Unmanned mine drilling and blasting trolley

Abstract

The invention relates to the technical field of mine engineering, and discloses an unmanned mine drilling and blasting trolley which comprises a trolley body, the inner wall of the trolley body is hinged to an overturning block through a rotating shaft, the inner wall of the trolley body is hinged to the outer wall of a first hydraulic cylinder through a rotating block, and the outer wall of the trolley body is hinged to the outer wall of a supporting leg through a rotating shaft. The outer wall of the vehicle body is hinged to the outer wall of a second hydraulic cylinder through a rotating block, the surface of an overturning block is fixedly connected with the bottom of a shell, the top of the shell is fixedly connected with the bottom of a motor, a centrifugal cleaning mechanism is arranged on the inner wall of the shell, and the output end of the motor penetrates through the top of the shell and is rotationally connected with the top of a transmission block. According to the unmanned mine drilling and blasting trolley, the drilling and deslagging mechanism is arranged, drilling can be conducted at the same time through drill bits in the opposite directions through the drilling and deslagging mechanism, slag left in holes is effectively discharged, the drilling quality and smoothness are ensured, and the unmanned mine drilling and blasting trolley can be normally used.

Description

Technical Field

[0001] The invention relates to the technical field of mining engineering, in particular to an unmanned mining drilling and blasting trolley. Background Art

[0002] In today's mining industry, unmanned mining drilling and blasting vehicles have come into being. With the continuous advancement of science and technology, traditional mining operations are facing many challenges such as high labor costs and high safety risks. In order to improve mining production efficiency and reduce safety hazards, unmanned technology has gradually been introduced into the mining field. This unmanned mining drilling and blasting vehicle, with advanced sensor technology, automated control systems and precise positioning capabilities, can independently complete dangerous operations such as drilling and blasting in complex mining environments, greatly reducing the risk of casualties.

[0003] A patent application with application number CN202010796754.8 discloses an unmanned mining drilling and blasting vehicle, including a vehicle body, a working chamber is provided in the vehicle body, a secondary motor is fixedly provided in the rear wall of the working chamber, the front end of the secondary motor is poweredly connected to a main shaft, the front end of the main shaft is rotatably connected to the front wall of the working chamber, a base is rotatably connected to the main shaft, an open slot opening upward is provided in the base, and a left wheel axle is rotatably connected between the front and rear ends on the left side of the base and the front and rear walls of the working chamber respectively.

[0004] However, the existing unmanned mining drilling and blasting vehicles have certain defects. During the drilling process, the slag in the hole cannot be discharged, which brings many problems to mining operations. The slag remaining in the hole will greatly affect the drilling speed and reduce work efficiency. At the same time, these slag will also aggravate the wear of the drill bit and increase equipment maintenance costs. This not only affects the progress of mining, but also has an adverse impact on the economic benefits of the enterprise, resulting in limited use of unmanned mining drilling and blasting vehicles. Summary of the invention

[0005] The purpose of the present invention is to provide an unmanned mining drilling and blasting vehicle to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned mining drilling and blasting trolley, comprising a vehicle body, wherein the inner wall of the vehicle body is hingedly connected with a flip block through a rotating shaft, the inner wall of the vehicle body is hingedly connected to the outer wall of the first hydraulic cylinder through the rotating block, the outer wall of the vehicle body is hingedly connected to the outer wall of the supporting foot through a rotating shaft, the outer wall of the vehicle body is hingedly connected to the outer wall of the second hydraulic cylinder through the rotating block, the surface of the flip block is fixedly connected to the bottom of the shell, the top of the shell is fixedly connected to the bottom of the motor, the inner wall of the shell is provided with a centrifugal cleaning mechanism, the output end of the motor passes through the top of the shell and is rotatably connected to the top of the transmission block, the outer wall of the transmission block is rotatably connected to the inner wall of the shell through a bearing, the surface of the flip block is fixedly connected to the bottom of the third hydraulic cylinder, the output end of the third hydraulic cylinder is fixedly connected to the bottom of the control block, and also includes: A drilling and slag discharge mechanism, wherein the drilling and slag discharge mechanism is arranged on the inner wall of the shell body, and the drilling and slag discharge mechanism comprises an outer shaft, the top of the outer shaft is connected to the internal transmission block by transmission, the outer wall of the outer shaft is provided with a slag discharge port, the outer wall of the outer shaft is provided with a connecting groove, the wall of the connecting groove is rotatably connected to the inner wall of the control block through a bearing, the bottom of the outer shaft is rotatably connected to the outer wall of the crushing wheel through a rotating shaft, the inner wall of the outer shaft is rotatably connected to the outer wall of the inner shaft through a bearing, the top of the outer wall of the inner shaft is connected to the internal transmission of the transmission block, the outer wall of the inner shaft is fixedly connected to the outer wall of the stroke block, and the bottom of the inner shaft is fixedly connected to the bottom of the cutter head through bolts. The drilling and slag discharge mechanism can simultaneously perform drilling through drill bits in opposite directions, thereby increasing the drilling efficiency and effectively discharging the slag remaining in the hole, thereby ensuring the quality and smoothness of the drilling, and enabling the unmanned mine drilling and blasting trolley to be used normally.

