A drilling robot for underground engineering

Abstract

The application belongs to the technical field of drilling, in particular to a drilling mechanical arm for underground engineering; the drilling mechanical arm comprises a rock drilling jumbo, a mechanical arm is installed on the rock drilling jumbo, a bracket is installed on the mechanical arm, a pushing beam is slidably installed on the bracket, a supporting plate is slidably installed on the left side of the pushing beam on a sliding rail, a rock drill is installed on the supporting plate, a drill rod is installed on the rock drill, a fixed plate is fixedly installed on the right end of the pushing beam, a first annular groove is formed in the through hole, an annular plate is rotatably installed in the first annular groove, a hole opener is fixedly connected to the right end surface of the annular plate, a first sliding frame is arranged on the left side of the fixed plate, an arcuate seat is fixedly connected to the top of the first sliding frame, a cylinder is installed in the arcuate seat, and an auxiliary mechanism is further arranged on the right end of the pushing beam; the positioning mechanism can constrain the drill rod during drilling, effectively limiting the radial swing of the drill rod during high-speed rotation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of drilling, in particular to a drilling mechanical arm for underground engineering. BACKGROUND

[0002] In the field of underground engineering such as mine exploitation and tunnel excavation, rock breaking and excavation are core links, and drilling operation as a pre-process of blasting construction directly determines the safety, economy and construction progress of the project; the rock drilling jumbo is a pre-process equipment for blasting construction, among which the mechanical arm as the movement center of the jumbo realizes flexible adjustment of spatial position through multi-joint linkage structure, can carry the push beam to complete stretching, rotating, pitching and other actions in three-dimensional space, and ensures that the drilling equipment can accurately reach the preset hole position of the working surface; the push beam is a direct bearing component of drilling action, and integrates key components such as rock drill, drill rod and drill rod holder, and the main function is to provide stable thrust and guidance for the rock drill to ensure that the drill rod drills in the preset direction. The structural rigidity and guidance accuracy of the push beam are the core elements to ensure the straightness and depth control of drilling.

[0003] In underground engineering, drilling and blasting technology is the mainstream way of rock excavation, which is to drill a blast hole with specific parameters in the rock in advance, fill in explosives and then detonate, use the shock wave and gas pressure generated by explosion to break the rock, and form an excavation contour meeting the design requirements. This technology is suitable for various lithological conditions, especially has irreplaceable advantages in hard rock strata. Compared with mechanical breaking and other methods, drilling and blasting has the characteristics of high efficiency, low cost and wide adaptability.

[0004] However, the push beam design of the existing rock drilling jumbo still has technical limitations: to meet the needs of deep hole operation, the length of the push beam is usually large, and the length of the corresponding drill rod is also increased; although the drill rod holder is provided on the push beam, due to the limitation of structural layout, the support span between the drill rod holders is large, and the distance between the middle drill rod holder and the rock drill is also difficult to further reduce; this large-span support mode makes the long drill rod prone to radial jumping during high-speed rotation and impact operation, that is, the drill rod has aperiodic radial deviation around the axis, which causes the drilling trajectory to deviate from the preset direction, affecting the straightness and depth accuracy of the hole; at the same time, when the drill rod radially jumps, the friction between the drill rod and the hole wall is increased, which causes the drill to wear faster, and even causes the drill rod to bend, break and other faults. SUMMARY

[0005] In order to make up for the shortcomings of the prior art and solve the above technical problems, the present application provides a drilling mechanical arm for underground engineering, which can constrain the drill rod during drilling by setting a positioning mechanism, effectively limiting the radial shaking of the drill rod during high-speed rotation; the specific structure is as follows:

[0006] The utility model provides a kind of drilling mechanical arm for underground engineering, including jumbo;Mechanical arm is installed on the jumbo;Bracket is installed on the mechanical arm;Pushing beam is slidably installed on the bracket;The top and bottom of the pushing beam are equipped with slide rails;The left side of the pushing beam is slidably equipped with a supporting plate on slide rail, and rock drill is installed on the supporting plate;Drill rod is installed on the rock drill;

[0007] The right side end of the pushing beam is equipped with positioning mechanism;The positioning mechanism includes fixed plate;Fixed plate is fixedly installed on the right side end of the pushing beam, and the top of fixed plate is semicircular;Hole is formed in the fixed plate, and the hole is concentrically arranged with the drill rod;

[0008] First annular groove is formed in the hole;Annular plate rotates in the first annular groove;The right side end surface of the annular plate is fixedly connected with the hole opener;Annular plate outer circle surface is fixedly connected with uniformly arranged gear teeth, and gear teeth slide in the fixed plate interior;Gear rotates in the fixed plate, and the gear is engaged with the gear teeth and is driven by the first motor;

[0009] The left side of the fixed plate is equipped with first sliding frame, and the first sliding frame slides on the slide rail on the top of the pushing beam;Hydraulic cylinder is fixedly installed on the both sides of the pushing beam, and the elongated rod of the hydraulic cylinder is fixedly connected with the first sliding frame;

[0010] The top of the first sliding frame is fixedly connected with the arched seat;Cylinder is installed in the arched seat, and the right side of the cylinder extends out of the arched seat, and the left side extends to the middle position of the arched seat;Drill rod passes through the arched seat;The outer circle diameter of the cylinder is same with the inner circle diameter of the annular plate;

[0011] The right side end of the pushing beam is also equipped with auxiliary mechanism.

