A coal mine electromechanical automated directional drilling rig device

Abstract

This invention discloses a coal mine electromechanical automated directional drilling rig device, including a carrier plate, a controller fixedly connected to the top surface of the carrier plate, and a crawler traveling mechanism fixedly connected to the bottom surface of the carrier plate. The top surface of the carrier plate is provided with a drilling mechanism, a gripping structure, and a drill rod storage assembly. The auxiliary loading and unloading rod assembly of this invention is used to assist in fixing the drill rod. During rod loading, after the gripping structure grabs the drill rod, the auxiliary loading and unloading rod assembly takes the drill rod and installs it. In this way, while the installation is in progress, the gripping structure can grab the next drill rod to be installed. Thus, after the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in continuous rod loading operations. Furthermore, the auxiliary loading and unloading rod assembly changes with the angle of the strip frame, so the drill rod tilt angle must be consistent with the drilling direction during rod loading. There is no need to use a robotic arm that requires angle adjustment to adjust the drill rod tilt angle, which is more convenient and reduces costs.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling rig technology, specifically to a coal mine electromechanical automated directional drilling rig device. Background Technology

[0002] Currently, rotary drilling rigs and directional drilling rigs are commonly used in coal mining operations. Directional drilling rigs, in particular, have significant advantages such as controllable drilling trajectory, deep boreholes, and wide borehole coverage, leading to their higher usage rate. However, directional drilling rigs require loading and unloading drill rods, which is mostly semi-automatic and requires manual intervention, posing significant safety hazards. With development, many directional drilling rigs are now more intelligent, utilizing robotic arms for fully automated loading and unloading of drill rods. For example, Chinese utility model patent CN220487492U discloses an automated directional drilling rig for underground coal mines, including a mobile platform, frame, gripper, main robotic arm, power head, drill rod storage system, and control and hydraulic systems. This utility model improves the structure of the power head by placing an angle adjuster on the side of the gearbox away from the main motor, and fixing the transmission shaft in the angle adjuster circumferentially to the drive shaft. While this type of drilling rig uses a robotic arm for loading and unloading drill rods, it has the following drawbacks:

[0003] When a directional drilling rig in a coal mine is working, the drilling path is usually inclined. This requires the robotic arm to adjust the angle of the drill rod to match the inclination of the power head before installation. This places higher demands on the robotic arm, which is also more expensive. Furthermore, during drill rod installation, the robotic arm must help fix the position of the drill rod and wait until the drill rod is completely installed before it can leave to pick up the next drill rod. This waiting time for the next drill rod to be picked up leads to a decrease in efficiency when installing drill rods continuously.

[0004] Therefore, we propose a coal mine electromechanical automated directional drilling rig device to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a coal mine electromechanical automated directional drilling rig device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a coal mine electromechanical automated directional drilling rig device, comprising a carrier plate, a controller fixedly connected to the top surface of the carrier plate, a crawler traveling mechanism fixedly connected to the bottom surface of the carrier plate, a drilling mechanism, a gripping structure, and a drill rod storage assembly provided on the top surface of the carrier plate, the gripping structure being located between the drilling mechanism and the drill rod storage assembly, the drilling mechanism comprising a strip frame and a support platform, the strip frame being slidably disposed on the top surface of the support platform, an auxiliary loading and unloading rod assembly being disposed on the side of the strip frame away from the gripping structure, a mounting platform being slidably disposed on the top surface of the strip frame, a power head being fixedly connected to the top surface of the mounting platform, a fixing device being fixedly connected to the end of the top surface of the strip frame, and a traveling assembly being disposed on the side wall of the mounting platform;

[0007] The auxiliary loading and unloading rod assembly includes a side strip plate, which is fixedly connected to the side wall of the strip frame. A slide table is horizontally slidably provided on the side wall of the auxiliary loading and unloading rod assembly. A vertical plate is fixedly connected to the top surface of the slide table. Two square sliding openings are horizontally opened on the top of the vertical plate. A horizontal column is horizontally slidably fitted in each square sliding opening. A first gripper cylinder and a second gripper cylinder are fixedly embedded at one end of the horizontal column near the strip frame. Two first clamping plates are fixedly connected to the two output ends of the first gripper cylinder. Multiple balls are rolled and connected to the two first clamping plates close to each other on one side. Two second clamping plates are fixedly connected to the two output ends of the second gripper cylinder.

[0008] The drill pipe storage assembly includes a placement box, which is fixed to the top surface of a carrier plate. A placement cavity is opened at the top of the placement box. Multiple separation plates are uniformly and vertically fixed to the bottom surface of the placement cavity. A support plate is vertically slidably sleeved inside the placement cavity. Multiple strip-shaped openings are vertically opened on the support plate corresponding to the positions of the multiple separation plates. Multiple separation plates located on the same vertical plane are slidably sleeved through the strip-shaped openings.

