Underground coal mine large-bearing narrow rubber wheel type drilling machine, multi-operation mode and method

Abstract

The invention discloses an underground large-bearing narrow-body rubber wheel type drilling machine, a multi-operation mode and a method, a multi-degree-of-freedom adjusting mechanism is designed, multi-degree-of-freedom, multi-inclination and multi-hole-opening height adjustment of the drilling machine can be improved, the multi-hole-opening construction operation requirement can be met, and the operation mode rapid switching efficiency of the drilling machine in an underground narrow roadway can be improved; the operation of the device running in the first space is simplified, convenience is improved, and meanwhile multiple construction working conditions can be met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underground coal mine drilling equipment, and particularly relates to a coal mine underground large-load narrow-body rubber-tired drilling rig, a multi-operation mode and a method. BACKGROUND

[0002] The underground coal mine drilling rig is important technical equipment for realizing gas extraction, water exploration and hidden disaster factor exploration such as advanced drilling, and can effectively guarantee the safety production operation in the underground coal mine.

[0003] The trackless rubber-tired vehicle integrated drilling rig can realize the direct driving of the drilling rig from the ground to the drilling site without secondary transfer, has high transportation speed and carrying capacity, effectively reduces the auxiliary transportation personnel and improves the transportation efficiency, and helps the coal mine enterprises to improve the quality and efficiency. However, due to the size limitation requirement, the whole machine integration requirement of the rubber-tired drilling rig is high, the main machine is the main function carrier during drilling construction, is used for realizing the adjustment of the construction inclination angle, azimuth angle and horizontal opening height, provides power for the drilling rig drilling, and ensures the reliability of the lifting, clamping and other operations of the drilling tool during the drilling process.

[0004] However, the main machine angle adjusting structure of the traditional trackless rubber-tired vehicle integrated drilling rig is limited in space, and when the positive and negative opening inclination angles are switched, the opening direction must be changed by disassembling the feeding machine body to solve the interference problem between the feeding machine body and the vehicle body, so as to meet the positive and negative inclination angle switching of the feeding machine body. However, it is extremely inconvenient and time-consuming to disassemble and assemble in the limited space underground. SUMMARY

[0005] The purpose of the present application is to provide a coal mine underground large-load narrow-body rubber-tired drilling rig, a multi-operation mode and a method to solve the problem that the main machine angle adjusting structure of the drilling rig is limited in the prior art, resulting in inconvenient operation in the limited space.

[0006] In order to solve the above technical problems, the present application adopts the following technical solutions:

[0007] A coal mine underground large-load narrow-body rubber-tired drilling rig, comprising a narrow-body rubber-tired vehicle, wherein the bottom of the narrow-body rubber-tired vehicle is provided with a plurality of stabilizing devices, and the rear part of the narrow-body rubber-tired vehicle is provided with an upper-mounted drilling rig. The upper-mounted drilling rig comprises a drilling rig main body, wherein the drilling rig main body comprises a rear top device, a drilling mechanism, a front top device and an angle adjusting mechanism. The angle adjusting mechanism comprises a bottom plate, and the bottom plate is connected with the drilling rig main body through a first rotary support device. A vertical column is vertically arranged on each of the two longitudinal opposite sides of the bottom plate, and a bracket is slidably arranged on each of the two vertical columns; a second rotary support device and a third rotary support device are arranged on the opposite sides of the two brackets, respectively; and a secondary platform is arranged between the second rotary support device and the third rotary support device. The upper oil cylinder is coaxially arranged inside the column, and an output shaft of the upper oil cylinder extends upward above the column; The drilling mechanism is slidably arranged on the secondary platform and can slide laterally along the secondary platform; the rear jacking device is hinged to the rear of the drilling mechanism, the drilling mechanism is arranged in the middle of the angle adjusting mechanism, and the front jacking device is hinged to the front of the drilling mechanism.

[0008] The present application also has the following features: Further, a column is arranged at each corner of the bottom plate. Vertical through holes are formed in the lateral sides of the bracket, and the two brackets are slidably sleeved on the corresponding two columns through the through holes thereof. Vertical lifting oil cylinders are arranged on the bottom plate at the opposite longitudinal sides, and the lifting oil cylinders are located between the two columns; the output shaft of the lifting oil cylinder is fixedly connected to the middle part of the bottom end of the bracket.

