A rock drilling mechanism for mining robotic arms and its usage method

Abstract

This invention discloses a mining robotic arm rock drilling mechanism and its usage method, relating to the technical field of mining rock drilling equipment. It includes a robotic arm, a buffer mechanism, a rock drill, a drilling mechanism, and a borehole fixing mechanism. The buffer mechanism is fixedly connected to the top of the robotic arm, and the rock drill is connected above the buffer mechanism. The drilling mechanism and the borehole fixing mechanism are respectively connected to the left and right sides below the front end of the buffer mechanism. This invention has a reasonable structural design; the buffer mechanism effectively reduces the impact of the reaction force generated by the rock drill on the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of mining rock drilling equipment technology, and in particular to a mining robotic arm rock drilling mechanism and its usage method. Background Technology

[0002] In underground mining operations that primarily utilize the drill-and-blast method, rock drilling is an essential procedure. However, traditional manual rock drilling is time-consuming, inefficient, and the poor working environment seriously threatens the safety of workers. Therefore, developing efficient and safe rock drilling equipment is an urgent goal.

[0003] In reality, with the advancement of smart mine construction, some mines are using automated rock drilling equipment such as rock drilling rigs to complete rock drilling work in the mining area, greatly improving mining efficiency and operational safety. However, the application of intelligent rock drilling equipment is still relatively lacking in some narrow areas and localized secondary crushing scenarios. To address this issue, a rock drill can be mounted on the end of a small robot's robotic arm, similar to a rock drilling rig, to complete rock drilling work in narrow areas. However, the strong reaction force generated by the rock drill and the rock during the drilling process not only makes it difficult for the small robot to position the drill bit end face, but the continuous vibration caused by the force may also cause significant damage to the robotic arm. Therefore, it is necessary to add constraints to the structure to reduce the impact of the reaction force.

[0004] In summary, how to provide a mining robotic arm rock drilling mechanism and its usage method to reduce the impact of the rock drill's reaction force on the robotic arm during the rock drilling process, thereby improving rock drilling efficiency, has become a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a mining robotic arm rock drilling mechanism and its usage method, which solves the problem of low drilling efficiency caused by the large reaction force of existing rock drills on the robotic arm.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] The present invention provides a mining robotic arm rock drilling mechanism, comprising a robotic arm, a buffer mechanism, a rock drill, a drilling mechanism, and a hole fixing mechanism;

[0008] The buffer mechanism is fixedly connected to the top of the robotic arm, and the rock drill is connected above the buffer mechanism. The drilling mechanism and the hole fixing mechanism are respectively connected to the lower left and right sides of the front end of the buffer mechanism.

[0009] Preferably, the buffer mechanism includes a first fixed plate, a buffer plate, a first push plate, and a push electric cylinder;

[0010] The bottom center of the first fixed plate is connected to the robotic arm. The propulsion cylinder is installed above the rear end of the first fixed plate. The buffer plate is slidably connected to the top of the first fixed plate via a slide rail. The telescopic end of the propulsion cylinder is fixedly connected to the rear end baffle of the buffer plate. The buffer plate is embedded in the edge groove provided on the bottom surface of the first propulsion plate. The baffle of the buffer plate and the baffle of the first propulsion plate are elastically connected together by a spring. The rock drill is installed on the top surface of the first propulsion plate.

[0011] Preferably, an upper baffle is integrally provided on the rear top surface of the first fixing plate, a raised platform is connected to the front of the upper baffle of the first fixing plate, the push cylinder is installed on the raised platform, a slide rail is provided in front of the raised platform, the slide rail is integrally provided with the first fixing plate, the end of the slide rail extends to the front end face of the first fixing plate, and a limit platform is provided at the end of the slide rail.

[0012] The first fixing plate has a lower baffle integrally provided on the front bottom surface, and the lower baffle is provided with a plurality of positioning components. The drilling mechanism and the hole fixing mechanism are installed on the positioning components.