[0009] Preferably, the gripping structure includes a strip platform fixed to the top surface of the carrier plate, a top platform horizontally sliding on the top surface of the strip platform, a vertical arm fixedly fixed to the top surface of the top platform, a first electric push rod fixedly sleeved on the top surface of the vertical arm, a first hinge seat fixedly connected to the top end of the output shaft of the first electric push rod, a first hinge block rotatably connected to the first hinge seat, a horizontal arm fixedly connected to the end of the first hinge block, a second electric push rod fixedly sleeved to the end of the horizontal arm, a second hinge seat fixedly connected to the output end of the second electric push rod, a second hinge seat rotatably connected to the second hinge block, a third electric push rod fixedly connected to the end of the second hinge block, a third gripper cylinder fixedly connected to the output end of the third electric push rod, and two third clamping plates fixedly connected to the two output ends of the third gripper cylinder.

[0010] Preferably, the top surface of the square sliding opening is fixedly embedded with the drive chamber, the top surface of the horizontal column is fixedly connected with the top tooth plate, the bottom surface of the drive chamber is opened with a bottom groove, the top tooth plate is slidably connected to the bottom groove, and multiple second synchronous gears are uniformly rotated and connected inside the drive chamber. The bottom surface of the second synchronous gears is located inside the bottom groove, and the bottom surfaces of the multiple second synchronous gears are meshed with the top tooth plate.

[0011] Preferably, a second shaft is horizontally fixed to the end of each second synchronous gear shaft, two second synchronous pulleys are fixedly sleeved on each second shaft, and a second synchronous belt is sleeved on the second synchronous pulleys on two adjacent second shafts. A second servo reduction motor is fixedly embedded in the side wall of the drive compartment, the shaft end of the second servo reduction motor is fixedly connected to the end of one of the second shafts, a T-shaped slide bar is fixedly attached to the bottom surface of the cross column, a T-shaped slide opening is opened on the bottom surface of the square slide opening, and the T-shaped slide bar is horizontally slidably connected to the T-shaped slide opening.

[0012] Preferably, the side panel has a dovetail groove on its sidewall, a dovetail slider is horizontally slidably connected in the dovetail groove, a slide table is fixedly connected to the sidewall of the dovetail slider, a first lead screw is horizontally rotatably connected in the dovetail groove, a first threaded sleeve is fixedly connected to the dovetail slider, the first lead screw is threadedly connected to the first threaded sleeve, a third servo reduction motor is fixedly embedded at one end of the side panel, the shaft end of the third servo reduction motor is fixedly connected to the end of the first lead screw, two side blocks are fixedly connected to the sidewalls at both ends of the side panel, multiple sliding columns are fixedly connected between the two side blocks, multiple sliding holes are horizontally opened on the slide table, and the sliding columns slidely engage with the sliding holes.

[0013] Preferably, the top surface of the support platform has a top opening, which is slidably connected to the bottom of the strip frame. Two side slide rails are horizontally fixed to both sides of the bottom surface of the strip frame. Two first side slide openings are opened on both sides of the top opening, and the first side slide openings are slidably sleeved with the side slide rails. A rotating frame is fixed to the bottom surface of the support platform. A fixed frame is rotatably connected to the bottom of the rotating frame. The top surface of the carrier plate is fixed to the bottom surface of the fixed frame. Two bottom strip blocks are fixed to both sides of the bottom surface of the support platform. Bottom slide grooves are opened on the bottom surfaces of the bottom strip blocks. Bottom slide blocks are horizontally slidably connected in the bottom slide grooves. Two lower seats are fixed to the top surface of the carrier plate below the two bottom strip blocks. An upper seat is fixed to the bottom surface of the bottom slide blocks. The lower seat is rotatably connected to the end of a hydraulic push rod. The output end of the hydraulic push rod is rotatably connected to the upper seat. A guide rod is horizontally fixed in the bottom slide groove. A guide hole is opened on the bottom slide block, and the guide hole is slidably sleeved with the guide rod. Two T-shaped slide rails are fixed to the top surface of the strip frame. Two T-shaped slide tracks are opened on the bottom surface of the support platform, and the T-shaped slide tracks are slidably sleeved with the T-shaped slide rails.

[0014] Preferably, the traveling assembly includes a side compartment, the top side wall of which is fixedly connected to the side wall of the mounting platform, a side slot is opened on the side of the side compartment near the strip frame, a side toothed plate is fixedly connected on the side of the strip frame near the side compartment, the side toothed plate is slidably connected to the side slot, two driven gears are rotatably connected inside the side compartment, the side wall of the driven gear is located inside the side slot, the two driven gears mesh with the side toothed plate, a driving gear is rotatably connected inside the side compartment at a position between the ends of the two driven gears, the driving gear meshes with the two driven gears, a fourth servo reduction motor is fixedly embedded on the top surface of the side compartment, the shaft end of the fourth servo reduction motor is fixedly connected to the shaft of the driving gear, a second side sliding opening is opened on the bottom side wall of the side compartment, and a side slide rail is slidably connected to the second side sliding opening.

