A hydraulic drill rig for coal mines

Abstract

The application discloses a hydraulic drilling rig for coal mine, comprising a vehicle body. The application realizes automatic installation of extension rods on a drill bit according to drilling depth requirements, automatic disassembly of the extension rods and re-storing of the extension rods into the storage mechanism, and does not require manual operation of the staff, which is convenient and fast. In addition, the two groups of third clamping pieces in the anti-falling mechanism clamp and position the drill bit and the extension rods in the drilled hole as a whole, preventing accidental shaking, deviation or falling, avoiding the occurrence of safety accidents. Furthermore, the drill bit and the extension rods and the two groups of extension rods are connected without threads, preventing the drill bit and the extension rods from accidentally falling into the drilled hole, meeting the requirements of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine drilling vehicles, in particular to a hydraulic drilling vehicle for coal mines. Background Art

[0002] Drilling rigs are mainly used for coal seam excavation operations in the coal mining industry. They are widely used in drilling operations such as coal seam water exploration, gas exploration, fault exploration, roof caving, and water injection. The geological environment of such operations is complex and the drilling resistance is large. Therefore, the drilling rig is required to have high power, high drilling efficiency, and a wide range of drilling angles.

[0003] Most existing drilling rigs do not have the function of automatically loading and unloading drill rods. For workers working in dark and humid underground mines, adding and removing drill rods to the drilling rig is a time-consuming and laborious task. Improper operation may also cause accidents. In addition, the drill rods are usually connected by threaded connections when adding and connecting. Since the drill rods need to be rotated during drilling, the drill rods inside the borehole are extremely easy to fall off, making it inconvenient to remove them from the drilled hole, which makes it difficult to meet the needs of workers. Summary of the Invention

[0004] In order to solve the above technical problems, a hydraulic drilling vehicle for coal mines is provided. This technical solution solves the problems raised in the above background technology.

[0005] In order to achieve the above objects, the technical solution adopted by the present invention is:

[0006] A hydraulic drilling vehicle for coal mines includes a vehicle body, a six-axis robotic arm installed on the top right side of the vehicle body, a drilling mechanism provided at the end of the six-axis robotic arm, a stabilizing mechanism and a disassembly mechanism installed on the drilling mechanism, an anti-drop mechanism provided on both the vehicle body and the six-axis robotic arm, and a storage mechanism installed on the top left side of the vehicle body.

[0007] Preferably, the drilling mechanism includes a first fixed frame welded to the end of the six-axis robotic arm, the first fixed frame is rotatably connected to the inside of the first fixed frame, the outer wall of the first screw rod is threadedly connected to a lifting plate, the lifting plate is slidably connected to the first guide rod, the first guide rod is fixedly connected to the first fixed frame, a first stepper motor for driving the first screw rod to rotate is provided on the outside of the first fixed frame, a drilling motor is fixedly installed on the top of the lifting plate, and the output end of the drilling motor is fixedly connected to the second fixed frame.

[0008] Preferably, the drilling mechanism also includes a first threaded rod and a first fixed rod, the first threaded rod is rotatably connected to the inside of the second fixed frame, the first fixed rod is fixedly connected to the inside of the second fixed frame, the outer wall of the first fixed rod is slidably connected with two groups of first clamping members, the threads opened at both ends of the first threaded rod have opposite rotation directions, and the two groups of first clamping members are respectively threadedly connected to the two ends of the outer surface of the first threaded rod, the outer end of the first threaded rod is fixedly installed on the output end of the first servo motor, and the first servo motor is installed on the outer side wall of the second fixed frame.

[0009] Preferably, the stabilizing mechanism includes a homemade bearing rotatably connected to the inside of the first fixed frame, a third fixed frame is fixedly connected to the outer wall of the homemade bearing, a second threaded rod is rotatably connected to the inside of the third fixed frame, both ends of the outer surface of the second threaded rod are threadedly connected to the second clamping piece, and the threads opened at both ends of the second threaded rod have opposite rotation directions, a second fixed rod is also welded to the inside of the third fixed frame, the second clamping piece is slidably connected to the second fixed rod, a second servo motor is provided on the outside of the third fixed frame, the output end of the second servo motor extends to the inside of the third fixed frame and is fixedly connected to the second threaded rod.

[0010] Preferably, the anti-drop mechanism includes a first drive motor fixedly mounted on the bottom of the vehicle body panel, the output end of the first drive motor is fixedly connected to a drive gear, the bottom base of the six-axis robotic arm is rotatably connected to a driven gear, a fixed seat is welded on the top of the driven gear, the interior of the fixed seat is rotatably connected to the first sleeve, the first sleeve is slidably connected to the second sleeve, the fourth sleeve is fixedly mounted on the outer end of the fourth sleeve, an electric motor for driving the first sleeve to rotate is provided on the outer wall of the fixed seat, and a frame is rotatably connected inside the fourth fixed frame, a second drive motor for driving the frame to rotate is provided on the outer side wall of the fourth fixed frame, and telescopic components are provided in the first sleeve, the second sleeve, the third sleeve and the fourth sleeve.