[0013] Preferably, a hollowed-out area is reserved in the middle of the lower baffle of the first fixing plate. The positioning component includes a first small plate, a second small plate, a third small plate, and a fourth small plate. The first small plate, the second small plate, the third small plate, and the fourth small plate are connected to the hollowed-out area of ​​the lower baffle of the first fixing plate. The first small plate and the second small plate are located above the blank area of ​​the lower baffle, and the third small plate and the fourth small plate are located below the blank area of ​​the lower baffle.

[0014] Preferably, the buffer plate is L-shaped, with a baffle integrally provided on the top rear end of the buffer plate. The rear side of the baffle of the buffer plate is fixedly connected to the telescopic end of the propulsion cylinder. A first circular groove is provided on the front side of the baffle of the buffer plate, which matches the spring. A positioning protrusion is provided at the front end of the buffer plate. A slider is fixedly connected to the bottom surface of the buffer plate by screws, and the slider matches the slide rail.

[0015] Preferably, the first push plate has symmetrical edge grooves on the left and right sides of its bottom surface, and the edge grooves are in clearance fit with the buffer plate. The first push plate slides on the buffer plate through the edge grooves. A baffle is integrally provided on the top rear end of the first push plate, and a second circular groove is provided on the side behind the baffle of the first push plate. The second circular groove matches the spring.

[0016] Preferably, the drilling mechanism includes an electric drill, a first lead screw, and a first motor;

[0017] The first motor is mounted on the first small plate, and the shaft of the first motor passes through the first small plate and is connected to one end of the first lead screw. The other end of the first lead screw is connected to the second small plate, and the electric drill is movably connected to the first lead screw through a sliding bracket.

[0018] Preferably, the eyelet fixing mechanism includes a second lead screw, a second motor, a second push plate, a third lead screw, a third motor, a pusher, a second fixing plate, and a hydraulic expansion fixing device;

[0019] The second motor is mounted on the fourth small plate, and the shaft of the second motor passes through the fourth small plate and is connected to one end of the second lead screw. The other end of the second lead screw is connected to the third small plate.

[0020] The bottom plate of the second push plate is fixed with a front baffle and a rear baffle at its front and rear ends respectively. The bottom plate of the second push plate is provided with screw through holes on the left and right sides. The screw through holes are matched with the second screw. The front baffle of the second push plate is in contact with the lower baffle of the first fixed plate.

[0021] The third motor is installed on the rear baffle of the second push plate. The rotating shaft of the third motor passes through the rear baffle of the second push plate and is connected to one end of the third lead screw. The other end of the third lead screw is connected to the front baffle of the second push plate.

[0022] The second push plate is connected to the pusher via the third lead screw above the bottom plate. The second fixed plate is fixedly connected to the front of the pusher. The hydraulic expansion fixing device is fixedly connected to the center of the front side of the second fixed plate.

[0023] Preferably, tenons are provided on the upper and lower end faces of the second fixing plate, and the tenons on the second fixing plate match the mortises on the lower baffle of the first fixing plate.

[0024] The present invention also provides a method of using the rock drilling mechanism of the mining robotic arm, comprising the following steps:

[0025] S1: Reset, fully retract the propulsion cylinder before drilling, control the first motor and the second motor to make the drilling mechanism and the hole fixing mechanism respectively located on the left and right sides of the lower baffle of the first fixed plate, and use the third motor to make the propeller located at the rear end position inside the second propulsion plate;

[0026] S2: Drilling. The robotic arm is positioned on the rock mass by a vision sensor to locate the drilling point. The first screw is rotated by the first motor, which drives the slide to move horizontally. The slide moves the electric drill to the center of the lower baffle of the first fixed plate. At this time, the electric drill is started, the drill bit is extended, and the robotic arm is controlled to move forward to drill a positioning hole in the rock mass. Then, the drill bit is retracted, and the first motor is used to control the electric drill to return to the left side of the lower baffle of the first fixed plate. At the same time, the robotic arm is controlled to move backward by a distance equal to the length of a hydraulic expansion fixing device.

