the movable clamp downward and fix the support clamp rod to clamp the drill rod. Then the swing cylinder moves the drill rod to the space between the tunnel drilling rig and the water disassembly mechanism.

[0022] Step 5: The water-operated disassembly mechanism moves forward along the connecting body and presses the drill rod. After pressing, the grabbing cylinder contracts to release the drill rod, and the swing cylinder rotates to reset. The process of putting the drill rod on the tunnel drilling rig is realized through the operation of the water-operated disassembly mechanism.

[0023] Step 6: When the drill rod needs to be unloaded, the water-operated disassembly mechanism is synchronized with the unloading displacement of the tunnel drilling rig. After the tunnel drilling rig completes unloading of the drill rod, the upper drill rod assembly clamps the drill rod, and the water-operated disassembly mechanism moves backward along the connecting fuselage.

[0024] Step 7: The swing cylinder rotates to drive the drill rod, causing the positioning shaft to press down the toggle rod. At this time, the grabbing cylinder contracts and drops the drill rod onto the rod-taking cam. Then the swing cylinder rotates to cause the positioning shaft to disengage from the toggle rod. Under the action of the cam return spring, the drill rod returns to the drill rod storage box, completing the drill rod unloading process.

[0025] The present invention can achieve the following effects:

[0026] The present invention provides a hydraulic manipulator for a fully hydraulic tunnel drill for coal mines and its control method. Compared with existing technologies, this manipulator features a compact structure, small footprint, convenient operation, and excellent operational stability. Its fixed structure with the drill rig solves the labor-intensive and potentially hazardous issues associated with repositioning the drill rig and manually handling drill rods for rod replacement. While ensuring personnel safety, it also improves drilling efficiency and the safety of the drilling process. It also meets the requirements for operating in narrow tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention.

[0028] Figure 2 It is a schematic top view of the structure of the water-operated disassembly mechanism and the drill rod mechanism on the manipulator of the present invention.

[0029] Figure 3It is a side structural schematic diagram of the drill rod magazine box of the present invention.

[0030] Figure 4 It is a schematic diagram of the top structure of the drill rod magazine box of the present invention.

[0031] Figure 5 It is a side structural schematic diagram of the upper drill rod assembly of the present invention.

[0032] Figure 6 It is a schematic top view of the upper drill rod assembly of the present invention.

[0033] Figure 7 It is a rear structural schematic diagram of the water stool disassembly mechanism of the present invention.

[0034] Figure 8 It is a side structural schematic diagram of the water stool disassembly mechanism of the present invention.

[0035] Figure 9 It is a top structural sectional view of the water stool disassembly mechanism of the present invention.

[0036] Figure 10 It is a structural schematic diagram of the hook assembly of the present invention.

[0037] In the figure: water-proof disassembly mechanism 1, connecting body 2, drill rod mechanism on manipulator 3, tunnel drilling rig 4, upper drill rod assembly 5, drill rod 6, drill rod magazine 7, lifting bracket 8, magazine frame 9, rod removal cam 10, cam return spring 11, transmission cam shaft 12, hydraulic motor I 13, transmission sprocket 14, toggle lever 15, bracket 16, swing cylinder 17, connecting flange pipe 18, grabbing cylinder 19, movable clamp 20, slip 21, fixed support clamp rod 22, positioning shaft 23 , disassemble the drive assembly 24, hook assembly 25, support plate 26, set screw 27, stop fastening spring 28, steel ball 29, slide rail 30, chain connecting plate 31, slider 32, faucet 33, hydraulic motor II 34, water toilet disassembly box 35, hook seat 36, shaft I 37, torsion spring 38, shaft II 39, shaft III 40, hook 41, chain 42, reciprocating drive motor 43, driven gear 44, driving gear 45, piston 46, mold spring 47, baffle 48. DETAILED DESCRIPTION