[0007] According to the above technical solution, the inner wall of the outer shaft is fixedly connected to the outer wall of the vibration plate, a sliding groove is provided on the outer wall of the inner shaft, the sliding groove wall is fixedly connected to the outer wall of the limiting rod, the sliding groove wall is slidably connected to the outer wall of the vibration hammer, and a spring 2 is provided on the outer wall of the limiting rod, one end of the spring 2 is fixedly connected to the sliding groove wall, and the other end is fixedly connected to the top of the vibration hammer.

[0008] According to the above technical solution, there are two groups of vibration disks, and the two groups of vibration disks are equidistantly arranged on the inner wall of the outer shaft with the center line of the outer shaft as the axis. The bottom of the travel block is slidably connected to the surface of the vibration disk located above the inner shaft and slides along the surface of the vibration disk. The bottom of the vibration hammer is slidably connected to the surface of the vibration disk located below and slides along the surface of the vibration disk. The inner wall of the vibration hammer is slidably connected to the outer wall of the limit rod. The vibration disk is used to generate vibration impact on the inner shaft drill bit, which makes the drilling efficiency of the inner shaft drill bit higher. At the same time, the slag is crushed with the assistance of vibration to prevent blockage during the slag discharge process, so that the unmanned mine drilling and blasting vehicle can be used normally.

[0009] According to the above technical solution, an assembly groove is opened on the inner wall of the inner shaft, and the wall of the assembly groove is hingedly connected to the outer wall of the barb plate through a rotating shaft. A spring three is arranged inside the assembly groove, and one end of the spring three is fixedly connected to the wall of the assembly groove, and the other end is fixedly connected to the outer wall of the barb plate.

[0010] According to the above technical solution, the inner wall of the vibration plate is rotatably connected to the outer wall of the inner shaft through a bearing, a spring four is arranged on the top of the inner shaft, one end of the spring four is fixedly connected to the bottom of the transmission block, and the other end is fixedly connected to the outer wall of the inner shaft.

[0011] According to the above technical solution, the centrifugal cleaning mechanism includes a central axis 1, the bottom of which is rotatably connected to the inner wall of the shell through a bearing, the outer wall of the central axis 1 is fixedly connected to the inner wall of the driven wheel, the outer wall of the central axis 1 is fixedly connected to the inner wall of the connecting sleeve, and the inner wall of the connecting sleeve is hinged to the outer wall of the hinged plate through a rotating shaft. The drilling and slag discharge mechanism is cleaned by the centrifugal cleaning mechanism to prevent the ore fragments from blocking the slag discharge port and causing the slag to be unable to be discharged. At the same time, the slag is pushed to a distant place by centrifugal force to prevent the slag from accumulating and causing slag discharge difficulties, so that the unmanned mine drilling and blasting vehicle can be used normally.

[0012] According to the above technical solution, the inner wall of the hinged plate is rotatably connected to the two ends of the central axis through bearings, the outer wall of the central axis is fixedly connected to the inner wall of the cleaning wheel, and the inner wall of the cleaning wheel is slidably connected to the outer wall of the knocking block.

