Coal mine electromechanical automatic mining directional drilling machine device

Abstract

The coal mine electromechanical automatic mining directional drilling machine device comprises a carrying plate, the top face of the carrying plate is fixedly connected with a controller, the bottom face of the carrying plate is fixedly connected with a crawler belt walking mechanism, and the top face of the carrying plate is provided with a drilling mechanism, a grabbing structure and a drill rod storage assembly; the auxiliary rod assembling and disassembling assembly is used for assisting in fixing the drill rod, when the rod is assembled, after the grabbing structure grabs the drill rod, the auxiliary rod assembling and disassembling assembly receives the drill rod and then carries out installation, in this way, in the installation time, the grabbing structure can grab the next drill rod to be installed, and after the previous drill rod is installed, the next drill rod to be installed is assembled. The next drill rod can be mounted immediately, and the efficiency is higher in continuous rod mounting operation; the auxiliary rod assembly is changed along with the angle of the strip-shaped frame when being assembled and disassembled, so that the inclination angle of the drill rod is certainly consistent with the drilling direction when the rod is assembled, the inclination angle of the drill rod does not need to be adjusted by a manipulator which needs to adjust the angle, the operation is more convenient, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine drilling machines, in particular to a coal mine electromechanical automated mining directional drilling machine device. Background Art

[0002] At present, the drilling rigs commonly used in coal mining operations include rotary drilling rigs and directional drilling rigs. Among them, directional drilling rigs have significant advantages such as controllable drilling trajectory, deep hole depth, and wide drilling coverage, so they are more used. Directional drilling rigs need to load and unload drill rods, which are mostly semi-automatic and require manual participation, with great safety hazards. With development, many directional drilling rigs are now more intelligent and use manipulators to achieve fully automatic loading and unloading of drill rods; for example, the Chinese utility model patent with authorization announcement number CN220487492U discloses an automated directional drilling rig for coal mines, including a mobile platform, a frame, a clamp, a main manipulator, a power head, a drill rod storage system, a control system, and a hydraulic system. The utility model improves the structure of the power head, and sets an angle adjuster on the side of the transmission away from the main motor, and makes the transmission shaft in the angle adjuster circumferentially fixedly connected to the drive shaft; this type of drilling rig uses a manipulator to load and unload drill rods, but there are the following defects when loading and unloading drill rods:

[0003] When a coal mine directional drill is working, the drilling path is usually inclined. Therefore, when the manipulator is loading and unloading the drill rod, it is necessary to adjust the angle of the drill rod to make its inclination consistent with the inclination of the power head before installation. This places higher requirements on the manipulator, and the cost of this type of manipulator is also higher. In addition, when installing the drill rod, the manipulator must assist in fixing the position of the drill rod. It is necessary to wait for the drill rod to be completely installed before leaving to remove the next drill rod. It is necessary to wait for time to grab the drill rod and then install it again, resulting in reduced efficiency when installing the drill rod continuously.

[0004] For this reason, we propose a coal mine electromechanical automation mining directional drilling device to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a coal mine electromechanical automated mining directional drilling device to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a coal mine electromechanical automated mining directional drilling device, comprising a carrier plate, the top surface of the carrier plate is fixedly connected to a controller, the bottom surface of the carrier plate is fixedly connected to a crawler traveling mechanism, the top surface of the carrier plate is provided with a drilling mechanism, a grabbing structure, and a drill rod storage assembly, the grabbing structure is located between the drilling mechanism and the drill rod storage assembly, the drilling mechanism comprises a strip frame and a support platform, the strip frame is slidably arranged on the top surface of the support platform, an auxiliary loading and unloading rod assembly is arranged on the side of the strip frame away from the grabbing structure, a carrying platform is slidably arranged on the top surface of the strip frame, the top surface of the carrying platform is fixedly connected to a power head, the top end of the strip frame is fixedly connected to a fixer, and a traveling assembly is arranged on the side wall of the carrying platform;

[0007] The auxiliary loading and unloading rod assembly includes a side strip, the side strip is fixedly connected to the side wall of the strip frame, the side wall of the auxiliary loading and unloading rod assembly is provided with a slide for horizontal sliding, the top surface of the slide is fixedly connected to the vertical plate, two square sliding openings are horizontally provided on the top of the vertical plate, a horizontal column is horizontally slidably sleeved in each of the square sliding openings, the first clamping claw cylinder and the second clamping claw cylinder are fixedly embedded in one end of the horizontal column close to the strip frame, the two output ends of the first clamping claw cylinder are fixedly connected to the two first clamping plates, the two first clamping plates are connected to a plurality of ball bearings for rolling on one side close to each other, and the two output ends of the second clamping claw cylinder are fixedly connected to the two second clamping plates;

[0008] The drill rod storage assembly includes a placement box, which is fixed to the top surface of the carrier plate. A placement cavity is opened on the top of the placement box. A plurality of separation plates are evenly and vertically fixed to the bottom surface of the placement cavity. A support plate is vertically slidably sleeved in the placement cavity. A plurality of strip openings are vertically opened on the support plate corresponding to the positions of the plurality of separation plates. The strip openings are slidably sleeved on the plurality of separation plates located on the same vertical plane.

[0009] Preferably, the grasping structure includes a strip table fixedly connected to the top surface of the carrier plate, the top surface of the strip table is horizontally slidably arranged with a top platform, the top surface of the top platform is vertically fixed to a vertical arm, the top surface of the vertical arm is fixedly sleeved with a first electric push rod, the top end of the output shaft of the first electric push rod is fixedly connected to a first hinge seat, the first hinge seat is rotatably connected to a first hinge block, the end of the first hinge block is fixedly connected to a cross arm, the end of the cross arm is fixedly sleeved with a second electric push rod, the output end of the second electric push rod is fixedly connected to a second hinge seat, the second hinge seat is rotatably connected to a second hinge block, the end of the second hinge block is fixedly connected to a third electric push rod, the output end of the third electric push rod is fixedly connected to a third clamping cylinder, and the two output ends of the third clamping cylinder are fixedly connected to two third clamping plates.

