Low-hole full-inclination caterpillar drill for coal mine

Abstract

The present application relates to the technical field of caterpillar drilling machine, disclose a kind of low hole full-inclination caterpillar drilling machine for coal mine, including frame and support caterpillar assembly of frame movement, the frame is equipped with drilling device, drill pipe box and manipulator;The middle part of the drill pipe box is equipped with opening, the inner side of the opening is equipped with lifting frame, the lifting frame both sides are hinged with several layers of drill pipe rack between the two side walls of drill pipe box, the inner side of the lifting frame is equipped with the vertically lifting conveying device, the lifting frame is lifted to make the drill pipe rack end close to lifting frame have the state of tilting upwards and tilting downwards;The present application uses hinged drill pipe rack, the inclination state of drill pipe rack can be changed to realize the automatic entry and discharge of drill pipe, the lifting frame and conveying device in the middle part of drill pipe box are used to realize the taking and placing of drill pipe on each drill pipe rack and the position uniformity of drill pipe box to take and place drill pipe outward, reduce the action and space occupation of external manipulator;And compared with traditional matrix type drill pipe box, the space utilization rate is limitedly reduced.

Description

Technical Field

[0001] This invention relates to the field of tracked drilling rig technology, specifically to a low-profile, fully inclined tracked drilling rig for coal mines. Background Technology

[0002] Tracked drilling rigs are commonly used drilling equipment in underground coal mine operations. Mounted on a tracked chassis, they offer high mobility and adaptability. Primarily used for efficient gas extraction and water exploration, they can also perform high-precision directional drilling for geological structure exploration, coal seam thickness measurement, and coal seam water injection. Their advantages are significant; the tracked chassis allows them to move and turn freely in complex underground tunnel environments. Low-profile, fully inclined tracked drilling rigs for coal mines are tracked, fully hydraulic drilling rigs capable of drilling at all angles, mainly used for thin coal seam gas extraction, water exploration, and geological structure investigation.

[0003] To reduce manual operation and facilitate the handling of drill rods, a drill rod box is installed on the tracked drilling rig, and a robotic arm is installed between the drill rod box and the drilling device. The robotic arm needs to move up and down and rotate in multiple directions between the drill rod box and the drilling device to take out the drill rods from the drill rod box and send them to the drilling device, or to grab the drill rods that need to be removed from the drilling device and put them back into the drill rod box.

[0004] Currently, drill rods in the drill rod box are arranged in a three-dimensional matrix. During drilling, a robotic arm grabs drill rods from different positions within the drill rod box, and during unloading, the robotic arm places the drill rods in different positions within the drill rod box, as illustrated in patent CN111852332B, an automatic drill rod adding machine with a built-in drill rod box. However, the different positions for picking and placing drill rods make the robotic arm's operation complex, its range of motion large, and its space-consuming nature. The robotic arm also has a long time to pick and place drill rods at a time, resulting in low efficiency and hindering the improvement of the energy-saving performance of tracked drilling rigs. The three-dimensional matrix arrangement of drill rods can fully utilize the space of the drill rod box, avoiding an excessively large volume, but it also limits the use of a stacking method for picking and placing drill rods and the need to constantly change the picking and placing positions. Patent CN120100339B, a tracked fully hydraulic directional drilling rig for coal mines, uses a serpentine material channel inside the hopper to store drill rods in batches, making... The drill rods are arranged one by one inside the serpentine feed channel under the action of gravity, and can be rolled out of the hopper one by one through the opening and closing components. This realizes the individual feeding of drill rods without the need for an extra material grabbing structure on the top of the hopper. The purpose is to avoid picking up drill rods from the top of the hopper, reduce the operating height of the equipment, and make it suitable for use in particularly narrow coal mine roadways. It also achieves a fixed position for the drill rod discharge. The position is fixed when the robot picks up the drill rod, but when the drilling rig unloads the drill rod, it needs to be placed on the top of the hopper. Therefore, this hopper has two fixed positions for picking up and putting down drill rods. Although it reduces the number of drill rod picking and putting positions, the picking and putting positions are still not uniform. Although the serpentine feed channel facilitates the dropping of drill rods, it causes a significant waste of space inside the hopper. When storing the same number of drill rods, this hopper has a significant disadvantage compared to the drill rod box with matrix arrangement of drill rods, requiring a larger volume and space occupation. Summary of the Invention