[0013] According to the above technical solution, a spring is provided on the outer wall of the knocking block, one end of the spring is fixedly connected to the inner wall of the cleaning wheel, and the other end is fixedly connected to the outer wall of the knocking block. There are two groups of centrifugal cleaning mechanisms, and the two groups of centrifugal cleaning mechanisms are equidistantly arranged on the inner wall of the shell with the center line of the shell as the axis. The outer wall of the driven wheel contacts the outer wall of the outer shaft and rolls along the outer wall of the driven wheel. The knocking block assists the centrifugal cleaning mechanism to perform slag cleaning on the drilling slag discharge mechanism to prevent the ore fragments from getting stuck in the slag discharge port, resulting in the inability to discharge slag. The slag is made to fall back or crushed by knocking, so that the slag discharge port is unobstructed.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The unmanned mine drilling and blasting trolley is provided with a centrifugal cleaning mechanism, which is used to clean the drilling slag discharge mechanism to prevent the ore fragments from blocking the slag discharge port and causing the slag to be unable to be discharged. At the same time, the slag is pushed to a distant place by centrifugal force to prevent the slag from accumulating and causing the slag to be difficult to discharge, so that the unmanned mine drilling and blasting trolley can be used normally.

[0015] 2. The unmanned mine drilling and blasting trolley is provided with a knocking block, which assists the centrifugal cleaning mechanism in cleaning the drilling slag discharge mechanism to prevent the ore fragments from getting stuck in the slag discharge port, resulting in the inability to discharge slag. The slag is made to fall back or break up by knocking, so that the slag discharge port is unobstructed, and the unmanned mine drilling and blasting trolley can be used normally.

[0016] 3. The unmanned mining drilling and blasting trolley is provided with a vibrating plate, which causes the inner shaft drill bit to vibrate and impact, thereby making the drilling efficiency of the inner shaft drill bit higher. At the same time, the slag is crushed by vibration assistance to prevent blockage during the slag discharge process, so that the unmanned mining drilling and blasting trolley can be used normally.

[0017] 4. The unmanned mining drilling and blasting trolley is provided with a drilling and slag discharge mechanism, through which drill bits in opposite directions can simultaneously drill holes, thereby increasing the drilling efficiency and effectively discharging the slag remaining in the hole, thereby ensuring the quality and smoothness of the drilling, and enabling the unmanned mining drilling and blasting trolley to be used normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 is a cross-sectional view of the present invention; Figure 3 is a cross-sectional view of the centrifugal cleaning mechanism of the present invention; Figure 4 is a cross-sectional view of the centrifugal cleaning mechanism of the present invention; Figure 5 It is a structural schematic diagram of the drilling and slag removal mechanism of the present invention; Figure 6 For the present invention Figure 5 A is an enlarged schematic diagram; Figure 7 It is a cross-sectional view of the drilling and slag removal mechanism of the present invention; Figure 8 For the present invention Figure 7 A magnified schematic diagram of B; Fig. 9 It is a cross-sectional view of the drilling and slag removal mechanism of the present invention; Fig.10 For the present invention Fig. 9 A magnified schematic diagram of C in the middle.