[0010] Preferably, the top surface of the square slide is fixedly embedded in the drive bin, the top surface of the cross column is fixedly connected to the top tooth plate, the bottom surface of the drive bin is provided with a bottom slot, the top tooth plate is slidably connected to the bottom slot, and multiple second synchronous gears are evenly rotated and connected in the drive bin, the bottom surface of the second synchronous gear is located in the bottom slot, and the bottom surfaces of multiple second synchronous gears are meshed and connected to the top tooth plate.

[0011] Preferably, each second synchronous gear shaft end is horizontally fixedly connected to a second shaft column, two second synchronous pulleys are fixedly sleeved on each second shaft column, the second synchronous pulleys on two adjacent second shaft columns are sleeved with a second synchronous belt, the second servo reduction motor is fixedly embedded in the side wall of the driving bin, the shaft end of the second servo reduction motor is fixedly connected to one of the second shaft column ends, the bottom surface of the cross column is fixedly connected to a T-shaped slide bar, the bottom surface of the square slide is provided with a T-shaped slide, and the T-shaped slide bar is horizontally slidably connected to the T-shaped slide.

[0012] Preferably, a dovetail groove is provided on the side wall of the side strip, and a dovetail slider is connected to the dovetail groove for horizontal sliding movement, and the side wall of the dovetail slider is fixedly connected to the slide table, and the dovetail groove is horizontally rotatably connected to the first screw rod, and the dovetail slider is fixedly connected to the first threaded sleeve, and the first screw rod is threadedly connected to the first threaded sleeve, one end of the side strip is fixedly embedded in the third servo reduction motor, and the rotating shaft end of the third servo reduction motor is fixedly connected to the end of the first screw rod, the side walls at both ends of the side strip are fixedly connected to two side blocks, and a plurality of sliding columns are fixedly connected between the two side blocks, and a plurality of sliding holes are horizontally provided on the slide table, and the sliding columns are slidably sleeved in the sliding holes.

[0013] The top surface of the support frame is provided with a top opening, and the top opening is slidably connected to the bottom of the strip frame, and the strip frame bottom surface is provided with two first side sliding openings, and the first side sliding openings are slidably connected to the side sliding rails, and the bottom surface of the support frame is fixedly connected to the rotating frame, and the rotating frame is rotatably connected to the fixed frame, and the bottom surface of the fixed frame is fixedly connected to the top surface of the carrier frame. The bottom surface of the carrier is located at a position below the two bottom bar blocks and is fixedly connected to the upper seat body. The bottom surface of the bottom sliding block is fixedly connected to the upper seat body, and the lower seat body is rotatably connected to the end of the hydraulic push rod, and the output end of the hydraulic push rod is rotatably connected to the upper seat body. The bottom sliding groove is horizontally fixed to a guide rod, and a guide hole is provided on the bottom sliding block, and the guide hole is slidably sleeved with a guide rod, and the top surface of the strip frame is fixedly connected to two T-shaped slide rails, and the bottom surface of the carrying platform is provided with two T-shaped slide rails, and the T-shaped slide rails are slidably sleeved with the T-shaped slide rails.

[0014] Preferably, the running assembly includes a side bin, the top side wall of the side bin is fixedly connected to the side wall of the loading platform, the side bin is provided with a side notch near the side of the strip frame, the strip frame is fixedly connected to the side tooth plate near the side bin, the side tooth plate is slidably connected to the side notch, the two driven gears are rotatably connected in the side bin, the side wall of the driven gear is located in the side notch, the two driven gears are meshed and connected to the side tooth plate, the position between the two driven gear ends in the side bin is rotatably connected to the driving gear, the driving gear is meshed and connected to the two driven gears, the top surface of the side bin is fixedly embedded with the fourth servo reduction motor, the shaft end of the fourth servo reduction motor is fixedly connected to the driving gear shaft, the bottom side wall of the side bin is provided with a second side sliding opening, and the second side sliding opening is slidably connected to the side slide rail.

[0015] Preferably, the interior of the support platform is evenly connected to multiple first synchronous gears, the bottom surface of the top opening is provided with a top notch, the bottom surface of the strip frame is fixedly connected to the bottom tooth plate, the bottom tooth plate is slidably connected to the top notch, the top surface of the first synchronous gear is located in the top notch, and the top surfaces of multiple first synchronous gears are meshed and connected to the bottom tooth plate, each of the first synchronous gear shaft ends is fixedly connected to a first shaft column, two first synchronous pulleys are fixedly sleeved on each of the first shaft columns, the first synchronous pulleys on two adjacent first shaft columns are sleeved with the first synchronous belt, the side wall of the support platform is fixedly embedded with the first servo reduction motor, and the shaft end of the first servo reduction motor is fixedly connected to one of the first shaft column ends.

[0016] Preferably, two side sliding grooves are provided on both sides of the placement cavity, and a side slider is vertically slidably connected in each of the side sliding grooves, and the side slider is fixedly connected to the side wall of the support plate. A third screw rod is vertically rotatably connected in each of the side sliding grooves, and a third threaded sleeve is fixedly connected to the side slider, and the third screw rod is threadedly connected to the third threaded sleeve. The bottom surface of the placement box is horizontally rotatably connected to a driving long rod, and the driving long rod is located directly below the two side sliding grooves and fixedly sleeved with two active bevel gears, the bottom end of the third screw rod is fixedly connected to a short shaft, and the bottom end of the short shaft is fixedly connected to a driven bevel gear, and the active bevel gear is meshedly connected to the driven bevel gear, and the sixth servo reduction motor is fixedly embedded in the side wall of the bottom of the placement box, and the shaft end of the sixth servo reduction motor is fixedly connected to the end of the driving long rod.

