Drill jumbo

Abstract

The invention provides a drill jumbo and relates to the field of rock drilling, the drill jumbo comprises a jumbo body, a boom mechanism and a rock drill mounted at the tail end of the boom mechanism, a first boom and a second boom can swing up and down, and the boom mechanism comprises the first boom, the second boom and an adjusting device; the adjusting device comprises a connecting frame, a first rotary self-locking assembly and a second rotary self-locking assembly, one end of the connecting frame is connected with the first arm frame through the first rotary self-locking assembly, and the other end of the connecting frame is connected with the second arm frame through the second rotary self-locking assembly. And the second arm frame can be independently swung and adjusted twice in the horizontal direction. The second arm frame can flexibly swing under different horizontal degrees of freedom, the flexibility of the arm frame mechanism in a complex construction environment is remarkably improved, the first arm frame and the second arm frame can be adjusted in the vertical direction, the operation range of the arm frame mechanism is greatly enlarged, and the rock drill can better meet the operation requirements of different angles.

Description

Technical Field

[0001] The present invention relates to the technical field of rock drilling, and in particular to a rock drilling trolley. Background Art

[0002] A drilling rig, also known as a drilling rig, is a professional rock drilling equipment widely used in tunnels and underground projects. Compared with traditional manual rock drilling, the drilling rig drilling method has significant advantages such as fast drilling speed, high degree of automation, strong construction safety and high operation quality. In addition, the drilling rig can provide workers with a better working environment during tunnel excavation, so it has been widely used in modern underground projects.

[0003] At present, most rock drilling rigs on the market adopt a straight arm structure design, that is, the rock drilling arm is in the form of a fixed length straight arm and is usually installed at the front end of the equipment. Although this design can meet the operation requirements in relatively open construction scenes, in actual tunnel and mining environments, the straight arm structure design exposes some obvious shortcomings because the working space is often limited.

[0004] First, when the straight arm structure swings horizontally, due to its fixed length, the lateral projection of the arm during operation is large, which is easy to collide with the surrounding rock wall. This problem is particularly prominent in narrow or irregular construction environments, limiting the operating angle and range of the rock drilling rig. Especially in tunnels with limited horizontal space, the straight arm cannot be effectively adjusted when swinging, which can easily cause the equipment to fail to operate normally and may even cause damage to the equipment and the construction environment.

[0005] To improve this limitation, some drilling rigs have adopted a two-stage mechanical arm design, which adjusts the swing range of the boom by increasing the pitch angle of the boom. However, the improvement of this design is mainly focused on the adjustment in the vertical direction, while the projection length during horizontal swing is only reduced. In the horizontal direction, the swing range of the boom is still limited, and its adjustment is still limited by space. In complex and narrow tunnel or mining environments, the adjustment of the two-stage mechanical arm in the horizontal direction is still limited, and it cannot adapt to the changing construction scenes, resulting in insufficient flexibility and adaptability of the rock drilling equipment operation. Summary of the invention

[0006] In view of this, the present invention proposes a rock drilling trolley to solve the problem of limited working space of the existing rock drilling trolley boom structure in complex construction tunnel or mining environment.

[0007] The technical solution of the present invention is achieved in this way:

[0008] The present invention provides a rock drilling mechanical arm, comprising a trolley body, an arm mechanism installed on the trolley body and a rock drill installed on the free end of the arm mechanism, wherein the arm mechanism comprises a first arm, a second arm and an adjusting device;

[0009] One end of the first arm is connected to the trolley body through a swivel seat, and the first arm can swing up and down relative to the swivel seat;

[0010] One end of the second arm is connected to an end of the first arm away from the swivel seat through a swing device, and the other end of the second arm is connected to the rock drill. The second arm can swing up and down relative to the adjustment device.

[0011] The adjusting device includes a connecting frame, a first rotating self-locking component and a second rotating self-locking component. One end of the connecting frame is connected to the first arm through the first rotating self-locking component, and the other end of the connecting frame is connected to the second arm through the second rotating self-locking component. The second arm can be horizontally swung relative to the connecting frame and fixed in position through the second rotating self-locking component. The second arm, the second rotating self-locking component and the connecting frame as a whole can be horizontally swung relative to the first arm and fixed in position through the first rotating self-locking component.

[0012] On the basis of the above technical solution, preferably, the first rotation self-locking assembly and the second rotation self-locking assembly are symmetrically arranged relative to the connecting frame, wherein the first rotation self-locking assembly includes a first cylinder, a second cylinder and an actuator;

[0013] The first cylinder is fixedly connected to one end of the connecting frame, the second cylinder is rotatably arranged on the first cylinder, and the second cylinder is fixedly connected to one end of the first arm away from the swivel seat;

[0014] The actuator is arranged between the first cylinder and the second cylinder, and is used to make the first cylinder and the second cylinder rotate relative to each other by a certain angle and fix their positions. The actuator includes a locking piece, a positioning rod, a first elastic piece and a pressing piece. At least two positioning rods are arranged, one end of the positioning rod is vertically fixed to the inner bottom surface of the first cylinder, and the other end of the positioning rod is abutted against the second cylinder. The locking piece moves through the positioning rod and can be translated up and down along the positioning rod. The first elastic piece is sleeved on the positioning rod and is used to make the locking piece abut against the outer bottom surface of the second cylinder. A locking structure is provided between the surface of the locking piece and the outer bottom surface of the second cylinder, and is used to limit the relative rotation of the second cylinder and the first cylinder. The pressing piece is located on the side of the second cylinder away from the first cylinder, and is used to contact the rotation constraint between the first cylinder and the second cylinder.

[0015] Further, preferably, the first cylinder has a first accommodating space with one end open, the second cylinder is rotatably arranged at the open end of the first accommodating space, one end of the positioning rod is vertically fixed to the bottom surface of the first accommodating space, and the other end is abutted against a side of the second cylinder facing the first cylinder;

[0016] The actuator also includes a rotating shaft, one end of which is vertically fixedly connected to the center of the bottom surface of the first accommodating space, and the other end of which movably passes through the locking member and the second cylinder and extends to a side of the second cylinder away from the first cylinder, and the end of the rotating shaft away from the first cylinder is fixedly connected to a pin;

[0017] The locking structure includes a first tooth and a second tooth. The first tooth is arranged in a ring shape on the outer bottom surface of the second cylinder, and the second tooth is located on the side of the locking member facing the second cylinder. The second tooth is arranged in a ring shape at the center of the locking member and is meshed with the first tooth.

[0018] Furthermore, preferably, the second cylinder has a second accommodating space on one side away from the first cylinder, an end cover is fixedly provided at the opening of the second accommodating space, and the pressing member is provided between the second cylinder and the end cover;

[0019] The pressing member includes a pressing body, a push rod and a pressing rod. The pressing body is located in the second accommodating space and contacts the inner top surface of the end cover. The push rod is provided with a plurality of adjustments. One end of the push rod is fixedly connected to the pressing body, and the other end extends downward to move through the second cylinder and abut against the surface of the locking member. The pressing rod is located on a side of the pressing body away from the push rod and moves through the outer side of the end cover.

[0020] On the basis of the above technical scheme, preferably, the first boom and the second boom have the same structure, both comprising an upper arm, a lower arm, a front mounting frame, a rear mounting frame and a pitch cylinder; the upper arm and the lower arm are arranged in parallel up and down and have equal lengths, one end of the upper arm and the lower arm are respectively hinged to the front mounting frame, and the other end of the upper arm and the lower arm are respectively hinged to the rear mounting frame; the pitch cylinder is located between the upper arm and the lower arm, the cylinder body of the pitch cylinder is hinged to the front mounting frame, the telescopic end of the pitch cylinder is hinged to one end of the upper arm close to the rear mounting frame, the front mounting frame on the first boom is connected to the swivel seat, and the rear mounting frame on the first boom is connected to the first rotary self-locking assembly;

[0021] The front mounting frame on the second boom is connected to the second rotary self-locking assembly, and the rear mounting frame on the second boom is connected to the rock drill.