[0019] In the figure: 1, vehicle body; 2, turning block; 3, hydraulic cylinder 1; 4, supporting foot; 5, hydraulic cylinder 2; 6, housing; 7, motor; 8, centrifugal cleaning mechanism; 801, central axis 1; 802, driven wheel; 803, connecting sleeve; 804, hinged plate; 805, cleaning wheel; 806, knocking block; 807, central axis 2; 808, spring 1; 9, drilling and slag removal mechanism; 901, outer axis; 90 2. Slag discharge port; 903. Connecting groove; 904. Inner shaft; 905. Crushing wheel; 906. Travel block; 907. Vibrating plate; 908. Cutter head; 909. Barb plate; 910. Spring 2; 911. Sliding groove; 912. Limit rod; 913. Vibrating hammer; 914. Assembly groove; 915. Spring 3; 916. Spring 4; 10. Hydraulic cylinder 3; 11. Transmission block; 12. Control block. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] For example, see Figure 1-Figure 2 The present invention provides a technical solution: an unmanned mining drilling and blasting trolley, comprising a body 1, an inner wall of the body 1 is hingedly connected with a flip block 2 through a rotating shaft, the inner wall of the body 1 is hingedly connected to the outer wall of a hydraulic cylinder 3 through a rotating block, the outer wall of the body 1 is hingedly connected to the outer wall of a supporting foot 4 through a rotating shaft, the outer wall of the body 1 is hingedly connected to the outer wall of a hydraulic cylinder 2 5 through a rotating block, the surface of the flip block 2 is fixedly connected to the bottom of a shell 6, the top of the shell 6 is fixedly connected to the bottom of a motor 7, a centrifugal cleaning mechanism 8 is arranged on the inner wall of the shell 6, the output end of the motor 7 passes through the top of the shell 6 and is rotatably connected to the top of a transmission block 11, the outer wall of the transmission block 11 is rotatably connected to the inner wall of the shell 6 through a bearing, the surface of the flip block 2 is fixedly connected to the bottom of a hydraulic cylinder 3 10, the output end of the hydraulic cylinder 3 10 is fixedly connected to the bottom of a control block 12, and also includes: a drilling and slag removal mechanism 9.

[0022] The working principle of this embodiment is as follows: when the unmanned mining drilling and blasting vehicle is put into use, the vehicle body 1 is controlled to be opened to the location where drilling is required, the hydraulic cylinder 2 5 is started, the support foot 4 is lowered to support the vehicle body 1, the hydraulic cylinder 1 3 is started, the housing 6 drives the flip block 2 to flip through the hydraulic cylinder 1 3, and after the flip is completed, the housing 6 and the drilling location remain vertical, the motor 7 is started, the drilling slag discharge mechanism 9 starts to rotate, the hydraulic cylinder 3 10 is started, the drilling slag discharge mechanism 9 drives the control block 12 to descend through the hydraulic cylinder 3 10 to drill, and the centrifugal cleaning mechanism 8 drives the drilling slag discharge mechanism 9 to clean through the friction force with the drilling slag discharge mechanism 9.