[0009] Further, the top-mounted drilling rig further comprises an electromagnetic starter, an explosion-proof controller, a motor pump set, a control console and an oil tank. The electromagnetic starter and the explosion-proof controller are sequentially arranged on one side of the middle part of the drilling rig body from front to back; the oil tank, the motor pump set and the control console are sequentially arranged on the other side of the middle part of the drilling rig body from front to back. The controller of the narrow-body rubber-tyred vehicle is electrically connected with the stabilizing devices and the top-mounted drilling rig.

[0010] A multi-operation mode based on the above-mentioned coal mine underground large-load narrow-body rubber-tyred drilling rig, the multi-operation mode comprising: An initialization mode, a non-stabilizing mode, a stabilizing mode, a walking mode and a drilling operation mode. When in the initialization mode, the rear jacking device, the drilling mechanism, the front jacking device and the angle adjusting mechanism are all in the initial position and have no action. When in the non-stabilizing mode, the output shafts of all the stabilizing devices are located at the initial position, and the tires of the narrow-body rubber-tyred vehicle contact the ground. When in the stabilizing mode, the strokes of the output shafts of all the stabilizing devices reach the maximum, and the tires of the narrow-body rubber-tyred vehicle are away from the ground. The drilling operation mode comprises a side hole operation mode, a roof upward hole operation mode and an advanced hole operation mode.

[0011] A switching method based on the above-mentioned multi-operation mode, when the coal mine underground large-load narrow-body rubber-tyred drilling rig switches from the current mode to the stabilizing mode, the following method is adopted: Step a1: The controller of the narrow-body rubber-tired vehicle acquires the position and operating status of the rear jacking device, drilling mechanism, front jacking device and angle adjustment mechanism respectively; If the rear jacking device, drilling mechanism, front jacking device, and angle adjustment mechanism are all in their initial positions and not moving, then the current state is initialization mode; If any component of the rear jacking device, drilling mechanism, front jacking device, and angle adjustment mechanism is not in its initial position or is in motion, it will be adjusted to its initial position and stop moving, and the current mode will be switched to the initialization mode. Step a2: Lower the output shafts of all stabilizing devices until their strokes are at their maximum, thereby lifting the tires of the narrow-body rubber-wheeled vehicle off the ground and switching to stabilizing mode.

[0012] Furthermore, when the aforementioned large-load-bearing narrow-body rubber-tired drilling rig in coal mines switches from its current mode to a walking operation mode, the following method is adopted: Step b1: Switch the large-load-bearing narrow-body rubber-tired drilling rig in the coal mine from its current mode to the initialization mode; Step b2: The controller of the narrow-body rubber-wheeled vehicle obtains the position and actuation status of the output shaft of each stabilizing device. If the output shafts of all stabilizing devices are in the initial position, proceed to step b3. Otherwise, retract the output shafts of all stabilizing devices to their initial positions, switch to the non-stabilized mode, and proceed to step b3; Step b3: The controller of the narrow-body rubber-tired vehicle adjusts the angle of the first slewing support device so that the front support device faces directly behind the narrow-body rubber-tired vehicle. Step b4: The controller of the narrow-body rubber-tired vehicle adjusts the angles of the second and third slewing support devices to make the drilling mechanism horizontal and switch to the walking operation mode.

[0013] Furthermore, when the large-load-bearing narrow-body rubber-tired drilling rig in the coal mine switches from the stable mode to the upward hole construction mode, the height of the lifting cylinder, the angle of the first slewing support device, and the position of the drilling mechanism on the secondary platform are adjusted according to the actual needs of the upward hole construction. Adjust the angles of the second and third rotary support devices to bring the drilling mechanism into a vertical position; When switching from the stable mode to the side-side hole operation mode, adjust the height of the lifting cylinder, the angles of the first slewing support device, the second slewing support device, the third slewing support device, and the position of the drilling mechanism on the secondary platform according to the actual needs of the upward hole operation.

[0014] Furthermore, the coal mine underground large load-bearing narrow-body rubber-tired drilling rig switches from the current operation mode to the advanced exploration hole construction operation mode, causing the first rotary support device to rotate until the drilling mechanism reverses and the front jacking device faces forward. Adjust the height of the lifting cylinder, the angles of the second and third slewing support devices, and the position of the drilling mechanism on the secondary platform according to the actual needs of the advanced exploratory drilling.