[0022] On the basis of the above technical solution, preferably, it also includes a first slewing mechanism, the first slewing mechanism includes a horizontal slewing assembly and a pitch slewing assembly, the pitch slewing assembly includes a first slewing cylinder and a third rotation self-locking device arranged in the first slewing cylinder, the first slewing cylinder is rotatably arranged at the end of the second arm, the slewing axis of the first slewing cylinder is perpendicular to the end of the second arm, the third rotation self-locking device is used to rotate the first slewing cylinder relative to the second arm, the horizontal slewing assembly is arranged on the first slewing cylinder, the slewing axis of the horizontal slewing assembly is perpendicular to the slewing axis of the first slewing cylinder, and the horizontal slewing assembly is used to rotate the rock drill relative to the first slewing cylinder.

[0023] On the basis of the above technical solution, preferably, the third rotation self-locking device includes a sleeve, a first fixed disk, a first movable gear disk, a sliding rod, a second elastic member and a limit seat;

[0024] One end of the sleeve is fixedly connected to the end of the second arm, and the other end is inserted into the first rotary cylinder. A positioning sleeve is provided at one end of the sleeve away from the second arm, and the diameter of the positioning sleeve is smaller than the diameter of the sleeve.

[0025] The inner wall of the first rotating cylinder is provided with an annular tooth, the first fixed disk is fixedly sleeved on one end of the sleeve, the first movable tooth disk is sleeved on the inner wall of the first rotating cylinder and meshed with the annular tooth, and the first movable tooth disk and the first fixed disk are respectively provided with first wide tooth angle straight teeth that match each other on opposite sides;

[0026] The limit seat is slidably arranged in the sleeve, one end of the sliding rod passes through the positioning sleeve and is fixedly connected to the limit seat, and the other end of the sliding rod is used to abut against a side of the first movable gear plate away from the first fixed plate;

[0027] The second elastic member is arranged in the sleeve, one end of the second elastic member abuts against the limiting seat, and the other end abuts against the inner end surface of the sleeve.

[0028] Further, preferably, the third rotation self-locking device further comprises a second fixed disk, and the second fixed disk is fixedly sleeved on an end of the sliding rod away from the limiting seat;

[0029] A surface of the first movable toothed disc away from the first fixed disc is symmetrically provided with a plurality of straight teeth of the second wide tooth angle in the vertical direction, and a surface of the second fixed disc facing the first movable toothed disc is symmetrically provided with a plurality of straight teeth of the third wide tooth angle in the horizontal direction;

[0030] A mutually matching guiding structure is arranged between the positioning sleeve and the sliding rod, and the sliding rod can move axially relative to the positioning sleeve through the guiding structure.

[0031] On the basis of the above technical solution, preferably, the horizontal rotary assembly includes a rotary rod, a mounting cylinder, a fixed gear plate, a second movable gear plate, a third elastic member and a pull rod;

[0032] The slewing rod moves through the radial direction of the first slewing cylinder, and the slewing rod is rotatably connected to the first slewing cylinder, and the upper end of the slewing rod is fixedly connected to the rock drill;

[0033] The fixed toothed disc is fixedly arranged at the lower end of the rotating rod, the mounting cylinder is sleeved on the fixed toothed disc, and the mounting cylinder is fixedly connected to the first rotating cylinder body, and the second movable toothed disc is located on a side of the fixed toothed disc away from the first rotating cylinder body;

[0034] One end of the pull rod is coaxially fixedly connected to the second movable gear plate, and the other end thereof movably passes through the outside of the mounting tube;

[0035] The third elastic member is located in the installation tube, one end of which is abutted against the inner bottom surface of the installation tube, and the other end of which is abutted against the second movable gear plate, so that the fixed gear plate and the second movable gear plate are meshed and connected.

[0036] On the basis of the above technical solution, preferably, a second rotating mechanism is further arranged between the swing device and the second arm, the second rotating mechanism includes a fixed shaft, a brake caliper and a second rotating cylinder, one end of the fixed shaft is connected to the second rotating self-locking assembly, and the fixed shaft is parallel to the connecting frame, the first rotating cylinder is rotatably arranged on the fixed shaft, the end of the second arm away from the rock drill is fixedly connected to the second rotating cylinder, the second arm can rotate relative to the fixed shaft through the second rotating cylinder, and the brake caliper is fixedly arranged on the fixed shaft for locking the position between the second rotating cylinder and the fixed shaft.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) By setting the first rotating self-locking component and the second rotating self-locking component, the second boom can be swung twice independently in the horizontal direction. The second boom can be flexibly swung in different horizontal degrees of freedom, which significantly improves the flexibility of the boom mechanism in complex construction environments and enables the rock drill to better adapt to the operation requirements at different angles. After the second boom is adjusted into place, it can be fixed in position by the corresponding rotating self-locking component to avoid position displacement during the operation, thereby ensuring the accuracy and safety of the construction process. In addition, combined with the fact that the first boom and the second boom can be adjusted in the vertical direction, the operating range of the boom mechanism of the entire rock drilling trolley is greatly increased, and it can cover a wider operating area, especially in narrow or irregular construction spaces, thereby improving the applicability of the rock drilling trolley.

[0039] (2) By setting up the first rotating self-locking component and the second rotating self-locking component of a purely mechanical structure, the load of the rock drilling trolley is reduced while satisfying the compact size of the rock drilling trolley. The use of the self-locking component of a purely mechanical structure avoids the use of electric or hydraulic drive devices, making the structure of the entire system more compact. Compared with complex electric or hydraulic systems, the purely mechanical structure does not require additional power supply or hydraulic pipeline support, thereby significantly reducing the size of the device and the complexity of the system.

[0040] (3) By configuring the first boom and the second boom as parallelogram structures, the mechanisms loaded on the working ends of the first boom and the second boom can always maintain horizontal up and down movement when they are lifted up and down in the vertical direction, thereby preventing the loaded mechanisms from shaking or changing irregularly when the booms are in pitch motion. In this way, during the pitch motion of the booms, the posture of the working ends will not be affected by the swing of the booms, thereby maintaining a relatively stable working posture and ensuring accuracy during the operation.

[0041] (4) The meshing of the teeth on the first movable gear plate, the first fixed plate and the second fixed plate can make the first rotating cylinder more precise during the angle adjustment process, thereby enabling the rock drill to rotate at a certain angle relative to the first rotating cylinder. At the same time, the problem of rotation overload during the rotation process caused by excessive load on the rock drill can be avoided.

[0042] (5) By adding a second slewing mechanism, the second boom and the rock drill can slew around a fixed axis, thereby breaking through the original limitation and enabling the rock drill to effectively operate in the rock drilling area within the space below the trolley body, thereby significantly improving the adaptability and operational flexibility of the rock drilling trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of the rock drilling trolley disclosed in the present invention;

[0045] Figure 2 A top view of the rock drilling rig disclosed in the present invention;

[0046] Figure 3 for Figure 2 Plane section view at AA in the middle;

[0047] Figure 4 It is a schematic diagram of the horizontal swing state of the boom structure disclosed in the present invention;

[0048] Figure 5 It is a schematic diagram of the state of the second boom disclosed in the present invention after rotating 180 degrees;

[0049] Figure 6 It is a schematic diagram of an exploded view from a first perspective of a first rotating self-locking assembly disclosed in the present invention;

[0050] Figure 7 It is a schematic diagram of an exploded view from a second perspective of the first rotating self-locking assembly disclosed in the present invention;

[0051] Figure 8 for Figure 3 A partial enlarged view of point B in the middle;

[0052] Fig. 9 for Figure 3 A partial enlarged view of point C in the middle;

[0053] Fig.10 It is an exploded schematic diagram of the pitch rotation assembly disclosed in the present invention;

[0054] Fig.11 for Figure 3 A partial enlarged view of point D in the middle;