[0027] S3: Fix the buffer mechanism, control the third motor to drive the third lead screw to rotate, so that the pusher moves to the front end position of the second push plate. At this time, start the second motor to drive the second lead screw to rotate, so that the second push plate moves to the center position of the lower baffle of the first fixed plate. The movement of the second push plate drives the pusher to move, and the movement of the pusher drives the second fixed plate to move. During the process of the second fixed plate moving to the center position of the lower baffle of the first fixed plate, the tenon on the second fixed plate will be inserted into the tenon groove of the lower baffle of the first fixed plate. At this time, control the robotic arm to move forward and push the hydraulic expansion fixing device into the positioning hole made in step S. Then, inject oil pressure into the hydraulic expansion fixing device to expand and fix the hydraulic expansion fixing device in the positioning hole of the rock mass, forming a front and back movement constraint on the first fixed plate.

[0028] S4: Rock drilling, start the propulsion cylinder, push the buffer plate, the first propulsion plate moves forward synchronously and drives the rock drill on the first propulsion plate to move forward synchronously. The rock drill comes into contact with the rock mass, the spring is compressed by force, at this time the rock drill starts to drill, and continue to push the propulsion cylinder until the rock is drilled to the specified depth.

[0029] S5: End rock drilling, shut down the rock drill, retract the telescopic rod of the propulsion cylinder, and reduce the hydraulic pressure to restore the hydraulic expansion fixing device to its original state. At this time, move the robotic arm backward to disengage the hydraulic expansion fixing device from the positioning hole on the rock mass. Then, start the third motor to rotate the third lead screw, which moves the pusher backward to the rear end position inside the second push plate. Start the second motor to rotate the second lead screw, which moves the second push plate to the right side of the lower baffle of the first fixing plate, returning to the initial position.

[0030] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0031] This invention provides a mining robotic arm rock drilling mechanism, including a robotic arm, a buffer mechanism, a rock drill, a drilling mechanism, and a hole fixing mechanism; the buffer mechanism is fixedly connected to the top of the robotic arm, the rock drill is connected above the buffer mechanism, and the drilling mechanism and the hole fixing mechanism are respectively connected to the left and right sides below the front end of the buffer mechanism.

[0032] 1) The present invention reduces the impact of the rock drill reaction force on the robotic arm by the cooperation of the first fixed plate, buffer plate, spring and first push plate in the buffer mechanism;

[0033] 2) This invention reduces the impact of the rock drill's reaction force on the robotic arm by fixing the hydraulic expansion fixing device into the positioning hole on the rock mass, thereby constraining the forward and backward movement of the buffer mechanism. Attached Figure Description

[0034] The present invention will be further described below with reference to the accompanying drawings.

[0035] Figure 1 This is a three-dimensional structural diagram of the rock drilling mechanism of the mining robotic arm of the present invention;

[0036] Figure 2 This is a schematic diagram of the working mode of the rock drilling mechanism of the mining robotic arm of the present invention;

[0037] Figure 3 This is a front view showing the connection between the buffer mechanism and the rock drill of the present invention;

[0038] Figure 4 This is a schematic diagram showing the connection between the fixing plate, the drilling mechanism, and the hole fixing mechanism of the present invention;

[0039] Figure 5 This is a front view of the fixing plate of the present invention;

[0040] Figure 6 This is a top view of the fixing plate of the present invention;

[0041] Figure 7 This is a left view of the fixing plate of the present invention;

[0042] Figure 8 This is a schematic diagram of the three-dimensional structure of the buffer plate of the present invention;

[0043] Figure 9 This is a left view of the propulsion plate of the present invention;

[0044] Figure 10 This is a front view of the propulsion plate of the present invention;

[0045] Figure 11 This is a top view of the propulsion plate of the present invention;

[0046] Figure 12This is a three-dimensional structural diagram of the eyelet fixing mechanism of the present invention;

[0047] Figure 13 This is a front view of the eyelet fixing mechanism of the present invention.