[0015] A component path setting method based on the operation mode switching of a large-load-bearing narrow-body rubber-tired drilling rig in an underground coal mine includes the following steps: Step S1: Record the current opening position as [α, β, h]; Where α represents the azimuth angle of the opening in the current state; β represents the current aperture angle; h represents the current opening height; Step S2: Record the positions of the openings that need to be adjusted as [α', β', h']; Where α' represents the adjusted azimuth angle of the opening; β' represents the adjusted aperture inclination angle; h' represents the adjusted opening height; Step S3: Adjust the azimuth angle of the opening by adjusting the rotation angle of the first rotary support device. The adjustment angle is |α'-α|. Where, if the value of α'-α is negative, then the angle of clockwise rotation of the second and third rotary support devices is |α'-α|. If the value of α'-α is positive, then the second and third rotary support devices are rotated counterclockwise by an angle of α'-α. Step S4: Adjust the opening tilt angle by adjusting the rotation angle of the second and third rotary support devices. The adjustment angle is |β'-β|. Wherein, if the value of β'-β is negative, then the angle between the second and third slewing support devices is |β'-β|. If the value of β'-β is negative, then rotate the second and third rotary support devices clockwise by an angle of β'-β. Step S5: Adjust the opening height by adjusting the extension length of the output shaft of the lifting cylinder or secondary cylinder.

[0016] Furthermore, the specific adjustment method for step S5 is as follows: The current stroke of the lifting cylinder output shaft is h1, the maximum stroke of the lifting cylinder is a1, the adjusted stroke of the lifting cylinder is h2, the current extension length of the secondary cylinder is l1, the stroke of the secondary cylinder is a2, and the adjusted extension length of the secondary cylinder is l2. like Therefore, the extension length of the lifting cylinder needs to be adjusted as follows:

[0017] The extension length of the secondary hydraulic cylinder needs to be adjusted as follows:

[0018] like The length by which the lifting cylinder needs to retract is:

[0019] The secondary hydraulic cylinder needs to be adjusted to retract to the following length:

[0020] Compared with the prior art, the present invention has the following technical effects: (I) The present invention relates to a large-load-bearing narrow-body rubber-tired drilling rig, multiple operating modes and methods for underground mining. It is designed with a multi-degree-of-freedom adjustment mechanism, which can improve the adjustment of the drilling rig's multiple degrees of freedom, multiple inclination angles and multiple hole heights, meet the needs of multiple hole construction operations, improve the efficiency of the drilling rig's rapid switching of operating modes in narrow underground roadways, simplify the operation of the device in the primary space, improve convenience, and meet multiple construction conditions.

[0021] (II) The present invention proposes a large-load-bearing narrow-body rubber-tired drilling rig for underground mining, with multiple operating modes and methods. It designs a control strategy for a multi-degree-of-freedom adjustment mechanism, laying the foundation for precise control of the adjustment mechanism and meeting the intelligent upgrading requirements of the drilling rig. The components are tightly integrated, possessing strong versatility and expandability, adaptable to different types and specifications of underground rubber-tired drilling rigs in coal mines, meeting the needs of various operating scenarios, and suitable for large-scale industrial use and promotion. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the large load-bearing narrow-body rubber-tired drilling rig for underground coal mines according to the present invention; Figure 2 This is a schematic diagram of the upper-mounted drilling rig in this invention; Figure 3 This is a schematic diagram of the main body of the drilling rig in this invention; Figure 4 This is a front view schematic diagram of the angle adjustment mechanism in this invention; Figure 5 This is a side view of the angle adjustment mechanism in this invention. Figure 6 This is a schematic diagram of a walking operation mode in a specific embodiment of the present invention; Figure 7 This is a schematic diagram of the side hole construction operation mode in a specific embodiment of the present invention; Figure 8 This is a schematic diagram of the overhead hole construction operation mode on the top plate in a specific embodiment of the present invention; Figure 9 This is a schematic diagram of the advanced exploratory borehole construction operation mode in a specific embodiment of the present invention.