[0055] Reference numerals:

[0056] 1. Trolley body; 10. Rotating seat; 2. Rock drill;

[0057] 3. First boom; 4. Second boom; 20a. Upper boom; 20b. Lower boom; 20c. Front mounting frame; 20d. Rear mounting frame; 20e. Pitch cylinder;

[0058] 5. Adjustment device; 51. Connecting frame; 52. First rotation self-locking assembly; 53. Second rotation self-locking assembly; 521. First cylinder; 522. Second cylinder; 523. Actuator; 5231. Locking member; 5232. Positioning rod; 5233. First elastic member; 5234. Pressing member; 5210. First accommodation space; 5235. Rotating shaft; 5236. Pin; C1. First tooth; C2. Second tooth; 5220. Second accommodation space; 524. End cover; 5234a. Pressing body; 5234b. Push rod; 5234c. Pressing rod;

[0059] 6. First slewing mechanism; 61. Horizontal slewing assembly; 611. Slewing rod; 612. Mounting cylinder; 613. Fixed toothed disc; 614. Second movable toothed disc; 615. Third elastic member; 616. Pull rod; 62. Pitch slewing assembly; 621. First slewing cylinder; 622. Third rotation self-locking device; 6221. Sleeve; 6222. First fixed disc; 6223. First movable toothed disc; 6224. Sliding rod; 6225. Second elastic member; 6228. Positioning sleeve; 6226. Limiting seat; 6210. Ring gear; C3. First wide tooth angle straight teeth; 6227. Second fixed disc; C4. Second wide tooth angle straight teeth; C5. Third wide tooth angle straight teeth;

[0060] 7. Second rotary mechanism; 71. Fixed shaft; 72. Brake caliper; 73. Second rotary cylinder. DETAILED DESCRIPTION

[0061] The following will be combined with 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.

[0062] like Figure 1 As shown, combined Figure 2-4 The embodiment of the present invention discloses a rock drilling trolley, comprising a trolley body 1, an arm mechanism installed on the trolley body 1, and a rock drill 2 installed at a free end of the arm mechanism.

[0063] Among them, the trolley body 1 and the rock drill 2 are both existing technologies. The trolley body 1 can be set as a small-sized mobile trolley to facilitate the loading arm mechanism and the rock drill 2 to enter a narrow working space.

[0064] In this embodiment, the arm mechanism includes a first arm 3 , a second arm 4 and an adjusting device 5 .

[0065] One end of the first boom 3 is connected to the trolley body 1 through the swivel seat 10, and thus the entire boom mechanism can be horizontally rotated 360° on the trolley body 1 through the swivel seat 10, and the swing range is large. The first boom 3 can swing up and down relative to the swivel seat 10, and thus the first boom 3 can be adjusted up and down in a vertical plane, increasing the vertical operating range of the boom and adapting to construction scenes of different heights.

[0066] One end of the second boom 4 is connected to the end of the first boom 3 away from the slewing seat 10 through the swing device, and the other end of the second boom 4 is connected to the rock drill 2, and the second boom 4 can swing up and down relative to the adjustment device 5. With such a structural setting, the second boom 4 has the ability to be adjusted independently relative to the first boom 3, further expanding the flexibility of the boom in the vertical direction, so that the rock drill 2 can operate in a larger vertical range.

[0067] Although the first boom 3 and the second boom 4 can adjust the projection length of the first boom 3 and the second boom 4 when they swing horizontally by adjusting the up and down swing heights in the same vertical plane, the swing range of the boom in the horizontal direction is still limited, and its adjustment is still limited by space. In complex and narrow tunnel or mining environments, the adjustment of the two-stage boom in the horizontal direction is still limited.

[0068] To this end, the present invention sets an adjustment device 5 between the first boom 3 and the second boom 4. The adjustment device 5 includes a connecting frame 51, a first rotating self-locking component 52 and a second rotating self-locking component 53. One end of the connecting frame 51 is connected to the first boom 3 through the first rotating self-locking component 52, and the other end of the connecting frame 51 is connected to the second boom 4 through the second rotating self-locking component 53. The second boom 4 can be horizontally swung and fixed in position relative to the connecting frame 51 through the second rotating self-locking component 53, which enables the second boom 4 to be adjusted in the horizontal direction for the first degree of freedom. The second boom 4, the second rotating self-locking component 53 and the connecting frame 51 as a whole can be horizontally swung and fixed in position relative to the first boom 3 through the first rotating self-locking component 52, which enables the second boom 4 to be adjusted in the horizontal direction for the second degree of freedom.

[0069] By adopting the above technical solution, by setting the first rotating self-locking component 52 and the second rotating self-locking component 53, the second boom 4 can be swung twice independently in the horizontal direction. The second boom 4 can be flexibly swung in different horizontal degrees of freedom, which significantly improves the flexibility of the boom mechanism in a complex construction environment, and enables the rock drill 2 to better adapt to the operation requirements at different angles. After the second boom 4 is adjusted into place, it can be fixed in position by the corresponding rotating self-locking component to avoid position displacement during the operation, thereby ensuring the accuracy and safety of the construction process. In addition, combined with the fact that the first boom 3 and the second boom 4 can be adjusted in the vertical direction, the operating range of the boom mechanism of the entire rock drilling trolley is greatly increased, and it can cover a wider operating area, especially in narrow or irregular construction spaces, thereby improving the applicability of the rock drilling trolley.

[0070] Since the drilling trolley disclosed in the present invention is designed to adapt to narrow or irregular construction spaces, especially relatively narrow mining, the rotation of the drilling trolley is semi-automatic to avoid the drilling trolley being bulky and unsuitable for narrow spaces due to the fully automated structure setting.

[0071] To this end, in this embodiment, when the arm mechanism is rotated, a manual swing operation is adopted, that is, after the arm is swung to a suitable position, the position is fixed. Specifically, after the entire arm mechanism is manually pushed to swing horizontally to a suitable position through the swivel seat 10, it can be locked by the brake caliper 72 on the swivel seat 10.

[0072] When the second boom 4 performs a horizontal swing, the second rotating self-locking component 53 is manually operated to keep the connecting frame 51 in a rotatable state through the second rotating self-locking component 53 and the second boom 4, and then the second boom 4 is manually pushed to rotate the second boom 4 relative to the connecting frame 51 through the second rotating self-locking component 53, so that the second boom 4 and the connecting frame 51 form a certain angle on the horizontal plane, and the second rotating self-locking component 53 is manually operated to keep the second boom 4 in a fixed position through the second rotating self-locking component 53 and the connecting frame 51, thereby completing a swing of the second boom 4 on the horizontal plane. During this swing, the second boom 4 rotates relative to the connecting frame 51, and the swing at this time is centered on the second rotating self-locking component 53, and the swing radius formed is mainly limited by the length of the second boom 4. Therefore, the radius of this swing is shorter, which is more suitable for precise adjustment in a narrow or confined space.

[0073] When the second boom 4 is swung horizontally for the second time, the first rotating self-locking component 52 can be manually operated to keep the connecting frame 51 in a rotatable state between the first rotating self-locking component 52 and the first boom 3, and then the connecting frame 51 and the second boom 4 can be manually pushed to rotate the connecting frame 51 and the second boom 4 relative to the first boom 3 through the first rotating self-locking component 52, so that the second boom 4 and the connecting frame 51 form a certain angle relative to the first boom 3 on the horizontal plane, and the first rotating self-locking component 52 is manually operated to keep the first boom 3 fixed in position through the first rotating self-locking component 52 and the connecting frame 51, thereby completing the second swing of the second boom 4 on the horizontal plane. This swing involves the overall rotation of the entire connecting frame 51 and the second boom 4, and the swing is centered on the first rotating self-locking component 52. The swing radius should be the combined length of the second boom 4 and the connecting frame 51. Therefore, this swing is suitable for a larger range of adjustments in a wider working space and can cover more working areas.