[0038] The technical solution of the invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0039] Example: Figure 1-10As shown, a hydraulic manipulator for a fully hydraulic tunnel drill for coal mines includes a tunnel drill 4, a connecting body 2 is provided at the rear end of the tunnel drill 4, and a water-convenient disassembly mechanism 1 is provided at the upper end of the connecting body 2, which is slidably plugged and fixed to the connecting body 2. The water-convenient disassembly mechanism 1 includes a disassembly drive assembly 24, and slide rails 30 are provided on both sides of the lower end of the disassembly drive assembly 24 and the connecting body 2, which are bolted and fixed to the connecting body 2. A support plate 26 is provided between the slide rail 30 and the disassembly drive assembly 24, and 6 set screws 27 are provided on the support plate 26, which are connected to the slide rail 30 and threadedly sleeved with the support plate 26. A stop fastening spring 28 sleeved with a slider 32 is provided between the set screw 27 and the slide rail 30, and a steel ball 29 is provided between the stop fastening spring 28 and the slide rail 30, which is clamped and fixed to the stop fastening spring 28. A slider 32 is provided between the support plate 26 and the slide rail 30 and is bolted to the support plate 26. Chain connecting plates 31 are provided on the outside of the slider 32 and are bolted to the slider 32. A reciprocating drive motor 43 is provided at the rear of the connecting body 2, and chains 42 are provided between the two ends of the reciprocating drive motor 43 and the chain connecting plates 31. A manipulator upper drill rod mechanism 3 is provided on the side of the connecting body 2. The manipulator upper drill rod mechanism 3 includes a drill rod storage box 7. An upper drill rod assembly 5 is provided between the drill rod storage box 7 and the connecting body 2. Drill rods 6 are provided on the upper drill rod assembly 5 and inside the drill rod storage box 7.

[0040] The upper drill rod assembly 5 includes a swing cylinder 17, with a fixed support clamping rod 22 attached to one side of the swing cylinder 17. A connecting flange pipe 18, bolted to the swing cylinder 17, is installed between the swing cylinder 17 and the side ends of the fixed support clamping rod 22. A bracket 16 is installed between the other end of the swing cylinder 17 and the lower end of the connection body 2. A movable clamping block 20, which movably engages with the fixed support clamping rod 22, is installed at the front upper end of the fixed support clamping rod 22. A grab cylinder 19 is installed between the rear end of the movable clamping block 20 and the rear upper end of the fixed support clamping rod 22. Slips 21, countersunk bolted to the movable clamping block 20 and the fixed support clamping rod 22, are installed between the movable clamping block 20 and the drill rod 6, and between the fixed support clamping rod 22 and the drill rod 6, respectively.

[0041] The drill rod magazine 7 includes a magazine frame 9, a lifting bracket 8 is provided between the lower end of the magazine frame 9 and the connecting body 2, a pair of rod-taking cams 10 are provided at the front end of the magazine frame 9, cam return springs 11 are provided between the lower part of the rod-taking cams 10 and the inner walls on both sides of the magazine frame 9, a positioning shaft 23 is provided at the front of the fixed support clamping rod 22, and is connected and fixed to the fixed support clamping rod 22 in an integrated manner, and a pair of toggle levers 15 are provided between the two rod-taking cams 10, which are movably contacted with both ends of the positioning shaft 23 and coaxially plugged and fixed with the rod-taking cams 10. A hydraulic motor I 13 is provided at the lower rear end of the magazine frame 9, and eight transmission camshafts 12 are provided between the hydraulic motor I 13 and the rod-taking cams 10, which are fixed and plugged into the magazine frame 9 in a bearing-type manner, and a transmission sprocket 14 is provided between the hydraulic motor I 13 and one side of the transmission camshaft 12.

[0042] The disassembly drive assembly 24 includes a water and stool disassembly box 35, in which a faucet 33 is provided with a bearing-type nested water faucet 33, and a driven gear 44 is provided on the faucet 33 and is key-limited with the faucet 33. A hydraulic motor II 34 is provided on the side of the faucet 33 and is bearing-type nested with the water and stool disassembly box 35. The hydraulic motor II 34 is provided with a driving gear 45 that is movably tooth-engaged with the driven gear 44. A piston 46 is provided between the front end of the driving gear 45 and the water and stool disassembly box 35 and is bearing-type sleeved with the driving gear 45. An O-ring is used for sealing between the piston 46 and the water and stool disassembly box 35. A baffle 48 is provided at the rear end of the driving gear 45 and is spline-type plug-in connected to the hydraulic motor II 34. Four mold springs 47 distributed in an annular manner are provided between the baffle 48 and the driving gear 45. The mold springs 47 are respectively countersunk-type nested with the driving gear 45 and the baffle 48. A hook assembly 25 is provided between the water toilet disassembly box 35 and the support plate 26. The hook assembly 25 includes a hook seat 36. A hook 41 is provided at the lower end of the front of the hook seat 36. A shaft II 39 is provided at the rear of the hook 41 and is limitedly sleeved with the hook seat 36. A shaft III 40 is provided in the middle of the hook 41 and is limitedly sleeved with the hook seat 36. A torsion spring 38 is provided between the hook 41 and the water toilet disassembly box 35. The torsion spring 38 is provided with a shaft I 37 and is limitedly sleeved with the hook seat 36.