[0023] The meanings of the labels in the diagram are as follows: 1. Narrow-body rubber-tired vehicle; 2. Stabilizing device; 3. Drilling rig body; 4. Rear jacking device; 5. Drilling mechanism; 6. Front jacking device; 7. Angle adjustment mechanism; 8. Electromagnetic starter; 9. Explosion-proof controller; 10. Motor pump set; 11. Control panel; 12. Oil tank; 701. Base plate; 702. First slewing support device; 703. Column; 704. Bracket; 705. Second slewing support device; 706. Third slewing support device; 707. Top lifting cylinder; 708. Secondary platform; 709. Secondary cylinder; 710. Lifting cylinder. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, all components in this invention are known in the prior art. For example, the narrow-body rubber-tired vehicle uses a commonly known narrow-body rubber-tired vehicle.

[0025] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0026] like Figure 1 , 3 As shown in Figures 4 and 5, a large-load-bearing narrow-body rubber-tired drilling rig for underground coal mines includes a narrow-body rubber-tired vehicle 1, with multiple stabilizing devices 2 installed at the bottom of the narrow-body rubber-tired vehicle 1, and an upper-mounted drilling rig installed at the rear of the narrow-body rubber-tired vehicle 1. The upper drilling rig includes a drilling rig body 3, which includes a rear jacking device 4, a drilling mechanism 5, a front jacking device 6, and an angle adjustment mechanism 7. The angle adjustment mechanism 7 includes a base plate 701, the bottom of which is connected to the drilling rig body 3 via a first rotary support device 702; On the base plate 701, a column 703 is vertically installed on each of the two opposite sides. A bracket 704 is slidably installed on each of the two columns 703. A second rotary support device 705 and a third rotary support device 706 are respectively installed on the opposite side of the two brackets 704. A secondary platform 708 is installed between the second rotary support device 705 and the third rotary support device 706. An upper hydraulic cylinder 707 is coaxially installed inside the column 703, and the output shaft of the upper hydraulic cylinder 707 extends upward above the column 703. The drilling mechanism 5 is slidably mounted on the secondary platform 708 via the secondary hydraulic cylinder 709 and can slide laterally along the secondary platform 708; the rear jacking device 4 is hinged to the rear of the drilling mechanism 5, the drilling mechanism 5 is located in the middle of the angle adjustment mechanism 7, and the front jacking device 6 is hinged to the front of the drilling mechanism 5.

[0027] The rear jacking device 5 is used to improve the stability of the drilling mechanism; The drilling mechanism 5 is used to perform drilling operations; The front jacking device 6 is used to improve the stability of the drilling mechanism 5; As a preferred option, a column 703 is provided at each of the four corners of the base plate 701; The bracket 704 has vertical through holes on both sides of its horizontal direction. The two brackets 704 are slidably fitted onto their corresponding two columns 703 through their own through holes. Lifting cylinders 710 are vertically installed on opposite sides of the base plate 701, with the lifting cylinders 710 located between two columns 703; the output shaft of the lifting cylinder 710 is fixedly connected to the middle of the bottom end of the bracket 704. This structure can improve the overall stability.

[0028] As one specific implementation, the upper drilling rig also includes an electromagnetic starter 8, an explosion-proof controller 9, a motor pump set 10, a control panel 11, and an oil tank 12; Electromagnetic starter 8 and explosion-proof controller 9 are arranged sequentially from front to back on one side of the middle part of the drilling rig body 3; they are used to realize the power supply of the motor pump group and the remote control function of the drilling system, respectively. The oil tank 12, the motor pump set 10 and the control panel 11 are arranged sequentially from front to back on the other side of the middle part of the drilling rig body 3; The main body 3 of the drilling rig, as a key component of the drilling system, bears the impact loads during drilling. It is located in the rear middle of the integral frame to ensure the stability of the drilling rig during travel and drilling. Oil tank 12 mainly meets the hydraulic oil requirements of narrow-body rubber-tired vehicles and upper-mounted drilling rigs; The controller of the narrow-body rubber-wheeled vehicle 1 is electrically connected to the stabilizing device 2 and the upper drilling rig, respectively.