[0017] Preferably, the side wall of the first hinge seat is fixedly connected to the first joint motor, the end of the first joint motor shaft is fixedly connected to the first hinge block shaft, the side wall of the second hinge seat is fixedly connected to the second joint motor, the end of the second joint motor shaft is fixedly connected to the second hinge block shaft, a power slide groove is provided on the top surface of the strip table, the power slide groove is horizontally slidably connected to the power slider, the power slider is fixedly connected to the bottom surface of the top table, the power slide groove is horizontally rotatably connected to the second screw rod, the power slider is fixedly connected to the second threaded sleeve, the second screw rod is threadedly connected to the second threaded sleeve, the end of the strip table is fixedly connected to the fifth servo reduction motor, and the end of the fifth servo reduction motor shaft is fixedly connected to the end of the second screw rod.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The auxiliary loading and unloading rod assembly provided in the present invention is used for auxiliary fixing of drill rods. When installing the rods, after the grabbing structure grabs the drill rods, the auxiliary loading and unloading rod assembly receives the drill rods and installs them. In this way, during the installation time, the grabbing structure can grab the next drill rod to be installed. In this way, after the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in the continuous rod installation operation. Moreover, the auxiliary loading and unloading rod assembly changes with the angle of the strip frame, so the inclination angle of the drill rod must be consistent with the drilling direction when installing the rod, and there is no need to use a manipulator that needs to adjust the angle to adjust the inclination angle of the drill rod, which is more convenient and reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the main structure in the first and second embodiments of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the drilling mechanism in the first and second embodiments of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the auxiliary loading and unloading rod assembly in the first and second embodiments of the present invention;

[0023] Figure 4 It is a schematic diagram of the cross-section structure of the vertical plate in the first and second embodiments of the present invention;

[0024] Figure 5 It is a schematic diagram of the cross-section structure of the drill rod storage assembly in the first and second embodiments of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the grabbing structure in the second embodiment of the present invention;

[0026] Figure 7 It is a schematic diagram of the bottom structure of the auxiliary loading and unloading rod assembly in the second embodiment of the present invention;

[0027] Figure 8 It is a schematic diagram of the cross-section structure of the running assembly in the second embodiment of the present invention;

[0028] Fig. 9 It is a schematic diagram of the cross-section structure of the support platform in the second embodiment of the present invention.

[0029] In the figure: 1, carrier plate; 2, drilling mechanism; 3, grabbing structure; 4, drill rod storage assembly; 11, crawler travel mechanism; 12, controller; 21, bar frame; 22, carrying platform; 23, power head; 24, fixture; 25, auxiliary loading and unloading rod assembly; 26, travel assembly; 27, support platform; 28, rotating frame; 29, fixed frame; 210, bottom bar block; 211, bottom slide groove; 212, bottom slider; 213, upper seat body; 214, lower seat body; 215, hydraulic push rod; 216, guide rod; 217, guide hole; 218, bottom tooth plate; 219, side tooth plate; 220, top notch; 221, first synchronous gear; 222, first shaft column; 223, first synchronous pulley ; 224, the first synchronous belt; 225, the first servo reduction motor; 226, the top opening; 227, the side slide rail; 228, the first side slide; 229, the T-type slide rail; 230, the T-type slide; 251, the side strip; 252, the slide; 253, the vertical plate; 254, the square slide; 255, the horizontal column; 256, the first clamping jaw cylinder; 257, the first clamping plate; 258, the ball; 259, the second clamping jaw cylinder; 2510, the second clamping plate; 2511, the driving chamber; 2512, the bottom notch; 2513, the top gear plate; 2514, the second synchronous gear; 2515, the second shaft column; 2516, the second synchronous pulley; 2517, the second synchronous belt; 2518, the 2nd servo reduction motor; 2519, T-shaped slide; 2520, T-shaped slide; 2521, side block; 2522, slide column; 2523, slide hole; 2524, dovetail slide; 2525, dovetail slider; 2526, first screw rod; 2527, first threaded sleeve; 2528, 3rd servo reduction motor; 261, side bin; 262, side notch; 263, driven gear; 264, driving gear; 265, 4th servo reduction motor; 266, second side slide; 31, strip table; 32, top table; 33, vertical arm; 34, first electric push rod; 35, first hinge seat; 36, first hinge block; 37, cross arm; 38, second electric push rod; 39, second hinge Seat; 310, second hinge block; 311, third electric push rod; 312, third clamping jaw cylinder; 313, third clamping plate; 314, first joint motor; 315, second joint motor; 316, power slide groove; 317, power slider; 318, second screw rod; 319, second threaded sleeve; 320, fifth servo reduction motor; 41, placement box; 42, placement cavity; 43, separation plate; 44, support plate; 45, strip-shaped opening; 46, side slide groove; 47, side slider; 48, third screw rod; 49, third threaded sleeve; 410, driving long rod; 411, active bevel gear; 412, short shaft; 413, driven bevel gear; 414, sixth servo reduction motor. DETAILED DESCRIPTION

[0030] 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.