[0043] A control method for a hydraulic manipulator supporting a fully hydraulic tunnel drill for a coal mine, comprising the following operating steps:

[0044] Step 1: When the drill rod needs to be put on, the height of the lifting bracket 8 is adjusted according to the diameter requirement of the drill rod 6 to meet the grabbing distance between the upper drill rod assembly 5 and the drill rod 6.

[0045] Step 2: When the tunnel drilling rig 4 needs to load a drill rod, the hydraulic motor I 13 is started to drive the transmission cam shaft 12 to rotate through the transmission sprocket 14, and the drill rod 6 in the drill rod storage box 7 is transported to the rod taking cam 10.

[0046] Step 3: The swing cylinder 17 drives the fixed support clamping rod 22 to move to the rod taking cam 10. During this process, the grabbing cylinder 19 contracts so that the movable clamping block 20 and the fixed support clamping rod 22 are in an open state. When the positioning shaft 23 on the fixed support clamping rod 22 presses down the toggle rod 15, the cam return spring 11 at the lower end of the rod taking cam 10 is stretched, so that the drill rod 6 enters the upper drill rod assembly 5 from the rod taking cam 10.

[0047] Step 4: The grabbing cylinder 19 is stretched to press the movable clamping block 20 downward and fix the support clamping rod 22 to clamp the drill rod 6, and then the swing cylinder 17 moves the drill rod 6 to the space between the tunnel drilling rig 4 and the water disassembly mechanism 1.

[0048] Step 5: The water-operated disassembly mechanism 1 moves forward along the connecting body 2 and presses the drill rod 6. After pressing, the grabbing cylinder 19 contracts and releases the drill rod 6, and the swing cylinder 17 rotates and resets. The process of putting the drill rod on the tunnel drilling rig 4 is realized through the operation of the water-operated disassembly mechanism 1.

[0049] The operating principle of the water-operated disassembly mechanism 1 is as follows: the faucet 33 and the tunnel drilling rig 4 clamp the drill rod 6, and oil enters the front chamber of the piston 46, pushing the driving gear 45 to press the mold spring 47, so that the driving gear 45 is engaged with the driven gear 44, and the faucet 33 is driven to run forward and reverse through the hydraulic motor II 34; when the oil is unloaded from the front chamber of the piston 46, the mold spring 47 at the baffle 48 is reset to push the driving gear 45 and the driven gear 44 to disengage.

[0050] Step 6: When the drill rod needs to be unloaded, the water-powered disassembly mechanism 1 is synchronized with the unloading displacement of the tunnel drilling rig 4. After the tunnel drilling rig 4 completes unloading of the drill rod, the upper drill rod assembly 5 clamps the drill rod 6, and the water-powered disassembly mechanism 1 moves backward along the connecting fuselage 2.

[0051] Step 7: The swing cylinder 17 rotates to drive the drill rod 6, so that the positioning shaft 23 presses down the toggle rod 15. At this time, the grabbing cylinder 19 contracts and drops the drill rod 6 onto the rod-taking cam 10. Then the swing cylinder 17 rotates to make the positioning shaft 23 disengage from the toggle rod 15. Under the action of the cam return spring 11, the drill rod 6 returns to the drill rod storage box 7, completing the process of unloading the drill rod.

[0052] In summary, this fully hydraulic tunnel drill for coal mines, equipped with a hydraulic manipulator and its control method, features a compact structure, small footprint, convenient operation, and excellent operational stability. Its fixed structure eliminates the labor-intensive and potentially hazardous repositioning and manual handling of drill rods required for drill rig relocation. While ensuring personnel safety, it also improves drilling efficiency and process safety, meeting the demands of operating in narrow tunnels.