[0011] Preferably, the anti-drop mechanism also includes two groups of third clamping members, the internal rotation connection of the frame is a third threaded rod, the two groups of third clamping members are respectively threadedly connected to the two ends of the outer surface of the third threaded rod, and a third servo motor is provided on the outside of the frame to drive the third threaded rod to rotate. The threads opened at both ends of the third threaded rod have opposite rotation directions, and a third fixing rod is also fixedly installed in the frame, and the two groups of third clamping members are both slidably connected to the outer wall of the third fixing rod.

[0012] Preferably, the telescopic assembly comprises a second stepper motor, a second screw rod and a lifting piece, an installation groove is formed in the inner wall of the first sleeve, the second stepper motor is fixedly installed in the installation groove, the second screw rod is rotationally connected in the installation groove, the bottom of the second screw rod is fixedly installed on the output end of the second stepper motor, the lifting piece is threadedly connected to the outer wall of the second screw rod, a second guide rod is also fixedly installed in the installation groove, the lifting piece is slidingly connected with the second guide rod, a strip-shaped groove is formed in the top of the lifting piece, two groups of first sliding blocks and two groups of second sliding blocks are slidingly connected to the inner walls of the first sleeve and the fourth sleeve respectively, the outer sides of the two groups of first sliding blocks are rotationally connected with the bottom sides of the two ends of the telescopic piece respectively, and the two groups of second sliding blocks are rotationally connected with the top sides of the two ends of the telescopic piece respectively, the telescopic piece is rotationally connected with the lifting piece, limit grooves are formed in the inner walls of the second sleeve, the third sleeve and the fourth sleeve, and a limiting rod is connected to the telescopic piece, the limiting rod is slidingly connected with the limit grooves.

[0013] Preferably, the storage mechanism comprises first and second placing plates arranged at the left side of the top of the vehicle body, the first and second placing plates store drill bits and extension rods in the interiors thereof, a pressing groove is formed in the top of the outer surface of each of the drill bits and the extension rods, two groups of base cylinders are installed in the interiors of the top ends of the drill bits and the extension rods, two groups of insertion pins are fixedly connected to the bottom of the extension rod, a slot is formed in the outer wall of the insertion pin, a fixing assembly is installed in the base cylinder, a third screw rod is rotationally connected to the front side of the second placing plate, a cover plate is arranged at the right side of the second placing plate, the cover plate is threadedly connected to the outer surface of the third screw rod, a third guide rod is also fixedly installed at the front side of the second placing plate, the cover plate is slidingly connected with the third guide rod, and a third stepper motor for driving the third screw rod to rotate is arranged at the top of the second placing plate.

[0014] Preferably, the dismounting mechanism comprises a fourth stepper motor, the fourth stepper motor is fixedly installed in the interior of the first fixed frame, a fourth screw rod is fixedly installed on the output end of the fourth stepper motor, an active plate is threadedly connected to the outer wall of the fourth screw rod, an electric push rod is arranged at the top of the active plate, the output end of the electric push rod penetrates through the top wall of the active plate and is fixedly connected with a magnet, a fourth guide rod is also fixedly installed in the interior of the first fixed frame, and the active plate is slidingly connected on the fourth guide rod.

[0015] Preferably, the fixing assembly comprises an iron cylinder and a spring, a limit sliding groove is formed in the inner wall of the base cylinder, a limit sliding block is slidingly connected in the limit sliding groove, the limit sliding block is fixedly installed on the iron cylinder, a through groove is uniformly formed in the outer wall of the iron cylinder, an active block is slidingly installed in the iron cylinder, the inner wall of the iron cylinder is fixedly connected with the active block through the spring, three groups of ball beads are arranged in the iron cylinder, a first through hole is formed in the middle position of the outer end of the iron cylinder, and a second through hole is formed in the central position of the active block.

[0016] Compared with the prior art, the hydraulic drill rig for coal mines has the following advantages:

[0017] The present invention uses a drilling mechanism, a stabilizing mechanism, an anti-drop mechanism, a telescopic component, a storage mechanism, a disassembly mechanism and a fixing component in coordination, and realizes the automatic installation of extension rods on the drill bit and the continued addition of extension rods according to the drilling depth requirements. The extension rods can also be automatically disassembled and put back into the storage mechanism without the need for manual operation by staff, which is convenient and fast. Regardless of installation or disassembly, the drill bit and the extension rod remaining in the drilled hole are clamped and positioned as a whole by the two groups of third clamping members in the anti-drop mechanism to prevent them from accidentally shaking and deflecting or falling, thereby avoiding the occurrence of safety accidents. In addition, the present invention avoids the use of threaded connections between the drill bit and the extension rod and between the two groups of extension rods, so that the drill bit and the extension rod will not accidentally fall into the drilled hole, meeting the needs of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a partial front view of the present invention;

[0020] Figure 3 Schematic diagram of the structure of the drilling mechanism of the present invention;

[0021] Figure 4 For the present invention Figure 3 Schematic diagram of the proposed enlarged structure at B;

[0022] Figure 5 Schematic diagram of the structure of the stabilizing mechanism in the present invention;