[0005] The purpose of this invention is to solve at least one of the problems in the prior art mentioned above, and to provide a low-profile, fully inclined crawler drilling rig for coal mines.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A low-profile, fully inclined tracked drilling rig for coal mines includes a chassis and a track assembly supporting the chassis's movement. The chassis is equipped with a drilling device, a drill rod box, and a robotic arm. The robotic arm picks up and places drill rods between the drilling device and the drill rod box. The drill rod box has a downward-extending opening on its upper middle side. A lifting frame is located inside the opening. Several layers of parallel drill rod frames are hinged between the two sides of the lifting frame and the two side walls of the drill rod box. The inner side of the lifting frame is equipped with a vertically lifting conveying device that sequentially corresponds to each layer of drill rod frames. The lifting frame raises and lowers the drill rod frames so that the end of the drill rod frame near the lifting frame is in an upward-tilting state and an downward-tilting state. When the drill rod frame is tilted upward, it receives the drill rods; when it is tilted downward, it discharges the drill rods.

[0007] Furthermore, the lifting frame is a U-shaped plate structure, and several through holes corresponding to the upper space of each layer of drill rod frame are provided on both sides of the lifting frame.

[0008] Furthermore, the opening extends to both ends of the drill pipe box, the lifting frame extends to the outer sides of both ends of the drill pipe box, and both outer sides of the lifting frame are provided with folded edges that fit against the outer sides of the drill pipe box ends. The bottom of the drill pipe box is provided with a first hydraulic cylinder that drives the lifting frame to lift.

[0009] Furthermore, the drill rod frame includes several parallel support rods, each of which has a hinge shaft at both ends; the inner side wall of the drill rod box is provided with several supports, each of which has a horizontal strip hole through which the hinge shaft passes.

[0010] Furthermore, the drill rod frame has a rotating drum at its end that is parallel to and corresponds to the support rod. The two ends of the rotating drum are respectively connected to a first stop rod and a second stop rod that extend radially outward. Only one drill rod can be accommodated on the upper side between the first stop rod and the second stop rod.

[0011] Furthermore, the circumferential angle difference between the first stop and the second stop is ninety degrees. When the first stop is perpendicular to the drill pipe frame, the second stop is parallel to the drill pipe frame; when the first stop is parallel to the drill pipe frame, the second stop is perpendicular to the drill pipe frame.

[0012] Furthermore, the conveying device includes a circular rotating conveyor belt and a conveyor frame that supports the rotation of the conveyor belt. Vertical drive screws that drive the conveyor frame to rise and fall are installed at both ends of the lifting frame. The conveying direction of the conveyor belt is parallel to the direction of the drill rod on the drill rod frame.

[0013] Furthermore, the upper layer of the conveyor belt is provided with two rows of support plates on the lower side. The two rows of support plates are alternately distributed. The two rows of support plates extend from the lower sides of the two edges of the upper layer of the conveyor belt to the other side, and their upper sides gradually become lower, so that the upper layer of the conveyor belt is in a state of being low in the middle and high on both sides, so as to support the drill rod falling from the drill rod frame.

[0014] Furthermore, the upper side of the support plate is provided with inclined rollers, and the span of the support plate in the extending direction is less than the width of the conveyor belt but greater than half the width of the conveyor belt.