[0074] Through two horizontal swings, the second boom 4 can achieve angle adjustment from a small range to a large range. In the first swing, the smaller swing radius allows the boom to accurately align with a closer or limited construction point; in the second swing, the swing radius is expanded, allowing the boom to cover a wider construction area. The combination of the two swings not only improves the working coverage of the rock drilling rig, but also ensures the accuracy of the construction angle, greatly improving the practicality and work efficiency of the equipment in different construction scenarios.

[0075] In some other application scenarios, the second adjustment can be performed before the first adjustment. Specifically, the first rotating self-locking component 52 is manually operated to make the connecting frame 51 and the second arm 4 swing horizontally relative to the first arm 3 as a whole. In this process, the second arm 4 and the connecting frame 51 are in a straight line state and swing horizontally toward the side away from the rock drilling surface. At this time, the combined length of the second arm 4 and the connecting frame 51 determines the swing radius of the entire system. Since the second arm 4 and the connecting frame 51 are swung to the side away from the rock drilling surface, this means that the swing radius is relatively large, which is suitable for preliminary large-scale adjustment. Next, the second arm 4 is swung horizontally relative to the connecting frame 51 by manually operating the second rotating self-locking component 53. At this time, the second arm 4 is slightly adjusted on the connecting frame 51 to form a new angle. Since the second adjustment has swung the second arm 4 and the connecting frame 51 as a whole to the side away from the rock drilling surface, the second arm 4 is relatively close to the rock drilling surface when the first adjustment is performed, thereby reducing the swing radius. This makes the rock drill 2 more flexible when performing fine operations in a smaller range, and is particularly suitable for accurately positioning and adjusting rock drilling points in a narrow space.

[0076] By performing the second adjustment first and then the first adjustment, the radius of the second boom 4 relative to the rock drilling surface can be effectively reduced. This operation sequence makes the rock drilling trolley more flexible in a small construction space, and can perform accurate rock drilling operations within a limited range to adapt to work areas of different sizes. In a small space, operating accuracy is crucial. By performing a large-scale rough adjustment first and then a detailed angle adjustment, it can be ensured that the rock drill 2 can be accurately aligned with the target position, thereby improving construction accuracy and reducing the possibility of misoperation.

[0077] When the second arm 4 is swung horizontally, in order to realize the rotational self-locking function between the arm and the connecting frame, the present embodiment shows a preferred structural mode of the first rotational self-locking component 52. It is worth noting that the first rotational self-locking component 52 and the second rotational self-locking component 53 are symmetrically arranged relative to the connecting frame 51. The specific structural form of the first rotational self-locking component 52 is introduced as follows.

[0078] See attached Figure 3 , 6, 7 and 8, the first rotation self-locking assembly 52 includes a first cylinder 521, a second cylinder 522 and an actuator 523;

[0079] The first cylinder 521 is fixedly connected to one end of the connecting frame 51 , the second cylinder 522 is rotatably disposed on the first cylinder 521 , and the second cylinder 522 is fixedly connected to one end of the first arm 3 away from the swivel seat 10 .

[0080] The actuator 523 is arranged between the first cylinder 521 and the second cylinder 522, and is used to make the first cylinder 521 and the second cylinder 522 rotate relative to each other by a certain angle and fix their positions. The actuator 523 includes a locking member 5231, a positioning rod 5232, a first elastic member 5233 and a pressing member 5234. At least two positioning rods 5232 are arranged, one end of the positioning rod 5232 is vertically fixed to the inner bottom surface of the first cylinder 521, and the other end of the positioning rod 5232 is abutted against the second cylinder 522. The locking member 5231 moves through the positioning rod 5232 and can be translated up and down along the positioning rod 5232. In this embodiment, the locking member 5231 is a disc structure and can only be translated up and down along the positioning rod 5232, and cannot rotate horizontally in the first cylinder 521. The first elastic member 5233 is sleeved on the positioning rod 5232, and is used to make the locking member 5231 conflict with the outer bottom surface of the second cylinder 522. In this embodiment, the first cylinder 521 and the second cylinder 522 are axially connected, and the two cannot be axially separated, and can only achieve circumferential relative rotation. A locking structure is provided between the surface of the locking member 5231 and the outer bottom surface of the second cylinder 522, which is used to limit the relative rotation of the second cylinder 522 and the first cylinder 521. The pressing member 5234 is located on the side of the second cylinder 522 away from the first cylinder 521, and is used to release the rotation constraint between the first cylinder 521 and the second cylinder 522. The locking member 5231 and the second cylinder 522 can be driven to separate by the pressing member 5234, so as to achieve relative rotation between the first cylinder 521 and the second cylinder 522.

[0081] By adopting the above technical scheme, when it is necessary to perform the first horizontal swing of the second arm 4, the locking piece 5231 and the second cylinder 522 are first driven to separate by the pressing piece 5234. At this time, the first cylinder 521 and the second cylinder 522 remain in a circumferentially rotatable state. At this time, since the connecting frame 51 and the first cylinder 521 remain fixed, and the connecting frame 51 and the first arm 3 are fixed through the first rotation self-locking assembly 52, and the second arm 4 and the second cylinder 522 are fixedly connected, by rotating the second arm 4, the second arm 4 drives the second cylinder 522 to rotate a certain angle relative to the first cylinder 521. After completing the horizontal angular swing, the power of the pressing piece 5234 is released. Under the action of the first elastic piece 5233, the locking piece 5231 and the second cylinder 522 contact, and the locking piece 5231 and the second cylinder 522 are locked to each other through the locking structure, thereby achieving the fixed position of the second cylinder 522 and the first cylinder 521.

[0082] As some preferred embodiments, the first cylinder 521 has a first accommodating space 5210 with an opening at one end, the second cylinder 522 is rotatably disposed at the open end of the first accommodating space 5210, one end of the positioning rod 5232 is vertically fixed to the bottom surface of the first accommodating space 5210, and the other end is abutted against a side of the second cylinder 522 facing the first cylinder 521.

[0083] In order to realize the position constraint of the first cylinder 521 and the second cylinder 522 in the axial direction, the actuator 523 also includes a rotating shaft 5235, one end of which is vertically fixedly connected to the center of the inner bottom surface of the first accommodating space 5210, and the other end movably passes through the locking member 5231 and the second cylinder 522 and extends to the side of the second cylinder 522 away from the first cylinder 521, and the end of the rotating shaft 5235 away from the first cylinder 521 is fixedly connected with a pin 5236. With the above technical solution, the first cylinder 521 and the second cylinder 522 can be axially connected by using the rotating shaft 5235 and the pin 5236, so that the first cylinder 521 and the second cylinder 522 cannot move axially and can only rotate around the rotating shaft 5235.

[0084] This embodiment shows a locking structure, which includes a first tooth C1 and a second tooth C2. The first tooth C1 is arranged in a ring shape on the outer bottom surface of the second cylinder 522, and the second tooth C2 is located on the side of the locking member 5231 facing the second cylinder 522. The second tooth C2 is arranged in a ring shape at the center of the locking member 5231 and is meshed with the first tooth C1.

[0085] When the locking piece 5231 contacts the outer bottom surface of the first cylinder 521, the first tooth C1 and the second tooth C2 are meshed and connected with each other, thereby ensuring that the locking piece 5231 and the first cylinder 521 are firmly locked. After the first tooth C1 and the second tooth C2 are separated and the first cylinder 521 and the second cylinder 522 are rotated by a certain angle, when it is necessary to lock the position of the first cylinder 521 and the second cylinder 522, under the action of the first elastic piece 5233, the locking piece 5231 contacts the first cylinder 521, and the first tooth C1 and the second tooth C2 can be engaged instantly, so as to quickly fix the position between the first cylinder 521 and the second cylinder 522 without affecting the adjusted angle of the second arm 4, thereby improving the horizontal angle adjustment accuracy of the second arm 4.