[0023] Figure 6 For the present invention Figure 2 Schematic diagram of the proposed enlarged structure at point A;

[0024] Figure 7 Schematic diagram of the internal structure of the frame in the present invention;

[0025] Figure 8 Schematic diagram of the installation position of the telescopic assembly in the present invention;

[0026] Figure 9 Schematic diagram of the internal structure of the first sleeve in the present invention;

[0027] Figure 10 Schematic diagram of the internal structure of the fourth sleeve in the present invention;

[0028] Figure 11 Schematic diagram of the structure of the storage mechanism of the present invention;

[0029] Figure 12Structure diagram of drill bit and extension rod in the application;

[0030] Figure 13 Structure diagram of drill bit and extension rod in the application; Figure 12 Structure diagram of C amplification structure;

[0031] Figure 14 Structure diagram of drill bit and extension rod in the application;

[0032] Figure 15 Structure diagram of drill bit and extension rod in the application;

[0033] Marked number in the figure:

[0034] 1, vehicle body; 101, six-axis mechanical arm;

[0035] 2, drilling mechanism; 201, first fixed frame; 202, first lead screw; 203, first guide rod; 204, first stepper motor; 205, lifting plate; 206, drilling motor; 207, second fixed frame; 208, first threaded rod; 209, first fixed rod; 210, first servo motor; 211, first clamping piece;

[0036] 3, stabilizing mechanism; 301, self-made bearing; 302, third fixed frame; 303, second threaded rod; 304, second fixed rod; 305, second servo motor; 306, second clamping piece;

[0037] 4, anti-falling mechanism; 401, first driving motor; 402, driving gear; 403, driven gear; 404, fixed seat; 405, first sleeve; 406, second sleeve; 407, third sleeve; 408, fourth sleeve; 409, fourth fixed frame; 410, frame; 411, second driving motor; 412, third threaded rod; 413, third fixed rod; 414, third servo motor; 415, third clamping piece;

[0038] 5, telescopic assembly; 501, second stepper motor; 502, second lead screw; 503, second guide rod; 504, lifting piece; 505, strip-shaped slot; 506, first sliding block; 507, telescopic piece; 508, second sliding block; 509, limiting slot; 510, limiting rod;

[0039] 6, storage mechanism; 601, first placing plate; 602, second placing plate; 603, third lead screw; 604, third guide rod; 605, third stepper motor; 606, cover plate; 607, drill bit; 608, extension rod; 609, pin; 610, notch; 611, base cylinder;

[0040] 7. Disassembly mechanism; 701. Fourth screw rod; 702. Fourth stepping motor; 703. Fourth guide rod; 704. Movable plate; 705. Electric push rod; 706. Magnet;

[0041] 8. Fixed assembly; 801. Iron cylinder; 802. Ball; 803. Through slot; 804. First through hole; 805. Spring; 806. Movable block; 807. Second through hole. DETAILED DESCRIPTION

[0042] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0043] Example 1

[0044] Please refer to Figures 1-15 As shown, a hydraulic drilling vehicle for coal mines includes a vehicle body 1, a six-axis robotic arm 101 is installed on the top right side of the vehicle body 1, a drilling mechanism 2 is provided at the end of the six-axis robotic arm 101, a stabilizing mechanism 3 and a disassembly mechanism 7 are installed on the drilling mechanism 2, and an anti-drop mechanism 4 is commonly provided on the vehicle body 1 and the six-axis robotic arm 101, and a storage mechanism 6 is also installed on the top left side of the vehicle body 1.

[0045] Example 2

[0046] Please refer to Figure 2 and Figure 3 As shown, the drilling mechanism 2 includes a first fixed frame 201 welded to the end of the six-axis robotic arm 101, the interior of the first fixed frame 201 is rotatably connected to the first screw rod 202, the outer wall of the first screw rod 202 is threadedly connected to the lifting plate 205, the lifting plate 205 is slidably connected to the first guide rod 203, the first guide rod 203 is fixedly connected to the first fixed frame 201, and a first stepper motor 204 for driving the first screw rod 202 to rotate is provided on the outside of the first fixed frame 201, and a drilling motor 206 is fixedly installed on the top of the lifting plate 205, and the output end of the drilling motor 206 is fixedly connected to the second fixed frame 207.

[0047] Please refer to Figure 4 As shown, the drilling mechanism 2 also includes a first threaded rod 208 and a first fixed rod 209. The first threaded rod 208 is rotatably connected to the inside of the second fixed frame 207, and the first fixed rod 209 is fixedly connected to the inside of the second fixed frame 207. The outer wall of the first fixed rod 209 is slidably connected with two groups of first clamping members 211. The threads opened at both ends of the first threaded rod 208 have opposite rotation directions, and the two groups of first clamping members 211 are respectively threadedly connected to the two ends of the outer surface of the first threaded rod 208. The outer end of the first threaded rod 208 is fixedly installed on the output end of the first servo motor 210, and the first servo motor 210 is installed on the outer wall of the second fixed frame 207.