[0015] Furthermore, a pad is provided on the lower side of both rows of support plates, and a second hydraulic cylinder is provided between the lower side of the pad and the conveyor frame to drive the pad and the support plates of the same row to rise and fall; when a single row of support plates rises, the upper layer of the conveyor belt is tilted to one side, and the drill rod on its upper side falls to one side of the drill rod frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention employs a hinged drill rod holder. By changing the tilt state of the drill rod holder, automatic entry and exit of drill rods can be achieved. The lifting frame and conveying device in the middle of the drill rod box unify the picking and placing of drill rods on each drill rod holder and the outward picking and placing of drill rods from the drill rod box, reducing the movement and space occupation of external robotic arms. Compared with traditional matrix-type drill rod boxes, it only wastes a small amount of space at the corners of the drill rod box, resulting in a limited decrease in space utilization and ensuring that the drill rod box has a high space utilization rate. It avoids the drill rod box being too large while having a similar drill rod storage capacity. In this invention, the lifting frame and conveying device are both located inside the opening of the drill rod box, and the moving parts are all located inside or close to the surface of the drill rod box, avoiding the moving parts from extending outward, reducing external interference, and ensuring the stability of the moving parts. At the same time, the drill rods are stored in symmetrical drill rod frames on both sides, making the overall structure more stable under stress during operation. This invention uses a support with horizontal strip holes to support the drill rod frame, which adapts to the lateral length change during the rotation of the drill rod frame. This ensures that the lateral position of the drill rod frame and the lifting frame hinge does not change, and only the vertical position changes to achieve the change of tilt state. Furthermore, the tilt angle and state of all drill rod frames can be changed by the small-amplitude lifting of the lifting frame. The present invention uses a lifting conveying device, which can not only realize the internal picking and placing of drill rods for different drill rod frames, but also realize external cooperation at a fixed height, making it convenient for the robot arm to pick up and place drill rods in the same position; This invention utilizes the rotation of a first stop and a second baffle, which have an included angle of 90 degrees and can only accommodate one drill rod axial spacing, to achieve the orderly picking and placing of drill rods one by one. When picking up a drill rod, the first stop flips to release one drill rod while the second baffle prevents the remaining drill rods from falling. When storing and placing the drill rods, the drill rods pass through the space between the first and second baffles one by one into the upper part of the drill rod holder, ensuring the orderly picking and placing of drill rods. This invention employs a conveyor belt-type conveying device to axially displace the drill rod, enabling it to enter and exit the drill rod inside the upper part of the drill rod box opening, facilitating the coordination and separation of the drill rod with the robotic arm. Furthermore, two rows of support plates cause the center of the upper layer of the conveyor belt to be recessed, ensuring accurate drill rod positioning during transport and preventing it from falling off. The height of the two rows of support plates can be adjusted independently, allowing the upper layer of the conveyor belt to tilt to both sides. When storing and placing the drill rod, the drill rod can be moved towards the tilted drill rod frame on both sides to complete the storage and placement of the drill rod. Attached Figure Description

[0017] Figure 1 This is a side view of the present invention.

[0018] Figure 2 This is a top view of the present invention.

[0019] Figure 3 This is a three-dimensional schematic diagram of the drill pipe box of the present invention.

[0020] Figure 4 This is a schematic cross-sectional view of the drill pipe box of the present invention.

[0021] Figure 5 This is a cross-sectional schematic diagram of the drill pipe discharge state conveying device of the present invention.

[0022] Figure 6 This is a cross-sectional schematic diagram of the drill rod storage and conveying device of the present invention.

[0023] Figure 7 This is a schematic diagram of the drill pipe box housing of the present invention.

[0024] Figure 8 This is a schematic diagram of the internal structure of the drill pipe box of the present invention.

[0025] Figure 9 This is a schematic diagram of the lifting frame structure of the present invention.

[0026] Figure 10 This is a schematic diagram of the drill rod holder structure of the present invention.

[0027] Figure 11 This is a schematic diagram of the conveying device of the present invention.

[0028] Figure 12 This is a schematic diagram of the conveyor belt structure of the present invention.

[0029] Figure 13 This is a schematic diagram of the internal structure of the conveying device of the present invention.

[0030] In the diagram: 1. Track assembly; 2. Chassis; 3. Drilling device; 4. Drill rod box; 5. Robotic arm; 6. Opening; 7. Lifting frame; 8. Drill rod frame; 9. Conveying device; 10. First hydraulic cylinder; 11. Folding edge; 12. Support; 13. Rotary drum; 14. First stop lever; 15. Second stop lever; 16. Drive screw; 17. Lifting seat; 18. Conveyor belt; 19. Conveying frame; 20. Support plate; 21. Pad plate; 22. Second hydraulic cylinder; 23. Roller; 51. Clamp. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention; that is, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0032] Specific embodiments of the low-profile, fully inclined crawler drilling rig for coal mines provided by this invention: Please refer to the attached document. Figures 1-13A low-profile, fully inclined tracked drilling rig for coal mines includes a frame 2 and a track assembly 1 that supports the movement of the frame 2. The frame 2 is equipped with a drilling device 3, a drill rod box 4, and a robotic arm 5. The robotic arm 5 picks up and places drill rods between the drilling device 3 and the drill rod box 4. The drilling device 3 is hinged to the frame 2, and a hydraulic cylinder is also hinged between the drilling device 3 and the frame 2. This hydraulic cylinder allows the drilling device 3 to rotate from a horizontal state to a vertical state, giving it a fully inclined posture and enabling it to drill low-profile holes. In this embodiment, the drilling device 3 rotates to a vertically downward position for drilling downwards. The drilling device 3 and the hydraulic cylinder that drives the rotation of the drilling device 3 are located on the upper middle part of the frame 2. A control and hydraulic system are located on one side of the middle part of the frame 2, and the drill rod box 4 and robotic arm 5 are located on the other side. The robotic arm 5 corresponds to the drilling device 3 laterally along the frame 2 and to the drill rod box 4 longitudinally along the frame 2.