[0023] For example 2, please refer to Figure 3-Figure 4 The present invention provides a technical solution: a drilling and slag discharge mechanism 9 is arranged on the inner wall of the shell 6, and the drilling and slag discharge mechanism 9 includes an outer shaft 901, the top of the outer shaft 901 is connected to the inside of the transmission block 11 by transmission, a slag discharge port 902 is opened on the outer wall of the outer shaft 901, a connecting groove 903 is opened on the outer wall of the outer shaft 901, and the groove wall of the connecting groove 903 is rotatably connected to the inner wall of the control block 12 through a bearing, the bottom of the outer shaft 901 is rotatably connected to the outer wall of the crushing wheel 905 through a rotating shaft, the inner wall of the outer shaft 901 is rotatably connected to the outer wall of the inner shaft 904 through a bearing, and the outer wall of the inner shaft 904 is connected to the transmission block 11 by the top of the outer wall. The movable block 11 is internally connected by transmission, the outer wall of the inner shaft 904 is fixedly connected to the outer wall of the travel block 906, the bottom of the inner shaft 904 is fixedly connected to the bottom of the cutter head 908 by bolts, and the inner shaft 904 and the outer shaft 901 rotate in opposite directions through the transmission block 11 under the drive of the motor 7, which improves the drilling efficiency. At the same time, the inner shaft 904 and the outer shaft 901 cooperate to discharge the slag. At the same time, the transmission block 11 can maintain the transmission with the inner shaft 904 and the outer shaft 901 when the inner shaft 904 and the outer shaft 901 are lowered, ensuring the normal operation of the inner shaft 904 and the outer shaft 901; The inner wall of the outer shaft 901 is fixedly connected to the outer wall of the vibration plate 907, the outer wall of the inner shaft 904 is provided with a sliding groove 911, the groove wall of the sliding groove 911 is fixedly connected to the outer wall of the limiting rod 912, the groove wall of the sliding groove 911 is slidably connected to the outer wall of the vibration hammer 913, the outer wall of the limiting rod 912 is provided with a spring 2 910, one end of the spring 2 910 is fixedly connected to the groove wall of the sliding groove 911, and the other end is fixedly connected to the top of the vibration hammer 913; There are two groups of vibration disks 907, and the two groups of vibration disks 907 are arranged equidistantly on the inner wall of the outer shaft 901 with the center line of the outer shaft 901 as the axis. The bottom of the travel block 906 is slidably connected to the surface of the vibration disk 907 located above the inner shaft 904, and slides along the surface of the vibration disk 907. The bottom of the vibration hammer 913 is slidably connected to the surface of the vibration disk 907 located below, and slides along the surface of the vibration disk 907. The inner wall of the vibration hammer 913 is slidably connected to the outer wall of the limit rod 912. An assembly groove 914 is provided on the inner wall of the inner shaft 904, and the groove wall of the assembly groove 914 is hingedly connected to the outer wall of the barb plate 909 through a rotating shaft. A spring 3 915 is provided inside the assembly groove 914, and one end of the spring 3 915 is fixedly connected to the groove wall of the assembly groove 914, and the other end is fixedly connected to the outer wall of the barb plate 909. The barb plate 909 generates vibration when sliding on the surface of the vibration plate 907 through the travel block 906 fixedly connected to the inner shaft 904. When the inner shaft 904 moves downward, the slag remains in place due to inertia. At this time, the barb plate 909 compresses the spring 2 910 to slide downward. When the inner shaft 904 moves upward, the barb plate 909 is squeezed and popped out by the spring 2 910, driving the slag upward, thereby accelerating the slag discharge process. The inner wall of the vibration plate 907 is rotatably connected to the outer wall of the inner shaft 904 through a bearing. A spring 916 is provided on the top of the inner shaft 904. One end of the spring 916 is fixedly connected to the bottom of the transmission block 11, and the other end is fixedly connected to the outer wall of the inner shaft 904.

[0024] The working principle of this embodiment is as follows: when drilling, the motor 7 drives the outer shaft 901 and the inner shaft 904 to rotate in opposite directions through the transmission block 11, and the outer shaft 901 is driven to descend through the control block 12 to drill, and the inner shaft 904 is driven to descend at the same time by the outer shaft 901, and the travel block 906 slides on the surface of the vibration plate 907, so that the inner shaft 904 compresses the spring 916 to slide on the inner wall of the outer shaft 901, so that the inner shaft 904 vibrates when drilling, and the inner shaft 904 is driven to descend when drilling. The slag produced when drilling is crushed by the crushing wheel 905 at the bottom of the outer shaft 901 and then discharged upward along the inner wall of the inner shaft 904. The slag is driven upward with the assistance of the vibrating hook plate 909 of the inner shaft 904. The vibrating hammer 913 rotates through the inner shaft 904, driving the bottom of the vibrating hammer 913 to slide on the surface of the vibrating plate 907, so that the compression spring 910 of the vibrating hammer 913 slides on the inner wall of the sliding groove 911 to crush the slag. The crushed slag is discharged through the slag discharge port 902.