[0048] The skilled in the art can understand that the first lead screw 202 is driven to rotate by the output end of the first stepper motor 204, so that the lifting plate 205 reciprocates along the surface of the first guide rod 203; the second fixed frame 207 is driven to rotate by the output end of the drilling motor 206, so that the two groups of first clamping pieces 211 are driven to rotate; and the first threaded rod 208 is driven to rotate by the output end of the first servo motor 210, so that the two groups of first clamping pieces 211 are driven to move close to or away from each other.

[0049] Embodiment 3

[0050] Please refer to Figure 5 The stable mechanism 3 comprises a self-made bearing 301 rotatably connected in the first fixed frame 201, a third fixed frame 302 fixedly connected to the outer wall of the self-made bearing 301, a second threaded rod 303 rotatably connected in the third fixed frame 302, a second clamping piece 306 threadedly connected to the outer surface of both ends of the second threaded rod 303, and the thread rotation directions of the two ends of the second threaded rod 303 are opposite, a second fixed rod 304 welded in the third fixed frame 302, the second clamping piece 306 being slidably connected with the second fixed rod 304, a second servo motor 305 arranged on the outside of the third fixed frame 302, the output end of the second servo motor 305 extending into the third fixed frame 302 and being fixedly connected with the second threaded rod 303.

[0051] The skilled in the art can understand that the second threaded rod 303 is driven to rotate by the output end of the second servo motor 305, so that the two groups of second clamping pieces 306 are driven to move close to or away from each other, when moving close to each other, the object is clamped, so that the object is fixed on the self-made bearing 301, and vice versa, when moving away from each other, the clamping of the object is released.

[0052] Embodiment 4

[0053] Please refer to Figure 2 and Figure 6As shown, the anti-drop mechanism 4 includes a first drive motor 401 fixedly mounted on the bottom of the vehicle body 1 panel, the output end of the first drive motor 401 is fixedly connected to a drive gear 402, a driven gear 403 is rotatably connected to the bottom base of the six-axis robotic arm 101, a fixed seat 404 is welded to the top of the driven gear 403, a first sleeve 405 is rotatably connected inside the fixed seat 404, a second sleeve 406, a third sleeve 407 and a fourth sleeve 408 are slidably connected inside the first sleeve 405, a fourth fixed frame 409 is fixedly mounted on the outer end of the fourth sleeve 408, an electric motor for driving the first sleeve 405 to rotate is provided on the outer wall of the fixed seat 404, and a frame 410 is rotatably connected inside the fourth fixed frame 409, a second drive motor 411 for driving the frame 410 to rotate is provided on the outer wall of the fourth fixed frame 409, and a telescopic assembly 5 is provided inside the first sleeve 405, the second sleeve 406, the third sleeve 407 and the fourth sleeve 408.

[0054] Please refer to Figure 7 As shown, the anti-drop mechanism 4 also includes two groups of third clamping members 415, and the interior of the frame 410 is rotatably connected to a third threaded rod 412. The two groups of third clamping members 415 are respectively threadedly connected to the two ends of the outer surface of the third threaded rod 412. A third servo motor 414 is provided on the outside of the frame 410 to drive the third threaded rod 412 to rotate. The threads opened at both ends of the third threaded rod 412 rotate in opposite directions. A third fixing rod 413 is also fixedly installed in the frame 410, and the two groups of third clamping members 415 are both slidably connected to the outer wall of the third fixing rod 413.

[0055] Please refer to Figures 8-10 As shown, the telescopic assembly 5 includes a second stepping motor 501, a second screw rod 502 and a lifting member 504. A mounting groove is provided on the inner wall of the first sleeve 405. The second stepping motor 501 is fixedly installed inside the mounting groove. The second screw rod 502 is rotatably connected in the mounting groove. The bottom of the second screw rod 502 is fixedly installed on the output end of the second stepping motor 501. The lifting member 504 is threadedly connected to the outer wall of the second screw rod 502. A second guide rod 503 is also fixedly installed in the mounting groove. The lifting member 504 is slidably connected to the second guide rod 503. A strip groove 505 is provided on the top of the lifting member 504. Two groups of first sliding blocks 506 and two groups of second sliding blocks 508 are slidably connected on the inner walls of the first sleeve 405 and the fourth sleeve 408 respectively. The outer sides of the two groups of first sliding blocks 506 are rotatably connected to the two ends of the bottom side of the telescopic member 507, and the two groups of second sliding blocks 508 are rotatably connected to the two ends of the top side of the telescopic member 507 respectively. The telescopic member 507 is rotatably connected to the lifting member 504. Limiting grooves 509 are provided on the inner walls of the second sleeve 406, the third sleeve 407 and the fourth sleeve 408. A limiting rod 510 is connected to the telescopic member 507, and the limiting rod 510 is slidably connected to the limiting groove 509.