[0033] The drill pipe box 4 has a downward-extending opening 6 on its upper middle side. A lifting frame 7, which is a U-shaped plate structure, is located inside the opening 6 and moves vertically up and down against the inside of the opening 6. The opening 6 extends downward to the upper bottom of the drill pipe box 4. The opening 6 extends to both ends of the drill pipe box 4 and penetrates the drill pipe box 4 along the longitudinal direction of the frame 2. Both ends of the lifting frame 7 extend to the outer sides of both ends of the drill pipe box 4, and each outer side of both ends has a flange 11 that fits against the outer side of the drill pipe box 4. The flange 11 is used for longitudinal positioning of the lifting frame 7 relative to the drill pipe box 4. It is understood that in some embodiments, rollers can be installed on the side of the flange 11 facing the drill pipe box 4 to reduce friction between the lifting frame 7 and the drill pipe box 4 during lifting. A vertical guide groove is provided on the outer side of the drill pipe box 4 for the rollers to move, improving the stability of the lifting frame 7 during lifting.

[0034] A first hydraulic cylinder 10 for driving the lifting frame 7 to rise and fall is provided in the middle of the bottom wall of the drill pipe box 4. Specifically, a downwardly bent U-shaped part is provided in the middle of the bottom wall of the drill pipe box 4, which corresponds to the opening 6 of the drill pipe box 4, so that the lower end of the lifting frame 7 can be lower than the drill pipe box 4, so as to realize the operation of picking up and putting down all the drill pipes in the drill pipe box 4. At least two synchronous first hydraulic cylinders 10 are installed through the bottom wall of the U-shaped part of the drill pipe box 4. The telescopic end of the first hydraulic cylinder 10 is connected to the lower side of the bottom of the lifting frame 7, driving the lifting frame 7 to rise and fall slightly.

[0035] Several parallel drill rod frames 8 are hinged between both sides of the lifting frame 7 and the side walls of the drill rod box 4. The drill rod frames 8 on both sides of the lifting frame 7 are symmetrical. The lifting of the lifting frame 7 causes the drill rod frames 8 near the lifting frame 7 to be in an upward and downward tilted state. When the drill rod frames 8 are tilted upward, they receive the drill rods; when they are tilted downward, they discharge the drill rods. The upward and downward tilt angles of the drill rod frames 8 are both less than ten degrees, allowing the drill rods on the upper side of the drill rod frames 8 to roll down under their own weight. The small tilt angle also results in a small lifting range of the lifting frame 7.

[0036] The drill rod frame 8 includes several parallel support rods, which are aligned front to back. Each support rod has a hinge pin fixedly inserted at both ends, which are respectively hinged to the lifting frame 7 and the inner wall of the drill rod box 4. In this embodiment, each layer of the drill rod frame 8 includes three support rods and two hinge pins. The inner wall of the drill rod box 4 is provided with several supports 12, with three supports 12 corresponding to each layer of the drill rod frame 8. Each support 12 corresponds one-to-one with a support rod. Because the lifting frame 7 moves vertically, the angle of the drill rod frame 8, which is hinged to the lifting frame 7, changes during the lifting process. The hinged position of the drill rod frame 8 and the lifting frame 7 can only move vertically and not laterally. Therefore, the support 12 is provided with a horizontal strip hole through which the hinge shaft passes. The horizontal strip hole allows the hinged position of the drill rod frame 8 and the support 12 to shift laterally, compensating for the lateral displacement during the change of the tilt state of the drill rod frame 8, and ensuring that the lateral position of the drill rod frame 8 and the lifting frame 7 remains unchanged, only the vertical position changes. The lifting frame 7, its several layers of drill rod frames 8 on one side and the side wall of the drill rod box 4 form a parallelogram structure. As the lifting frame 7 moves up and down, the parallel and tilt angles of the drill rod frames 8 change synchronously, which can make the inner end of the drill rod frame 8 tilt upward or downward.