[0048] Explanation of reference numerals in the attached drawings: 1. Robotic arm; 2. First fixed plate; 201. Slide rail; 202. Raised platform; 203. First small plate; 2031. Second small plate; 2032. Third small plate; 2033. Fourth small plate; 3. Buffer plate; 301. First circular groove; 4. First push plate; 401. Edge groove; 402. Second circular groove; 5. Rock drill; 6. Push cylinder; 7. Slider; 8. Spring; 9. Electric drill; 10. Slide; 11. First lead screw; 1101. Second lead screw; 12. First motor; 1201. Second motor; 13. Second push plate; 1301. Lead screw through hole; 14. Third lead screw; 15. Third motor; 16. Pusher; 17. Second fixed plate; 18. Hydraulic expansion fixing device; 19. Rock mass. Detailed Implementation

[0049] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0050] Example 1

[0051] like Figure 1-13 As shown, this embodiment provides a mining robotic arm rock drilling mechanism, including a robotic arm 1, a buffer mechanism, a rock drill 5, a drilling mechanism, and a hole fixing mechanism;

[0052] The buffer mechanism is fixedly connected to the top of the robotic arm 1, and the rock drill 5 is connected above the buffer mechanism. The drilling mechanism and the hole fixing mechanism are respectively connected to the left and right sides below the front end of the buffer mechanism.

[0053] This invention effectively reduces the impact of the reaction force generated by the rock drill during rock drilling on the robotic arm 1 through a buffer mechanism. This prevents the reaction force from being too large and damaging the internal structure of the robotic arm 1, and also prevents the robotic arm 1 from being unable to control the rock drill 5 for precise positioning and drilling.

[0054] Specifically, the buffer mechanism includes a first fixed plate 2, a buffer plate 3, a first push plate 4, and a push cylinder 6;

[0055] The bottom center of the first fixed plate 2 is connected to the robotic arm 1. The propulsion cylinder 6 is installed above the rear end of the first fixed plate 2. The buffer plate 3 is slidably connected above the first fixed plate 2 via a slide rail 201. The telescopic end of the propulsion cylinder 6 is fixedly connected to the rear end baffle of the buffer plate 3. The buffer plate 3 is embedded in the edge groove 401 provided on the bottom surface of the first propulsion plate 4. The baffle of the buffer plate 3 and the baffle of the first propulsion plate 4 are elastically connected together by a spring 8. The rock drill 5 is installed on the top surface of the first propulsion plate 4.

[0056] Specifically, an upper baffle is integrally provided on the rear top surface of the first fixing plate 2, and a raised platform 202 is connected to the front of the upper baffle of the first fixing plate 2. The push cylinder 6 is installed on the raised platform 202, and a slide rail 201 is provided in front of the raised platform 202. The slide rail 201 is integrally provided with the first fixing plate 2, and the end of the slide rail 201 extends to the front end face of the first fixing plate 2. A limit platform is provided at the end of the slide rail 201.

[0057] The first fixing plate 2 has a lower baffle integrally provided on the front bottom surface, and the lower baffle is provided with a plurality of positioning parts, and the drilling mechanism and the hole fixing mechanism are installed on the positioning parts.

[0058] Specifically, a hollowed-out area is reserved in the middle of the lower baffle of the first fixing plate 2. A first small plate 203, a second small plate 2031, a third small plate 2032 and a fourth small plate 2033 are symmetrically connected behind the lower baffle of the first fixing plate 2. The first small plate 203 and the second small plate 2031 are located above the blank area of ​​the lower baffle, and the third small plate 2032 and the fourth small plate 2033 are located below the blank area of ​​the lower baffle.

[0059] The slide rail 201 has a protrusion at its end to prevent the buffer plate 3 from sliding off the first fixed plate 2. The slide rail 201 does not have a protrusion at its starting end because the raised platform 202 can block the buffer plate 3.

[0060] Specifically, the lower baffle of the first fixing plate 2 has a tenon groove in the hollowed-out area.

[0061] Specifically, the buffer plate 3 is L-shaped, and a baffle is integrally provided on the top rear end of the buffer plate 3. The rear side of the baffle of the buffer plate 3 is fixedly connected to the telescopic end of the propulsion cylinder 6. A first circular groove 301 is provided on the front side of the baffle of the buffer plate 3. The first circular groove 301 matches the spring 8. A positioning protrusion is provided at the front end of the buffer plate 3. A slider 7 is fixedly connected to the bottom surface of the buffer plate 3 by screws. The slider 7 matches the slide rail 201.