[0056] Those skilled in the art will understand that the output end of the first drive motor 401 drives the drive gear 402 to rotate, causing the driven gear 403 to rotate around the bottom base of the six-axis robot arm 101, thereby driving the first sleeve 405, the second sleeve 406, the third sleeve 407, the fourth sleeve 408 and the two sets of third clamping members 415 to rotate as a whole with the driven gear 403 as the "center";

[0057] The motor output terminal provided on the outer wall of the fixing seat 404 rotates, causing the first sleeve 405 to rotate with the motor output terminal as the "center", driving the two sets of third clamping members 415 to also rotate with the motor output terminal as the "center";

[0058] The output end of the second drive motor 411 drives the frame 410 to rotate, so that the two sets of third clamping members 415 rotate with the output end of the second drive motor 411 as the "center", and the output end of the third servo motor 414 drives the third threaded rod 412 to rotate, so that the two sets of third clamping members 415 move closer to or away from each other;

[0059] And through the forward and reverse rotation of the output end of the second stepper motor 501, the second screw rod 502 is driven to reverse, so that the lifting member 504 slides back and forth along the second guide rod 503, and the lifting member 504 is connected to the telescopic member 507, driving the telescopic member 507 to be in an extended state or a retracted state. When extending, the two groups of first sliding blocks 506 and the two groups of second sliding blocks 508 are kept close to each other, thereby driving the second sleeve 406, the third sleeve 407 and the fourth sleeve 408 to extend from the first sleeve 405 synchronously, and when retracting, the two groups of first sliding blocks 506 and the two groups of second sliding blocks 508 are kept away from each other, thereby driving the second sleeve 406, the third sleeve 407 and the fourth sleeve 408 to retract into the first sleeve 405, thereby driving the two groups of third clamping members 415 to maintain the "advance" or "retract" state.

[0060] Example 5

[0061] Please refer to Figure 11 、 Figure 12 and Figure 13As shown, the storage mechanism 6 includes a first placement plate 601 and a second placement plate 602 arranged on the left side of the top of the vehicle body 1. The first placement plate 601 and the second placement plate 602 store a drill bit 607 and an extension rod 608 inside. The top of the outer surface of the drill bit 607 and the extension rod 608 are provided with a pressing groove. The top of the drill bit 607 and the extension rod 608 are installed with two groups of base cylinders 611. The bottom of the extension rod 608 is fixedly connected to two groups of pins 609. The outer wall of the pin 609 is provided with a notch. 610, a fixing component 8 is installed in the base cylinder 611, and the front side of the second placement plate 602 is rotatably connected to the third screw rod 603, a cover plate 606 is provided on the right side of the second placement plate 602, and the cover plate 606 is threadedly connected to the outer surface of the third screw rod 603, and a third guide rod 604 is also fixedly installed on the front side of the second placement plate 602, and the cover plate 606 is slidably connected to the third guide rod 604, and a third stepping motor 605 for driving the third screw rod 603 to rotate is provided on the top of the second placement plate 602.

[0062] Those skilled in the art will appreciate that the holes provided on the first placement plate 601 and the second placement plate 602 are used to store the drill bit 607 and the extension rod 608, wherein the right ends of the drill bit 607 and the extension rod 608 extend to the right side of the second placement plate 602, that is, the pressing groove is exposed to the outside; the third screw rod 603 is driven to rotate by the output end of the third stepper motor 605, so that the cover plate 606 reciprocates up and down along the outer wall of the third guide rod 604, blocking the right ends of the drill bit 607 and the extension rod 608, and preventing the drill bit 607 and the extension rod 608 from slipping out due to bumps when the vehicle body 1 is moving.

[0063] Example 6

[0064] Please refer to Figure 5 As shown, the disassembly mechanism 7 includes a fourth stepper motor 702, which is fixedly mounted inside the first fixed frame 201, and a fourth screw rod 701 is fixedly mounted on the output end of the fourth stepper motor 702. The outer wall of the fourth screw rod 701 is threadedly connected to a movable plate 704, and an electric push rod 705 is provided on the top of the movable plate 704. The output end of the electric push rod 705 passes through the top wall of the movable plate 704 and is fixedly connected to the magnet 706. A fourth guide rod 703 is also fixedly mounted inside the first fixed frame 201, and the movable plate 704 is slidably connected to the fourth guide rod 703.

[0065] Those skilled in the art will understand that, by driving the fourth screw rod 701 to rotate through the output end of the fourth stepper motor 702, the movable plate 704 reciprocates along the outer wall of the fourth guide rod 703, thereby driving the magnet 706 to move toward or away from the self-made bearing 301, and by extending or contracting the output end of the electric push rod 705, the magnet 706 is driven to move downward or upward.

[0066] Example 7

[0067] Please refer to Figure 12 、 Figure 14 and Figure 15 As shown, the fixing assembly 8 includes an iron cylinder 801 and a spring 805. A limiting groove is provided on the inner wall of the base cylinder 611, and a limiting slider is slidably connected in the limiting groove. The limiting slider is fixedly installed on the iron cylinder 801. Through grooves 803 are evenly provided on the outer wall of the iron cylinder 801. A movable block 806 is slidably installed in the iron cylinder 801. The inner wall of the iron cylinder 801 is fixedly connected to the movable block 806 through a spring 805. Three groups of balls 802 are also provided in the iron cylinder 801, and a first through hole 804 is opened through the middle position of the outer end of the iron cylinder 801, and a second through hole 807 is opened through the center position of the movable block 806.

