rock drilling jumbo

Abstract

The application discloses a rock drilling jumbo, which comprises a frame, a first large-arm rotary drive, a pushing arm frame, a first luffing oil cylinder, a pushing beam base, a second large-arm rotary drive, a basket arm frame, a basket luffing oil cylinder and a working platform; two kinds of group arm frames are respectively installed on the frame through respective rotary drives and can independently rotate around a vertical shaft; the luffing oil cylinder is hinged between the corresponding arm frame and the rotary drive, so that the arm frame can luff around a horizontal shaft; the pushing arm frame and the basket arm frame are both telescopic and can respectively drive the pushing beam base and the working platform to rotate. The structure separates the functional modules, avoids front-end concentrated overhanging, significantly shortens the longitudinal dimension and the turning radius of the whole vehicle, simultaneously adopts the rotary drive to replace the traditional deflection oil cylinder, improves the compactness of the root of the arm frame, effectively prevents interference with other components, and enhances the maneuverability and operation safety in a narrow tunnel.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a rock drilling rig. Background Technology

[0002] In tunnel engineering, the drill-and-blast method is a widely used construction method, and one of its core aspects is the efficient and precise drilling of blast holes. The rock drilling rig, as a key piece of equipment for this process, directly affects construction efficiency and safety. Currently, mainstream rock drilling rigs generally employ multi-degree-of-freedom boom systems to cover blast holes at different locations on the tunnel face, with the boom's leveling and attitude adjustment mechanisms being particularly crucial.

[0003] While the boom system of existing drilling rigs can meet the requirements for boom stability and angle adjustment in drilling operations to a certain extent, significant shortcomings still exist in practical applications: Firstly, the boom is positioned at the front of the vehicle, resulting in an excessively long longitudinal dimension and a large turning radius. This leads to poor maneuverability in narrow and winding tunnel construction sites, and frequent vehicle repositioning not only reduces work efficiency but also increases safety risks. Secondly, the boom root often uses hydraulic cylinders to drive the swaying motion. Although this method is simple in structure, it requires a large installation space, resulting in insufficient compactness in the layout of the boom root area. It is easy to cause spatial interference with the vehicle body structure or other adjacent booms, which limits the possibility of multi-boom collaborative operation and brings inconvenience to equipment maintenance and operation. Summary of the Invention

[0004] The purpose of this application is to provide a rock drilling rig that can reduce the overall longitudinal dimensions and turning radius, while improving the structural compactness and preventing interference between the boom and other components.

[0005] The embodiments of this application can be implemented as follows: In a first aspect, the present invention provides a rock drilling rig, comprising a frame, a first boom slewing drive, a propulsion boom, a first pitch cylinder, a propulsion beam base, a second boom slewing drive, a basket boom, a basket pitch cylinder, and a working platform. Both the first boom slewing drive and the second boom slewing drive are mounted on the vehicle frame; One end of the propulsion boom and one end of the first pitch cylinder are both hinged to the first boom slewing drive. The first boom slewing drive is used to drive the propulsion boom and the first pitch cylinder to rotate synchronously relative to the vehicle frame around the vertical axis. The other end of the first pitch cylinder is hinged to the propulsion boom. The first pitch cylinder is used to drive the propulsion boom to rotate about a horizontal axis relative to the first boom. The propulsion beam base is installed at the other end of the propulsion boom, and the propulsion boom can extend and retract and drive the propulsion beam base to rotate. One end of the suspended basket boom and one end of the suspended basket pitch cylinder are both hinged to the second boom slewing drive. The second boom slewing drive is used to drive the suspended basket boom and the second pitch cylinder to rotate synchronously relative to the vehicle frame around the vertical axis. The other end of the second pitch cylinder is hinged to the basket boom. The second pitch cylinder is used to drive the basket boom to rotate about a horizontal axis relative to the second boom. The work platform is installed at the other end of the suspended basket boom, and the suspended basket boom is used to drive the work platform to extend and retract and to drive the work platform to rotate.

[0006] In an optional embodiment, the rock drilling rig further includes a first turntable and a second turntable; The first turntable is connected to the first boom rotation drive, and the push boom and the first pitch cylinder are both hinged to the first turntable; The second turntable is connected to the second boom rotation drive, and the basket boom and the second pitch cylinder are both hinged to the second turntable.