[0012] As a preferred mode of the utility model, the auxiliary mechanism includes C-shaped cylinder, and the opening of the C-shaped cylinder faces downward;

[0013] The fixed plate is located in the inner circle of the C-shaped cylinder in initial state;Second sliding frame is fixedly connected on the both sides of the C-shaped cylinder, and the second sliding frame extends to the slide rail on the bottom of the pushing beam and slides on the slide rail on the bottom;

[0014] The distance between the two second sliding frames is greater than the maximum length of the first sliding frame, and the first sliding frame does not affect the movement of the second sliding frame;

[0015] The guide rod is installed below the hydraulic cylinder on the side wall of the pushing beam;Guide block is fixedly connected on the side of the second sliding frame towards the guide rod, and the guide block slides on the guide rod;Spring is fixedly connected on the side of the guide block towards the bracket, and the guide rod passes through the spring;

[0016] The right end of the C-shaped cylinder is provided with uniformly arranged circular grooves; and a plug rod is slidably arranged in the circular grooves through a spring.

[0017] As a preferred mode of the present application, the inner ring of the C-shaped cylinder is provided with uniformly arranged sliding grooves, and a sliding block is slidably arranged in each sliding groove;

[0018] A positioning plate is hingedly connected to the sliding block through a torsion spring, and the positioning plate is inclined towards the center of the C-shaped cylinder; an electric push rod is fixedly connected to the left end of the C-shaped cylinder, and the elongated rod of the electric push rod extends into the sliding groove and is fixedly connected with the sliding block;

[0019] The side of the sliding groove towards the center is fixedly connected with a limiting plate, and the limiting plate is not in contact with the positioning plate in the initial state.

[0020] As a preferred mode of the present application, a rotating roller is arranged at the end of the positioning plate.

[0021] As a preferred mode of the present application, the cylinder body comprises an inner cylinder and an outer cylinder; and the outer cylinder is fixed in the arc-shaped seat;

[0022] The inner cylinder rotates in the outer cylinder; a hexagonal groove is formed in the middle of the inner cylinder, and the drill rod passes through the hexagonal groove.

[0023] As a preferred mode of the present application, a blocking ring is fixedly connected to the outer ring of the hole opener; and a plurality of leakage holes are uniformly arranged between the blocking ring and the ring plate on the hole opener;

[0024] The right end of the inner cylinder is fixedly connected with uniformly arranged push plates, and the surface of the opposite side of each push plate is an arc surface, and the diameter of the arc surface is the same as the diameter of the inner ring of the hole opener.

[0025] As a preferred mode of the present application, the left side of the arc-shaped seat is also provided with a cylinder body, and the outer cylinder of the cylinder body is fixed in the arc-shaped seat.

[0026] As a preferred mode of the present application, a plurality of cylinder bodies are arranged on the left side of the arc-shaped seat.

[0027] The bottom of each cylinder body on the left side of the arc-shaped seat is fixedly connected with a support plate, and the support plate extends into the inside of the advancing beam; a slide is formed in the top of the advancing beam, and the support plate slides in the slide;

[0028] A guide rail is fixedly installed in the inside of the advancing beam, and each support plate slides on the guide rail.

[0029] As a preferred mode of the present application, the support plates adjacent to each other are connected through elastic belts;

[0030] A screw pair is fixedly connected to the bottom of the support plate closest to the rock drill; and a screw is rotatably arranged in the inside of the advancing beam, and the screw pair and the screw are in screw transmission;

[0031] The lead screw is driven by a servo motor, and the servo motor is installed at the left end of the advancing beam.

[0032] As a preferred mode of the present application, the top of the lead screw is provided with a reinforcing rod, and the reinforcing rod is fixedly installed inside the advancing beam.

[0033] The reinforcing rod passes through the support plate and is in sliding connection with the support plate.