[0031] Embodiment 1:

[0032] See also Figure 1-5 The present invention provides a technical solution: a coal mine electromechanical automated mining directional drilling device, comprising a carrier plate 1, a controller 12 is fixedly connected to the top surface of the carrier plate 1, a crawler traveling mechanism 11 is fixedly connected to the bottom surface of the carrier plate 1, a drilling mechanism 2, a grabbing structure 3, and a drill rod storage assembly 4 are arranged on the top surface of the carrier plate 1, the grabbing structure 3 is located between the drilling mechanism 2 and the drill rod storage assembly 4, the drilling mechanism 2 comprises a strip frame 21 and a support platform 27, the strip frame 21 is slidably arranged on the top surface of the support platform 27, an auxiliary loading and unloading rod assembly 25 is arranged on the side of the strip frame 21 away from the grabbing structure 3, a carrying platform 22 is slidably arranged on the top surface of the strip frame 21, a power head 23 is fixedly connected to the top surface of the carrying platform 22, a fixture 24 is fixedly connected to the top end of the strip frame 21, a traveling assembly 26 is arranged on the side wall of the carrying platform 22, the drill rod storage assembly 4 is used to store drill rods, and the grabbing structure 3 is used to grab drill rods;

[0033] The auxiliary loading and unloading rod assembly 25 includes a side strip plate 251, which is fixedly connected to the side wall of the strip frame 21. The side wall of the auxiliary loading and unloading rod assembly 25 is horizontally slidably provided with a slide 252, the top surface of the slide 252 is fixedly connected to the vertical plate 253, and two square sliding openings 254 are horizontally provided on the top of the vertical plate 253. A horizontal column 255 is horizontally slidably sleeved in each square sliding opening 254. The horizontal column 255 is fixedly embedded with a first clamping claw cylinder 256 and a second clamping claw cylinder 259 at one end close to the strip frame 21. The two output ends of the first clamping claw cylinder 256 are fixedly connected to two first clamping plates 257. The two first clamping plates 257 are rollingly connected to a plurality of ball bearings 258 on one side close to each other. The two output ends of the second clamping claw cylinder 259 are fixedly connected to two second clamping plates 2510. The auxiliary loading and unloading rod assembly 25 is used to assist in fixing the drill rod. When loading the rod, after the grabbing structure 3 grabs the drill rod, the auxiliary loading and unloading rod assembly 25 After receiving the drill rod, it is installed. During the installation time, the grabbing structure 3 can grab the next drill rod to be installed. In this way, after the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in the continuous rod installation operation; and the auxiliary loading and unloading rod assembly 25 changes with the angle of the strip frame 21, so the inclination angle of the drill rod must be consistent with the drilling direction when installing the rod, and there is no need to use a manipulator that needs to adjust the angle to adjust the inclination angle of the drill rod, which is more convenient and reduces the cost; a set of first clamping plates 257 with balls 258 and a set of second clamping plates 2510 are used, and the second clamping plates 2510 can be used to fix the drill rod. When loading and unloading the drill rod, if the drill rod needs to be rotated or pushed forward, the second clamping plates 2510 are loosened, so that the drill rod can be freely rotated or pushed forward under the action of the balls 258, which is more convenient for loading and unloading the drill rod;

[0034] The drill rod storage assembly 4 includes a placement box 41, which is fixedly connected to the top surface of the carrier plate 1. A placement cavity 42 is opened on the top of the placement box 41. A plurality of separation plates 43 are evenly and vertically fixedly connected to the bottom surface of the placement cavity 42. A support plate 44 is vertically slidably sleeved in the placement cavity 42. A plurality of strip openings 45 are vertically opened on the support plate 44 corresponding to the positions of the plurality of separation plates 43. The strip openings 45 are slidably sleeved on the plurality of separation plates 43 located on the same vertical plane. The drill rods are separated by the plurality of separation plates 43 for easy grabbing. The support plate 44 can be raised and lowered so that there is always a drill rod at the highest point for easy grabbing.

[0035] Embodiment 2:

[0036] See also Figure 1-9, which is the second embodiment of the present invention. This embodiment is based on the previous embodiment. The grabbing structure 3 includes a strip table 31 fixedly connected to the top surface of the carrier plate 1. The top surface of the strip table 31 is horizontally slidably provided with a top table 32. The top surface of the top table 32 is vertically fixedly connected to a vertical arm 33. The top surface of the vertical arm 33 is fixedly sleeved with a first electric push rod 34. The top end of the output shaft of the first electric push rod 34 is fixedly connected to a first hinge seat 35. The first hinge seat 35 is rotatably connected to a first hinge block 36. The end of the first hinge block 36 is fixedly connected to a cross arm 37. The end of the cross arm 37 is fixedly sleeved with a second electric push rod 38. The output end of the second electric push rod 38 is fixedly connected to a second hinge seat 39. The second hinge seat 39 is rotatably connected to a second hinge block 310. The end of the second hinge block 310 is fixedly connected to a third electric push rod 311. The output end of the third electric push rod 311 is fixedly connected to a third clamping cylinder 312. The two output ends of the third clamping cylinder 312 are fixedly connected to two third clamping plates 313. The third clamping cylinder 312 is used to grab the drill rod.

[0037] The top surface of the square slide 254 is fixedly embedded in the driving bin 2511, the top surface of the cross column 255 is fixedly connected to the top tooth plate 2513, the bottom surface of the driving bin 2511 is provided with a bottom slot 2512, the top tooth plate 2513 is slidably connected to the bottom slot 2512, and the driving bin 2511 is evenly rotated and connected to multiple second synchronous gears 2514, the bottom surface of the second synchronous gear 2514 is located in the bottom slot 2512, and the bottom surfaces of multiple second synchronous gears 2514 are meshed and connected to the top tooth plate 2513.