[0007] In an optional embodiment, the propulsion boom is hinged to the top of the first turntable; One end of the first pitch cylinder is hinged to the middle or bottom of the first turntable, and the other end is hinged to the lower side of the propulsion boom.

[0008] In an optional embodiment, the basket boom is hinged to the top of the second turntable; One end of the second pitch cylinder is hinged to the middle or bottom of the second turntable, and the other end is hinged to the lower side of the basket boom.

[0009] In an optional embodiment, the propulsion boom includes a first telescopic boom, a propulsion rotation drive, a leveling seat, a first leveling cylinder, a yaw leveling rotation drive, and a compensation cylinder. One end of the first telescopic arm is hinged to the first turntable, and the other end is hinged to the leveling seat; One end of the first leveling cylinder is hinged to the first telescopic arm, and the other end is hinged to the leveling seat. The first leveling cylinder is used to drive the leveling seat to rotate about a horizontal axis relative to the first telescopic arm. One end of the yaw leveling rotary drive is fixed to the leveling seat, and the other end is fixed to the propulsion beam base. The yaw leveling rotary drive is used to drive the propulsion beam base to rotate relative to the leveling seat. One end of the compensation cylinder is hinged to the base of the propulsion beam, and the other end is hinged to the propulsion mechanism that is slidably mounted on the base of the propulsion beam.

[0010] In an optional embodiment, the suspended platform boom includes a second telescopic arm and a second leveling cylinder; One end of the second telescopic arm is hinged to the second turntable, and the other end is hinged to the working platform; One end of the second leveling cylinder is hinged to the second telescopic arm, and the other end is hinged to the working platform. The second leveling cylinder is used to drive the working platform to rotate about a horizontal axis relative to the second telescopic arm.

[0011] In an optional embodiment, the rock drilling rig further includes a follower cylinder, one end of which is hinged to the second turntable and the other end of which is hinged to the boom of the basket. The rodless chamber of the follower cylinder is connected to the rodless chamber of the second leveling cylinder, and the rod chamber of the follower cylinder is connected to the rod chamber of the second leveling cylinder.

[0012] In an optional embodiment, the rock drilling rig further includes a drive arm, a cab, and a cab drive cylinder; One end of the drive arm is hinged to the vehicle frame; The cab is connected to the drive arm; One end of the cab drive cylinder is hinged to the frame, and the other end is hinged to the drive arm. The cab drive cylinder is used to drive the drive arm to rotate about a horizontal axis relative to the frame.

[0013] In an optional embodiment, the rock drilling rig further includes a connecting rod, one end of which is hinged to the drive arm and the other end of which is hinged to the frame. The connecting rod, the drive arm, the cab drive cylinder, and the frame together form a parallel four-bar linkage mechanism.

[0014] In an optional embodiment, the frame is provided with a first slide rail and a second slide rail distributed at an angle, and at least one of the first slide rail and the second slide rail is at an angle to the horizontal direction. The rock drilling rig also includes a first mounting base and a second mounting base, wherein the first mounting base is slidably disposed on the first slide rail and the second mounting base is slidably disposed on the second slide rail; The first boom slewing drive is mounted on the first mounting base, and the second boom slewing drive is mounted on the second mounting base.

[0015] Compared with the prior art, the beneficial effects of the embodiments of this application include, for example: By mounting the propulsion boom and the basket boom separately on the chassis via their respective independent boom slewing drives (i.e., first boom slewing drive and second boom slewing drive), 360° omnidirectional rotation of both the propulsion boom and the basket boom on the chassis can be achieved. In the non-operational state of the drilling rig (i.e., during travel or relocation), both the basket boom and the propulsion boom are retracted behind the chassis and positioned above the chassis, significantly shortening the overall longitudinal profile and effectively avoiding the "forward protrusion" structure caused by traditional front-end cantilever booms. This layout significantly reduces the overall vehicle length and turning radius, significantly improving the equipment's maneuverability and flexibility in narrow and winding tunnels, reducing the number of shunting operations and operational complexity, thereby increasing construction efficiency and reducing the risk of collisions due to space constraints.

[0016] When the rock drilling rig is in operation, the working platform and the base of the propulsion beam can be precisely driven forward to the working area in front of the frame through their respective boom extension and rotation drive systems, so as to achieve full coverage of the blast hole position and ensure that the drilling accuracy and operation function are not affected.