[0068] Those skilled in the art will appreciate that, in the present invention, the two sets of first clamping members 211 are brought close to each other to clamp the drill bit 607 and the groove formed on the extension rod 608. By cooperating with the output end of the first stepper motor 204 and the output end of the drilling motor 206, the drill bit 607 is rotated and advanced to achieve drilling. Furthermore, by installing the extension rod 608 on the drill bit 607 and further adding extension rods 608 to the extension rod 608, the depth of the drilling hole can be controlled according to actual conditions.

[0069] When installing the extension rod 608, by inserting the pin 609 at the bottom of the extension rod 608 into the first through hole 804, the three groups of balls 802 are pushed outward, and the iron cylinder 801 also moves downward, and the spring 805 presses the movable block 806 upward, driving the balls 302 upward. The balls 302 are also squeezed by the inner wall of the base cylinder 611 and stuck in the notch 610 on the pin 609, thereby locking the pin 609 and achieving fixed installation of the extension rod 608.

[0070] In order to clearly describe the working principle of the present invention, we use Figure 1 The following is an explanation of the azimuth perspective:

[0071] S1. The vehicle body 1 is moved to the work site. The six-axis robotic arm 101 is provided to control the angle of the first fixed frame 201, so that the device is suitable for drilling holes not only on the ground in the tunnel but also on the top of the arch in the tunnel.

[0072] S2. When installing the drill bit 607, the six-axis robot arm 101 is controlled so that the first fixed frame 201 is in a horizontal state and faces the position where the drill bit 607 is stored in the storage mechanism 6. The output end of the third stepper motor 605 drives the third screw rod 603 to rotate, so that the cover plate 606 moves upward along the outer wall of the third guide rod 604, exposing the right end of the drill bit 607. Under the action of the output end of the first stepper motor 204, the two groups of first clamping members 211 move to the left and pass through the self-made bearing 301. Then, the output end of the first servo motor 210 drives the first threaded rod 208 to rotate, so that the two groups of first clamping members 211 approach each other, clamp the pressure groove provided on the drill bit 607, and achieve fixed installation of the drill bit 607.

[0073] S3. When drilling a hole in the ground or the top of an arch in a tunnel, the six-axis robotic arm 101 is controlled so that the first fixed frame 201 is aligned with the position to be drilled. The output end of the first stepper motor 204 cooperates with the output end of the drilling motor 206 to allow the drill bit 607 to rotate and advance simultaneously to achieve drilling.

[0074] S4. When it is necessary to extend the drilling depth, the two groups of third clamping members 415 are firstly made to reach a position of height and angle adapted to the drill bit 607 through the coordinated action of the output end of the first drive motor 401, the output end of the electric motor, the output end of the second stepping motor 501, and the output end of the second drive motor 411. Then, the output end of the third servo motor 414 drives the third threaded rod 412 to rotate, so that the two groups of third clamping members 415 approach each other to fix the drill bit 607. Then, the two groups of first clamping members 211 move away from each other to release the clamping of the drill bit 607. The two groups of third clamping members 415 clamp and position the drill bit 607 to prevent it from accidentally shaking and deflecting. In particular, when drilling a hole on the top of an arched shape in a tunnel, if the drill bit 607 shakes and falls, it will cause unnecessary safety accidents.

[0075] S5. Continue to control the six-axis robotic arm 101 so that the first fixed frame 201 is in a horizontal state and faces the position where the extension rod 608 is stored in the storage mechanism 6. Repeat S2 to make the two groups of first clamping members 211 approach each other and clamp the pressure groove on the extension rod 608. Control the six-axis robotic arm 101 again so that the first fixed frame 201 is aligned with the position of the drill bit 607. Under the action of the output end of the drilling motor 206, the extension rod 608 is rotated, and the pin 609 at the bottom of the extension rod 608 is aligned with the base cylinder 611 set at the top of the drill bit 607. Under the action of the output end of the first stepper motor 204, the pin 609 is inserted into the inside of the first through hole 804 in the base cylinder 611, and the three groups of balls 802 are pushed outward. , together with the iron cylinder 801, it will also move downward, and the spring 805 will press the movable block 806 upward, driving the ball 302 to press upward. The ball 302 will also be squeezed by the inner wall of the base cylinder 611 and stuck in the notch 610 on the pin 609, thereby locking the pin 609, and achieving the fixed installation of the extension rod 608 and the drill bit 607 together. The step S3 is repeated, so that the extension rod 608 and the drill bit 607 as a whole can achieve the extension of the drilling depth under the action of rotating and advancing. To continue to extend the drilling depth, it is only necessary to repeat the above steps in the same way, align the pins 609 at the bottom of one set of extension rods 608 with the previous set of extension rods 608 drilled on the ground surface or the arched top wall in the tunnel, and insert the pins 609 into the base cylinder 611 thereof;