[0086] In order to achieve locking or disconnection between the locking piece 5231 and the first cylinder 521, the present embodiment further carries out the following structural arrangement. Specifically, the second cylinder 522 has a second accommodating space 5220 on the side away from the first cylinder 521, and an end cover 524 is fixedly provided at the opening of the second accommodating space 5220. The pressing piece 5234 is arranged between the second cylinder 522 and the end cover 524.

[0087] The pressing member 5234 includes a pressing body 5234a, a push rod 5234b and a pressing rod 5234c. The pressing body 5234a is located in the second accommodating space 5220 and contacts the inner top surface of the end cover 524. A plurality of push rods 5234b are provided. One end of the push rod 5234b is fixedly connected to the pressing body 5234a, and the other end extends downward and moves through the second cylinder 522 and abuts against the surface of the locking member 5231. The pressing rod 5234c is located on the side of the pressing body 5234a away from the push rod 5234b, and moves through the outer side of the end cover 524.

[0088] In the initial state, under the action of the first elastic member 5233, the locking member 5231 and the first cylinder 521 are locked by the locking structure, and the pressing member 5234 is confined in the second accommodating space 5220, and the pressing body 5234a contacts the inner top surface of the end cover 524. At this time, the pressing member 5234 cannot move axially in the second accommodating space 5220. When it is necessary to rotate the first cylinder 521 and the second cylinder 522, by applying a pressing force to the pressing rod 5234c, the entire pressing member 5234 will translate toward the first cylinder 521 in the second accommodating space 5220, and By applying a thrust to the locking piece 5231 through the push rod 5234b, the locking piece 5231 will translate along the positioning rod 5232 in the direction away from the second cylinder 522, so that the locking piece 5231 and the second cylinder 522 are separated. At this time, the second cylinder 522 and the first cylinder 521 can rotate relative to each other. When the rotation operation is completed, the pressing piece 5234 is released. Under the action of the first elastic piece 5233, the locking piece 5231 and the second cylinder 522 are contacted, and the locking piece 5231 and the second cylinder 522 are locked to each other through the locking structure, thereby achieving the fixing of the position of the second cylinder 522 and the first cylinder 521.

[0089] This embodiment provides a first rotary self-locking component 52 and a second rotary self-locking component 53 of a purely mechanical structure, which reduces the load of the rock drilling trolley while meeting the requirement of a compact size of the rock drilling trolley. The use of a purely mechanical self-locking component avoids the use of an electric or hydraulic drive device, making the structure of the entire system more compact. Compared with a complex electric or hydraulic system, a purely mechanical structure does not require additional power supply or hydraulic pipeline support, thereby significantly reducing the size of the device and the complexity of the system.

[0090] As some preferred implementations, refer to the attached Figure 5 As shown, the first boom 3 and the second boom 4 have the same structure, both including an upper arm 20a, a lower arm 20b, a front mounting frame 20c, a rear mounting frame 20d and a pitch cylinder 20e; the upper arm 20a and the lower arm 20b are arranged in parallel up and down and have equal lengths, one end of the upper arm 20a and the lower arm 20b are respectively hinged to the front mounting frame 20c, and the other end of the upper arm 20a and the lower arm 20b are respectively hinged to the rear mounting frame 20d; in this embodiment, a parallelogram structure is formed between the upper arm 20a, the lower arm 20b, the front mounting frame 20c and the rear mounting frame 20d, the pitch cylinder 20e is located between the upper arm 20a and the lower arm 20b, the cylinder body of the pitch cylinder 20e is hinged to the front mounting frame 20c, and the telescopic end of the pitch cylinder 20e is hinged to one end of the upper arm 20a close to the rear mounting frame 20d. The telescopic end of the pitch cylinder 20e drives the parallelogram structure to deform by extending or shortening. Specifically, the upper arm 20a, the lower arm 20b and the rear mounting frame 20d swing up and down relative to the front mounting frame 20c as a whole.

[0091] Since the above-mentioned arm structure is a parallelogram structure, during the up and down swinging of the upper arm 20a, the lower arm 20b and the rear mounting frame 20d as a whole relative to the front mounting frame 20c, the front mounting frame 20c and the rear mounting frame 20d always remain parallel to each other in the vertical direction, so that the components loaded on the working ends of the first arm 3 and the second arm 4 can always maintain horizontal up and down movement when they are lifted up and down in the vertical direction, avoiding shaking or irregular changes of these loaded components when the arm is in pitch motion, so that during the pitch motion of the arm, the posture of the working end will not be affected by the swing of the arm, and a relatively stable working posture is maintained to ensure accuracy during operation.

[0092] In this embodiment, the front mounting frame 20c on the first arm 3 is connected to the swivel seat 10, and the rear mounting frame 20d on the first arm 3 is connected to the first rotation self-locking assembly 52; with this arrangement, when the first arm 3 swings up and down, it can ensure that the adjusting device 5, the second arm 4 and the rock drill 2 can be translated up and down as a whole.

[0093] The front mounting frame 20c on the second arm 4 is connected to the second rotation self-locking assembly 53, and the rear mounting frame 20d on the second arm 4 is connected to the rock drill 2. With this arrangement, when the second arm 4 swings up and down, it can be ensured that the rock drill 2 moves up and down as a whole.

[0094] The rock drilling trolley of this embodiment further includes a first rotary mechanism 6. Figure 1 , 9 As shown in Figure 10, it is arranged at the execution end of the second boom 4, and the first slewing mechanism 6 includes a horizontal slewing assembly 61 and a pitch slewing assembly 62. The pitch slewing assembly 62 includes a first slewing cylinder 621 and a third rotation self-locking device 622 arranged in the first slewing cylinder 621. The first slewing cylinder 621 is rotatably arranged at the end of the second boom 4, and the slewing axis of the first slewing cylinder 621 is perpendicular to the end of the second boom 4. The third rotation self-locking device 622 is used to rotate or lock the first slewing cylinder 621 relative to the second boom 4. This structural arrangement enables the rock drilling rig to freely adjust the angle of its end tool in the pitch direction to adapt to working surfaces at different angles.

[0095] The horizontal rotating assembly 61 is arranged on the first rotating cylinder 621, and the rotating axis of the horizontal rotating assembly 61 is perpendicular to the rotating axis of the first rotating cylinder 621. The horizontal rotating assembly 61 is used to rotate or lock the rock drill 2 relative to the first rotating cylinder 621. This structural setting enables the rock drill 2 to have independent rotation capabilities in the horizontal and pitch dimensions, greatly improving the operational flexibility of the end effector.

[0096] The introduction of the third rotation self-locking device 622 enables the first rotary cylinder 621, the horizontal rotary assembly 61 and the rock drill 2 to be locked after being accurately rotated to the second boom 4. This design ensures that the rock drilling rig can be firmly maintained at the desired position after adjusting the angle of the end tool, avoiding accidental angle deviation during operation.

[0097] The rock drill rig can easily cope with complex construction environments by virtue of its dual rotation capabilities of pitch and horizontal. For example, when the rock drilling surface is irregular or changeable, the operator can adjust the angle of the pitch and horizontal rotation assembly 61 to ensure that the rock drill 2 is always in the best working posture, thereby improving construction efficiency and work quality.

[0098] This embodiment shows a preferred implementation of the third rotation self-locking device 622 , specifically, including a sleeve 6221 , a first fixed disk 6222 , a first movable gear disk 6223 , a sliding rod 6224 , a second elastic member 6225 and a limiting seat 6226 .

[0099] Among them, one end of the first rotating cylinder 621 is vertically rotated and connected to the rear mounting frame 20d on the second arm 4 in the horizontal direction, one end of the sleeve 6221 is vertically fixedly connected to the end of the second arm 4, and the other end is inserted into the first rotating cylinder 621, and the sleeve 6221 and the first rotating cylinder 621 are coaxial.