[0017] Furthermore, the horizontal rotation (i.e., yaw motion) of the boom and the basket boom is directly achieved by the first and second boom slewing drives integrated into the chassis, rather than relying on a large yaw cylinder mounted at the boom root. This design relocates the bulky hydraulic actuators originally located at the boom root to the interior of the chassis or a more compact location, greatly freeing up space in the boom root area and avoiding spatial interference with the vehicle structure or other booms. This not only improves the feasibility of multi-boom collaborative operations (such as simultaneous drilling with two booms or drilling with one boom and one support boom), but also provides convenient conditions for daily maintenance, pipeline laying, and operator access to critical components. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a second partial structural schematic diagram of the rock drilling rig in an embodiment of this application; Figure 2 To be Figure 1 A schematic diagram of the right-side thrust boom after it has been concealed; Figure 3 This is a schematic diagram of the mounting base being raised in another embodiment of this application; Figure 4 This is a schematic diagram of the mounting base descending in another embodiment of this application; Figure 5 This is one of the partial structural schematic diagrams of the rock drilling rig in the embodiments of this application; Figure 6 This is a schematic diagram of the suspended basket boom during the attitude switching process according to an embodiment of this application; Figure 7 This is a schematic diagram showing the suspended basket boom in position after being switched to the correct position according to an embodiment of this application; Figure 8 This is a schematic diagram of the right-side propulsion boom during the attitude switching process in an embodiment of this application; Figure 9 This is a schematic diagram of the right-side propulsion boom after its attitude has been switched into position according to an embodiment of this application; Figure 10 This is a schematic diagram illustrating the process of switching the attitude of the left-side propulsion boom in an embodiment of this application.

[0020] Icons: 1-Frame; 2-First boom slewing drive; 3-First turntable; 4-First pitch cylinder; 5-Outer boom; 6-Compensation cylinder; 7-Push mechanism; 8-Inner boom; 9-Push slewing drive; 10-Leveling seat; 11-First leveling cylinder; 12-Yaw leveling slewing drive; 13-Push beam base; 14-Second turntable; 15-Follower cylinder; 16-Second pitch cylinder; 17-First boom; 18-Second boom; 19-Third boom; 20-Second leveling cylinder; 21-Working platform; 22-Connecting rod; 23-Cab drive cylinder; 24-Drive boom; 25-Cab; 26-Second boom slewing drive; 71-Top support unit. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] refer to Figure 1 and Figure 2 This embodiment discloses a rock drilling rig, which includes a frame 1, a first boom rotation drive 2, a propulsion boom, a first pitch cylinder 4, a propulsion beam base 13, a second boom rotation drive 26, a basket boom, a basket pitch cylinder, and a work platform 21. The first boom slewing drive 2 and the second boom slewing drive 26 are both mounted on the frame 1; One end of the propulsion boom and one end of the first pitch cylinder 4 are both hinged to the first boom slewing drive 2. The first boom slewing drive 2 is used to drive the propulsion boom and the first pitch cylinder 4 to rotate synchronously relative to the frame 1 around the vertical axis. The other end of the first pitch cylinder 4 is hinged to the propulsion boom. The first pitch cylinder 4 is used to drive the propulsion boom to rotate about the horizontal axis relative to the first boom slewing drive 2. The propulsion beam base 13 is installed at the other end of the propulsion boom, and the propulsion boom can extend and retract and drive the propulsion beam base 13 to rotate. One end of the suspended basket boom and one end of the suspended basket pitch cylinder are both hinged to the second boom slewing drive 26. The second boom slewing drive 26 is used to drive the suspended basket boom and the second pitch cylinder 16 to rotate synchronously relative to the frame 1 around the vertical axis. The other end of the second pitch cylinder 16 is hinged to the basket boom. The second pitch cylinder 16 is used to drive the basket boom to rotate relative to the second boom rotation drive 26 around the horizontal axis. The work platform 21 is installed at the other end of the suspended basket boom, which is used to drive the work platform 21 to extend and rotate.