[0034] The beneficial effects of the present application are as follows:

[0035] 1. The drilling mechanical arm for underground engineering utilizes the double constraints of the hole opener turned into the rock layer and the sleeve body sleeved with the drill rod, the hole opener provides initial guidance for the drill rod through the pre-cut hole, and the sleeve body forms rigid support for the middle section of the drill rod during drilling; compared with the traditional support mode relying on the front and rear drill rod holders, the radial swing of the drill rod during high-speed rotation can be effectively limited, and the straightness of the drill rod during drilling is improved; at the same time, the hole opener located in the rock layer can reduce the impact load when the drill rod initially contacts the rock layer, reduce the drill rod breakage and wear caused by jumping, and prolong the service life of the drilling tool; at the same time, the advancing beam can be limited to avoid vibration of the advancing beam caused by the drill rod during drilling.

[0036] 2. The drilling mechanical arm for underground engineering realizes uniform stress at multiple points through independent slidable insertion rods and self-adaptive contact with the rock layer surface, avoids the slippage problem caused by uneven working surface due to single-point positioning, and ensures accurate alignment of the hole position and the marked position from the initial stage of drilling by increasing the friction between the insertion rod and the rock layer through spring feedback pressure and combining with the pre-cut positioning of the hole opener.

[0037] 3. The drilling mechanical arm for underground engineering, since the hole opener is provided with a leakage hole, water and debris flowing out of the drill hole will flow out through the leakage hole, and since the sleeve body extends to the position of the hole opener, the water flow can be blocked to avoid flowing to the through hole and the advancing beam, thereby polluting the through hole and the advancing beam; in the process of rotating the inner sleeve driven by the drill rod, the push plate will also rotate, and when the sleeve body is inserted into the ring plate, the push plate will enter the inner circle of the hole opener, the rotating push plate will rotate along the inner circle of the hole opener, thereby pushing the water and debris to rotate, and when the water and debris pass through the leakage hole position, they can fall from the leakage hole. BRIEF DESCRIPTION OF DRAWINGS

[0038] The present application will be further described below with reference to the accompanying drawings.

[0039] Figure 1 is the state diagram of the advancing beam before drilling in the present application;

[0040] Figure 2 is another perspective view of the state of the advancing beam before drilling in the present application;

[0041] Figure 3 is a state view of the advancing beam while drilling in the present application;

[0042] Figure 4 is a structural view of the advancing beam, the positioning mechanism and the auxiliary mechanism in the present application;

[0043] Figure 5 is a partial enlarged view of A in the present application; Figure 4

[0044] Figure 6 is a right view of the advancing beam in the present application;

[0045] Figure 7 is a sectional view of B-B before drilling of the advancing beam in the present application; Figure 6

[0046] is a partial enlarged view of C in the present application; Figure 8 Figure 7

[0047] Figure 9 is a sectional view of B-B while drilling of the advancing beam in the present application; Figure 6

[0048] Figure 10 is a partial enlarged view of D in the present application; Figure 9

[0049] Figure 11 is a partial enlarged view of E in the present application; Figure 9

[0050] Figure 12 is a sectional view of F-F in the present application. Figure 9

[0051] In the figure: 1, bracket; 11, advancing beam; 12, slide rail; 13, supporting plate; 14, rock drill; 15, drill rod; 16, slide; 2, fixed plate; 21, through hole; 22, first ring groove; 23, ring plate; 231, gear tooth; 24, hole opener; 241, blocking ring; 242, leakage hole; 25, gear; 26, first motor; 3, first slide; 31, hydraulic cylinder; 32, arched seat; 33, cylinder; 34, inner cylinder; 35, outer cylinder; 36, push plate; 4, C-shaped cylinder; 41, second slide; 42, guide rod; 43, guide block; 44, insertion rod; 45, sliding groove; 46, sliding block; 47, positioning plate; 48, electric push rod; 49, limiting plate; 5, supporting plate; 51, guide rail; 52, elastic belt; 53, screw pair; 54, servo motor; 55, reinforcing rod; 56, screw. DETAILED DESCRIPTION ​​​​​​​

[0052] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0053] like Figures 1 to 12 As shown, the present invention discloses a drilling robotic arm for underground engineering, comprising a rock drilling rig; a robotic arm is mounted on the rock drilling rig; a bracket 1 is mounted on the robotic arm; a propulsion beam 11 is slidably mounted on the bracket 1; slide rails 12 are provided at the top and bottom of the propulsion beam 11; a support plate 13 is slidably mounted on the slide rail 12 on the left side of the propulsion beam 11, and a rock drill 14 is mounted on the support plate 13; a chisel 15 is mounted on the rock drill 14.