[0053] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. A fully hydraulic tunnel drill for coal mines and a supporting hydraulic manipulator, comprising a tunnel drill (4), characterized in that: The tunnel drilling rig (4) is provided with a connecting body (2) at the rear end, a water-convenient disassembly mechanism (1) that is slidably plugged and fixed to the connecting body (2) is provided at the upper end of the connecting body (2), and a manipulator upper drill rod mechanism (3) is provided on the side of the connecting body (2); the manipulator upper drill rod mechanism (3) includes a drill rod storage box (7), an upper drill rod assembly (5) is provided between the drill rod storage box (7) and the connecting body (2), and drill rods (6) are provided on the upper drill rod assembly (5) and in the drill rod storage box (7); The upper drill rod assembly (5) includes a swing oil cylinder (17), a fixed support clamping rod (22) is provided on one side of the swing oil cylinder (17), a movable clamping block (20) movably clamped with the fixed support clamping rod (22) is provided at the front upper end of the fixed support clamping rod (22), and a grabbing oil cylinder (19) is provided at the rear end of the movable clamping block (20) and the rear upper end of the fixed support clamping rod (22); The water-container disassembly mechanism (1) includes a disassembly drive assembly (24), wherein both sides of the lower end of the disassembly drive assembly (24) and the connecting body (2) are provided with slide rails (30) that are bolted and fixed to the connecting body (2), a support plate (26) is provided between the slide rails (30) and the disassembly drive assembly (24), a slider (32) that is bolted and fixed to the support plate (26) is provided between the support plate (26) and the slide rails (30), and chain connecting plates (31) that are bolted and fixed to the slider (32) are provided on the outer sides of the sliders (32), and a reciprocating drive motor (43) is provided at the rear of the connecting body (2), and a chain (42) is provided between the two ends of the reciprocating drive motor (43) and the chain connecting plates (31).

2. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 1 is characterized in that: The drill rod storage box (7) includes a storage box frame (9), a lifting bracket (8) is provided between the lower end of the storage box frame (9) and the connecting body (2), a pair of rod taking cams (10) are provided at the front end of the storage box frame (9), cam return springs (11) are provided between the lower part of the rod taking cam (10) and the inner walls on both sides of the storage box frame (9), a positioning shaft (23) is provided at the front part of the fixed support clamping rod (22) and is connected and fixed in an integrated manner with the fixed support clamping rod (22), and a pair of toggle rods (15) are provided between the two rod taking cams (10) and are movably contacted with the two ends of the positioning shaft (23) and are coaxially plugged and fixed with the rod taking cam (10).

3. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 2 is characterized in that: A hydraulic motor I (13) is provided at the rear lower end of the magazine frame (9), and a plurality of transmission cam shafts (12) fixed to the magazine frame (9) in a bearing-type inserting manner are provided between the hydraulic motor I (13) and the rod taking cam (10), and a transmission sprocket (14) is provided between the hydraulic motor I (13) and one side of the transmission cam shaft (12).

4. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 1 is characterized in that: Slips (21) fixedly connected to the movable clamping block (20) and the fixed support clamping rod (22) by countersunk bolts are respectively provided between the movable clamping block (20) and the drill rod (6), and between the fixed support clamping rod (22) and the drill rod (6).

5. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 1 is characterized in that: A connecting flange pipe (18) is provided between the swing cylinder (17) and the side end of the fixed support clamp rod (22), and is bolted and fixed to the swing cylinder (17). A bracket (16) is provided between the other end of the swing cylinder (17) and the lower end of the connection body (2).

6. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 1 is characterized in that: The disassembly drive assembly (24) includes a water stool disassembly box (35), a faucet (33) is provided in the water stool disassembly box (35) and is nested in a bearing manner with the water stool disassembly box (35), a driven gear (44) is provided on the faucet (33) and is key-limited and sleeved with the faucet (33), a hydraulic motor II (34) is provided on the side of the faucet (33) and is nested in a bearing manner with the water stool disassembly box (35), a driving gear (45) is provided on the hydraulic motor II (34) and is engaged with the driven gear (44) in a movable tooth-shaped manner, and the A piston (46) is provided between the front end of the driving gear (45) and the water-container disassembly box (35), and is connected to the driving gear (45) in a bearing-type sleeve. An O-ring is used to seal the piston (46) and the water-container disassembly box (35). A baffle (48) is provided at the rear end of the driving gear (45) and is spline-type plug-in connected to the hydraulic motor II (34). A plurality of mold springs (47) distributed in an annular shape are provided between the baffle (48) and the driving gear (45). The mold springs (47) are respectively connected to the driving gear (45) and the baffle (48) in a countersunk hole-type nested manner.

7. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 6 is characterized in that: A hook assembly (25) is provided between the water toilet disassembly box (35) and the support plate (26), and the hook assembly (25) includes a hook seat (36). A hook (41) is provided at the lower end of the front portion of the hook seat (36), and a shaft II (39) is provided at the rear portion of the hook (41) and is limitedly sleeved with the hook seat (36). A shaft III (40) is provided at the middle portion of the hook (41) and is limitedly sleeved with the hook seat (36). A torsion spring (38) is provided between the hook (41) and the water toilet disassembly box (35), and a shaft I (37) is provided on the torsion spring (38) and is limitedly sleeved with the hook seat (36).

8. The hydraulic manipulator for a fully hydraulic tunnel drill for coal mines according to claim 1, characterized in that: The support plate (26) is provided with a plurality of set screws (27) connected to the slide rail (30) and threadedly sleeved with the support plate (26), a stop fastening spring (28) sleeved with the slider (32) is provided between the set screws (27) and the slide rail (30), and a steel ball (29) is provided between the stop fastening spring (28) and the slide rail (30) and is fixedly connected to the stop fastening spring (28) by being engaged.

9. The control method of the hydraulic manipulator of the fully hydraulic tunnel drilling rig for coal mines according to claim 3 is characterized in that The steps are as follows: Step 1: When the drill rod needs to be raised, the height of the lifting bracket (8) is adjusted according to the diameter requirement of the drill rod (6) to meet the grabbing distance between the upper drill rod assembly (5) and the drill rod (6); Step 2: When the tunnel drilling rig (4) needs to load a drill rod, the hydraulic motor I (13) is started to drive the transmission cam shaft (12) to rotate through the transmission sprocket (14), and the drill rod (6) in the drill rod storage box (7) is transported to the rod retrieval cam (10); Step 3: The swing cylinder (17) drives the fixed support clamping rod (22) to move to the position between the rod taking cam (10). During this process, the grabbing cylinder (19) contracts so that the movable clamping block (20) and the fixed support clamping rod (22) are in an open state. When the positioning shaft (23) on the fixed support clamping rod (22) presses down the toggle rod (15), the cam return spring (11) at the lower end of the rod taking cam (10) is stretched, so that the drill rod (6) enters the upper drill rod assembly (5) from the rod taking cam (10); Step 4: The grabbing oil cylinder (19) is stretched so that the movable clamping block (20) is pressed downward and the fixed support clamping rod (22) is clamped to grasp the drill rod (6), and then the swing oil cylinder (17) is used to move the drill rod (6) between the tunnel drilling machine (4) and the water disassembly mechanism (1); Step 5: The water-powered disassembly mechanism (1) moves forward along the connecting body (2) and presses the drill rod (6). After pressing, the grabbing oil cylinder (19) contracts and releases the drill rod (6). The swing oil cylinder (17) rotates and resets. The process of putting the drill rod on the tunnel drilling rig (4) is realized by the operation of the water-powered disassembly mechanism (1). Step 6: When the drill rod needs to be removed, the water-powered disassembly mechanism (1) is synchronized with the displacement of the tunnel drilling rig (4) to remove the drill rod. After the tunnel drilling rig (4) completes the removal of the drill rod, the upper drill rod assembly (5) clamps the drill rod (6), and the water-powered disassembly mechanism (1) moves backward along the connecting body (2). Step 7: The swing cylinder (17) rotates to drive the drill rod (6), so that the positioning shaft (23) presses down the toggle rod (15). At this time, the grabbing cylinder (19) contracts and drops the drill rod (6) onto the rod-taking cam (10). Then, the swing cylinder (17) rotates to make the positioning shaft (23) disengage from the toggle rod (15). Under the action of the cam return spring (11), the drill rod (6) returns to the drill rod storage box (7), completing the process of unloading the drill rod.

Images