[0062] Specifically, the bottom surface of the first push plate 4 is symmetrically provided with the edge grooves 401 on the left and right sides. The edge grooves 401 are in clearance fit with the buffer plate 3. The first push plate 4 slides on the buffer plate 3 through the edge grooves 401. A baffle is integrally provided on the rear top surface of the first push plate 4. A second circular groove 402 is provided on the rear side of the baffle of the first push plate 4. The second circular groove 402 matches the spring 8.

[0063] Specifically, the drilling mechanism includes an electric drill 9, a first lead screw 11, and a first motor 12;

[0064] The first motor 12 is mounted on the first small plate 203. The shaft of the first motor 12 passes through the first small plate 203 and is connected to one end of the first lead screw 11. The other end of the first lead screw 11 is connected to the second small plate 2031. The electric drill 9 is movably connected to the first lead screw 11 through the slide 10.

[0065] Specifically, the eyelet fixing mechanism includes a second lead screw 1101, a second motor 1201, a second push plate 13, a third lead screw 14, a third motor 15, a pusher 16, a second fixing plate 17, and a hydraulic expansion fixing device 18;

[0066] The second motor 1201 is mounted on the fourth small plate 2033. The shaft of the second motor 1201 passes through the fourth small plate 2033 and is connected to one end of the second lead screw 1101. The other end of the second lead screw 1101 is connected to the third small plate 2032.

[0067] The bottom plate of the second push plate 13 is fixed with a front baffle and a rear baffle at its front and rear ends respectively. The bottom plate of the second push plate 13 is provided with a lead screw through hole 1301 on the left and right sides. The lead screw through hole 1301 matches the second lead screw 1101. The front baffle of the second push plate 13 is in contact with the lower baffle of the first fixed plate 2.

[0068] The third motor 15 is installed on the rear baffle of the second push plate 13. The rotating shaft of the third motor 15 passes through the rear baffle of the second push plate 13 and is connected to one end of the third lead screw 14. The other end of the third lead screw 14 is connected to the front baffle of the second push plate 13.

[0069] The second push plate 13 is connected to the pusher 16 via the third lead screw 14 above the bottom plate. The second fixed plate 17 is fixedly connected to the front of the pusher 16. The hydraulic expansion fixing device 18 is fixedly connected to the center of the front side of the second fixed plate 17.

[0070] Specifically, tenons are provided on the upper and lower end faces of the second fixing plate 17, and the tenons on the second fixing plate 17 match the mortise grooves on the lower baffle of the first fixing plate 2.

[0071] Before drilling, this invention drills a hole in the rock mass and expands and fixes the hydraulic expansion fixing device 18 into the drilled hole, restricting the forward and backward displacement of the buffer mechanism and constraining its movement. When the rock drill 5 drills, the horizontal component of its reaction force passes sequentially through the buffer mechanism and the hole fixing mechanism, ultimately acting on the rock mass 19 instead of the robotic arm 1. The buffer mechanism and the hole fixing mechanism work together to protect the robotic arm 1.

[0072] In addition, the buffer mechanism uses spring 8 to reduce the reaction force generated by rock drill 5, which not only protects the mechanical arm 1, but also protects the connection and fixation relationship between the hydraulic expansion fixing device 18 and the rock mass 19.

[0073] Example 2

[0074] This embodiment provides a method for using a rock drilling mechanism for a mining robotic arm, including the following steps:

[0075] S1: Reset, fully retract the propulsion cylinder 6 before drilling, control the first motor 12 and the second motor 1201 to make the drilling mechanism and the hole fixing mechanism respectively located on the left and right sides of the lower baffle of the first fixing plate 2, and use the third motor 15 to make the pusher 16 located at the rear end position inside the second pusher plate 13.