[0054] The right end of the push beam 11 is provided with a positioning mechanism; the positioning mechanism includes a fixing plate 2; the right end of the push beam 11 is fixedly installed with the fixing plate 2, and the top of the fixing plate 2 is semi-circular; the fixing plate 2 has a through hole 21, and the through hole 21 is concentric with the drill rod 15;

[0055] A first annular groove 22 is formed in the through hole 21; an annular plate 23 is rotatably arranged in the first annular groove 22; a hole opener 24 is fixedly connected to the right end face of the annular plate 23; uniformly arranged gear teeth 231 are fixedly connected to the outer ring surface of the annular plate 23, and the gear teeth 231 slide inside the fixed plate 2; gears 25 are rotatably connected to the top and bottom of the annular plate 23, and the gears 25 rotate inside the fixed plate 2; the gears 25 mesh with the gear teeth 231 and are driven by a first motor 26.

[0056] The fixed plate 2 is provided with a first slide 3 on the left side, and the first slide 3 slides on the slide rail 12 on the top of the push beam 11; hydraulic cylinders 31 are fixedly installed on both sides of the push beam 11, and the extension rods of the hydraulic cylinders 31 are fixedly connected to the first slide 3.

[0057] An arched seat 32 is fixedly connected to the top of the first slide 3; a cylindrical body 33 is installed inside the arched seat 32, and the right side of the cylindrical body 33 extends out of the arched seat 32, while the left side extends to the middle of the arched seat 32; the chisel 15 passes through the arched seat 32; the outer diameter of the cylindrical body 33 is the same as the inner diameter of the ring plate 23.

[0058] An auxiliary mechanism is also provided at the right end of the propulsion beam 11;

[0059] In this embodiment, the auxiliary mechanism includes a C-shaped cylinder 4, and the opening of the C-shaped cylinder 4 faces downward;

[0060] The fixed plate 2 is initially located in the inner ring of the C-shaped cylinder 4; the C-shaped cylinder 4 is fixedly connected with the second sliding frame 41 on both sides, and the second sliding frame 41 extends to the slide rail 12 at the bottom of the advancing beam 11 and slides on the slide rail 12 at the bottom;

[0061] The distance between the two second sliding frames 41 is greater than the maximum length of the first sliding frame 3, and the first sliding frame 3 does not affect the movement of the second sliding frame 41;

[0062] The guide rod 42 is installed below the two hydraulic cylinders 31 on the side wall of the advancing beam 11 through the fixed block; the guide block 43 is fixedly connected to one side of the second sliding frame 41, and the guide block 43 slides on the guide rod 42; the spring is fixedly connected to one side of the bracket 1 towards the guide block 43, and the guide rod 42 passes through the spring;

[0063] The C-shaped cylinder 4 is provided with a circular groove at the right end; the plug rod 44 is slidably arranged in the circular groove by the spring.

[0064] The rock drilling jumbo is driven to move to the drilling position, the mechanical arm is controlled to adjust to the working position, the front end of the advancing beam 11 is aligned with the marked position of the required drilling hole, and the advancing beam 11 is controlled to move on the bracket 1, so that the advancing beam 11 gradually approaches the marked position. In the process of moving the advancing beam 11, the auxiliary mechanism is moved, and the center position of the C-shaped cylinder 4 on the auxiliary mechanism is aligned with the marked position. Then, the advancing beam 11 is continuously controlled to approach the marked position. In the process of the auxiliary mechanism gradually approaching the marked position, the plug rod 44 on the C-shaped cylinder 4 gradually contacts the rock stratum, and because the plug rod 44 is hindered, it slides into the circular groove and presses the spring. Because the plug rod 44 exists alone, if the surface of the rock stratum is not planar, the plug rod 44 that first contacts the rock stratum will slide into the circular groove, and then the other plug rods 44 will gradually contact the recesses of the rock stratum, so that all the plug rods 44 act on the surface of the rock stratum;

[0065] Specifically, the advancing beam 11 is continuously controlled to move to the marked position. Because multiple plug rods 44 contact the surface of the rock stratum, they are hindered by the rock stratum and push the C-shaped cylinder 4 to move left as a whole. When the C-shaped cylinder 4 moves, the second sliding frame 41 moves left. Because the second sliding frame 41 slides on the slide rail 12 at the bottom of the advancing beam 11, and the guide block 43 fixedly connected to the second sliding frame 41 slides on the guide rod 42, the second sliding frame 41 moves along the slide rail 12 at the bottom of the advancing beam 11 and through the guide block 43 along the guide rod 42, while compressing the spring sleeved on the guide rod 42. At this time, the C-shaped cylinder 4 is subjected to the reaction force generated by the spring, which is increased and fed back to the plug rod 44, so that the pressure of the plug rod 44 inserted into the surface of the rock stratum is increased, and the friction force is increased;