[0025] Example 3, based on Example 2, please refer to Figure 5-Figure 10 The present invention provides a technical solution: the centrifugal cleaning mechanism 8 includes a central shaft 801, the bottom of the central shaft 801 is rotatably connected to the inner wall of the housing 6 through a bearing, the outer wall of the central shaft 801 is fixedly connected to the inner wall of the driven wheel 802, the outer wall of the central shaft 801 is fixedly connected to the inner wall of the connecting sleeve 803, the inner wall of the connecting sleeve 803 is hinged to the outer wall of the hinge plate 804 through a rotating shaft, the driven wheel 802 is made of a rubber wheel, the friction between the driven wheel 802 and the outer shaft 901 drives the central shaft 801 to rotate, the connecting sleeve 803 is driven to rotate through the central shaft, the hinge plate 804 is thrown out by centrifugal force, and the outer wall of the outer shaft 901 is cleaned; The inner wall of the hinged plate 804 is rotatably connected to both ends of the second central shaft 807 through a bearing, the outer wall of the second central shaft 807 is fixedly connected to the inner wall of the cleaning wheel 805, the inner wall of the cleaning wheel 805 is slidably connected to the outer wall of the knocking block 806, the hinged plate 804 throws the cleaning wheel 805 out so that the outer wall of the cleaning wheel 805 contacts the outer wall of the outer shaft 901, and rolls along the outer wall of the outer shaft 901, so that the cleaning wheel 805 cleans the slag discharge port 902, so that the slag discharge port 902 is blocked and slag cannot be discharged; A spring 808 is provided on the outer wall of the knocking block 806, one end of the spring 808 is fixedly connected to the inner wall of the cleaning wheel 805, and the other end is fixedly connected to the outer wall of the knocking block 806. There are two groups of centrifugal cleaning mechanisms 8, and the two groups of centrifugal cleaning mechanisms 8 are equidistantly arranged on the inner wall of the shell 6 with the center line of the shell 6 as the axis. The outer wall of the driven wheel 802 contacts the outer wall of the outer shaft 901 and rolls along the outer wall of the driven wheel 802. When the outer wall of the cleaning wheel 805 contacts the outer wall of the outer shaft 901, the knocking block 806 contacts the outer wall of the outer shaft 901 and compresses the spring three 915, sliding on the outer wall of the outer shaft 901, so that the knocking block 806 is squeezed by the spring three 915 and the centrifugal force of the hinged plate 804 swings the cleaning wheel 805, knocks the slag stuck in the slag discharge port 902, and the slag is crushed or falls back to the inside of the outer shaft 901 and is discharged after further crushing.

[0026] The working principle of this embodiment is: the driven wheel 802 contacts the outer wall of the outer shaft 901, and the friction between the driven wheel 802 and the outer shaft 901 drives the central shaft to rotate, so that the connecting sleeve 803 rotates, and at the same time, the centrifugal force generated by the rotation of the connecting sleeve 803 drives the cleaning wheel 805 to swing, so that the cleaning wheel 805 and the knocking block 806 set on the inner wall of the cleaning wheel 805 clean the outer wall of the outer shaft 901.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned mining drilling and blasting vehicle, comprising a vehicle body (1), wherein the inner wall of the vehicle body (1) is hingedly connected to a flip block (2) via a rotating shaft, the inner wall of the vehicle body (1) is hingedly connected to the outer wall of a hydraulic cylinder (3) via the rotating block, the outer wall of the vehicle body (1) is hingedly connected to the outer wall of a supporting foot (4) via a rotating shaft, the outer wall of the vehicle body (1) is hingedly connected to the outer wall of a hydraulic cylinder (5) via the rotating block, the surface of the flip block (2) is fixedly connected to the bottom of a shell (6), and the shell The top of the housing (6) is fixedly connected to the bottom of the motor (7), the inner wall of the housing (6) is provided with a centrifugal cleaning mechanism (8), the output end of the motor (7) passes through the top of the housing (6) and is rotatably connected to the top of the transmission block (11), the outer wall of the transmission block (11) is rotatably connected to the inner wall of the housing (6) through a bearing, the surface of the flip block (2) is fixedly connected to the bottom of the hydraulic cylinder three (10), and the output end of the hydraulic cylinder three (10) is fixedly connected to the bottom of the control block (12), characterized in that: Also includes: A drilling and slag discharge mechanism (9), the drilling and slag discharge mechanism (9) being arranged on the inner wall of the housing (6), the drilling and slag discharge mechanism (9) comprising an outer shaft (901), the top of the outer shaft (901) being transmission-connected to the inside of a transmission block (11), the outer wall of the outer shaft (901) being provided with a slag discharge port (902), the outer wall of the outer shaft (901) being provided with a connecting groove (903), the groove wall of the connecting groove (903) being connected to the inner wall of a control block (12) via a bearing The outer shaft (901) is rotatably connected to the outer wall of the crushing wheel (905) through a rotating shaft, the inner wall of the outer shaft (901) is rotatably connected to the outer wall of the inner shaft (904) through a bearing, the top of the outer wall of the inner shaft (904) is transmission-connected to the inside of the transmission block (11), the outer wall of the inner shaft (904) is fixedly connected to the outer wall of the travel block (906), and the bottom of the inner shaft (904) is fixedly connected to the bottom of the cutter head (908) through bolts.