[0076] S2: Drilling. The robotic arm 1 is positioned on the rock mass 19 by a vision sensor. The first lead screw 11 is rotated by the first motor 12, which drives the slide 10 to move horizontally. The slide 10 drives the electric drill 9 to the center of the lower baffle of the first fixed plate 2. At this time, the electric drill 9 is started, the drill bit of the electric drill 9 is extended, and the robotic arm 1 is controlled to move forward, so that the drill bit of the electric drill 9 drills a positioning hole on the rock mass 19. Then, the drill bit of the electric drill 9 is retracted, and the first motor 12 is used to control the electric drill 9 to return to the left side of the lower baffle of the first fixed plate 2. At the same time, the robotic arm 1 is controlled to move backward, and the moving distance is the length of a hydraulic expansion fixing device 18.

[0077] S3: Fix the buffer mechanism, control the third motor 15 to drive the third lead screw 14 to rotate, so that the pusher 16 moves to the front end position of the second push plate 13. At this time, start the second motor 1201 to drive the second lead screw 1101 to rotate, so that the second push plate 13 moves to the center position of the lower baffle of the first fixed plate 2. The movement of the second push plate 13 drives the pusher 16 to move, and the movement of the pusher 16 drives the second fixed plate 17 to move. During the process of the second fixed plate 17 moving to the center position of the lower baffle of the first fixed plate 2, the tenon on the second fixed plate 17 will be inserted into the tenon groove of the lower baffle of the first fixed plate 2. At this time, control the robotic arm 1 to move forward and push the hydraulic expansion fixing device 18 into the positioning hole made in step S2. Then, inject oil pressure into the hydraulic expansion fixing device 18 to expand and fix the hydraulic expansion fixing device 18 in the positioning hole of the rock mass 19, forming a front and back movement constraint on the first fixed plate 2.

[0078] S4: Rock drilling, start the propulsion cylinder 6, propel the buffer plate 3, and the first propulsion plate 4 move forward synchronously and drive the rock drill 5 on the first propulsion plate 4 to move forward synchronously. The rock drill 5 contacts the rock mass 19, and the spring 8 is compressed. At this time, start the rock drill 5 to drill the rock and continue to propel the propulsion cylinder 6 until the rock is drilled to the specified depth.

[0079] S5: End rock drilling, shut down the rock drill 5, retract the telescopic rod of the propulsion cylinder 6, and reduce the hydraulic pressure to restore the hydraulic expansion fixing device 18 to its original state. At this time, move the mechanical arm 1 backward to disengage the hydraulic expansion fixing device 18 from the positioning hole on the rock mass 19. Then, start the third motor 15 to rotate the third lead screw 14, which will move the pusher 16 backward to the rear end position inside the second push plate 13. Start the second motor 1201 to rotate the second lead screw 1101, which will move the second push plate 13 to the right side of the lower baffle of the first fixing plate 2 and return to the initial position.

[0080] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0081] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A mine mechanical arm rock drilling rig, characterized in that: Including mechanical arm (1), buffer mechanism, rock drill (5), drilling mechanism and eyelet fixing mechanism; The top end of the mechanical arm (1) is connected with the buffer mechanism, the upper side of the buffer mechanism is connected with the rock drill (5), and the drilling mechanism and the eyelet fixing mechanism are respectively connected below the front end of the buffer mechanism and on the left and right sides. The buffer mechanism comprises a first fixed plate (2), a buffer plate (3), a first pushing plate (4) and a pushing electric cylinder (6). The bottom surface center of the first fixed plate (2) is connected to the mechanical arm (1), the pushing electric cylinder (6) is installed above the rear end of the first fixed plate (2), the buffer plate (3) is slidably connected to the first fixed plate (2) through a slide rail (201), the telescopic end of the pushing electric cylinder (6) is fixedly connected to the rear end baffle of the buffer plate (3), the buffer plate (3) is embeddedly connected in the edge groove (401) arranged on the bottom surface of the first pushing plate (4), the baffles of the buffer plate (3) and the first pushing plate (4) are elastically connected together through a spring (8), and the rock drill (5) is installed on the top surface of the first pushing plate (4). The drilling mechanism comprises an electric drill (9), a first lead screw (11) and a first motor (12). The eyelet fixing mechanism comprises a second lead screw (1101), a second motor (1201), a second pushing plate (13), a third lead screw (14), a third motor (15), a pusher (16), a second fixed plate (17) and a hydraulic expansion fixing device (18).