[0066] More specifically, since the first carriage 3 does not affect the movement of the second carriage 41, the second carriage 41 will gradually move to the left side of the first carriage 3, and the opening device 24 will gradually extend from the right side of the C-shaped cylinder 4 and gradually contact the rock surface during the gradual leftward movement of the C-shaped cylinder 4. When the opening device 24 contacts the rock surface, the first motor 26 is controlled to rotate, and the rotating first motor 26 drives the gear 25 to rotate. Since the gear 25 is in meshing engagement with the toothed ring 231 of the outer ring of the ring plate 23, the ring plate 23 is driven to rotate, and the ring plate 23 drives the opening device 24 to rotate. During the rotation of the opening device 24, the rock is gradually cut. At this time, the advancing beam 11 is continuously controlled to slowly move towards the rock, and the opening device 24 gradually rotates into the rock. When the opening device 24 rotates into the rock, the first motor 26 is controlled to stop rotating, and the advancing beam 11 is controlled to stop moving. Then, the drilling operation can be performed.

[0067] Further, during the drilling, the hydraulic cylinder 31 is controlled to extend, and the extending hydraulic cylinder 31 drives the first carriage 3 to move towards one side of the fixed plate 2. During the movement of the first carriage 3, the top arched seat 32 and the cylinder 33 inside the arched seat 32 are driven to move. The moving cylinder 33 gradually inserts into the through hole 21 of the fixed plate 2 and the ring plate 23. When the hydraulic cylinder 31 extends to the limit position, at this time, the cylinder 33 moves to the position of the opening device 24. Then, the rock drill 14 is controlled to work, and the rock drill 14 drives the drill rod 15 to rotate and drives the supporting plate 13 to move towards one side of the fixed plate 2, and drives the drill rod 15 to rotate and move to the right. The moving drill rod 15 rotates in the cylinder 33 and gradually passes through the cylinder 33. When the drill rod 15 passes through the cylinder 33, it enters the inner ring of the opening device 24 and gradually contacts the rock. When the drill rod 15 contacts the rock, it performs the drilling operation and gradually rotates into the rock. Since the opening device 24 rotates into the rock and the cylinder 33 is located in the ring plate 23 at this time, the rotating drill rod 15 can be limited to avoid the drill rod 15 from jumping radially during the drilling operation.

[0068] Further, when the drilling is completed, the supporting plate 13 is controlled to move away from the fixed plate 2, so that the drill rod 15 is gradually pulled out of the rock. When the drill rod 15 is completely pulled out of the rock, the advancing beam 11 is controlled to move away from the rock. When the rock does not hinder the insertion rod 44, the spring on the guide rod 42 drives the second carriage 41 and the C-shaped cylinder 4 to return to the initial state. The hydraulic cylinder 31 drives the first carriage 3 to return to the initial state. Then, the drilling is continuously performed at other marked positions. When all the holes in the rock are drilled, the blasting operation can be performed.

[0069] Overall, by independent slidable insertion rod 44 and rock surface self-adaptive contact, whether the rock is flat, can realize multi-point uniform stress, avoid single-point positioning slip problem caused by uneven working surface; at the same time, the insertion rod 44 increases the friction force with the rock through the spring feedback pressure, combined with the pre-cutting positioning of the hole opener 24, ensures the accurate alignment of the hole position and the marked position from the initial stage of drilling, solves the defect that the traditional rubber block single-point positioning is easy to misposition;

[0070] At the same time, the hole opener 24 turned into the rock and the sleeve body 33 of the drill rod 15 form double restraint, the hole opener 24 provides initial guidance for the drill rod 15 through the pre-cutting formed channel, and the sleeve body 33 forms rigid support for the middle section of the drill rod 15 during drilling; compared with the traditional support mode of relying on front and rear drill rod holders, the radial swing of the drill rod 15 during high-speed rotation can be effectively limited, and the straightness of the drill rod 15 during drilling is improved; at the same time, the hole opener 24 located in the rock can reduce the impact load when the drill rod 15 initially contacts the rock, reduce the faults such as fracture and wear of the drill rod 15 caused by jumping, prolong the service life of the drilling tool, and limit the push beam 11, avoid the vibration of the push beam 11 caused by the drill rod 15 during drilling.

[0071] As an embodiment of the present application; the C-shaped cylinder 4 is provided with uniformly arranged sliding grooves 45 in the inner ring, and sliding blocks 46 are slidably arranged in the sliding grooves 45;

[0072] The sliding blocks 46 are hingedly connected with positioning plates 47 through torsional springs, and the positioning plates 47 are inclined towards the center of the C-shaped cylinder 4; the left side end of the C-shaped cylinder 4 is fixedly connected with an electric push rod 48, and the extension rod of the electric push rod 48 extends into the sliding groove 45 and is fixedly connected with the sliding block 46;

[0073] The side of the sliding groove 45 towards the center is fixedly connected with a limiting plate 49, and the limiting plate 49 is not in contact with the positioning plate 47 in the initial state;