[0037] The lifting frame 7 has several through holes on both sides corresponding to the upper space of each layer of drill rod rack 8. Inside the lifting frame 7 is a vertically lifting conveyor 9 that sequentially corresponds to each layer of drill rod rack 8. During the lifting process, the upper side of the conveyor 9 sequentially corresponds to each drill rod rack 8, so that the upper space of the drill rod rack 8 corresponds to the upper space of the conveyor 9, i.e., each through hole sequentially corresponds to the upper space of the conveyor 9. The U-shaped section that bends downwards in the middle of the bottom wall of the drill rod box 4 allows the conveyor 9 to descend below the storage space inside the drill rod box 4, even if the conveyor 9 is lower than the lowest layer of drill rod rack 8.

[0038] The conveying device 9 includes a circular rotating conveyor belt 18 and a conveyor frame 19 supporting the rotation of the conveyor belt 18. Vertical drive screws 16 for raising and lowering the conveyor frame 19 are installed at both ends of the lifting frame 7, along with motors that drive the drive screws 16 to rotate. Lifting seats 17 are provided on the outer sides of both ends of the conveyor frame 19. The drive screws 16 pass through the lifting seats 17 via a threaded structure, driving the lifting seats 17 to rise and fall, thereby enabling the conveying device 9 to rise and fall inside the lifting frame 7, allowing the upper side of the conveying device 9 to correspond sequentially with the through holes on both sides of the lifting frame 7. In this embodiment, the lifting seats 17 are fitted against the outer side of the folded edge 11 to ensure the stability and horizontality of the conveying device 9 during lifting, preventing the conveying device 9 from tilting. It is understood that in some embodiments, rollers that move along the folded edge 11 can be installed on the side of the lifting seat 17 facing the folded edge 11 to reduce friction and improve the stability of the conveying device 9 during lifting.

[0039] The conveying direction of the conveyor belt 18 is parallel to the direction of the drill rod on the drill rod holder 8. The conveying device 9 is used to pick up and put down the drill rod corresponding to the drill rod holder 8. The drill rods on the drill rod holder 8 are located inside the drill rod box 4, which is not conducive to the external robot arm 5 grabbing and releasing the drill rods. While the conveying device 9 is lifting and lowering, the rotation of the conveyor belt 18 can axially transport the drill rods, so that one end of the drill rod extends out of the drill rod box 4, making it easier for the external robot arm 5 to grab the drill rods. In addition, when storing the drill rods, the robot arm 5 places one end of the drill rod on the conveying device 9, and the conveying device 9 transports the drill rods to the drill rod holder 8 that is completely inside the drill rod box 4. It can be understood that sensors can be set at both the lifting and lowering of the conveying device 9 and the conveying point of the drill rod by the conveying device 9 to detect the position of the conveying device 9 and the position of the drill rod, so that the lifting and lowering of the conveying device 9 corresponds to the through hole on the lifting frame 7 and the drill rod completely corresponds to the through hole.

[0040] Because the height of the lifting frame 7 differs between the two tilted states of the drill rod, although the height of the conveying device 9 relative to the lifting frame 7 remains constant, the height of the conveying device 9 relative to the external robot arm 5 on the inner side of the upper end of the lifting frame 7 differs. Therefore, the height of the through hole at the uppermost end of the lifting frame 7 is twice the height of the through hole at its lower end. To ensure that the conveying device 9 can correspond to the external robot arm 5 when conveying drill rods outward, i.e., to have a fixed height when conveying drill rods outward, the conveying device 9 can rise a certain distance after corresponding to the uppermost drill rod holder 8. When the drill rod is taken out of the drill rod box 4, the inner end of the drill rod holder 8 tilts downward, and the engagement position of the conveying device 9 and the external robot arm 5 is located on the inner side of the uppermost end of the lifting frame 7. When placing the drill rod into the drill rod box 4, the engagement position of the conveying device 9 and the external robot arm 5 is lower than the uppermost end of the lifting frame 7, but in both cases, the height of the conveying device 9 relative to the frame 2 is the same. The conveying device 9 picks up and places the drill rod when corresponding to the through hole, and then rises to the height corresponding to the robot arm 5. The robotic arm 5 includes a hydraulic clamp 51 for holding the drill rod. When supplying the drill rod to the drilling device 3, the robotic arm 5 flips the drill rod to a vertical position through the upper vertical rotation mechanism, and then moves the vertical drill rod to the drilling device 3 through the lower horizontal rotation mechanism.