[0029] Thus, by mounting the propulsion boom and the basket boom on the frame 1 via their respective independent boom rotation drives (i.e., the first boom rotation drive 2 and the second boom rotation drive 26), 360° omnidirectional rotation of the propulsion boom and the basket boom on the frame 1 can be achieved. In the non-operational state of the drilling rig (i.e., during travel or relocation), both the basket boom and the propulsion boom are retracted behind the frame 1 and positioned above the frame 1, significantly shortening the overall longitudinal profile and effectively avoiding the "forward protrusion" structure caused by traditional front-end cantilever booms. This layout significantly reduces the overall vehicle length and turning radius, significantly improving the equipment's maneuverability and flexibility in narrow and curved tunnels, reducing the number of shunting operations and operational complexity, thereby increasing construction efficiency and reducing the risk of collisions due to space constraints.

[0030] When the rock drilling rig is in operation, the working platform 21 and the propulsion beam base 13 can be precisely driven forward to the working area in front of the frame 1 through their respective boom extension and rotation drive systems, so as to achieve full coverage of the blast hole position and ensure that the drilling accuracy and operation function are not affected.

[0031] Furthermore, the horizontal rotation (i.e., yaw motion) of the boom and the basket boom is directly achieved by the first boom slewing drive 2 and the second boom slewing drive 26 integrated on the chassis 1, rather than relying on a large yaw cylinder mounted at the boom root. This design relocates the massive hydraulic actuators originally located at the boom root to the interior of the chassis 1 or a more compact location, greatly freeing up space in the boom root area and avoiding spatial interference with the vehicle structure or other booms. This not only improves the feasibility of multi-boom collaborative operations (such as simultaneous drilling with two booms or drilling with one boom and one support), but also provides convenient conditions for daily maintenance, pipeline laying, and operator access to critical components.

[0032] Optionally, the rock drilling rig may also include a first turntable 3 and a second turntable 14; The first turntable 3 is connected to the first boom slewing drive 2, and the propulsion boom and the first pitch cylinder 4 are both hinged to the first turntable 3; The second turntable 14 is connected to the second boom slewing drive 26, and the basket boom and the second pitch cylinder 16 are both hinged to the second turntable 14.

[0033] In this way, since the rock drilling rig is equipped with a first turntable 3 and a second turntable 14, and the first turntable 3 is connected to the first boom slewing drive 2, and the propulsion boom and the first pitch cylinder 4 are both hinged to the first turntable 3, when the first boom slewing drive 2 is working, it can drive the entire first turntable 3 and the propulsion boom and the first pitch cylinder 4 integrated on it to rotate synchronously around the vertical axis as a rigid whole. This avoids the problems of asynchronous movement, uneven force, or dispersed installation reference caused by multiple components being installed separately at the slewing output end in the traditional structure. Similarly, the second turntable 14 is connected to the second boom slewing drive 26, and the basket boom and the second pitch cylinder 16 are both hinged to the second turntable 14, so that the orientation adjustment of the working platform 21 system is also achieved by rotating the entire system with the turntable as the unified carrier.

[0034] Thus, on the one hand, the hinge relationship at the boom root is concentrated and constrained within the local plane of each turntable, significantly improving the structural compactness and effectively reducing the space occupied by the boom system above the vehicle body during rotation, further alleviating the spatial interference problem when multiple booms are arranged; on the other hand, the turntable, as a high-rigidity intermediate load-bearing component, provides a stable and coplanar hinge reference for the pitch cylinder and the boom, which not only improves the repeatability and dynamic stability of boom attitude control, but also reduces the structural stress concentration caused by assembly errors or load eccentricity, and extends the service life of key connection parts.

[0035] The propulsion boom is hinged to the top of the first turntable 3; one end of the first pitch cylinder 4 is hinged to the middle or bottom of the first turntable 3, and the other end is hinged to the lower side of the propulsion boom. Therefore, when the first pitch cylinder 4 extends or retracts, its force is applied to the lower side of the propulsion boom away from the rotation center, forming a lever-type pitch mechanism with the top hinge point as the fulcrum.

[0036] In this way, on the one hand, the installation position of the first pitch cylinder 4 is lower than the hinge point of the propulsion boom. This layout effectively increases the lever arm length of the cylinder relative to the boom, and can provide a greater pitch torque under the same output thrust, thereby improving the attitude adjustment capability and dynamic stability of the boom under heavy-load drilling conditions. On the other hand, arranging the pitch cylinder in the middle and lower part of the turntable makes full use of the idle space under the turntable, avoids the overlap and interference between the cylinder and the propulsion boom in the upper space, and makes the layout of the boom root area more compact and layered, which is conducive to the overall height control and the reasonable layout of pipelines and protective devices on the vehicle body.