[0076] S6. When drilling through the above steps, the second threaded rod 303 is driven to rotate by the output end of the second servo motor 305, so that the two sets of second clamping members 306 approach each other, thereby clamping the drill bit 607 or the extension rod 608, thereby fixing the drill bit 607 or the extension rod 608 on the self-made bearing 301, improving the stability during drilling. When the drilling depth is controlled through the above steps, the connection between the drill bit 607 and the extension rod 608 and the connection between the two sets of extension rods 608 are all in the same manner, avoiding the traditional method of using a threaded connection, so that the drill bit 607 and the extension rod 608 will not accidentally fall into the drilled hole, meeting the needs of the staff;

[0077] S7. After the drilling is completed, when the extension rod 608 needs to be disassembled, the extension rod 608 is pulled out of the drilled hole by the cooperation of the output end of the first stepper motor 204 and the output end of the drilling motor 206. Under the cooperation of the output end of the fourth stepper motor 702 and the output end of the electric push rod 705, the magnet 706 is close to the connection position of the two groups of extension rods 608 and is located at the position of the base cylinder 611. The iron cylinder 801 moves downward under the magnetic force of the magnet 706, and the three groups of balls 302 have enough space to move outward. , it will unlock the slot 610, and the pin 609 can be directly pulled out from the inside of the base cylinder 611, thereby realizing the disassembly of the extension rod 608, and under the action of the six-axis robot arm 101, it can be put back into the storage mechanism 6, which is convenient and quick. While this process is happening, the two sets of third clamping members 415 will also clamp and position the drill bit 607 and the extension rod 608 remaining in the drilled hole as a whole, preventing them from falling out of the hole drilled in the arched top of the tunnel, further meeting the needs of the staff and improving the ingenuity of the design.

[0078] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic drilling vehicle for coal mines, comprising a vehicle body (1), characterized in that: A six-axis robotic arm (101) is installed on the right side of the top of the vehicle body (1), a drilling mechanism (2) is provided at the end of the six-axis robotic arm (101), a stabilizing mechanism (3) and a disassembly mechanism (7) are installed on the drilling mechanism (2), and an anti-falling mechanism (4) is provided on both the vehicle body (1) and the six-axis robotic arm (101), and a storage mechanism (6) is also installed on the left side of the top of the vehicle body (1); The anti-drop mechanism (4) comprises a first drive motor (401) fixedly mounted on the bottom of the vehicle body (1) machine plate, the output end of the first drive motor (401) is fixedly connected to a drive gear (402), a driven gear (403) is rotatably connected to the bottom base of the six-axis robot arm (101), a fixed seat (404) is welded to the top of the driven gear (403), a first sleeve (405) is rotatably connected inside the fixed seat (404), and a second sleeve (406), a third sleeve (407) and a fourth sleeve (408) are slidably connected inside the first sleeve (405). The outer end of the fourth sleeve (408) is fixedly mounted with a fourth fixed frame (409), an outer wall of the fixed seat (404) is provided with a motor for driving the first sleeve (405) to rotate, and a frame (410) is rotatably connected inside the fourth fixed frame (409), a second driving motor (411) for driving the frame (410) to rotate is provided on the outer side wall of the fourth fixed frame (409), and a telescopic assembly (5) is provided inside the first sleeve (405), the second sleeve (406), the third sleeve (407) and the fourth sleeve (408); The storage mechanism (6) includes a first placement plate (601) and a second placement plate (602) arranged on the left side of the top of the vehicle body (1), wherein the first placement plate (601) and the second placement plate (602) store a drill bit (607) and an extension rod (608) inside, and the top of the outer surface of the drill bit (607) and the extension rod (608) are provided with a pressing groove, and the top of the drill bit (607) and the extension rod (608) are provided with two groups of base cylinders (611) inside, and the bottom of the extension rod (608) is fixedly connected with two groups of pins (609), and the outer wall of the pin (609) is provided with a notch (611). 10), a fixing assembly (8) is installed in the base cylinder (611), and the front side of the second placement plate (602) is rotatably connected to the third screw rod (603), a cover plate (606) is provided on the right side of the second placement plate (602), the cover plate (606) is threadedly connected to the outer surface of the third screw rod (603), and a third guide rod (604) is also fixedly installed on the front side of the second placement plate (602), the cover plate (606) is slidably connected to the third guide rod (604), and a third stepping motor (605) for driving the third screw rod (603) to rotate is provided on the top of the second placement plate (602).

2. A hydraulic drilling vehicle for coal mines according to claim 1, characterized in that: The drilling mechanism (2) comprises a first fixed frame (201) welded to the end of the six-axis robot arm (101); a first screw rod (202) is rotatably connected to the interior of the first fixed frame (201); a lifting plate (205) is threadedly connected to the outer wall of the first screw rod (202); the lifting plate (205) is slidably connected to the first guide rod (203); the first guide rod (203) is fixedly connected to the inside of the first fixed frame (201); a first stepper motor (204) for driving the first screw rod (202) to rotate is provided on the outside of the first fixed frame (201); a drilling motor (206) is fixedly installed on the top of the lifting plate (205); and the output end of the drilling motor (206) is fixedly connected to the second fixed frame (207).