[0038] A second shaft column 2515 is horizontally fixedly connected to the rotating shaft end of each second synchronous gear 2514, two second synchronous pulleys 2516 are fixedly sleeved on each second shaft column 2515, and the second synchronous belt 2517 is sleeved on the second synchronous pulleys 2516 on two adjacent second shaft columns 2515. The second servo reduction motor 2518 is fixedly embedded in the side wall of the driving chamber 2511, and the rotating shaft end of the second servo reduction motor 2518 is fixedly connected to one of the ends of the second shaft columns 2515. A T-shaped slide bar 2519 is fixedly connected to the bottom surface of the cross column 255, and a T-shaped slide bar 2520 is provided on the bottom surface of the square slide 254. The T-shaped slide bar 2519 is horizontally slidably connected to the T-shaped slide bar 2520, and the second synchronous gear 2514 is used to realize the horizontal movement of the cross column 255, so as to facilitate moving to the top of the strip frame 21 to receive the drill rod.

[0039] A dovetail slot 2524 is provided on the side wall of the side strip 251, and a dovetail slider 2525 is connected to the dovetail slot 2524 for horizontal sliding movement. The side wall of the dovetail slider 2525 is fixedly connected to the slide 252, and the dovetail slot 2524 is horizontally rotatably connected to the first screw rod 2526. The dovetail slider 2525 is fixedly connected to the first threaded sleeve 2527, and the first screw rod 2526 is threadedly connected to the first threaded sleeve 2527. One end of the side strip 251 is fixedly embedded with the third servo reduction motor 2528, and the shaft end of the third servo reduction motor 2528 is fixedly connected to the end of the first screw rod 2526. Two side blocks 2521 are fixedly connected to the side walls at both ends of the side strip 251, and a plurality of sliding columns 2522 are fixedly connected between the two side blocks 2521. A plurality of sliding holes 2523 are horizontally provided on the slide 252, and the sliding columns 2522 are slidably sleeved in the sliding holes 2523, so as to drive the slide 252 to move, and the path is consistent with the inclination angle of the strip frame 21.

[0040] A top opening 226 is provided on the top surface of the support platform 27, and the top opening 226 is slidably connected to the bottom of the strip frame 21. Two side slide rails 227 are horizontally fixedly connected to the bottom surface of the strip frame 21. Two first side slide openings 228 are provided on both sides of the top opening 226. The first side slide openings 228 are slidably sleeved with the side slide rails 227. The bottom surface of the support platform 27 is fixedly connected to the rotating frame 28. The bottom of the rotating frame 28 is rotatably connected to the fixed frame 29. The bottom surface of the fixed frame 29 is fixedly connected to the top surface of the carrier plate 1. Two bottom strips 210 are fixedly connected to the bottom surfaces of the support platform 27. A bottom slide groove 211 is provided on the bottom surface of the bottom strip block 210. The bottom slide groove 211 is horizontally slidably connected to the bottom slider 212. The top surface of the carrier plate 1 is located between the two bottom strips 210. Two lower seat bodies 214 are fixedly connected at the lower position, the bottom surface of the bottom sliding block 212 is fixedly connected to the upper seat body 213, the lower seat body 214 is rotatably connected to the end of the hydraulic push rod 215, the output end of the hydraulic push rod 215 is rotatably connected to the upper seat body 213, the guide rod 216 is horizontally fixed in the bottom slide groove 211, a guide hole 217 is provided on the bottom sliding block 212, the guide hole 217 is slidably sleeved with the guide rod 216, two T-shaped slide rails 229 are fixedly connected to the top surface of the strip frame 21, two T-shaped slideways 230 are provided on the bottom surface of the carrying platform 22, the T-shaped slideway 230 is slidably sleeved with the T-shaped slide rail 229, and the hydraulic push rod 215 is used to change the angle of the support platform 27 to adjust the drilling angle.

[0041] The running assembly 26 includes a side bin 261, the top side wall of the side bin 261 is fixedly connected to the side wall of the loading platform 22, a side slot 262 is provided on the side of the side bin 261 close to the strip frame 21, a side gear plate 219 is fixedly connected to the side gear plate 219 close to the side bin 261, the side gear plate 219 is slidably connected to the side slot 262, two driven gears 263 are rotatably connected in the side bin 261, the side wall of the driven gear 263 is located in the side slot 262, the two driven gears 263 are meshed and connected to the side gear plate 219, and the two driven gears 263 are located in the side bin 261. The position between the ends of 63 is rotatably connected to the driving gear 264, the driving gear 264 is meshed and connected to the two driven gears 263, the top surface of the side warehouse 261 is fixedly embedded with the fourth servo reduction motor 265, the shaft end of the fourth servo reduction motor 265 is fixedly connected to the shaft of the driving gear 264, and the bottom side wall of the side warehouse 261 is provided with a second side sliding opening 266, the second side sliding opening 266 is slidably connected to the side slide rail 227, the running assembly 26 is moved by the meshing of the driven gear 263 and the side tooth plate 219, driving the power head 23 to move.

[0042] The interior of the support platform 27 is evenly rotated and connected with multiple first synchronous gears 221, and a top notch 220 is provided on the bottom surface of the top opening 226. The bottom surface of the strip frame 21 is fixedly connected to the bottom tooth plate 218, and the bottom tooth plate 218 is slidably connected to the top notch 220. The top surface of the first synchronous gear 221 is located in the top notch 220, and the top surfaces of multiple first synchronous gears 221 are meshed and connected to the bottom tooth plate 218. Each first synchronous gear 221 is fixedly connected to a first shaft column 222 at the shaft end, and two first synchronous pulleys 223 are fixedly sleeved on each first shaft column 222. The first synchronous belt 224 is sleeved on the first synchronous pulleys 223 on two adjacent first shaft columns 222. The side wall of the support platform 27 is fixedly embedded with the first servo reduction motor 225, and the shaft end of the first servo reduction motor 225 is fixedly connected to the end of one of the first shaft columns 222.