[0037] Optionally, the boom of the suspended platform is hinged to the top of the second turntable 14; one end of the second pitch cylinder 16 is hinged to the middle or bottom of the second turntable 14, and the other end is hinged to the lower side of the boom of the suspended platform. Therefore, when the second pitch cylinder 16 extends or retracts, the hinge point at the top of the boom of the suspended platform will be used as the pivot point, and the boom 24 will be driven to pitch around this point, forming a typical "upper hinge support, lower drive" lever-type pitch mechanism.

[0038] In this way, on the one hand, the action point of the second pitch cylinder 16 is located on the lower side of the basket boom and far from the center of rotation, which significantly increases the lever arm length. Under the same cylinder thrust, it can generate a larger pitch moment, effectively improving the adjustment capability and load-bearing stability of the work platform 21 under different height and tilt angle conditions. It is especially suitable for the high requirements of platform stability when personnel are standing and working. On the other hand, arranging the second pitch cylinder 16 in the middle and lower part of the second turntable 14 makes full use of the longitudinal space under the turntable structure, avoids the spatial conflict between the cylinder and the basket boom body in the upper working area, and makes the layout of the boom root more compact and orderly. This is conducive to reducing the overall height of the machine and reserving installation space for other equipment on the roof (such as lighting, protective covers or pipelines).

[0039] In this embodiment, the propulsion boom includes a first telescopic boom, a propulsion rotary drive 9, a leveling seat 10, a first leveling cylinder 11, a yaw leveling rotary drive 12, and a compensation cylinder 6. One end of the first telescopic boom is hinged to the first turntable 3, and the other end is hinged to the leveling seat 10, forming the telescopic and pitching foundation of the boom body. One end of the first leveling cylinder 11 is hinged to the first telescopic arm, and the other end is hinged to the leveling seat 10. The first leveling cylinder 11 is used to drive the leveling seat 10 to rotate about the horizontal axis relative to the first telescopic arm. One end of the yaw leveling rotary drive 12 is fixed to the leveling seat 10, and the other end is fixed to the push beam base 13. The yaw leveling rotary drive 12 is used to drive the push beam base 13 to rotate relative to the leveling seat 10. One end of the compensating cylinder 6 is hinged to the propulsion beam base 13, and the other end is hinged to the propulsion mechanism 7 which is slidably mounted on the propulsion beam base 13, and is used to provide axial compensation force during drilling.

[0040] In this way, firstly, the propulsion boom can rotate 360° around the vertical axis of the frame 1 by the first boom rotation drive 2. Combined with the extension and retraction of the first telescopic boom and the pitch adjustment of the first pitch cylinder 4, the propulsion beam base 13 has a wide range of spatial accessibility, which can cover any empty space at the working face and meet the full-section drilling requirements of complex cross-section tunnels.

[0041] Secondly, the leveling seat 10 serves as an intermediate attitude adjustment platform. Driven by the first leveling cylinder 11, it rotates relative to the first telescopic arm around the horizontal axis. This can compensate for the changes in the tilt angle of the propulsion beam base 13 caused by the extension or pitch of the boom in real time, ensuring that the propulsion beam is always at the designed drilling angle (such as horizontal or preset pitch / pitch angle), thereby improving drilling accuracy and hole quality.

[0042] Furthermore, the yaw leveling rotary drive 12 is installed between the leveling seat 10 and the propulsion beam base 13, and supports 360° continuous rotation. This allows the propulsion beam base 13 to be independently adjusted for lateral yaw. Even when the boom body is limited by space and cannot be fully aligned with the target hole, precise positioning can still be achieved through end-effector slewing fine-tuning. This end-effector freedom, together with the front boom rotation, forms a "dual-rotation" collaborative mechanism, significantly enhancing system redundancy and operational flexibility.

[0043] Furthermore, when the first boom slewing drive 2 drives the entire propulsion boom to rotate around the vertical axis, even if the length of the first telescopic boom remains unchanged, the projected position of its end in space will shift laterally with the change of azimuth angle. Simultaneously, when the first pitch cylinder 4 extends and retracts to drive the propulsion boom to pitch, the change in the height of the boom end will also alter the straight-line distance from the front end of the propulsion mechanism 7 to the working face. While these combined movements expand the operational coverage, they cause a deviation in the axial direction (i.e., drilling direction) between the actual drilling starting point of the propulsion mechanism 7 and the preset borehole position. Without compensation, this will affect the consistency of drilling depth, the verticality of the hole, and may even cause the drill to jam.