[0041] When the inner end of the drill rod holder 8 tilts downward, the drill rods on the drill rod holder 8 can automatically fall onto the upper side of the conveying device 9. When the inner end of the drill rod holder 8 tilts upward, the conveying device 9 can sequentially place drill rods onto the upper side of the drill rod holder 8. The drill rods slide down the upper side of the drill rod holder 8 by their own weight. In order to ensure that the drill rods are conveyed one by one and to avoid all the drill rods on the drill rod holder 8 falling down when the drill rods are released, in this embodiment, the end of the drill rod holder 8 is provided with a rotating cylinder 13 that is parallel to and corresponds to the support rod. The two ends of the rotating cylinder 13 are respectively connected to a first stop rod 14 and a second stop rod 15 that extend radially outward along the rotating cylinder 13. Only one drill rod can be accommodated on the upper side between the first stop rod 14 and the second stop rod 15. The circumferential angle difference between the first stop rod 14 and the second stop rod 15 is ninety degrees. When the first stop rod 14 is perpendicular to the drill rod holder 8, the second stop rod 15 is parallel to the drill rod holder 8; when the first stop rod 14 is parallel to the drill rod holder 8, the second stop rod 15 is perpendicular to the drill rod holder 8. Two rotating drums 13 are installed on each layer of drill rod frame 8, corresponding to the two ends of the drill rod respectively. The rotating drums 13 on the same drill rod frame 8 rotate synchronously, and a motor driving the rotating drums 13 is installed on the drill rod frame 8. By utilizing the rotation of the first stop bar 14 and the second stop bar 15, which have an included angle of 90 degrees and can only accommodate one drill rod axial spacing, the drill rods can be picked up and put down one by one in a regular manner. When picking up a drill rod, the first stop bar 14 flips to release one drill rod, while the second stop bar 15 prevents the remaining drill rods from falling. When storing and placing the drill rods, the drill rods are made to pass one by one between the first stop bar 14 and the second stop bar 15 into the upper part of the drill rod frame 8, ensuring that the picking up and putting down of drill rods is regular and orderly.

[0042] Two rows of support plates 20 are provided on the lower side of the upper layer of the conveyor belt 18. The two rows of support plates 20 are alternately distributed and extend from the lower sides of the two edges of the upper layer of the conveyor belt 18 to the other side, with their upper sides gradually decreasing in height. This makes the upper layer of the conveyor belt 18 lower in the middle and higher on both sides, so as to receive the drill rods falling from the drill rod frame 8. Each support plate 20 has an inclined roller 23 on its upper side. The span of the support plate 20 in the aforementioned extension direction is less than the width of the conveyor belt 18 but greater than half the width of the conveyor belt 18. Each row of support plates 20 has a pad 21 on its lower side. A second hydraulic cylinder 22 is provided between the lower side of the pad 21 and the conveyor frame 19 to drive the pad 21 and the support plate 20 in the same row to rise and fall. When a single row of support plates 20 rises, the upper layer of the conveyor belt 18 tilts to one side, and the drill rods on its upper side fall to the drill rod frame 8 on one side.

[0043] The conveyor frame 19 includes two side plates, with the lifting seat 17 connected to the outer side of each side plate. A middle plate is connected between the lower parts of the two side plates, supporting the upper side of the lower layer of the conveyor belt 18 and supporting the second hydraulic cylinder 22. At least two synchronous second hydraulic cylinders 22 are provided under each pad 21. A telescopic guide rod is also connected between the pad 21 and the middle plate to ensure the vertical lifting of the pad 21 and prevent the pad 21 from tilting. Two belt rollers are provided between the ends of the two side plates, respectively supporting the inner sides of both ends of the conveyor belt 18. A motor for driving the belt rollers to rotate is provided on the outer side of one end of the conveyor frame 19, thereby realizing the rotation of the conveyor belt 18.

[0044] The second hydraulic cylinder 22 allows the height of the two rows of support plates 20 to be adjusted independently, enabling the upper layer of the conveyor belt 18 to tilt to both sides. When storing and placing drill rods, one row of support plates 20 is lower in height, while the other row is relatively higher, causing the upper layer of the conveyor belt 18 to tilt. This allows the drill rods to slide down onto the drill rod holders 8 on both sides, completing the storage and placement of the drill rods. When the conveyor belt 18 is transporting drill rods or receiving drill rods falling from the drill rod holders 8, the two rows of support plates 20 are at the same height, making the upper layer of the conveyor belt 18 V-shaped. This allows for lateral restraint of the drill rods, preventing them from falling.