[0015] Preferably, the support platform is internally connected to a plurality of first synchronous gears that rotate uniformly. A top groove is formed on the bottom surface of the top opening. A bottom tooth plate is fixedly connected to the bottom surface of the strip frame. The bottom tooth plate is slidably connected to the top groove. The top surfaces of the first synchronous gears are located inside the top groove. The top surfaces of the plurality of first synchronous gears mesh with the bottom tooth plate. A first shaft is fixedly connected to the shaft end of each first synchronous gear. Two first synchronous pulleys are fixedly sleeved on each first shaft. A first synchronous belt is sleeved on the first synchronous pulleys on two adjacent first shafts. A first servo reduction motor is fixedly embedded in the side wall of the support platform. The shaft end of the first servo reduction motor is fixedly connected to the end of one of the first shafts.

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

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

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The auxiliary loading and unloading rod assembly of this invention is used to assist in fixing the drill rod. During rod loading, after the gripping structure picks up the drill rod, the auxiliary loading and unloading rod assembly takes over the drill rod for installation. In this way, while the installation is in progress, the gripping structure can pick up the next drill rod to be installed. Thus, after the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in continuous rod loading operations. Furthermore, the auxiliary loading and unloading rod assembly changes with the angle of the strip frame, so the drill rod tilt angle must be consistent with the drilling direction during rod loading. There is no need to use a robotic arm that requires angle adjustment to adjust the drill rod tilt angle, which is more convenient and reduces costs. Attached Figure Description

[0020] Figure 1 These are schematic diagrams of the main structure in the first and second embodiments of the present invention;

[0021] Figure 2 These are schematic diagrams of the drilling mechanism in the first and second embodiments of the present invention;

[0022] Figure 3 These are schematic diagrams of the auxiliary loading and unloading rod assembly in the first and second embodiments of the present invention;

[0023] Figure 4 These are schematic diagrams of the cross-sectional structure at the upright plate in the first and second embodiments of the present invention;

[0024] Figure 5 These are schematic diagrams of the cross-sectional structure of the drill pipe storage assembly in the first and second embodiments of the present invention;

[0025] Figure 6 This is a schematic diagram of the gripping structure in the second embodiment of the present invention;

[0026] Figure 7 This 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 This is a cross-sectional view of the traveling component in the second embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the cross-sectional structure at the support platform in the second embodiment of the present invention.

[0029] In the diagram: 1. Carrier plate; 2. Drilling mechanism; 3. Grabbing structure; 4. Drill rod storage assembly; 11. Track traveling mechanism; 12. Controller; 21. Strip frame; 22. Mounting platform; 23. Power head; 24. Fixing device; 25. Auxiliary loading and unloading rod assembly; 26. Traveling assembly; 27. Support platform; 28. Turning frame; 29. ​​Fixed frame; 210. Bottom strip block; 211. Bottom slide groove; 212. Bottom slide block; 213. Upper seat body; 214. Lower seat body; 215. Hydraulic push rod; 216. Guide rod; 217. Guide hole; 218. Bottom toothed plate; 219. Side toothed plate; 220. Top groove opening; 221. First synchronous gear; 222. First shaft column; 223. First synchronous belt pulley 224. First synchronous belt; 225. First servo geared motor; 226. Top opening; 227. Side slide rail; 228. First side slide opening; 229. T-shaped slide rail; 230. T-shaped slide rail; 251. Side strip plate; 252. Slide table; 253. Vertical plate; 254. Square slide opening; 255. Horizontal column; 256. First gripper cylinder; 257. First clamping plate; 258. Ball bearing; 259. Second gripper cylinder; 2510. Second clamping plate; 2511. Drive compartment; 2512. Bottom groove opening; 2513. Top gear plate; 2514. Second synchronous gear; 2515. Second shaft column; 2516. Second synchronous belt pulley; 2517. Second synchronous belt; 2518. Two servo geared motors; 2519, T-shaped slide bar; 2520, T-shaped slide opening; 2521, side block; 2522, slide column; 2523, slide hole; 2524, dovetail slide groove; 2525, dovetail slider; 2526, first lead screw; 2527, first threaded sleeve; 2528, third servo geared motor; 261, side compartment; 262, side slot; 263, driven gear; 264, driving gear; 265, fourth servo geared motor; 266, second side slide opening; 31, strip platform; 32, top platform; 33, vertical arm; 34, first electric push rod; 35, first hinge seat; 36, first hinge block; 37, horizontal arm; 38, second electric push rod; 39, second hinge. 310. Seat; 311. Second hinge block; 312. Third electric push rod; 313. Third gripper cylinder; 314. Third clamping plate; 315. First joint motor; 316. Second joint motor; 317. Power slide groove; 318. Power slider; 319. Second threaded sleeve; 320. Fifth servo geared 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 lead screw; 49. Third threaded sleeve; 410. Drive rod; 411. Driving bevel gear; 412. Short shaft; 413. Driven bevel gear; 414. Sixth servo geared motor. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1:

[0032] Please see Figure 1-5 This invention provides a technical solution: a coal mine electromechanical automated directional drilling rig device, including a carrier plate 1, a controller 12 fixed to the top surface of the carrier plate 1, a crawler traveling mechanism 11 fixed to the bottom surface of the carrier plate 1, a drilling mechanism 2, a gripping structure 3, and a drill rod storage assembly 4 arranged on the top surface of the carrier plate 1, the gripping structure 3 being located between the drilling mechanism 2 and the drill rod storage assembly 4, the drilling mechanism 2 including a strip frame 21 and a support platform 27, the strip frame 21 being slidably arranged on the top surface of the support platform 27, an auxiliary loading and unloading rod assembly 25 being arranged on the side of the strip frame 21 away from the gripping structure 3, a mounting platform 22 being slidably arranged on the top surface of the strip frame 21, a power head 23 being fixed to the top surface of the mounting platform 22, a fixing device 24 being fixed to the end of the top surface of the strip frame 21, a traveling assembly 26 being arranged on the side wall of the mounting platform 22, the drill rod storage assembly 4 being used to store drill rods, and the gripping structure 3 being used to grip drill rods;

[0033] The auxiliary loading and unloading rod assembly 25 includes a side strip 251, which is fixed to the side wall of the strip frame 21. A slide table 252 is horizontally slidably arranged on the side wall of the auxiliary loading and unloading rod assembly 25. A vertical plate 253 is fixedly connected to the top surface of the slide table 252. Two square sliding openings 254 are horizontally opened at the top of the vertical plate 253. A horizontal column 255 is horizontally slidably fitted in each square sliding opening 254. A first gripper cylinder 256 and a second gripper cylinder 259 are fixedly embedded at one end of the horizontal column 255 near the strip frame 21. Two first clamping plates 257 are fixedly connected to the two output ends of the first gripper cylinder 256. Multiple balls 258 are rolled and connected to the two first clamping plates 257 close to each other on one side. Two second clamping plates 2510 are fixedly connected to the two output ends of the second gripper cylinder 259. 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 grips the drill rod, the auxiliary loading and unloading rod assembly 25... After receiving the drill rod, it is installed. During the installation process, the gripping structure 3 can grab the next drill rod to be installed. This allows the next drill rod to be installed immediately after the previous one is installed, resulting in higher efficiency in continuous rod installation operations. Furthermore, the auxiliary rod loading and unloading assembly 25 changes angle with the strip frame 21, so the drill rod tilt angle must be consistent with the drilling direction during installation. This eliminates the need for a robotic arm to adjust the drill rod tilt angle, making it more convenient and reducing costs. A set of first clamping plates 257 with ball bearings 258 and a set of second clamping plates 2510 are used. The second clamping plate 2510 can be used to fix the drill rod. During the loading and unloading of the drill rod, if it is necessary to rotate or advance the drill rod, the second clamping plate 2510 is released, allowing the drill rod to rotate or advance freely under the action of the ball bearings 258, making the loading and unloading of drill rods more convenient.

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

[0035] Example 2:

[0036] Please see Figure 1-9This is the second embodiment of the present invention. Based on the previous embodiment, the gripping structure 3 includes a strip platform 31 fixed to the top surface of the carrier plate 1. A top platform 32 is horizontally slidably disposed on the top surface of the strip platform 31. A vertical arm 33 is vertically fixed to the top surface of the top platform 32. A first electric push rod 34 is fixedly sleeved on the top surface of the vertical arm 33. A first hinge seat 35 is fixedly connected to the top end of the output shaft of the first electric push rod 34. The first hinge seat 35 is rotatably connected to a first hinge block 36. A horizontal arm 37 is fixedly connected to the end of the first hinge block 36. A second electric push rod 38 is fixedly sleeved to the end of the horizontal arm 37. A second hinge seat 39 is fixedly connected to the output end of the second electric push rod 38. A second hinge block 310 is rotatably connected to the second hinge seat 39. A third electric push rod 311 is fixedly connected to the end of the second hinge block 310. A third gripper cylinder 312 is fixedly connected to the output end of the third electric push rod 311. Two third clamping plates 313 are fixedly connected to the two output ends of the third gripper cylinder 312. The drill rod is gripped by the third gripper cylinder 312.

[0037] The top surface of the square sliding opening 254 is fixedly embedded with the drive chamber 2511, the top surface of the horizontal column 255 is fixedly connected with the top tooth plate 2513, the bottom surface of the drive chamber 2511 has a bottom groove 2512, the top tooth plate 2513 is slidably connected to the bottom groove 2512, and multiple second synchronous gears 2514 are uniformly rotated and connected inside the drive chamber 2511. The bottom surface of the second synchronous gears 2514 is located inside the bottom groove 2512, and the bottom surfaces of the multiple second synchronous gears 2514 are meshed with the top tooth plate 2513.

[0038] Each second synchronous gear 2514 has a second shaft 2515 horizontally fixed to its shaft end. Two second synchronous pulleys 2516 are fixedly sleeved on each second shaft 2515. Second synchronous belts 2517 are sleeved on the second synchronous pulleys 2516 of two adjacent second shafts 2515. A second servo reduction motor 2518 is fixedly embedded in the side wall of the drive chamber 2511. The shaft end of the second servo reduction motor 2518 is fixedly connected to the end of one of the second shafts 2515. A T-shaped slide bar 2519 is fixedly connected to the bottom surface of the horizontal column 255. A T-shaped slide opening 2520 is opened on the bottom surface of the square slide opening 254. The T-shaped slide bar 2519 is horizontally slidably connected to the T-shaped slide opening 2520. The horizontal movement of the horizontal column 255 is realized by the second synchronous gear 2514, which facilitates the movement to the top of the strip frame 21 to pick up the drill rod.