[0043] Two side slide grooves 46 are provided on both sides of the placement cavity 42, and a side slider 47 is vertically slidably connected in each side slide groove 46, and the side slider 47 is fixedly connected to the side wall of the support plate 44. A third screw rod 48 is vertically rotatably connected in each side slide groove 46, and a third threaded sleeve 49 is fixedly connected to the side slider 47. The third screw rod 48 is threadedly connected to the third threaded sleeve 49. The bottom surface of the placement box 41 is horizontally rotatably connected to the driving long rod 410, and the driving long rod 410 is located at a fixed sleeve at a position directly below the two side slide grooves 46. The two active bevel gears 411 are connected, the bottom end of the third screw rod 48 is fixedly connected to the short shaft 412, the bottom end of the short shaft 412 is fixedly connected to the driven bevel gear 413, the active bevel gear 411 is meshedly connected to the driven bevel gear 413, the bottom side wall of the placement box 41 is fixedly embedded with the sixth servo reduction motor 414, the rotating shaft end of the sixth servo reduction motor 414 is fixedly connected to the end of the driving long rod 410, and the sixth servo reduction motor 414 is used to drive the support plate 44 to rise and fall, so as to keep the drill rod on the top surface at the top of the placement cavity 42.

[0044] The side wall of the first hinge seat 35 is fixedly connected to the first joint motor 314, and the shaft end of the first joint motor 314 is fixedly connected to the shaft of the first hinge block 36. The side wall of the second hinge seat 39 is fixedly connected to the second joint motor 315, and the shaft end of the second joint motor 315 is fixedly connected to the shaft of the second hinge block 310. A power slide groove 316 is provided on the top surface of the strip table 31. The power slide groove 316 is horizontally slidably connected to the power slider 317. The power slider 317 is fixedly connected to the bottom surface of the top platform 32. The power slide groove 316 is horizontally rotatably connected to the second screw rod 318. The power slider 317 is fixedly connected to the second threaded sleeve 319, and the second screw rod 318 is threadedly connected to the second threaded sleeve 319. The end of the strip table 31 is fixedly connected to the fifth servo reduction motor 320, and the shaft end of the fifth servo reduction motor 320 is fixedly connected to the end of the second screw rod 318.

[0045] Embodiment 3:

[0046] See also Figure 1-9 , which is the third embodiment of the present invention. This embodiment is based on the above two embodiments. When installing the drill rod, the third clamping claw cylinder 312 on the grabbing structure 3 moves to the placement box 41 to take out the drill rod, and then moves the drill rod to the strip frame 21. At this time, one of the cross columns 255 of the auxiliary loading and unloading rod assembly 25 moves, and the second clamping claw cylinder 259 is used to clamp the drill rod. At this time, the third clamping claw cylinder 312 releases the drill rod and performs the next rod taking work. Then another cross column 255 moves, and the second clamping claw cylinder 259 on the cross column 255 is used to clamp the drill rod. The drill rod is fixed at two points by force, and the power head 23 cooperates with the fixer 24 to install the rod. If it is necessary to rotate or push the drill rod, the second clamping plate 2510 is released, and the first clamping claw cylinder 256 clamps the drill rod, so that the drill rod can be freely rotated or pushed under the action of the ball 258. After the installation of the drill rod is completed, the grabbing structure 3 has already grabbed the next drill rod and is ready for use. The auxiliary loading and unloading rod assembly 25 is used to assist in fixing the drill rod. When loading the rod, after the gripping structure 3 grabs the drill rod, the auxiliary loading and unloading rod assembly 25 takes the drill rod and installs it. In this way, during the installation time, the gripping structure 3 can grab the next drill rod to be installed. After the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in the continuous loading and unloading operation. And the auxiliary loading and unloading rod assembly 25 changes with the angle of the strip frame 21, so the inclination angle of the drill rod must be consistent with the drilling direction when loading the rod, and there is no need to use a manipulator that needs to adjust the angle to adjust the inclination angle of the drill rod, which is more convenient and reduces the cost.

[0047] 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. A coal mine electromechanical automated mining directional drilling device, comprising a carrier plate (1), the top surface of the carrier plate (1) is fixedly connected to a controller (12), the bottom surface of the carrier plate (1) is fixedly connected to a crawler travel mechanism (11), characterized in that: The top surface of the carrier plate (1) is provided with a drilling mechanism (2), a grabbing structure (3), and a drill rod storage assembly (4); the grabbing structure (3) is located between the drilling mechanism (2) and the drill rod storage assembly (4); the drilling mechanism (2) comprises a strip frame (21) and a support platform (27); the strip frame (21) is slidably arranged on the top surface of the support platform (27); an auxiliary loading and unloading rod assembly (25) is arranged on the side of the strip frame (21) away from the grabbing structure (3); a carrying platform (22) is slidably arranged on the top surface of the strip frame (21); the top surface of the carrying platform (22) is fixedly connected to a power head (23); the top end of the strip frame (21) is fixedly connected to a fixer (24); and a running assembly (26) is arranged on the side wall of the carrying platform (22); The auxiliary loading and unloading rod assembly (25) comprises a side strip plate (251), the side strip plate (251) is fixedly connected to the side wall of the strip frame (21), the side wall of the auxiliary loading and unloading rod assembly (25) is provided with a slide table (252) for horizontal sliding, the top surface of the slide table (252) is fixedly connected to the vertical plate (253), the top of the vertical plate (253) is horizontally provided with two square sliding openings (254), and each of the square sliding openings (254) is horizontally slidably sleeved with a cross column (255), the end of the horizontal column (255) close to the strip frame (21) is fixedly connected to the first clamping claw cylinder (256) and the second clamping claw cylinder (259), the two output ends of the first clamping claw cylinder (256) are fixedly connected to two first clamping plates (257), the two first clamping plates (257) are close to each other and are rollingly connected to a plurality of balls (258), and the two output ends of the second clamping claw cylinder (259) are fixedly connected to two second clamping plates (2510); The drill rod storage assembly (4) comprises a placement box (41), the placement box (41) is fixedly connected to the top surface of the carrier plate (1), a placement cavity (42) is provided on the top of the placement box (41), a plurality of separation plates (43) are evenly and vertically fixedly connected to the bottom surface of the placement cavity (42), a support plate (44) is vertically slidably sleeved in the placement cavity (42), a plurality of strip-shaped openings (45) are vertically provided on the support plate (44) corresponding to the positions of the plurality of separation plates (43), and the strip-shaped openings (45) are slidably sleeved on the plurality of separation plates (43) located on the same vertical plane.