[0044] In this embodiment, the compensation cylinder 6 actively adjusts its extension and retraction to drive the propulsion mechanism 7 to slide axially along the propulsion beam base 13, dynamically adjusting the position of the drill bit relative to the propulsion beam base 13, thereby offsetting the cumulative axial displacement caused by boom rotation and pitch in real time. This compensation mechanism ensures that regardless of the azimuth or pitch angle of the propulsion boom, the front end of the propulsion mechanism 7 (drill bit) can always accurately fit the face and maintain the designed drilling stroke.

[0045] It should also be noted that, due to the three-stage series joint arrangement of the boom – first the slewing joint (propulsion slewing drive 9), then the swing joint (first leveling cylinder 11), and finally the slewing joint (tilt leveling slewing drive 12) – all sensors used for attitude sensing (such as inclinometers and encoders) and hydraulic hoses connecting the propulsion beam base 13 to the boom body can be routed and fixed along the interior or lower surface of the leveling seat 10, without crossing the front working area or being exposed outside the propulsion beam base 13. This significantly reduces the number of external pipelines in the propulsion beam base 13 and drilling mechanism area, which are located at the very front and directly face the working face during construction. The sensors are kept away from the high-risk impact zone of the working face, effectively avoiding damage caused by falling rock, blasting debris, drill rod swaying, or manual operation, such as scratches and impacts.

[0046] The first telescopic arm specifically includes at least two first sliding arms that are slidably nested in sequence. For example, the first telescopic arm includes two first sliding arms, namely an outer arm 5 and an inner arm 8 that is slidably nested at one end of the outer arm 5. The other end of the outer arm 5 is hinged to the first turntable 3, and one end of the inner arm 8 is hinged to the leveling seat 10. The first pitch cylinder 4 is hinged to the outer arm 5, and the first leveling cylinder 11 is hinged to the inner arm 8.

[0047] It should be noted that when the second boom slewing drive 26 drives the second turntable 14 and the entire suspended platform boom to rotate around the vertical axis, or when the second pitch cylinder 16 drives the suspended platform boom to perform pitching movements, the posture (angle and length) of the second telescopic boom will change accordingly, causing the working platform 21 at its end to tilt, possibly deviating from a horizontal state. In tunnel construction, the working platform 21 typically needs to support operators or auxiliary equipment, placing strict requirements on the platform's levelness and stability; excessive tilting will affect operational safety and comfort.

[0048] Therefore, in this embodiment, the suspended platform boom includes a second telescopic arm and a second leveling cylinder 20; One end of the second telescopic boom is hinged to the second turntable 14, and the other end is hinged to the working platform 21; thus forming the main telescopic and support structure of the suspended basket boom. One end of the second leveling cylinder 20 is hinged to the second telescopic arm, and the other end is hinged to the working platform 21. The second leveling cylinder 20 is used to drive the working platform 21 to rotate about the horizontal axis relative to the second telescopic arm.

[0049] In this way, the second leveling cylinder 20 actively extends and retracts, using the second telescopic boom as a support reference, to adjust the pitch attitude of the work platform 21 in real time, so that it always maintains a horizontal or preset tilt angle during boom rotation, pitching or extension, maintaining a stable horizontal state, significantly improving the safety and ease of operation of high-altitude operations.

[0050] Optionally, the rock drilling rig also includes a follower cylinder 15, one end of which is hinged to the second turntable 14 and the other end is hinged to the basket boom. The rodless chamber of the follower cylinder 15 is connected to the rodless chamber of the second leveling cylinder 20, and the rod chamber of the follower cylinder 15 is connected to the rod chamber of the second leveling cylinder 20.

[0051] In this way, when the posture of the suspended platform boom changes due to the action of the second pitch cylinder 16 or the extension and retraction of the second telescopic boom, the tilt angle of the working platform 21 relative to the second telescopic boom changes accordingly, triggering the extension and retraction of the second leveling cylinder 20 to maintain the platform level; at the same time, since the follower cylinder 15 and the second leveling cylinder 20 share the same hydraulic chamber pressure, the follower cylinder 15 will automatically generate an extension and retraction response that is coordinated with the second leveling cylinder 20, and its output torque acts between the suspended platform boom and the second turntable 14.