[0039] A dovetail groove 2524 is provided on the side wall of the side strip 251. A dovetail slider 2525 is horizontally slidably connected in the dovetail groove 2524. A slide table 252 is fixedly connected to the side wall of the dovetail slider 2525. A first lead screw 2526 is horizontally rotatably connected in the dovetail groove 2524. A first threaded sleeve 2527 is fixedly connected to the dovetail slider 2525. The first lead screw 2526 is threadedly connected to the first threaded sleeve 2527. A third servo reduction motor 2528 is fixedly embedded at one end of the side strip 251. The shaft end of the third servo reduction motor 2528 is fixedly connected to the end of the first lead screw 2526. Two side blocks 2521 are fixedly connected to the side walls at both ends of the side strip 251. Multiple sliding columns 2522 are fixedly connected between the two side blocks 2521. Multiple sliding holes 2523 are horizontally provided on the slide table 252. The sliding columns 2522 slide and fit into the sliding holes 2523 to facilitate the movement of the slide table 252. The path is consistent with the inclination angle of the strip frame 21.

[0040] A top opening 226 is formed on the top surface of the support platform 27. The top opening 226 is slidably connected to the bottom of the strip frame 21. Two side slide rails 227 are horizontally fixed to both sides of the bottom surface of the strip frame 21. Two first side slide openings 228 are formed on both sides of the top opening 226. The first side slide openings 228 are slidably sleeved with the side slide rails 227. A rotating frame 28 is fixedly connected to the bottom of the support platform 27. A fixed frame 29 is rotatably connected to the bottom of the rotating frame 28. 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 both sides of the bottom of the support platform 27. A bottom slide groove 211 is formed on the bottom surface of the bottom strip 210. A bottom slide block 212 is horizontally slidably connected in the bottom slide groove 211. The top surface of the carrier plate 1 is located at the two bottom strips 210. Two lower base bodies 214 are fixedly connected at the bottom position. The bottom surface of the bottom slide block 212 is fixedly connected to the upper base body 213. The lower base 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 base body 213. The guide rod 216 is horizontally fixedly connected in the bottom slide groove 211. The bottom slide block 212 has a guide hole 217. 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 slide tracks 230 are opened on the bottom surface of the platform 22. The T-shaped slide tracks 230 are slidably sleeved with the T-shaped slide rails 229. The drilling angle can be adjusted by changing the angle of the support platform 27 using the hydraulic push rod 215.

[0041] The traveling assembly 26 includes a side compartment 261. The top side wall of the side compartment 261 is fixedly connected to the side wall of the mounting platform 22. A side slot 262 is opened on the side of the side compartment 261 near the strip frame 21. A side toothed plate 219 is fixedly connected to the side of the strip frame 21 near the side compartment 261. The side toothed plate 219 is slidably connected to the side slot 262. Two driven gears 263 are rotatably connected inside the side compartment 261. The side walls of the driven gears 263 are located inside the side slot 262. The two driven gears 263 mesh with the side toothed plate 219. The side compartment 261 contains the two driven gears 263. The drive gear 264 is rotatably connected between the ends of 63. The drive gear 264 meshes with two driven gears 263. The fourth servo reduction motor 265 is fixedly embedded on the top surface of the side compartment 261. The shaft end of the fourth servo reduction motor 265 is fixedly connected to the shaft of the drive gear 264. A second side slide opening 266 is opened on the bottom side wall of the side compartment 261. The second side slide opening 266 is slidably connected to the side slide rail 227. The traveling component 26 moves by meshing the driven gear 263 with the side tooth plate 219, which drives the power head 23 to move.

[0042] Multiple first synchronous gears 221 are uniformly rotatably connected inside the support platform 27. A top groove 220 is opened on the bottom surface of the top opening 226. A bottom tooth plate 218 is fixedly connected to the bottom surface of the strip frame 21. The bottom tooth plate 218 is slidably connected to the top groove 220. The top surface of the first synchronous gear 221 is located in the top groove 220. The top surfaces of multiple first synchronous gears 221 are meshed with the bottom tooth plate 218. A first shaft 222 is fixedly connected to the shaft end of each first synchronous gear 221. Two first synchronous pulleys 223 are fixedly sleeved on each first shaft 222. A first synchronous belt 224 is sleeved on the first synchronous pulleys 223 on two adjacent first shafts 222. A first servo reduction motor 225 is fixedly embedded in the side wall of the support platform 27. The shaft end of the first servo reduction motor 225 is fixedly connected to the end of one of the first shafts 222.