[0045] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A low-profile, fully inclined crawler drilling rig for coal mines, characterized in that, The system includes a chassis (2) and a track assembly (1) that supports the movement of the chassis (2). The chassis (2) is equipped with a drilling device (3), a drill rod box (4), and a manipulator (5). The manipulator (5) picks up and places drill rods between the drilling device (3) and the drill rod box (4). The drill rod box (4) has a downward-extending opening (6) on the upper side of the middle part. The opening (6) has a lifting frame (7) inside. The lifting frame (7) has several layers of parallel drill rod frames (8) hinged between its two sides and the two side walls of the drill rod box (4). The lifting frame (7) has a vertically lifting conveying device (9) that corresponds to each layer of drill rod frames (8) in sequence. The lifting frame (7) raises and lowers the drill rod frame (8) so that the end of the drill rod frame (8) near the lifting frame (7) is in an upward-tilted state and an downward-tilted state. When the end of the drill rod frame (8) near the lifting frame (7) is tilted upward, it receives the drill rods. When it is tilted downward, it discharges the drill rods. The conveying device (9) includes a circular rotating conveyor belt (18) and a conveyor frame (19) that supports the rotation of the conveyor belt (18). The lifting frame (7) is equipped with vertical active screws (16) at both ends to drive the lifting of the conveyor frame (19). The conveying direction of the conveyor belt (18) is parallel to the direction of the drill rod on the drill rod frame (8). The upper layer of the conveyor belt (18) is provided with two rows of support plates (20). The two rows of support plates (20) are alternately distributed. The two rows of support plates (20) extend from the lower sides of the two edges of the upper layer of the conveyor belt (18) to the other side, and their upper sides gradually become lower, so that the upper layer of the conveyor belt (18) is in a state of being low in the middle and high on both sides, and receives the drill rods falling from the drill rod frame (8). Both rows of support plates (20) are provided with pads (21) on the lower side. A second hydraulic cylinder (22) for driving the pads (21) and the support plates (20) in the same row is provided between the lower side of the pads (21) and the conveyor frame (19). When a single row of support plates (20) rises, the upper layer of the conveyor belt (18) is tilted to one side, and the drill rod on its upper side falls to the drill rod frame (8) on one side.

2. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 1, characterized in that, The lifting frame (7) is a U-shaped plate structure, and the lifting frame (7) has several through holes on both sides corresponding to the upper space of the drill rod frame (8) of each layer.

3. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 2, characterized in that, The opening (6) extends to both ends of the drill rod box (4), the lifting frame (7) extends to the outer sides of both ends of the drill rod box (4), and both outer sides of the lifting frame (7) are provided with folded edges (11) that fit against the outer side of the end of the drill rod box (4). The bottom of the drill rod box (4) is provided with a first hydraulic cylinder (10) that drives the lifting frame (7) to lift.

4. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 1, characterized in that, The drill rod frame (8) includes several parallel support rods, and each support rod has a hinge shaft at both ends; the inner wall of the drill rod box (4) is provided with several supports (12), and the supports (12) are provided with horizontal strip holes for the hinge shaft to pass through.

5. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 4, characterized in that, The drill rod frame (8) has a rotating cylinder (13) at its end that is parallel to and corresponds to the support rod. The two ends of the rotating cylinder (13) are respectively connected to a first stop rod (14) and a second stop rod (15) that extend radially outward. Only one drill rod can be accommodated on the upper side between the first stop rod (14) and the second stop rod (15).

6. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 5, characterized in that, The circumferential angle difference between the first stop (14) and the second stop (15) is 90 degrees. When the first stop (14) is perpendicular to the drill rod frame (8), the second stop (15) is parallel to the drill rod frame (8); when the first stop (14) is parallel to the drill rod frame (8), the second stop (15) is perpendicular to the drill rod frame (8).

7. The low-profile, fully inclined crawler drilling rig for coal mines according to claim 1, characterized in that, The upper side of the support plate (20) is provided with inclined rollers (23). The span of the support plate (20) in the extension direction is less than the width of the conveyor belt (18) and greater than half the width of the conveyor belt (18).

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