2. A mine mechanical arm rock drilling rig according to claim 1, characterized in that: The rear end top surface of the first fixed plate (2) is integrally provided with an upper baffle, the front side of the upper baffle of the first fixed plate (2) is connected with a convex platform (202), the pushing electric cylinder (6) is installed on the convex platform (202), the front side of the convex platform (202) is provided with a slide rail (201), the slide rail (201) is integrally arranged with the first fixed plate (2), the terminal end of the slide rail (201) extends to the front end surface position of the first fixed plate (2), and the terminal end of the slide rail (201) is provided with a limiting table. The front end bottom surface of the first fixed plate (2) is integrally provided with a lower baffle, a plurality of positioning members are arranged on the lower baffle, and the drilling mechanism and the eyelet fixing mechanism are installed on the positioning members.

3. A mine mechanical arm rock drilling rig according to claim 2, characterized in that: The lower baffle of the first fixed plate (2) is provided with a hollowed-out area, the positioning members comprise first, second, third and fourth small plates (203, 2031, 2032 and 2033), the first, second, third and fourth small plates (203, 2031, 2032 and 2033) are connected in the hollowed-out area of the lower baffle of the first fixed plate (2), the first and second small plates (203 and 2031) are located above the blank area of the lower baffle, and the third and fourth small plates (2032 and 2033) are located below the blank area of the lower baffle.

4. A mine mechanical arm rock drilling rig according to claim 2, characterized in that: The buffer plate (3) is in the shape of "L", the rear end top surface of the buffer plate (3) is integrally provided with a baffle, the rear side surface of the baffle of the buffer plate (3) is fixedly connected with the telescopic end of the advancing electric cylinder (6), the front side surface of the baffle of the buffer plate (3) is provided with a first circular groove (301), the first circular groove (301) is matched with the spring (8), the front end of the buffer plate (3) is provided with a positioning convex platform, the bottom surface of the buffer plate (3) is fixedly connected with a sliding block (7) through a screw, and the sliding block (7) is matched with the sliding rail (201).

5. A mine mechanical arm rock drilling rig according to claim 4, characterized in that: The bottom surface of the first advancing plate (4) is symmetrically provided with the edge groove (401) on the left and right sides, the edge groove (401) is gap-connected with the buffer plate (3), the first advancing plate (4) slides on the buffer plate (3) through the edge groove (401), the rear end top surface of the first advancing plate (4) is integrally provided with a baffle, the rear side surface of the baffle of the first advancing plate (4) is provided with a second circular groove (402), and the second circular groove (402) is matched with the spring (8).

6. A mine mechanical arm rock drilling rig according to claim 3, characterized in that: The first motor (12) in the drilling mechanism is installed on the first small plate (203), the rotating shaft of the first motor (12) penetrates through the first small plate (203) and is in transmission connection with one end of the first lead screw (11), the other end of the first lead screw (11) is connected to the second small plate (2031), and the electric drill (9) is movably connected to the first lead screw (11) through a sliding support (10).

7. A mine mechanical arm rock drilling rig according to claim 3, characterized in that: The second motor (1201) in the hole fixing mechanism is installed on the fourth small plate (2033), the rotating shaft of the second motor (1201) penetrates through the fourth small plate (2033) and is in transmission connection with one end of the second lead screw (1101), the other end of the second lead screw (1101) is connected to the third small plate (2032); The bottom plate of the second advancing plate (13) is fixedly provided with a front baffle and a rear baffle at the front end and the rear end respectively, the left and right side surfaces of the bottom plate of the second advancing plate (13) are provided with a lead screw through hole (1301), the lead screw through hole (1301) is matched with the second lead screw (1101), and the front baffle of the second advancing plate (13) is attached to the lower baffle of the first fixed plate (2); The rear baffle of the second advancing plate (13) is installed with the third motor (15), the rotating shaft of the third motor (15) penetrates through the rear baffle of the second advancing plate (13) and is in transmission connection with one end of the third lead screw (14), the other end of the third lead screw (14) is connected to the front baffle of the second advancing plate (13); The second advancing plate (13) is provided with the propeller (16) which is drivenly connected above the bottom plate through the third lead screw (14), the second fixed plate (17) is fixedly connected in front of the propeller (16), and the front side surface of the second fixed plate (17) is fixedly connected with the hydraulic expansion fixing device (18) at the central position.