[0029] A multi-operation mode based on the above-mentioned large load-bearing narrow-body rubber-tired drilling rig for underground coal mines, the multi-operation mode includes: initialization mode, non-stabilized mode, stabilized mode, walking mode and drilling operation mode; In the initialization mode, the rear jacking device 4, drilling mechanism 5, front jacking device 6, and angle adjustment mechanism 7 are all in their initial positions and do not move. It should be noted that the initial position is set by those skilled in the art according to actual needs. In this embodiment, the initial position is set to the shortest stroke of the cylinder output shaft of the rear jacking device 4 and the front jacking device 6, and the drilling mechanism 5 is located in the middle of the secondary platform, adjusted by the angle adjustment mechanism 7, and the drilling mechanism 5 is in a horizontal state.

[0030] When in non-steady mode, the output shafts of all stabilizing devices 2 are in the initial position, and the tires of the narrow-body rubber-wheeled vehicle 1 are in contact with the ground. When in stable mode, the stroke of the output shafts of all stabilizing devices 2 reaches its maximum, and the tires of the narrow-body rubber-wheeled vehicle 1 leave the ground; As a specific implementation method, when a large-load-bearing narrow-body rubber-tired drilling rig in a coal mine switches from its current mode to a stable mode, the following method is adopted: Step a1: The controller of the narrow-body rubber-tired vehicle 1 acquires the position and operating status of the rear jacking device 4, the drilling mechanism 5, the front jacking device 6, and the angle adjustment mechanism 7 respectively. If the rear jacking device 4, drilling mechanism 5, front jacking device 6 and angle adjustment mechanism 7 are all in the initial position and have no action, then the current state is the initialization mode. If any of the following components—rear jacking device 4, drilling mechanism 5, front jacking device 6, and angle adjustment mechanism 7—is in its initial position or is in motion, it will be adjusted to its initial position and its motion will stop, and the current mode will be switched to the initialization mode. Step a2: Lower the output shafts of all stabilizing devices 2 until their strokes are at their maximum, thereby causing the tires of the narrow-body rubber-wheeled vehicle 1 to leave the ground and switch to stabilizing mode.

[0031] As a specific implementation method, when a large-load-bearing narrow-body rubber-tired drilling rig in a coal mine switches from its current mode to a traveling operation mode, the following method is adopted: Step b1: Switch the large-load-bearing narrow-body rubber-tired drilling rig in the coal mine from its current mode to the initialization mode; Step b2: The controller of the narrow-body rubber-wheeled vehicle 1 obtains the position and actuation state of the output shaft of each stabilizing device 2. If the output shafts of all stabilizing devices 2 are in the initial position, then proceed to step b3. Otherwise, retract all the output shafts of the stabilizing devices 2 to their initial positions, switch to the non-stabilizing mode, and proceed to step b3; Step b3: The controller of the narrow-body rubber-tired vehicle 1 adjusts the angle of the first slewing support device 702 so that the front push device 6 faces the rear of the narrow-body rubber-tired vehicle 1. Step b4: The controller of the narrow-body rubber-tired vehicle 1 adjusts the angles of the second slewing support device 705 and the third slewing support device 706 to make the drilling mechanism 5 horizontal and switch to the walking operation mode.

[0032] At this time, the state of the large-load, narrow-body rubber-tired drilling rig in the coal mine is as follows: Figure 6 As shown.

[0033] As a specific implementation method, when switching from the stable mode to the upward hole construction operation mode of the large load-bearing narrow-body rubber-tired drilling rig in the coal mine, the height of the lifting cylinder 710, the angle of the first slewing support device 702 and the position on the secondary platform (708) of the drilling mechanism 5) are adjusted according to the actual needs of the upward hole construction. Adjust the angles of the second rotary support device 705 and the third rotary support device 706 to bring the drilling mechanism 5 into a vertical position; at this time, the state of the large-load narrow-body rubber-tired drilling rig in the coal mine is as follows: Figure 8 As shown.

[0034] When switching from the stable mode to the upward drilling operation mode and then to the side-hole operation mode, the height of the lifting cylinder 710, the angles of the first rotary support device 702, the second rotary support device 705, and the third rotary support device 706, as well as the position of the drilling mechanism 5 on the secondary platform 708, are adjusted according to the actual needs of the upward drilling operation. This describes the current state of the large-load, narrow-body rubber-tired drilling rig in the coal mine. Figure 7 As shown.