2. The unmanned mining drilling and blasting vehicle according to claim 1, characterized in that: The inner wall of the outer shaft (901) is fixedly connected to the outer wall of the vibration plate (907); the outer wall of the inner shaft (904) is provided with a sliding groove (911); the groove wall of the sliding groove (911) is fixedly connected to the outer wall of the limiting rod (912); the groove wall of the sliding groove (911) is slidably connected to the outer wall of the vibration hammer (913); the outer wall of the limiting rod (912) is provided with a second spring (910); one end of the second spring (910) is fixedly connected to the groove wall of the sliding groove (911), and the other end is fixedly connected to the top of the vibration hammer (913).

3. The unmanned mining drilling and blasting vehicle according to claim 2, characterized in that: The number of the vibration disks (907) is two groups, and the two groups of vibration disks (907) are arranged in an equidistant array on the inner wall of the outer shaft (901) with the center line of the outer shaft (901) as the axis. The bottom of the travel block (906) is slidably connected to the surface of the vibration disk (907) located above the inner shaft (904), and slides along the surface of the vibration disk (907). The bottom of the vibration hammer (913) is slidably connected to the surface of the vibration disk (907) located below, and slides along the surface of the vibration disk (907). The inner wall of the vibration hammer (913) is slidably connected to the outer wall of the limit rod (912).

4. The unmanned mining drilling and blasting vehicle according to claim 1, characterized in that: The inner wall of the inner shaft (904) is provided with an assembly groove (914), the groove wall of the assembly groove (914) is hingedly connected to the outer wall of the barb plate (909) via a rotating shaft, a spring three (915) is arranged inside the assembly groove (914), one end of the spring three (915) is fixedly connected to the groove wall of the assembly groove (914), and the other end is fixedly connected to the outer wall of the barb plate (909).

5. The unmanned mining drilling and blasting vehicle according to claim 3, characterized in that: The inner wall of the vibration plate (907) is rotatably connected to the outer wall of the inner shaft (904) via a bearing. A spring four (916) is provided on the top of the inner shaft (904). One end of the spring four (916) is fixedly connected to the bottom of the transmission block (11), and the other end is fixedly connected to the outer wall of the inner shaft (904).

6. The unmanned mining drilling and blasting vehicle according to claim 1, characterized in that: The centrifugal cleaning mechanism (8) comprises a central shaft (801), the bottom of the central shaft (801) being rotatably connected to the inner wall of the housing (6) via a bearing, the outer wall of the central shaft (801) being fixedly connected to the inner wall of the driven wheel (802), the outer wall of the central shaft (801) being fixedly connected to the inner wall of the connecting sleeve (803), and the inner wall of the connecting sleeve (803) being hingedly connected to the outer wall of the hinge plate (804) via a rotating shaft.

7. The unmanned mining drilling and blasting vehicle according to claim 6, characterized in that: The inner wall of the hinged plate (804) is rotatably connected to the two ends of the central shaft (807) via bearings, the outer wall of the central shaft (807) is fixedly connected to the inner wall of the cleaning wheel (805), and the inner wall of the cleaning wheel (805) is slidably connected to the outer wall of the knocking block (806).

8. The unmanned mining drilling and blasting vehicle according to claim 7, characterized in that: The outer wall of the knocking block (806) is provided with a spring 1 (808), one end of the spring 1 (808) is fixedly connected to the inner wall of the cleaning wheel (805), and the other end is fixedly connected to the outer wall of the knocking block (806). The number of the centrifugal cleaning mechanisms (8) is two groups, and the two groups of centrifugal cleaning mechanisms (8) are arranged in an equidistant array on the inner wall of the shell (6) with the center line of the shell (6) as the axis. The outer wall of the driven wheel (802) contacts the outer wall of the outer shaft (901) and rolls along the outer wall of the driven wheel (802).

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