[0100] In this embodiment, the rotation operation of the first rotating cylinder 621 relative to the second arm 4 is also manually operated. Specifically, by rotating the rock drill 2, the rock drill 2 drives the first rotating cylinder 621 to rotate relative to the sleeve 6221 through the horizontal rotating assembly 61, so that the first rotating cylinder 621 and the sleeve 6221 can be locked after rotating a certain angle.

[0101] This embodiment is implemented by the following scheme: a positioning sleeve 6228 is provided at one end of the sleeve 6221 away from the second arm 4 , the diameter of the positioning sleeve 6228 is smaller than the diameter of the sleeve 6221 , and an annular tooth 6210 is provided on the inner wall of the first rotating cylinder 621 . The first fixed disk 6222 is fixedly sleeved on one end of the sleeve 6221, and the first movable toothed disk 6223 is sleeved on the inner wall of the first rotating cylinder 621 and meshed with the annular gear 6210. The first movable toothed disk 6223 and the first fixed disk 6222 are respectively provided with first wide tooth angle straight teeth C3 that match each other on one side opposite to the first movable toothed disk 6223; the limiting seat 6226 is slidably arranged in the sleeve 6221, one end of the sliding rod 6224 passes through the positioning sleeve 6228 and is fixedly connected to the limiting seat 6226, and the other end of the sliding rod 6224 is used to abut against the side of the first movable toothed disk 6223 away from the first fixed disk 6222; the second elastic member 6225 is arranged in the sleeve 6221, one end of the second elastic member 6225 abuts against the limiting seat 6226, and the other end abuts against the inner end surface of the sleeve 6221.

[0102] By adopting the above technical solution, in the initial state, the second elastic member 6225 abuts against the limit seat 6226 inside the sleeve 6221, and the limit seat 6226 pulls the sliding rod 6224 to move toward the limit seat 6226. The end of the sliding rod 6224 abuts against the first movable gear plate 6223, so that the side wall of the first movable gear plate 6223 and the side wall of the first fixed plate 6222 are fitted together. At the same time, the side wall of the first movable gear plate 6223 and the first wide tooth angle straight tooth C3 on the side wall of the first fixed plate 6222 are meshed and connected.

[0103] When the first rotating cylinder 621 is required to rotate, the first rotating cylinder 621 is driven to rotate relative to the sleeve 6221 through the rock drill 2, and the annular teeth 6210 of the inner ring of the first rotating cylinder 621 drive the first movable toothed disc 6223 to rotate. While the first movable toothed disc 6223 is rotating, since the first wide tooth angle spur teeth C3 are large-angle teeth, when the first movable toothed disc 6223 rotates relative to the first fixed disc 6222, the first wide tooth angle spur teeth C3 on the first movable toothed disc 6223 and the first wide tooth angle spur teeth C3 on the first fixed disc 6222 will rotate and mesh with each other. When the tooth tips of the first wide tooth angle spur teeth C3 on the first movable toothed disc 6223 and the first wide tooth angle spur teeth C3 on the first fixed disc 6222 contact each other, When the first movable toothed plate 6223 is in the direction away from the first fixed plate 6222 along the axial direction of the positioning sleeve 6228, the first movable toothed plate 6223 pushes the sliding rod 6224 to move during the translation, and the sliding rod 6224 pulls the limiting seat 6226 to move in the sleeve 6221 toward the positioning sleeve 6228. At this time, the second elastic member 6225 is compressed. When the first wide tooth angle straight tooth C3 on the first movable toothed plate 6223 and the first wide tooth angle straight tooth C3 on the first fixed plate 6222 are engaged, the second elastic member 6225 is reset, and the sliding rod 6224 presses against the first movable toothed plate 6223 to fix the position of the first movable toothed plate 6223 and the first fixed plate 6222 through the tooth meshing connection.

[0104] When the rock drill 2 rotates 90° directly above the first rotating cylinder 621, due to the large weight of the rock drill 2, the weight of the rock drill 2 will bring a large torque, which may drive the first rotating cylinder 621 to continue to rotate downward, causing the first rotating cylinder 621 to be overloaded, and the rock drill 2 cannot be rotated to a suitable angle through the first rotating cylinder 621.

[0105] To this end, the third rotation self-locking device 622 in this embodiment also includes a second fixed disk 6227, which is fixedly sleeved on one end of the sliding rod 6224 away from the limiting seat 6226; a side of the first movable gear plate 6223 away from the first fixed disk 6222 is symmetrically provided with a plurality of second wide tooth angle straight teeth C4, and a side of the second fixed disk 6227 facing the first movable gear plate 6223 is symmetrically provided with a plurality of third wide tooth angle straight teeth C5; a mutually cooperating guide structure is provided between the positioning sleeve 6228 and the sliding rod 6224, and the sliding rod 6224 can be axially moved relative to the positioning sleeve 6228 through the guide structure.

[0106] With the above technical solution, in the initial state, the rock drill 2 is located directly above the first rotary cylinder 621, and the first movable toothed disc 6223 is symmetrically provided with a plurality of second wide tooth angle straight teeth C4 on one side away from the first fixed disc 6222, and the second fixed disc 6227 is symmetrically provided with a plurality of third wide tooth angle straight teeth C5 on one side facing the first movable toothed disc 6223 in the horizontal direction. In this state, the second wide tooth angle straight teeth C4 on the first movable toothed disc 6223 and the third wide tooth angle straight teeth C5 on the second fixed disc 6227 are staggered and do not mesh. At the same time, since a mutually matching guide structure is provided between the positioning sleeve 6228 and the sliding rod 6224, the sliding rod 6224 can only translate along the axial direction of the positioning sleeve 6228, and the second fixed disc 6227 does not rotate.

[0107] The guide structure of this embodiment is a guide groove and a guide protrusion, which are respectively arranged in the axial direction of the positioning sleeve and the axial direction of the sliding rod.

[0108] When the first rotating cylinder 621 drives the first movable gear plate 6223 to rotate, when the first movable gear plate 6223 rotates 90°, the second wide tooth angle straight teeth C4 on the first movable gear plate 6223 will be meshed and connected with the third wide tooth angle straight teeth C5 on the second fixed plate 6227, and at the same time, the first wide tooth angle straight teeth C3 between the first movable gear plate 6223 and the first fixed plate 6222 are meshed with each other, so that the left and right sides of the first movable gear plate 6223 are respectively meshed and connected with the first fixed plate 6222 and the second fixed plate 6227, and the meshing connection in two directions can avoid the first rotating cylinder 621 from continuing to rotate downward after rotating to 90° due to the large load of the rock drill 2, resulting in rotational overload. Thus, when the rock drill 2 and the first rotating cylinder 621 are rotated to 90°, the first movable gear plate 6223, the first fixed plate 6222 and the second fixed plate 6227 can be locked with each other, so that the first rotating cylinder 621 can be kept fixed in position relative to the second boom 4.

[0109] Through the meshing of the teeth on the first movable gear plate 6223, the first fixed plate 6222 and the second fixed plate 6227, the first rotating cylinder 621 can be made more precise during the angle adjustment process, so that the rock drill 2 can be rotated at a certain angle relative to the first rotating cylinder 621, and at the same time, the problem of rotation overload during the rotation process caused by excessive load on the rock drill 2 can be avoided.

[0110] It is worth noting that the reason why the rock drill 2 rotates 90° is because the rock drill 2 has a propulsion beam of a certain length. If it rotates at a large angle, the propulsion beam and the second arm 4 will interfere with each other. Therefore, when the rock drill 2 needs to rotate, it is safer to rotate within the range of 0°-90°. In order to achieve the coverage range of the turning radius of the rock drill 2, the up and down swing of the second arm 4 can be used to assist in coordination.

[0111] Since the rock drill 2 at the end of the second boom 4 is in a horizontal state, in order to enable the rock drill 2 to drill an inclined hole, this embodiment is achieved through a horizontal rotation component 61. Of course, it can also be achieved through an adjustment device 5, but the adjustment range of the adjustment device 5 is large and is not suitable for small angle adjustment of the rock drill 2.