2. A coal mine electromechanical automated mining directional drilling device according to claim 1, characterized in that: The grabbing structure (3) comprises a strip table (31) fixedly connected to the top surface of the carrier plate (1); a top table (32) is horizontally slidably arranged on the top surface of the strip table (31); the top surface of the top table (32) is vertically fixedly connected to a vertical arm (33); the top surface of the vertical arm (33) is fixedly sleeved with a first electric push rod (34); the top end of the output shaft of the first electric push rod (34) is fixedly connected to a first hinge seat (35); the first hinge seat (35) is rotatably connected to a first hinge block (36); the end of the first hinge block (36) is fixedly connected to a cross arm (37), the end of the cross arm (37) is fixedly sleeved with the second electric push rod (38), the output end of the second electric push rod (38) is fixedly connected to the second hinge seat (39), the second hinge seat (39) is rotatably connected to the second hinge block (310), the end of the second hinge block (310) is fixedly connected to the third electric push rod (311), the output end of the third electric push rod (311) is fixedly connected to the third clamping cylinder (312), and the two output ends of the third clamping cylinder (312) are fixedly connected to two third clamping plates (313).

3. A coal mine electromechanical automated mining directional drilling device according to claim 1, characterized in that: The top surface of the square sliding opening (254) is fixedly engaged with the driving bin (2511), the top surface of the cross column (255) is fixedly connected to the top tooth plate (2513), the bottom surface of the driving bin (2511) is provided with a bottom notch (2512), the top tooth plate (2513) is slidably connected to the bottom notch (2512), the driving bin (2511) is evenly rotated and connected to a plurality of second synchronous gears (2514), the bottom surface of the second synchronous gears (2514) is located in the bottom notch (2512), and the bottom surfaces of the plurality of second synchronous gears (2514) are meshedly connected to the top tooth plate (2513).

4. A coal mine electromechanical automated mining directional drilling device according to claim 3, characterized in that: The rotating shaft end of each second synchronous gear (2514) is horizontally fixedly connected to a second shaft column (2515), and two second synchronous pulleys (2516) are fixedly sleeved on each second shaft column (2515). The second synchronous pulleys (2516) on two adjacent second shaft columns (2515) are sleeved with a second synchronous belt (2517). The side wall of the driving bin (2511) is fixedly embedded with a second servo reduction motor (2518), and the rotating shaft end of the second servo reduction motor (2518) is fixedly connected to one of the ends of the second shaft columns (2515). The bottom surface of the cross column (255) is fixedly connected to a T-shaped slide bar (2519), and a T-shaped slide bar (2520) is provided on the bottom surface of the square slide bar (254), and the T-shaped slide bar (2519) is horizontally slidably connected to the T-shaped slide bar (2520).

5. A coal mine electromechanical automated mining directional drilling device according to claim 1, characterized in that: The side wall of the side strip plate (251) is provided with a dovetail groove (2524), the dovetail slider (2525) is horizontally slidably connected in the dovetail groove (2524), the side wall of the dovetail slider (2525) is fixedly connected to the slide table (252), the dovetail groove (2524) is horizontally rotatably connected to the first screw rod (2526), ​​the dovetail slider (2525) is fixedly connected to the first threaded sleeve (2527), the first screw rod (2526) is threadedly connected to the first threaded sleeve (2527), One end of the side strip (251) is fixedly embedded in the third servo reduction motor (2528), the shaft end of the third servo reduction motor (2528) is fixedly connected to the end of the first screw rod (2526), ​​the side walls at both ends of the side strip (251) are fixedly connected to two side blocks (2521), a plurality of sliding columns (2522) are fixedly connected between the two side blocks (2521), a plurality of sliding holes (2523) are horizontally opened on the slide (252), and the sliding columns (2522) are slidably sleeved in the sliding holes (2523).