[0035] As a specific implementation method, the large load-bearing narrow-body rubber-tired drilling rig in the coal mine switches from the current operation mode to the advanced exploration hole construction operation mode, causing the first slewing support device (702) to rotate until the drilling mechanism (5) reverses and the front jacking device (6) faces forward; Adjust the height of the lifting cylinder (710), the angles of the second rotary support device (705) and the third rotary support device (706), and the position of the drilling mechanism (5) on the secondary platform (708) according to the actual needs of the advanced exploratory drilling. At this time, the state of the large load-bearing narrow-body rubber-tired drilling rig in the coal mine is as follows: Figure 9 As shown.

[0036] A component path setting method for switching operating modes of the aforementioned large-load-bearing narrow-body rubber-tired drilling rig in coal mines includes the following steps: Step S1: Record the current opening position as [α, β, h]; Where α represents the azimuth angle of the opening in the current state; β represents the current aperture angle; h represents the current opening height; Step S2: Record the positions of the openings that need to be adjusted as [α', β', h']; Where α' represents the adjusted azimuth angle of the opening; β' represents the adjusted aperture inclination angle; h' represents the adjusted opening height; Step S3: Adjust the azimuth angle of the opening by adjusting the rotation angle of the first rotary support device 702. The adjustment angle is |α'-α|. Wherein, if the value of α'-α is negative, then the angle of clockwise rotation of the second rotary support device 705 and the third rotary support device 706 is |α'-α|; If the value of α'-α is positive, then the second rotary support device 705 and the third rotary support device 706 are rotated counterclockwise by an angle of α'-α. Step S4: Adjust the opening tilt angle by adjusting the rotation angle of the second rotary support device 705 and the third rotary support device 706. The adjustment angle is |β'-β|. Wherein, if the value of β'-β is negative, then the angle between the second slewing support device 705 and the third slewing support device 706 is |β'-β|; If the value of β'-β is negative, then rotate the second rotary support device 705 and the third rotary support device 706 clockwise by an angle of β'-β. Step S5: Adjust the opening height by adjusting the extension length of the output shaft of the lifting cylinder 710 or the secondary cylinder 709.

[0037] Specifically, the adjustment method for step S5 is as follows: The current stroke of the output shaft of the lifting cylinder 710 is h1, the maximum stroke of the lifting cylinder 710 is a1, the stroke of the adjusted lifting cylinder 710 is h2, the extension length of the secondary cylinder 709 in the current state is l1, the stroke of the secondary cylinder 709 is a2, and the extension length of the adjusted secondary cylinder 709 is l2. like Therefore, the extension length of the lifting cylinder 710 needs to be adjusted as follows:

[0038] The extension length of the secondary hydraulic cylinder 709 needs to be adjusted as follows:

[0039] like Therefore, the length that the lifting cylinder 710 needs to retract is:

[0040] The retraction length of the secondary hydraulic cylinder 709 needs to be adjusted as follows: .

Claims

1. A coal mine underground large bearing narrow body rubber tire type drilling machine, characterized in that, The utility model provides narrow body type rubber -tyred vehicle (1), the bottom of narrow body type rubber -tyred vehicle (1) is provided with a plurality of steady device (2), and the rear of narrow body type rubber -tyred vehicle (1) is provided with upper-mounted drilling machine, The upper-mounted drilling machine comprises a drilling machine body (3), the drilling machine body (3) comprises a rear jacking device (4), a drilling mechanism (5), a front jacking device (6) and an angle adjusting mechanism (7), The angle adjusting mechanism (7) comprises a bottom plate (701), the bottom plate (701) is connected with the drilling machine body (3) through a first rotary support device (702) at the bottom, A vertical column (703) is vertically arranged on each of the two longitudinal opposite sides of the bottom plate (701), and a bracket (704) is slidingly arranged on each of the two vertical columns (703); a second rotary support device (705) and a third rotary support device (706) are arranged on the opposite sides of the two brackets (704), respectively; a secondary platform (708) is arranged between the second rotary support device (705) and the third rotary support device (706), An upper jacking oil cylinder (707) is coaxially arranged in the vertical column (703), and the output shaft of the upper jacking oil cylinder (707) extends above the vertical column (703), The drilling mechanism (5) is slidingly arranged on the secondary platform (708) through a secondary oil cylinder (709) and can slide transversely on the secondary platform (708); the rear jacking device (4) is hinged to the rear of the drilling mechanism (5), the drilling mechanism (5) is arranged in the middle of the angle adjusting mechanism (7), and the front jacking device (6) is hinged to the front of the drilling mechanism (5).