[0112] To this end, the present embodiment is particularly implemented by a horizontal rotating assembly 61, which includes a rotating rod 611, a mounting cylinder 612, a fixed toothed disc 613, a second movable toothed disc 614, a third elastic member 615 and a pull rod 616; the rotating rod 611 moves through the radial direction of the first rotating cylinder 621, and the rotating rod 611 and the first rotating cylinder 621 are rotatably connected, and the upper end of the rotating rod 611 is fixedly connected to the rock drill 2; the fixed toothed disc 613 is fixedly arranged at the lower end of the rotating rod 611, and the mounting cylinder 612 is fixedly arranged at the lower end of the rotating rod 611. It is sleeved on the fixed toothed disc 613, and the mounting cylinder 612 is fixedly connected to the first rotating cylinder body 621, and the second movable toothed disc 614 is located on the side of the fixed toothed disc 613 away from the first rotating cylinder body 621; one end of the pull rod 616 is coaxially fixedly connected to the second movable toothed disc 614, and the other end moves through the outside of the mounting cylinder 612; the third elastic member 615 is located in the mounting cylinder 612, one end of which is abutted against the inner bottom surface of the mounting cylinder 612, and the other end is abutted against the second movable toothed disc 614, so that the fixed toothed disc 613 and the second movable toothed disc 614 are meshed and connected.

[0113] By adopting the above technical solution, when it is necessary to adjust the rock drill 2 at a small angle in the horizontal direction, the pull rod 616 is manually pulled, so that the pull rod 616 drives the second movable gear plate 614 to translate toward the side away from the fixed gear plate 613. At this time, the second movable gear plate 614 and the fixed gear plate 613 are disconnected, and the slewing rod 611 can rotate relative to the first rotating cylinder 621. By manually pushing the rock drill 2, the rock drill 2 can be rotated relative to the first rotating cylinder 621 through the slewing rod 611. When it rotates into place, the pulling force of the pull rod 616 is released. Under the action of the third elastic member 615, the second movable gear plate 614 and the fixed gear plate 613 are in contact and meshing engagement. At this time, the slewing rod 611 cannot rotate relative to the first rotating cylinder 621.

[0114] It is worth noting that the pull rod 616 of this embodiment can only translate axially up and down relative to the mounting cylinder 612 and cannot rotate. Therefore, after the second movable gear plate 614 and the fixed gear plate 613 are in contact and engaged, the position fixation between the rotating rod 611 and the first rotating cylinder 621 is achieved through the fixed constraint of the pull rod 616 and the mounting cylinder 612.

[0115] It is worth noting that the first rotating cylinder 621 can rotate a certain angle first, and then the rock drill 2 can rotate a certain angle relative to the first rotating cylinder 621 through the horizontal rotating assembly 61. In this way, the rock drill 2 can be tilted downward or upward, and the range and diversity of angle adjustment are wider, which can adapt to different working scenarios.

[0116] Since the entire first boom 3 and the second boom 4 adopt a parallelogram structure, the above-mentioned booms can only swing up and down 0°-90° above the drilling trolley, and the rock drill 2 cannot operate in the space below the drilling trolley to drill the area that needs rock.

[0117] To this end, the present embodiment further provides a second rotary mechanism 7 between the swing device and the second arm 4. Figure 5 and 11 As shown, the second slewing mechanism 7 includes a fixed shaft 71, a brake caliper 72 and a second slewing cylinder. One end of the fixed shaft 71 is connected to the second rotating self-locking assembly 53, and the fixed shaft 71 is parallel to the connecting frame 51, serving as a fulcrum for slewing. It ensures the stability of the second boom 4 on the fixed shaft 71. The first slewing cylinder 621 is rotatably arranged on the fixed shaft 71, and one end of the second boom 4 away from the rock drill 2 is fixedly connected to the second slewing cylinder. The second boom 4 can slew relative to the fixed shaft 71 through the second slewing cylinder. The second boom 4 can adjust its position within a wider angle range, thereby expanding the operating coverage of the rock drill 2. The brake caliper 72 is fixedly arranged on the fixed shaft 71, and is used to positionally lock the second slewing cylinder and the fixed shaft 71, ensuring that the second boom 4 is positionally locked after rotating 180°.

[0118] By adopting the above technical solution, by adding the second rotating mechanism 7, the second boom 4 and the rock drill 2 can rotate around the fixed axis 71, thereby breaking through the original limitation and enabling the rock drill 2 to effectively operate on the rock drilling area in the space below the trolley body 1, thereby significantly improving the adaptability and operational flexibility of the rock drilling trolley.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rock drilling trolley, comprising a trolley body (1), an arm mechanism mounted on the trolley body (1), and a rock drill (2) mounted on a free end of the arm mechanism, characterized in that: The arm support mechanism comprises a first arm support (3), a second arm support (4) and an adjusting device (5); One end of the first arm (3) is connected to the trolley body (1) via a swivel seat (10), and the first arm (3) can swing up and down relative to the swivel seat (10); One end of the second arm (4) is connected to an end of the first arm (3) away from the slewing seat (10) through a swing device, and the other end of the second arm (4) is connected to the rock drill (2). The second arm (4) can swing up and down relative to the adjustment device (5); The adjusting device (5) comprises a connecting frame (51), a first rotating self-locking component (52) and a second rotating self-locking component (53); one end of the connecting frame (51) is connected to the first arm frame (3) via the first rotating self-locking component (52); the other end of the connecting frame (51) is connected to the second arm frame (4) via the second rotating self-locking component (53); the second arm frame (4) can be horizontally swung relative to the connecting frame (51) and fixed in position via the second rotating self-locking component (53); the second arm frame (4), the second rotating self-locking component (53) and the connecting frame (51) as a whole can be horizontally swung relative to the first arm frame (3) and fixed in position via the first rotating self-locking component (52).

2. The drilling rig according to claim 1, characterized in that: The first rotation self-locking component (52) and the second rotation self-locking component (53) are symmetrically arranged relative to the connecting frame (51), wherein the first rotation self-locking component (52) comprises a first cylinder (521), a second cylinder (522) and an execution device (523); The first cylinder (521) is fixedly connected to one end of the connecting frame (51), the second cylinder (522) is rotatably arranged on the first cylinder (521), and the second cylinder (522) is fixedly connected to one end of the first arm (3) away from the swivel seat (10); The actuator (523) is arranged between the first cylinder (521) and the second cylinder (522), and is used to make the first cylinder (521) and the second cylinder (522) rotate relative to each other at a certain angle and fix their positions. The actuator (523) comprises a locking member (5231), a positioning rod (5232), a first elastic member (5233) and a pressing member (5234). At least two positioning rods (5232) are provided. One end of the positioning rod (5232) is vertically fixed to the inner bottom surface of the first cylinder (521), and the other end of the positioning rod (5232) is abutted against the second cylinder (522). The locking member (5231) is movable. The locking member (5231) and the second cylinder (522) are connected to each other through the locking member (5231) and the locking member (5231) are connected to the second cylinder (522). The locking member (5231) and the second cylinder (522) are connected to each other through the locking member (5231) and the locking member (5231) are connected to the second cylinder (522). The locking member (5231) and the second cylinder (522) are connected to each other through the locking member (5231) and the locking member (5231) are connected to each other through the locking member (5231) and the locking member (5231) are connected to each other.