[0043] Two side sliding grooves 46 are formed on both sides of the placement cavity 42. A side slider 47 is vertically slidably connected in each side sliding groove 46. The side slider 47 is fixed to the side wall of the support plate 44. A third lead screw 48 is vertically rotatably connected in each side sliding groove 46. A third threaded sleeve 49 is fixedly connected to the side slider 47. The third lead screw 48 is threadedly connected to the third threaded sleeve 49. A drive rod 410 is horizontally rotatably connected inside the bottom surface of the placement box 41. The drive rod 410 is fixedly sleeved at a position directly below the two side sliding grooves 46. Two active bevel gears 411 are connected, and a short shaft 412 is fixedly connected to the bottom end of the third lead screw 48. A driven bevel gear 413 is fixedly connected to the bottom end of the short shaft 412. The active bevel gears 411 mesh with the driven bevel gears 413. A sixth servo reduction motor 414 is fixedly embedded in the bottom side wall of the placement box 41. The end of the drive rod 410 is fixedly connected to the shaft end of the sixth servo reduction motor 414. The sixth servo reduction motor 414 drives 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 first hinge seat 35 is fixed to the side wall of the first joint motor 314, and the shaft end of the first joint motor 314 is fixed to the shaft of the first hinge block 36. The second hinge seat 39 is fixed to the side wall of the second joint motor 315, and the shaft end of the second joint motor 315 is fixed to the shaft of the second hinge block 310. A power slide groove 316 is opened on the top surface of the strip platform 31. The power slide groove 316 is horizontally slidably connected to the power slider 317. The power slider 317 is fixed to the bottom surface of the top platform 32. The power slide groove 316 is horizontally rotatably connected to the second lead screw 318. The power slider 317 is fixed to the second threaded sleeve 319. The second lead screw 318 is threadedly connected to the second threaded sleeve 319. The end of the strip platform 31 is fixed to the fifth servo reduction motor 320, and the shaft end of the fifth servo reduction motor 320 is fixed to the end of the second lead screw 318.

[0045] Example 3:

[0046] Please see Figure 1-9 This is the third embodiment of the present invention, based on the above two embodiments. In this embodiment, during drill rod installation, the third gripper cylinder 312 on the gripping structure 3 moves to the placement box 41 to remove the drill rod. Then, the drill rod is moved to the strip frame 21. At this time, one of the horizontal columns 255 of the auxiliary loading and unloading rod assembly 25 moves and is clamped by the second gripper cylinder 259. The third gripper cylinder 312 then releases the drill rod, and the next rod removal operation begins. Then, the other horizontal column 255 moves, and the second gripper cylinder 259 on this horizontal column 255 clamps the drill rod. The drill rod is fixed at two points and installed through the cooperation of the power head 23 and the fixing device 24. If it is necessary to rotate or advance the drill rod, the second clamping plate 2510 releases, and the first gripper cylinder 256 clamps the drill rod. Thus, the drill rod can rotate or advance freely under the action of the ball bearing 258. After the drill rod is installed, the gripping structure 3 has already gripped the next drill rod and is ready for use. During the next rod loading and unloading operation, the auxiliary loading and unloading rod assembly 25 is used to fix the drill rod. After unloading, the gripping structure 3 picks up the rod from the auxiliary loading and unloading rod assembly 25 and places it back into the placement box 41. During this process, the auxiliary loading and unloading rod assembly 25 continues the next inclined rod operation, realizing continuous rod unloading. The auxiliary loading and unloading rod assembly 25 provided in this invention is used to assist in fixing the drill rod. When loading the rod, after the gripping structure 3 picks up the drill rod, the auxiliary loading and unloading rod assembly 25 takes the drill rod and installs it. In this way, while the installation is in progress, the gripping structure 3 can pick up the next drill rod to be installed. Thus, after the previous drill rod is installed, the next drill rod can be installed immediately, which is more efficient in continuous rod loading operations. Furthermore, the auxiliary loading and unloading rod assembly 25 changes with the angle of the strip frame 21, so the drill rod tilt angle must be consistent with the drilling direction during rod loading. There is no need to use a robot arm that needs to adjust the angle to adjust the drill rod tilt angle, which is more convenient and reduces costs.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A coal mine electromechanical automation mining directional drilling rig device, comprising a carrier plate (1), the top surface of the carrier plate (1) is fixedly connected with a controller (12), and the bottom surface of the carrier plate (1) is fixedly connected with a crawler traveling 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-shaped frame (21) and a supporting table (27), the strip-shaped frame (21) is slidingly arranged on the top surface of the supporting table (27), the side of the strip-shaped frame (21) away from the grabbing structure (3) is provided with an auxiliary rod loading and unloading assembly (25), the top surface of the strip-shaped frame (21) is slidingly provided with a mounting table (22), the top surface of the mounting table (22) is fixedly connected with a power head (23), the end of the top surface of the strip-shaped frame (21) is fixedly connected with a holder (24), and the side wall of the mounting table (22) is provided with a traveling assembly (26); the auxiliary rod loading and unloading assembly (25) comprises a side strip plate (251) fixedly connected to the side wall of the strip-shaped frame (21), the side wall of the auxiliary rod loading and unloading assembly (25) is slidingly provided with a sliding table (252) horizontally, the top surface of the sliding table (252) is fixedly connected with a vertical plate (253), two square-shaped sliding openings (254) are horizontally formed in the top of the vertical plate (253), one horizontal column (255) is slidingly sleeved in each square-shaped sliding opening (254), the horizontal column (255) is fixedly connected with a first clamping jaw air cylinder (256) and a second clamping jaw air cylinder (259) near one end of the strip-shaped frame (21), two first clamping plates (257) are fixedly connected to the two output ends of the first clamping jaw air cylinder (256), a plurality of rolling balls (258) are rollingly connected to the side of the two first clamping plates (257) close to each other, and two second clamping plates (2510) are fixedly connected to the two output ends of the second clamping jaw air cylinder (259); the drill rod storage assembly (4) comprises a placing box (41) fixedly connected to the top surface of the carrier plate (1), a placing cavity (42) is formed in the top of the placing box (41), a plurality of separation plates (43) are fixedly connected to the bottom surface of the placing cavity (42) uniformly and vertically, a supporting plate (44) is slidingly sleeved in the placing cavity (42) vertically, a plurality of strip-shaped openings (45) are vertically formed in the supporting plate (44) in positions corresponding to the plurality of separation plates (43), and the strip-shaped openings (45) are slidingly sleeved with the plurality of separation plates (43) located on the same vertical plane. The grabbing structure (3) comprises a strip-shaped table (31) fixed on the top surface of the carrier plate (1), a top table (32) horizontally slidingly arranged on the top surface of the strip-shaped table (31), a vertical arm (33) vertically fixed on the top surface of the top table (32), a first electric push rod (34) fixedly sleeved on the top surface of the vertical arm (33), a first hinge base (35) fixed on the top end of the output shaft of the first electric push rod (34), a first hinge block (36) rotationally connected to the first hinge base (35), a cross arm (37) fixedly connected to the end of the first hinge block (36), a second electric push rod (38) fixedly sleeved on the end of the cross arm (37), a second hinge base (39) fixed on the output end of the second electric push rod (38), a second hinge block (310) rotationally connected to the second hinge base (39), a third electric push rod (311) fixedly connected to the end of the second hinge block (310), and a third clamping jaw cylinder (312) fixedly connected to the output end of the third electric push rod (311). The top surface of the supporting table (27) is provided with a top opening (226), the bottom of the strip-shaped frame (21) is slidingly connected to the top opening (226), the bottom surface of the strip-shaped frame (21) is horizontally fixed with two side sliding rails (227) on both sides, two first side sliding openings (228) are formed on both sides of the top opening (226), the first side sliding openings (228) are slidingly sleeved with the side sliding rails (227), the bottom surface of the supporting table (27) is fixed with a rotating frame (28), the rotating frame (28) is rotationally connected to a fixed frame (29) at the bottom, the bottom surface of the fixed frame (29) is fixed with the top surface of the carrier plate (1), the bottom surface of the supporting table (27) is fixed with two bottom strip blocks (210) on both sides, the bottom surface of each bottom strip block (210) is provided with a bottom sliding groove (211), a bottom sliding block (212) is horizontally slidingly connected in each bottom sliding groove (211), the top surface of the carrier plate (1) is fixed with two lower seat bodies (214) below the two bottom strip blocks (210), the bottom surface of the bottom sliding block (212) is fixed with an upper seat body (213), the end of a hydraulic push rod (215) is rotationally connected to the lower seat body (214), the output end of the hydraulic push rod (215) is rotationally connected to the upper seat body (213), a guide rod (216) is horizontally fixed in the bottom sliding groove (211), a guide hole (217) is formed in the upper surface of the bottom sliding block (212), the guide hole (217) is slidingly sleeved with the guide rod (216), the top surface of the strip-shaped frame (21) is fixed with two T-shaped sliding rails (229), and the bottom surface of the carrying table (22) is provided with two T-shaped sliding channels (230) slidingly sleeved with the T-shaped sliding rails (229).

2. The coal mine electromechanical automated mining directional drilling rig device according to claim 1, characterized in that: The square sliding port (254) top surface fixedly connects a driving bin (2511), the horizontal column (255) top surface fixedly connects a top tooth plate (2513), the driving bin (2511) bottom surface is provided with a bottom slot (2512), the top tooth plate (2513) is connected with the bottom slot (2512) slidingly, a plurality of second synchronous gears (2514) are uniformly connected in the driving bin (2511), the second synchronous gears (2514) bottom surface is located in the bottom slot (2512), a plurality of the second synchronous gears (2514) bottom surface is engaged with the top tooth plate (2513).

3. The coal mine electromechanical automated mining directional drilling rig device according to claim 2, characterized in that: The second shaft column (2515) is fixedly connected with two second synchronous pulleys (2516) on each second shaft column (2515), the second synchronous pulleys (2516) on the adjacent two second shaft columns (2515) are sleeved with a second synchronous belt (2517), the driving bin (2511) side wall fixedly connects a second servo speed reducer motor (2518), the second servo speed reducer motor (2518) shaft end fixedly connects one end of the second shaft column (2515), the horizontal column (255) bottom surface fixedly connects a T-shaped sliding bar (2519), the square sliding port (254) bottom surface is provided with a T-shaped sliding port (2520), the T-shaped sliding bar (2519) is connected with the T-shaped sliding port (2520) slidingly.