6. A coal mine electromechanical automated mining directional drilling device according to claim 1, characterized in that: The top surface of the support platform (27) is provided with a top opening (226), and the top opening (226) is slidably connected to the bottom of the strip frame (21). Two side slide rails (227) are horizontally fixedly connected to the bottom surface of the strip frame (21). Two first side slide openings (228) are provided on both sides of the top opening (226), and the first side slide openings (228) are slidably sleeved on the side slide rails (227). The bottom surface of the support platform (27) is fixedly connected to the rotating frame (28), and the bottom of the rotating frame (28) is rotatably connected to the fixed frame (29). The bottom surface of the fixed frame (29) is fixedly connected to the top surface of the carrier plate (1). Two bottom strip blocks (210) are fixedly connected to the bottom of the support platform (27), and the bottom surface of the bottom strip block (210) is provided with a bottom slide groove (211). The bottom slide groove (211) is horizontally slidably connected to the bottom sliding block (212). The top surface of the carrier plate (1) is located below the two bottom strips (210) and is fixedly connected to two lower seats (214); the bottom surface of the bottom slider (212) is fixedly connected to an upper seat (213); the lower seat (214) is rotatably connected to the end of a hydraulic push rod (215); the output end of the hydraulic push rod (215) is rotatably connected to the upper seat (213); a guide rod (216) is horizontally fixedly connected in the bottom slide groove (211); a guide hole (217) is provided on the bottom slider (212); the guide hole (217) is slidably connected to the guide rod (216); the top surface of the strip frame (21) is fixedly connected to two T-shaped slide rails (229); the bottom surface of the carrying platform (22) is provided with two T-shaped slideways (230); the T-shaped slideways (230) are slidably connected to the T-shaped slide rails (229).

7. A coal mine electromechanical automated mining directional drilling device according to claim 6, characterized in that: The running assembly (26) comprises a side bin (261), the top side wall of the side bin (261) is fixedly connected to the side wall of the loading platform (22), a side slot (262) is provided on the side of the side bin (261) close to the strip frame (21), a side tooth plate (219) is fixedly connected to the side slot (262) on the side of the strip frame (21) close to the side bin (261), the side tooth plate (219) is slidably connected to the side slot (262), two driven gears (263) are rotatably connected in the side bin (261), the side wall of the driven gear (263) is located in the side slot (262), and the two driven gears (263) are meshed with each other. The side warehouse (261) is connected to the side gear plate (219); the driving gear (264) is rotatably connected to the position between the ends of the two driven gears (263) in the side warehouse (261); the driving gear (264) is meshed and connected to the two driven gears (263); the top surface of the side warehouse (261) is fixedly connected to the fourth servo reduction motor (265); the shaft end of the fourth servo reduction motor (265) is fixedly connected to the shaft of the driving gear (264); the bottom side wall of the side warehouse (261) is provided with a second side sliding opening (266); the second side sliding opening (266) is slidably connected to the side sliding rail (227).

8. A coal mine electromechanical automated mining directional drilling device according to claim 6, characterized in that: The support platform (27) is evenly rotated inside and connected to a plurality of first synchronous gears (221); a top notch (220) is provided on the bottom surface of the top opening (226); the bottom surface of the strip frame (21) is fixedly connected to a bottom toothed plate (218); the bottom toothed plate (218) is slidably connected to the top notch (220); the top surface of the first synchronous gear (221) is located in the top notch (220); the top surfaces of the plurality of first synchronous gears (221) are meshed and connected to the bottom toothed plate (218); each of the first synchronous gears (221) is The rotating shaft end of the gear (221) is fixedly connected to a first shaft column (222), and two first synchronous pulleys (223) are fixedly sleeved on each of the first shaft columns (222), and the first synchronous belts (224) are sleeved on the first synchronous pulleys (223) on two adjacent first shaft columns (222). The side wall of the support platform (27) is fixedly embedded with a first servo reduction motor (225), and the rotating shaft end of the first servo reduction motor (225) is fixedly connected to the end of one of the first shaft columns (222).

9. A coal mine electromechanical automated mining directional drilling device according to claim 1, characterized in that: Two side sliding grooves (46) are provided on both sides of the placement cavity (42), and a side sliding block (47) is vertically slidably connected in each of the side sliding grooves (46), and the side sliding block (47) is fixedly connected to the side wall of the support plate (44). A third screw rod (48) is vertically rotatably connected in each of the side sliding grooves (46), and a third threaded sleeve (49) is fixedly connected to the side sliding block (47), and the third screw rod (48) is threadedly connected to the third threaded sleeve (49). The bottom surface of the placement box (41) is horizontally rotatably connected to a driving long rod (410). The driving long rod (410) is located directly below the two side sliding grooves (46) and is fixedly sleeved with two active bevel gears (411); the bottom end of the third screw rod (48) is fixedly connected to the short shaft (412); the bottom end of the short shaft (412) is fixedly connected to the driven bevel gear (413); the active bevel gear (411) is meshedly connected to the driven bevel gear (413); the bottom side wall of the placement box (41) is fixedly embedded with a sixth servo reduction motor (414); the rotating shaft end of the sixth servo reduction motor (414) is fixedly connected to the end of the driving long rod (410).

10. A coal mine electromechanical automated mining directional drilling device according to claim 2, characterized in that: The side wall of the first hinge seat (35) is fixedly connected to the first joint motor (314), the end of the rotating shaft of the first joint motor (314) is fixedly connected to the rotating shaft of the first hinge block (36), the side wall of the second hinge seat (39) is fixedly connected to the second joint motor (315), the end of the rotating shaft of the second joint motor (315) is fixedly connected to the rotating shaft of the second hinge block (310), the top surface of the strip table (31) is provided with a power slide groove (316), and the power slide groove (316) is horizontally slidably connected to a power slider (317) The power slider (317) is fixedly connected to the bottom surface of the top platform (32), the power slide groove (316) is horizontally rotatably connected to the second screw rod (318), the power slider (317) is fixedly connected to the second threaded sleeve (319), the second screw rod (318) is threadedly connected to the second threaded sleeve (319), the end of the strip platform (31) is fixedly connected to the fifth servo reduction motor (320), and the shaft end of the fifth servo reduction motor (320) is fixedly connected to the end of the second screw rod (318).

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