2. The narrow-body rubber-tyred drill rig for underground coal mining as claimed in claim 1, wherein, A vertical column (703) is arranged at each corner of the bottom plate (701); Vertical through holes are formed in the transverse sides of the bracket (704), and the two brackets (704) are slidingly sleeved on the corresponding two vertical columns (703) through the through holes thereof; A lifting oil cylinder (710) is vertically arranged on each of the two longitudinal opposite sides of the bottom plate (701), and the lifting oil cylinder (710) is located between the two vertical columns (703); the output shaft of the lifting oil cylinder (710) is fixedly connected with the middle part of the bottom end of the bracket (704).

3. The narrow-body rubber-tyred drill rig for underground coal mining as claimed in claim 2, wherein, The upper-mounted drilling machine further comprises an electromagnetic starter (8), an explosion-proof controller (9), a motor pump set (10), a control platform (11) and an oil tank (12); The electromagnetic starter (8) and the explosion-proof controller (9) are sequentially arranged on one side of the middle part of the drilling machine body (3) from front to back; the oil tank (12), the motor pump set (10) and the control platform (11) are sequentially arranged on the other side of the middle part of the drilling machine body (3) from front to back; The controller of the narrow body type rubber -tyred vehicle (1) is electrically connected with the steady device (2) and the upper-mounted drilling machine, respectively.

4. A multi-operation mode of the large-load-bearing narrow-body rubber-tyred drilling rig in a coal mine underground based on the rig of claim 3, characterized in that, The multiple operation modes comprise: an initialization mode, a non-steady mode, a steady mode, a walking mode and a drilling operation mode; When in the initialization mode, the rear jacking device (4), the drilling mechanism (5), the front jacking device (6) and the angle adjusting mechanism (7) are all in the initial position and have no action. When in the non-stable mode, the output shafts of all the stabilizing devices (2) are in the initial position, and the tires of the narrow-body rubber-tyred vehicle (1) are in contact with the ground; When in the stable mode, the output shafts of all the stabilizing devices (2) reach the maximum stroke, and the tires of the narrow-body rubber-tyred vehicle (1) are off the ground; The drilling operation mode includes a side hole drilling mode, a roof hole drilling mode and a lead hole drilling mode.

5. A method for switching between multiple job modes based on the method of claim 4, characterized in that, When the coal mine underground large-load narrow-body rubber-tyred drilling rig is switched from the current mode to the stable mode, the following method is adopted: Step a1, the controller of the narrow-body rubber-tyred vehicle (1) acquires the position and action state of the rear jacking device (4), the drilling mechanism (5), the front jacking device (6) and the angle adjusting mechanism (7) respectively; If the rear jacking device (4), the drilling mechanism (5), the front jacking device (6) and the angle adjusting mechanism (7) are all in the initial position and have no action, the current mode is the initialization mode; If any of the rear jacking device (4), the drilling mechanism (5), the front jacking device (6) and the angle adjusting mechanism (7) is not in the initial position or has action, it is adjusted to the initial position and stopped, and the current mode is switched to the initialization mode; Step a2, the output shafts of all the stabilizing devices (2) are lowered until the stroke reaches the maximum, and then the tires of the narrow-body rubber-tyred vehicle (1) are off the ground, and the stable mode is switched.

6. The method of switching between multiple operating modes as claimed in claim 5, wherein, When the coal mine underground large-load narrow-body rubber-tyred drilling rig is switched from the current mode to the walking operation mode, the following method is adopted: Step b1, the coal mine underground large-load narrow-body rubber-tyred drilling rig is switched from the current mode to the initialization mode; Step b2, the controller of the narrow-body rubber-tyred vehicle (1) acquires the position and action state of each output shaft of the stabilizing device (2), and if the output shafts of all the stabilizing devices (2) are in the initial position, step b3 is entered; Otherwise, the output shafts of all the stabilizing devices (2) are retracted to the initial position, the non-stable mode is switched, and step b3 is entered; Step b3, the controller of the narrow-body rubber-tyred vehicle (1) adjusts the angle of the first rotary support device (702), and makes the front jacking device (6) face the back of the narrow-body rubber-tyred vehicle (1); Step b4, the controller of the narrow-body rubber-tyred vehicle (1) adjusts the angles of the second rotary support device (705) and the third rotary support device (706), and makes the drilling mechanism (5) horizontal, and the walking operation mode is switched.