[0074] In this embodiment, the positioning plate 47 is rotatably connected with a rotating roller at the end;

[0075] When the drilling operation is performed, the advancing beam 11 is controlled to move to the marked position, and the plurality of positioning plates 47 are in contact with the marked position, since the positioning plates 47 are towards the circular position of the C-shaped cylinder 4, when the ends of the positioning plates 47 are in contact with the marked position, it can be ensured that the marked position is at the center position of the C-shaped cylinder 4, avoiding deviation of the marked position and the drilling position; then the advancing beam 11 is controlled to move towards the side of the rock stratum, in the process of moving of the advancing beam 11, the electric push rod 48 is controlled to retract, the retracted electric push rod 48 pulls the sliding block 46 to move, and the sliding block 46 will drive the positioning plate 47 to move, when the positioning plate 47 is in contact with the limiting plate 49, at this time the inserting rod 44 is inserted on the rock stratum, then the positioning plate 47 will rotate to the side of the inserting rod 44 under the obstruction of the limiting plate 49, when the positioning plate 47 rotates to the horizontal state, it will be gradually pulled into the sliding groove 45.

[0076] Since the end of the positioning plate 47 rotates with the rotating roller, in the process of rotating of the positioning plate 47, if the positioning plate 47 is in contact with the surface of the rock stratum, the rotating roller can rotate along the rock stratum, thereby reducing the friction between the positioning plate 47 and the rock stratum.

[0077] As an embodiment of the present application; the cylinder body 33 comprises an inner cylinder 34 and an outer cylinder 35; the outer cylinder 35 is fixed in the arched seat 32;

[0078] The inner cylinder 34 rotates in the outer cylinder 35; a hexagonal groove is formed in the middle of the inner cylinder 34, and the drill rod 15 passes through the hexagonal groove;

[0079] In the embodiment, the outer ring of the hole opener 24 is fixedly connected with a blocking ring 241; a plurality of leak holes 242 are uniformly arranged between the blocking ring 241 and the ring plate 23 and are formed in the hole opener 24;

[0080] The right end of the inner cylinder 34 is fixedly connected with a plurality of push plates 36 which are uniformly arranged, and the surface of the side opposite to the push plate 36 is an arc surface, and the diameter of the arc surface is the same as the diameter of the inner ring of the hole opener 24;

[0081] Since the drill rod 15 slides in the hexagonal groove of the inner cylinder 34, and the inner cylinder 34 rotates in the outer cylinder 35, when the drill rod 15 rotates, the drill rod 15 will drive the inner cylinder 34 to rotate in the outer cylinder 35, since the inner cylinder 34 is limited by the outer cylinder 35, and the outer cylinder 35 is also limited in the ring plate 23, therefore the drill rod 15 can be limited in multiple ways, the concentricity of the drill rod 15 in the high-speed rotating state is improved, the drilling trajectory deviation caused by the jumping of the drill rod 15 is effectively avoided, and the drilling precision is improved;

[0082] Specifically, since the outer ring of the hole opener 24 is provided with a blocking ring 241, when the blocking ring 241 is in contact with the surface of the rock stratum, the hole opener 24 no longer continues to penetrate under the obstruction of the blocking ring 241; in the traditional drilling work, since the drill rod 15 is internally provided with a hole, water flowing into the drill rod 15 will flow out through the end of the drill rod 15, and the water flowing out can not only cool the drill rod, but also remove the debris in the drill hole;

[0083] Since the hole opener 24 is provided with a leakage hole 242, the water and debris flowing out of the drill hole will flow out through the leakage hole 242, and since the cylinder body 33 extends to the position of the hole opener 24, the water can be blocked from continuing to flow, thereby avoiding the pollution of the through hole 21 and the advancing beam 11. In the process of rotating the inner cylinder 34 driven by the drill rod 15, the inner cylinder 34 will also drive the push plate 36 to rotate. When the cylinder body 33 is inserted into the ring plate 23, the push plate 36 will enter the inner ring of the hole opener 24. The rotating push plate 36 will rotate along the inner ring of the hole opener 24, thereby pushing the water and debris to rotate. When the water and debris pass through the position of the leakage hole 242, they can fall from the leakage hole 242.