3. The drilling rig according to claim 2, wherein: The first cylinder (521) has a first accommodating space (5210) with an opening at one end, the second cylinder (522) is rotatably arranged at the open end of the first accommodating space (5210), one end of the positioning rod (5232) is vertically fixed to the inner bottom surface of the first accommodating space (5210), and the other end is abutted against a surface of the second cylinder (522) facing the first cylinder (521); The actuator (523) further comprises a rotating shaft (5235), one end of which is vertically fixedly connected to the center of the inner bottom surface of the first accommodating space (5210), and the other end of which movably passes through the locking member (5231) and the second cylinder (522) and extends to a side of the second cylinder (522) away from the first cylinder (521), and one end of the rotating shaft (5235) away from the first cylinder (521) is fixedly connected to a pin (5236); The locking structure comprises a first tooth (C1) and a second tooth (C2), wherein the first tooth (C1) is arranged in a ring shape on the outer bottom surface of the second cylinder (522), and the second tooth (C2) is located on a side of the locking member (5231) facing the second cylinder (522), and the second tooth (C2) is arranged in a ring shape at the center of the locking member (5231) and is meshed with the first tooth (C1).

4. The drilling rig according to claim 3, characterized in that: The second cylinder (522) has a second accommodating space (5220) on a side away from the first cylinder (521), an end cover (524) is fixedly arranged at the opening of the second accommodating space (5220), and the pressing member (5234) is arranged between the second cylinder (522) and the end cover (524); The pressing member (5234) includes a pressing body (5234a), a push rod (5234b) and a pressing rod (5234c). The pressing body (5234a) is located in the second accommodating space (5220) and contacts the inner top surface of the end cover (524). A plurality of push rods (5234b) are provided. One end of the push rod (5234b) is fixedly connected to the pressing body (5234a), and the other end extends downward to move through the second cylinder (522) and abut against the surface of the locking member (5231). The pressing rod (5234c) is located on a side of the pressing body (5234a) away from the push rod (5234b) and moves through the outer side of the end cover (524).

5. The rock drilling rig according to claim 1, characterized in that: The first arm (3) and the second arm (4) have the same structure, and both comprise an upper arm (20a), a lower arm (20b), a front mounting frame (20c), a rear mounting frame (20d) and a pitch cylinder (20e); the upper arm (20a) and the lower arm (20b) are arranged in parallel up and down and have the same length, one end of the upper arm (20a) and the lower arm (20b) are respectively hingedly connected to the front mounting frame (20c), and the other end of the upper arm (20a) and the lower arm (20b) are respectively hingedly connected to the rear mounting frame (20d); the pitch cylinder (20e) is located between the upper arm (20a) and the lower arm (20b), the cylinder body of the pitch cylinder (20e) is hingedly connected to the front mounting frame (20c), and the telescopic end of the pitch cylinder (20e) is hingedly connected to one end of the upper arm (20a) close to the rear mounting frame (20d); The front mounting frame (20c) on the first arm (3) is connected to the swivel seat (10), and the rear mounting frame (20d) on the first arm (3) is connected to the first rotating self-locking component (52); The front mounting frame (20c) on the second arm (4) is connected to the second rotating self-locking assembly (53), and the rear mounting frame (20d) on the second arm (4) is connected to the rock drill (2).

6. The drilling rig according to claim 1, wherein: It also includes a first rotating mechanism (6), the first rotating mechanism (6) includes a horizontal rotating component (61) and a pitch rotating component (62), the pitch rotating component (62) includes a first rotating cylinder (621) and a third rotating self-locking device (622) arranged in the first rotating cylinder (621), the first rotating cylinder (621) is rotatably arranged at the end of the second arm (4), the rotating axis of the first rotating cylinder (621) is perpendicular to the end of the second arm (4), the third rotating self-locking device (622) is used to rotate or lock the first rotating cylinder (621) relative to the second arm (4), the horizontal rotating component (61) is arranged on the first rotating cylinder (621), the rotating axis of the horizontal rotating component (61) is perpendicular to the rotating axis of the first rotating cylinder (621), and the horizontal rotating component (61) is used to rotate or lock the rock drill (2) relative to the first rotating cylinder (621).

7. The drilling rig according to claim 6, characterized in that: The third rotation self-locking device (622) comprises a sleeve (6221), a first fixed disk (6222), a first movable gear disk (6223), a sliding rod (6224), a second elastic member (6225) and a limiting seat (6226); One end of the sleeve (6221) is fixedly connected to the end of the second arm (4), and the other end is inserted into the first rotating cylinder (621). A positioning sleeve (6228) is provided at one end of the sleeve (6221) away from the second arm (4), and the diameter of the positioning sleeve (6228) is smaller than the diameter of the sleeve (6221); The inner wall of the first rotating cylinder (621) is provided with an annular tooth (6210), the first fixed disk (6222) is fixedly sleeved on one end of the positioning sleeve (6228) close to the sleeve (6221), the first movable tooth disk (6223) is sleeved on the inner wall of the first rotating cylinder (621) and meshed with the annular tooth (6210), and the first movable tooth disk (6223) and the first fixed disk (6222) are respectively provided with first wide tooth angle straight teeth (C3) that match each other on opposite sides; The limiting seat (6226) is slidably disposed in the sleeve (6221), one end of the sliding rod (6224) passes through the positioning sleeve (6228) and is fixedly connected to the limiting seat (6226), and the other end of the sliding rod (6224) is used to abut against a side of the first movable gear plate (6223) away from the first fixed plate (6222); The second elastic member (6225) is disposed in the sleeve (6221); one end of the second elastic member (6225) abuts against the limiting seat (6226), and the other end abuts against the inner end surface of the sleeve (6221).

8. The drilling rig according to claim 7, wherein: The third rotation self-locking device (622) further comprises a second fixed disk (6227), wherein the second fixed disk (6227) is fixedly sleeved on an end of the sliding rod (6224) away from the limiting seat (6226); A surface of the first movable toothed disc (6223) away from the first fixed disc (6222) is symmetrically provided with a plurality of second wide tooth angle straight teeth (C4) in vertical direction, and a surface of the second fixed disc (6227) facing the first movable toothed disc (6223) is symmetrically provided with a plurality of third wide tooth angle straight teeth (C5) in horizontal direction; A mutually matching guiding structure is provided between the positioning sleeve (6228) and the sliding rod (6224), and the sliding rod (6224) can move axially relative to the positioning sleeve (6228) through the guiding structure.

9. The drilling rig according to claim 7 or 8, characterized in that: The horizontal rotating assembly (61) comprises a rotating rod (611), a mounting tube (612), a fixed gear plate (613), a second movable gear plate (614), a third elastic member (615) and a pull rod (616); The rotating rod (611) moves through the radial direction of the first rotating cylinder (621), and the rotating rod (611) and the first rotating cylinder (621) are rotatably connected, and the upper end of the rotating rod (611) is fixedly connected to the rock drill (2); The fixed toothed disc (613) is fixedly arranged at the lower end of the rotating rod (611), the mounting cylinder (612) is sleeved on the fixed toothed disc (613), and the mounting cylinder (612) is fixedly connected to the first rotating cylinder (621), and the second movable toothed disc (614) is located on a side of the fixed toothed disc (613) away from the first rotating cylinder (621); One end of the pull rod (616) is coaxially fixedly connected to the second movable gear plate (614), and the other end thereof movably passes through the outside of the mounting tube (612); The third elastic member (615) is located in the installation tube (612), one end of which abuts against the inner bottom surface of the installation tube (612), and the other end abuts against the second movable toothed disc (614), so that the fixed toothed disc (613) and the second movable toothed disc (614) are meshed and connected.

10. The drilling rig according to claim 1, wherein: A second rotating mechanism (7) is also arranged between the swing device and the second arm (4), and the second rotating mechanism (7) comprises a fixed shaft (71), a brake caliper (72) and a second rotating cylinder. One end of the fixed shaft (71) is connected to the second rotating self-locking component (53), and the fixed shaft (71) is parallel to the connecting frame (51). The first rotating cylinder (621) is rotatably arranged on the fixed shaft (71). One end of the second arm (4) away from the rock drill (2) is fixedly connected to the second rotating cylinder. The second arm (4) can rotate relative to the fixed shaft (71) through the second rotating cylinder. The brake caliper (72) is fixedly arranged on the fixed shaft (71) and is used to lock the position between the second rotating cylinder and the fixed shaft (71).

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