[0052] Thus, on the one hand, the follow-up cylinder 15, as an auxiliary support element, shares part of the load borne by the second leveling cylinder 20. Especially when the work platform 21 carries personnel or equipment, it can effectively reduce the stress on the second leveling cylinder 20 and improve the system's load-bearing capacity and structural safety. On the other hand, the design of direct connection of hydraulic chambers gives the two cylinders natural motion synchronization and force balance characteristics. Without the need for additional sensors, proportional valves or electronic control synchronization algorithms, mechanical-hydraulic adaptive coordination can be achieved, ensuring that the leveling action is smooth, lag-free and interference-free under any boom posture.

[0053] Specifically, the second telescopic arm includes at least two second sliding arms that are slidably nested together. For example, the second telescopic arm includes three second sliding arms, which are slidably nested together as a first arm 17, a second arm 18, and a third arm 19 respectively. The end of the first arm 17 away from the third arm 19 is hinged to the second turntable 14. The second pitch cylinder 16 and the follower cylinder 15 are both hinged to the first arm 17. The working platform 21 and the second leveling cylinder 20 are both hinged to the third arm 19.

[0054] In this embodiment, the rock drilling rig also includes a drive arm 24, a cab 25, and a cab drive cylinder 23; One end of the drive arm 24 is hinged to the frame 1, forming a swing support structure that rotates around a horizontal axis; The cab 25 is connected to the drive arm 24 and moves together with the drive arm 24; One end of the cab drive cylinder 23 is hinged to the frame 1, and the other end is hinged to the drive arm 24. The cab drive cylinder 23 is used to drive the drive arm 24 to rotate about a horizontal axis relative to the frame 1.

[0055] Thus, when the cab drive cylinder 23 extends or retracts, it pushes or pulls the drive arm 24 to rotate around its hinge point with the frame 1, thereby driving the cab 25 to achieve vertical lifting and lowering. This structure allows the cab 25 to no longer be fixed at the chassis height, but to have the ability to actively adjust its height.

[0056] In this way, on the one hand, during the operation or relocation of the equipment, the driver's cab 25 can be lowered to the lowest position by driving the hydraulic cylinder 23 through the cab, which effectively reduces the overall height and center of gravity of the machine, improves the safety of passage in the tunnel, avoids collisions with the arch support, pipelines or temporary structures, and enhances driving stability. On the other hand, during drilling operations or on-site observation, the cab 25 can be raised to a higher position to expand the operator's field of vision, enabling them to clearly observe the layout of the boreholes on the working face, the boom's operating status, and the surrounding environment, which is conducive to precise control and safety monitoring.

[0057] Optionally, the rock drilling rig also includes a connecting rod 22, one end of which is hinged to the drive arm 24, and the other end is hinged to the frame 1. The connecting rod 22 is approximately parallel to the cab drive cylinder 23, and the drive arm 24 is approximately parallel to the frame 1. Thus, the drive arm 24, connecting rod 22, frame 1, and cab drive cylinder 23 together form a parallel four-bar linkage, with the drive arm 24 and connecting rod 22 forming two opposing sides, and the frame 1 and the virtual connecting line (or the cab 25 base) forming the other two sides. In this configuration, when the cab drive cylinder 23 extends or retracts, the drive arm 24 rotates around its hinge point with the frame 1, while the connecting rod 22 synchronously constrains the movement trajectory of the drive arm 24.

[0058] Thus, on the one hand, the parallel four-bar structure ensures that the cab 25 always maintains a horizontal posture during the lifting process. Even if the drive arm 24 pitches and rotates, the geometric constraint of the link 22 can counteract the rotation trend, preventing the cab 25 from tilting forward or backward, and significantly improving the operator's riding comfort and visual stability. On the other hand, the connecting rod 22 is arranged in parallel with the cab drive cylinder 23, so that the two are subjected to the same force direction and form a cooperative load-bearing mechanism. Part of the vertical load is borne by the connecting rod 22, thereby reducing the axial bending stress and lateral load of the cab drive cylinder 23, extending the service life of the cylinder and improving the system rigidity.