[0084] As an embodiment of the present application; the left side of the arched seat 32 is also provided with a cylinder body 33, and the outer cylinder 35 of the cylinder body 33 is fixed in the arched seat 32;

[0085] In this embodiment, the left side of the arched seat 32 is provided with a plurality of cylinder bodies 33;

[0086] The bottom of the cylinder body 33 on the left side of the arched seat 32 is fixedly connected with a support plate 5, and the support plate 5 extends into the inside of the advancing beam 11; the top of the advancing beam 11 is provided with a slide 16, and the support plate 5 slides in the slide 16;

[0087] The advancing beam 11 is fixedly provided with a guide rail 51 inside, and the support plate 5 slides on the guide rail 51;

[0088] In this embodiment, the adjacent support plates 5 are connected by elastic belts 52;

[0089] The bottom of the support plate 5 closest to the rock drill 14 is fixedly connected with a screw rod pair 53; the advancing beam 11 is rotatably provided with a screw rod 56, and the screw rod pair 53 and the screw rod 56 are in screw transmission;

[0090] The screw rod 56 is driven by a servo motor 54, and the servo motor 54 is installed on the left side end of the advancing beam 11;

[0091] In this embodiment, the top of the screw rod 56 is provided with a reinforcing rod 55, and the reinforcing rod 55 is fixedly installed in the inside of the advancing beam 11;

[0092] The reinforcing rod 55 passes through the support plate 5 and is in sliding connection with the support plate 5;

[0093] Because the left side of the arch-shaped seat 32 is provided with a plurality of barrels 33, and the support plates 5 fixedly connected at the bottom of the barrels 33 all slide on the guide rails 51, so that the supporting area of the drill rod 15 can be increased, the stability of the drill rod 15 during rotation is improved, and the radial swing of the drill rod 15 during high-speed rotation is effectively limited.

[0094] Specifically, before the rock stratum is drilled, the servo motor 54 is controlled to rotate, so as to drive the lead screw 56 to rotate. Since the support plate 5 closest to the rock drill 14 is fixedly connected with the screw pair 53 at the bottom, the rotating lead screw 56 drives the screw pair 53 to move towards the rock drill 14, and at the same time drives the support plate 5 and the barrel 33 above the screw pair 53 to move. Since the adjacent support plates 5 are connected through the rubber belt, the plurality of barrels 33 on the left side of the arch-shaped seat 32 which are not in contact with the arch-shaped seat 32 are gradually pulled to move, so that the plurality of barrels 33 move along the drill rod 15 and gradually separate, thereby supporting the drill rod 15 at multiple points. Compared with the supporting mode of the traditional single or few drill rod supports, the radial force generated during high-speed rotation of the drill rod 15 can be more evenly dispersed, and the swing amplitude of the drill rod 15 is significantly reduced.

[0095] During the process that the supporting plate 13 drives the rock drill 14 to gradually move to the right, the servo motor 54 is controlled to reverse, so as to drive the support plate 5 close to the rock drill 14 to move to the right through the screw pair 53, thereby driving the leftmost barrel 33 to move to the right. The barrel 33 moving to the right gradually pushes the other barrels 33 on the right to move, so that the rock drill 14 is supported at the middle part of the drill rod 15 by the plurality of barrels 33 during the process of controlling the drill rod 15 to advance, and the plurality of barrels 33 can always form continuous support for the middle part of the drill rod 15, so that the support blind area during the extension of the drill rod 15 can be eliminated.