7. The method of switching between multiple operating modes as claimed in claim 6, wherein, When the coal mine underground large-load narrow-body rubber-tyred drilling rig is switched from the stable mode to the roof hole drilling mode, the height of the lifting oil cylinder (710), the angle of the first rotary support device (702) and the position of the drilling mechanism (5) on the secondary platform (708) are adjusted according to the actual requirements of the roof hole drilling; The angles of the second rotary support device (705) and the third rotary support device (706) are adjusted, and the drilling mechanism (5) is in a vertical state; When switching from the stable mode to the upper hole construction mode, the height of the lifting oil cylinder (710), the angles of the first rotary support device (702), the second rotary support device (705) and the third rotary support device (706) and the position of the drilling mechanism (5) on the secondary platform (708) are adjusted according to the actual requirements of the upper hole construction.

8. The method of claim 7, wherein, The coal mine underground large bearing narrow body rubber wheel type drilling machine switches from the current operation mode to the advanced hole construction operation mode, rotates the first rotary support device (702) until the drilling mechanism (5) is reversed, and the front top device (6) faces the front direction; The height of the lifting oil cylinder (710), the angles of the second rotary support device (705) and the third rotary support device (706) and the position of the drilling mechanism (5) on the secondary platform (708) are adjusted according to the actual requirements of the advanced hole construction.

9. A method for setting the path of components for switching the mode of operation of a narrow-body rubber-tyred drill rig with a large load capacity in a coal mine shaft based on claim 8, characterized in that, The method comprises the following steps: Step S1, the opening position of the current state is recorded as [alpha, beta, h]; Wherein, alpha represents the opening azimuth angle of the current state; Beta represents the opening inclination angle of the current state; H represents the opening height of the current state; Step S2, the opening position to be adjusted is recorded as [alpha', beta', h']; Wherein, alpha' represents the adjusted opening azimuth angle; Beta' represents the adjusted opening inclination angle; H' represents the adjusted opening height; Step S3, the rotation angle of the first rotary support device (702) is adjusted to realize the adjustment of the opening azimuth angle, and the adjustment angle is |alpha'-alpha|; Wherein, if the value of alpha'-alpha is negative, the second rotary support device (705) and the third rotary support device (706) are rotated clockwise by an angle of |alpha'-alpha|; If the value of alpha'-alpha is positive, the second rotary support device (705) and the third rotary support device (706) are rotated counterclockwise by an angle of alpha'-alpha; Step S4, the rotation angle of the second rotary support device (705) and the third rotary support device (706) is adjusted to realize the adjustment of the opening inclination angle, and the adjustment angle is |beta'-beta|; Wherein, if the value of beta'-beta is negative, the second rotary support device (705) and the third rotary support device (706) are reversed by an angle of |beta'-beta|; If the value of beta'-beta is negative, the second rotary support device (705) and the third rotary support device (706) are rotated clockwise by an angle of beta'-beta; Step S5, the opening height is adjusted by adjusting the extension length of the output shaft of the lifting oil cylinder (710) or the secondary oil cylinder (709).

10. The component path setting method according to Claim 9, wherein The specific adjustment method of step S5 is as follows: The current stroke of the lifting oil cylinder (710) output shaft is h1, the maximum stroke of the lifting oil cylinder (710) is a1, the stroke of the adjusted lifting oil cylinder (710) is h2, the extension length of the secondary oil cylinder (709) in the current state is l1, the stroke of the secondary oil cylinder (709) is a2, and the extension length of the adjusted secondary oil cylinder (709) is l2; If then the lift cylinder (710) needs to be adjusted to an extended length of: The secondary oil cylinder (709) needs to adjust the extension length as follows: If then the lift cylinder (710) needs to retract a length of: The secondary oil cylinder (709) needs to adjust the retraction length as follows: 。

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