8. A mine mechanical arm rock drilling rig according to claim 7, characterized in that: The upper and lower end faces of the second fixed plate (17) are provided with tenons, and the tenon on the second fixed plate (17) is matched with the mortise on the lower baffle of the first fixed plate (2).

9. A method of using the rock drilling rig of any one of claims 1-8, characterized by The method comprises the following steps: S1: reset, completely retract the advancing electric cylinder (6) before drilling, control the first motor (12) and the second motor (1201) to make the drilling mechanism and the hole fixing mechanism respectively located on the left and right sides of the lower baffle of the first fixed plate (2), and use the third motor (15) to make the pusher (16) located at the rear end position in the second advancing plate (13); S2: drilling, the mechanical arm (1) is positioned to the drilling position on the rock mass (19) through the visual sensor, the first motor (12) is controlled to rotate the first lead screw (11), the sliding bracket (10) is horizontally displaced, the sliding bracket (10) drives the electric drill (9) to move to the center position of the lower baffle of the first fixed plate (2), at this time, the electric drill (9) is started, the drill bit of the electric drill (9) is extended, and the mechanical arm (1) is controlled to translate forward, driving the drill bit of the electric drill (9) to drill a positioning hole on the rock mass (19), then the electric drill (9) is controlled to retract the drill bit, and the first motor (12) is controlled to control the electric drill (9) to return to the left side position of the lower baffle of the first fixed plate (2), and the mechanical arm (1) is controlled to translate backward, and the translation distance is the length of the hydraulic expansion fixing device (18); S3: fix the buffer mechanism, control the third motor (15) to rotate the third lead screw (14), make the pusher (16) move to the front end position of the second advancing plate (13), at this time, the second motor (1201) is started to rotate the second lead screw (1101), drive the second advancing plate (13) to move to the center position of the lower baffle of the first fixed plate (2), the second advancing plate (13) moves to drive the pusher (16) to move, the pusher (16) moves to drive the second fixed plate (17) to move, in the process that the second fixed plate (17) moves to the center position of the lower baffle of the first fixed plate (2), the tenon on the second fixed plate (17) is inserted into the mortise on the lower baffle of the first fixed plate (2), at this time, the mechanical arm (1) is controlled to move forward, the hydraulic expansion fixing device (18) is pushed into the positioning hole drilled in step S2, then oil pressure is injected into the hydraulic expansion fixing device (18), and the hydraulic expansion fixing device (18) is expanded and fixed in the positioning hole of the rock mass (19), and the first fixed plate (2) is formed to be constrained in front and back movement; S4: drill, start the advancing electric cylinder (6), advance the buffer plate (3), the first advancing plate (4) is synchronously moved forward and drives the rock drill (5) on the first advancing plate (4) to be synchronously moved forward, the rock drill (5) is in contact with the rock mass (19), the spring (8) is compressed under the action of force, at this time, the rock drill (5) is started to drill, and the advancing electric cylinder (6) is continuously advanced until the rock is drilled to the specified depth; S5: end of rock drilling, close the rock drill (5), retract the telescopic rod of the advancing electric cylinder (6), retract the oil pressure, and restore the hydraulic expansion fixing device (18) to its original state. At this time, the mechanical arm (1) is translated backward, driving the hydraulic expansion fixing device (18) to disengage from the positioning hole on the rock mass (19). Then, the third motor (15) is started, the third lead screw (14) is rotated, the pusher (16) is moved backward to the rear end position in the second push plate (13), the second motor (1201) is started, the second lead screw (1101) is rotated, the second push plate (13) is moved to the right side position of the lower baffle of the first fixed plate (2), and the original position is restored.

Images