4. The coal mine electromechanical automated mining directional drilling rig device according to claim 3, characterized in that: The side strip plate (251) side wall is provided with a dovetail sliding groove (2524), the dovetail sliding groove (2524) is connected with a dovetail sliding block (2525) slidingly, the dovetail sliding block (2525) side wall fixedly connects a sliding table (252), the dovetail sliding groove (2524) is connected with a first screw rod (2526) rotatingly, the dovetail sliding block (2525) is fixedly connected with a first threaded sleeve (2527), the first screw rod (2526) is connected with the first threaded sleeve (2527) threadedly, the side strip plate (251) one end fixedly connects a third servo speed reducer motor (2528), the third servo speed reducer motor (2528) shaft end fixedly connects the first screw rod (2526) end, the side strip plate (251) both ends side wall fixedly connects two side blocks (2521), a plurality of slide columns (2522) are fixedly connected between the two side blocks (2521), a plurality of slide holes (2523) are formed in the sliding table (252), and the slide column (2522) is sleeved with the slide hole (2523) slidingly.

5. The coal mine electromechanical automated mining directional drilling rig device according to claim 4, characterized in that: The walking assembly (26) includes a side warehouse (261), the side warehouse (261) top side wall is connected with the side wall of the carrying table (22), the side warehouse (261) is close to the side slot (262) of the bar frame (21), the bar frame (21) is close to the side tooth plate (219) fixed on one side of the side warehouse (261), the side tooth plate (219) is connected with the side slot (262), two driven gears (263) are rotatably connected in the side warehouse (261), the side wall of the driven gear (263) is located in the side slot (262), two driven gears (263) are connected with the side tooth plate (219), the driving gear (264) is rotatably connected in the side warehouse (261) between the two driven gears (263), the driving gear (264) is connected with the two driven gears (263), the fourth servo reduction motor (265) is fixedly embedded in the top surface of the side warehouse (261), the fourth servo reduction motor (265) is fixedly connected with the driving gear (264) shaft, the second side sliding port (266) is arranged in the bottom side wall of the side warehouse (261), and the second side sliding port (266) is connected with the side sliding rail (227).

6. The coal mine electromechanical automated mining directional drilling rig device according to claim 5, characterized in that: The first synchronous gear (221) is rotatably connected in the inside of the supporting table (27), the top slot (220) is arranged in the bottom surface of the top port (226), the bottom tooth plate (218) is fixedly connected with the bottom surface of the bar frame (21), the bottom tooth plate (218) is connected with the top slot (220), the top surface of the first synchronous gear (221) is located in the top slot (220), the top surface of the first synchronous gear (221) is connected with the bottom tooth plate (218), the first shaft column (222) is fixedly connected with the first synchronous gear (221), the first synchronous belt (224) is sleeved on the first synchronous belt pulley (223) on the first shaft column (222), the first servo reduction motor (225) is fixedly embedded in the side wall of the supporting table (27), and the first servo reduction motor (225) is fixedly connected with the end of the first shaft column (222).

7. The coal mine electromechanical automated mining directional drilling rig device according to claim 6, characterized in that: Two side sliding grooves (46) are arranged on the both sides of the placing cavity (42), one side sliding block (47) is vertically and slidingly connected in each side sliding groove (46), the side sliding block (47) is fixedly connected with the side wall of the supporting plate (44), one third lead screw (48) is vertically and rotationally connected in each side sliding groove (46), the third threaded sleeve (49) is fixedly connected on the side sliding block (47), the third lead screw (48) is threadedly connected with the third threaded sleeve (49), the driving long rod (410) is horizontally and rotationally connected at the bottom of the placing box (41), the driving long rod (410) is fixedly sleeved with two driving bevel gears (411) below the two side sliding grooves (46), the short shaft (412) is fixedly connected at the bottom end of the third lead screw (48), the driven bevel gear (413) is fixedly connected at the bottom end of the short shaft (412), the driving bevel gear (411) is meshingly connected with the driven bevel gear (413), the sixth servo speed reducer motor (414) is fixedly embedded at the bottom side wall of the placing box (41), and the driving long rod (410) is fixedly connected at the end of the rotating shaft of the sixth servo speed reducer motor (414).

8. The coal mine electromechanical automated mining directional drilling rig device according to claim 7, characterized in that: The first hinge base (35) is fixedly connected with the first joint motor (314), the rotating shaft of the first joint motor (314) is fixedly connected with the rotating shaft of the first hinge block (36), the second hinge base (39) is fixedly connected with the second joint motor (315), the rotating shaft of the second joint motor (315) is fixedly connected with the rotating shaft of the second hinge block (310), the power sliding groove (316) is arranged on the top surface of the strip-shaped table (31), the power sliding block (317) is horizontally and slidingly connected in the power sliding groove (316), the power sliding block (317) is fixedly connected with the bottom surface of the top table (32), the second lead screw (318) is horizontally and rotationally connected in the power sliding groove (316), the second threaded sleeve (319) is fixedly connected on the power sliding block (317), the second lead screw (318) is threadedly connected with the second threaded sleeve (319), and the fifth servo speed reducer motor (320) is fixedly connected at the end of the strip-shaped table (31).

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