3. A hydraulic drilling vehicle for coal mines according to claim 2, characterized in that: The drilling mechanism (2) further comprises a first threaded rod (208) and a first fixed rod (209), wherein the first threaded rod (208) is rotatably connected to the interior of the second fixed frame (207), and the first fixed rod (209) is fixedly connected to the interior of the second fixed frame (207), and the outer wall of the first fixed rod (209) is slidably connected to two groups of first clamping members (211), the threads opened at both ends of the first threaded rod (208) have opposite rotation directions, and the two groups of first clamping members (211) are respectively threadedly connected to the two ends of the outer surface of the first threaded rod (208), and the outer end of the first threaded rod (208) is fixedly mounted on the output end of the first servo motor (210), and the first servo motor (210) is mounted on the outer side wall of the second fixed frame (207).

4. A hydraulic drilling vehicle for coal mines according to claim 2, characterized in that: The stabilizing mechanism (3) includes a self-made bearing (301) rotatably connected to the interior of the first fixed frame (201), a third fixed frame (302) fixedly connected to the outer wall of the self-made bearing (301), a second threaded rod (303) rotatably connected to the interior of the third fixed frame (302), second clamping members (306) threadedly connected to both ends of the outer surface of the second threaded rod (303), and the threads opened at both ends of the second threaded rod (303) have opposite rotation directions, a second fixed rod (304) is further welded to the interior of the third fixed frame (302), the second clamping member (306) is slidably connected to the second fixed rod (304), a second servo motor (305) is provided on the outside of the third fixed frame (302), and an output end of the second servo motor (305) extends to the interior of the third fixed frame (302) and is fixedly connected to the second threaded rod (303).

5. The hydraulic drilling vehicle for coal mines according to claim 1, characterized in that: The anti-drop mechanism (4) further includes two groups of third clamping members (415), the interior of the frame (410) is rotatably connected to a third threaded rod (412), the two groups of third clamping members (415) are respectively threadedly connected to the two ends of the outer surface of the third threaded rod (412), the outer side of the frame (410) is provided with a third servo motor (414) for driving the third threaded rod (412) to rotate, the threads opened at the two ends of the third threaded rod (412) rotate in opposite directions, a third fixing rod (413) is also fixedly installed in the frame (410), and the two groups of third clamping members (415) are both slidably connected to the outer wall of the third fixing rod (413).

6. The hydraulic drilling vehicle for coal mines according to claim 1, characterized in that: The telescopic assembly (5) includes a second stepper motor (501), a second screw rod (502) and a lifting member (504). A mounting groove is provided on the inner wall of the first sleeve (405). The second stepper motor (501) is fixedly installed inside the mounting groove. The second screw rod (502) is rotatably connected in the mounting groove. The bottom of the second screw rod (502) is fixedly installed on the output end of the second stepper motor (501). The lifting member (504) is threadedly connected to the outer wall of the second screw rod (502). A second guide rod (503) is also fixedly installed in the mounting groove. The lifting member (504) is slidably connected to the second guide rod (503). A strip groove (505) is provided on the top of the lifting member (504). The first set Two groups of first sliding blocks (506) and two groups of second sliding blocks (508) are slidably connected to the inner walls of the cylinder (405) and the fourth sleeve (408), respectively. The outer sides of the two groups of first sliding blocks (506) are rotatably connected to the two ends of the bottom side of the telescopic member (507), and the two groups of second sliding blocks (508) are rotatably connected to the two ends of the top side of the telescopic member (507). The telescopic member (507) is rotatably connected to the lifting member (504). The inner walls of the second sleeve (406), the third sleeve (407) and the fourth sleeve (408) are all provided with a limiting groove (509). The telescopic member (507) is connected to a limiting rod (510), and the limiting rod (510) is slidably connected to the limiting groove (509).

7. A hydraulic drilling vehicle for coal mines according to claim 2, characterized in that: The disassembly mechanism (7) includes a fourth stepper motor (702), the fourth stepper motor (702) is fixedly mounted inside the first fixed frame (201), a fourth screw rod (701) is fixedly mounted on the output end of the fourth stepper motor (702), the outer wall of the fourth screw rod (701) is threadedly connected to a movable plate (704), an electric push rod (705) is provided on the top of the movable plate (704), the output end of the electric push rod (705) passes through the top wall of the movable plate (704) and is fixedly connected to the magnet (706), a fourth guide rod (703) is also fixedly mounted inside the first fixed frame (201), and the movable plate (704) is slidably connected to the fourth guide rod (703).

8. The hydraulic drilling vehicle for coal mines according to claim 1, characterized in that: The fixing assembly (8) comprises an iron cylinder (801) and a spring (805), a limiting slide groove is provided on the inner wall of the base cylinder (611), a limiting slider is slidably connected in the limiting slide groove, the limiting slider is fixedly installed on the iron cylinder (801), through grooves (803) are evenly provided on the outer wall of the iron cylinder (801), a movable block (806) is slidably installed in the iron cylinder (801), the inner wall of the iron cylinder (801) is fixedly connected to the movable block (806) through the spring (805), three groups of balls (802) are further provided in the iron cylinder (801), and a first through hole (804) is provided through the middle position of the outer end of the iron cylinder (801), and a second through hole (807) is provided through the center position of the movable block (806).

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