[0096] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance. Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0097] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A drilling mechanical arm for underground engineering, comprising a rock drilling jumbo; a mechanical arm is installed on the rock drilling jumbo; a bracket (1) is installed on the mechanical arm; a propulsion beam (11) is slidingly installed on the bracket (1); sliding rails (12) are arranged on the top and bottom of the propulsion beam (11); a supporting plate (13) is slidingly arranged on the left side of the propulsion beam (11) on the sliding rail (12), and a rock drill (14) is installed on the supporting plate (13); a drill rod (15) is installed on the rock drill (14); characterized in that; A positioning mechanism is arranged at the right end of the propulsion beam (11); the positioning mechanism comprises a fixed plate (2); the fixed plate (2) is fixedly installed at the right end of the propulsion beam (11); a through hole (21) is formed in the fixed plate (2); A first annular groove (22) is formed in the through hole (21); an annular plate (23) is rotatably arranged in the first annular groove (22); an opening device (24) is fixedly connected to the right end surface of the annular plate (23); a plurality of evenly arranged gear teeth (231) are fixedly connected to the outer ring surface of the annular plate (23); gear wheels (25) are rotatably connected to the top and bottom of the annular plate (23); the gear wheels (25) are engaged with the gear teeth (231) and are driven by a first motor (26); A first sliding frame (3) is arranged on the left side of the fixed plate (2) and slidingly arranged on the sliding rail (12) on the top of the propulsion beam (11); hydraulic cylinders (31) are fixedly installed on the two sides of the propulsion beam (11), and the extension rods of the hydraulic cylinders (31) are fixedly connected with the first sliding frame (3); An arcuate seat (32) is fixedly connected to the top of the first sliding frame (3); a cylinder (33) is installed in the arcuate seat (32); the drill rod (15) passes through the arcuate seat (32); the outer diameter of the cylinder (33) is the same as the inner diameter of the annular plate (23); An auxiliary mechanism is further arranged at the right end of the propulsion beam (11); the auxiliary mechanism comprises a C-shaped cylinder (4), and the opening of the C-shaped cylinder (4) faces downward; The fixed plate (2) is located in the inner ring of the C-shaped cylinder (4) in the initial state; second sliding frames (41) are fixedly connected to the two sides of the C-shaped cylinder (4), and the second sliding frames (41) extend to the sliding rails (12) on the bottom of the propulsion beam (11) and slidingly arranged on the sliding rails (12) on the bottom; The distance between the two second sliding frames (41) is greater than the maximum length of the first sliding frame (3), and the first sliding frame (3) does not affect the movement of the second sliding frame (41); Guide rods (42) are installed below the two hydraulic cylinders (31) on the side walls of the propulsion beam (11) through fixing blocks; guide blocks (43) are fixedly connected to the sides of the two second sliding frames (41) facing the guide rods (42), and the guide blocks (43) slidingly arranged on the guide rods (42); springs are fixedly connected to the sides of the guide blocks (43) facing the bracket (1), and the guide rods (42) pass through the springs; Uniformly arranged circular grooves are formed in the right end of the C-shaped cylinder (4); plug rods (44) slidingly arranged in the circular grooves through springs; The C-shaped cylinder (4) is provided with uniformly arranged sliding grooves (45) on the inner ring, and sliding blocks (46) are slidably arranged in the sliding grooves (45); The sliding blocks (46) are hingedly connected with positioning plates (47) through torsional springs, and the positioning plates (47) are inclined towards the center of the C-shaped cylinder (4); the left end of the C-shaped cylinder (4) is fixedly connected with an electric push rod (48), and the elongated rod of the electric push rod (48) extends into the sliding groove (45) and is fixedly connected with the sliding block (46); The side of the sliding groove (45) facing the center is fixedly connected with a limiting plate (49), and the limiting plate (49) is not in contact with the positioning plate (47) in the initial state.

2. The drilling robotic arm for underground works according to claim 1, characterized in that: The end of the positioning plate (47) is rotatably provided with a rotating roller.

3. The drilling robotic arm for underground works according to claim 1, characterized in that: The cylinder body (33) comprises an inner cylinder (34) and an outer cylinder (35); the outer cylinder (35) is fixed in the arcuate seat (32); The inner cylinder (34) is rotatably arranged in the outer cylinder (35); the middle part of the inner cylinder (34) is provided with a hexagonal groove, and the drill rod (15) passes through the hexagonal groove.

4. The drilling robotic arm for underground works according to claim 3, characterized in that: The outer ring of the hole opener (24) is fixedly connected with a blocking ring (241); a plurality of leak holes (242) are uniformly arranged on the hole opener (24) between the blocking ring (241) and the ring plate (23); The right end of the inner cylinder (34) is fixedly connected with a plurality of push plates (36) arranged uniformly, and the surface of the side opposite to the push plate (36) is an arc surface, and the diameter of the arc surface is the same as the inner diameter of the hole opener (24).

5. The drilling robotic arm for underground works according to claim 1, characterized in that: The left side of the arcuate seat (32) is also provided with a cylinder body (33), and the outer cylinder (35) of the cylinder body (33) is fixed in the arcuate seat (32).

6. The drilling robotic arm for underground works according to claim 5, characterized in that: The left side of the arcuate seat (32) is provided with a plurality of cylinder bodies (33); The bottom of the cylinder body (33) on the left side of the arcuate seat (32) is fixedly connected with a support plate (5), and the support plate (5) extends into the inside of the advancing beam (11); the top of the advancing beam (11) is provided with a slide (16), and the support plate (5) slides in the slide (16); The inside of the advancing beam (11) is fixedly provided with a guide rail (51), and the support plate (5) slides on the guide rail (51).

7. The drilling robotic arm for underground works according to claim 6, characterized in that: The support plates (5) adjacent to each other are connected through elastic belts (52); The bottom of the support plate (5) closest to the rock drill (14) is fixedly connected with a screw rod pair (53); a screw rod (56) is rotatably arranged in the inside of the advancing beam (11), and the screw rod pair (53) and the screw rod (56) are in screw transmission; The screw rod (56) is driven by a servo motor (54), and the servo motor (54) is installed on the left end of the advancing beam (11).

8. The drilling robotic arm for underground works according to claim 7, characterized in that: The top of the screw rod (56) is provided with a reinforcing rod (55), and the reinforcing rod (55) is fixedly installed in the inside of the advancing beam (11); The reinforcing rod (55) passes through the support plate (5) and is slidably connected with the support plate (5).

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