[0059] The cab 25 is positioned as far back as possible in the overall vehicle layout, that is, it is closer to the rear of the vehicle than the front in the longitudinal direction of the frame 1. By placing the cab 25 at the rear, its occupation of the front space of the vehicle body is reduced, leaving more space for the propulsion boom, basket boom and its slewing drive, turntable and other key actuators. This is conducive to the compact integration of the boom system and multi-degree-of-freedom motion avoidance, and further supports the design goal of shortening the front overhang and reducing the turning radius of the whole machine.

[0060] Generally, boom slewing drive is preferred, but not limited to the use of worm gear reducers. Propulsion slewing drive 9 and yaw leveling slewing drive 12 are preferred, but not limited to planetary gear reducers.

[0061] Optionally, in another embodiment, such as Figure 3 and Figure 4 As shown, the frame 1 is provided with a first slide rail and a second slide rail distributed at an angle, and at least one of the first slide rail and the second slide rail is at an angle to the horizontal direction; The rock drilling rig also includes a first mounting base and a second mounting base. The first mounting base is slidably mounted on a first slide rail, and the second mounting base is slidably mounted on a second slide rail. The first boom slewing drive 2 is mounted on the first mounting base, and the second boom slewing drive 26 is mounted on the second mounting base.

[0062] Therefore, when the first mounting seat and / or the second mounting seat slide along their respective slides, the boom rotation drive they carry will undergo a non-purely horizontal position adjustment on the frame 1. If the slide is tilted, the movement of the mounting seat will simultaneously cause displacement in the lateral (left and right) and vertical (up and down) directions.

[0063] In this way, when the slide is tilted, a single slide can simultaneously change the vertical height and horizontal coordinates of the boom root, completing the base attitude pre-adjustment without the need for an additional lifting mechanism, thus improving the system integration.

[0064] Furthermore, when the rock drilling rig is not in operation, the two mounting seats can be slid along the slide rail towards the center of the vehicle body. If the slide rail is tilted towards the upper or lower side of the vehicle body, this action can simultaneously reduce the boom height and narrow the lateral profile, significantly reducing the overall width, height, or front overhang length of the machine, which is beneficial for passing through narrow support sections, turning sections, or meeting transport clearance requirements.

[0065] There is no specific limit to the number of propulsion booms and suspended booms. For example, at least one propulsion boom (or suspended boom) can be symmetrically or asymmetrically distributed on both sides of the suspended boom (or propulsion boom) on the front area of ​​the chassis 1, providing the hardware foundation for the rock drilling rig to operate in parallel with multiple booms. Multiple propulsion booms can simultaneously drill blast holes in different areas of the drilling face, significantly shortening the drilling time per cycle and improving construction efficiency; while multiple suspended booms can support multiple workers to simultaneously perform auxiliary operations such as measurement, loading, hazard removal, or support, enhancing the equipment's multi-functional collaborative capabilities.

[0066] For example, two first boom slewing drives 2 are arranged in front of the frame 1, with the left and right first boom slewing drives 2 arranged symmetrically. A middle second boom slewing drive 26 is arranged in the middle of the frame 1, relatively forward of the left and right boom slewing drives, in order to reduce the deployment space of the left and right push booms.

[0067] It should be noted that, during vehicle operation, to reduce the overall longitudinal length of the vehicle and compress the deployment space of the left and right propulsion booms, the propulsion mechanism 7 is located above the propulsion booms and is not laterally or longitudinally offset relative to the booms. Simultaneously, the top surface of the rock drill is arranged upwards, and the compensating cylinder 6 is positioned as follows: Figure 1The extended state shown (or as shown) Figure 5 (as shown in the retracted state), so that the top support unit 71 of the propulsion mechanism 7 is arranged forward (or backward).

[0068] The working principle of the rock drilling rig in this embodiment is explained by way of example below: 1. Changing the posture of the suspended basket boom (e.g.) Figure 6 and Figure 7 ): From driving posture to construction posture: The boom of the suspended platform is in a retracted state in the initial driving posture to reduce the overall vehicle size. When it needs to be converted to the construction posture: First, the basket boom (17mm arm) will tilt upwards to a certain angle to make room for the subsequent turning motion.

[0069] Then, the second boom rotation drive 26 drives the entire suspended platform boom to rotate to the front.

[0070] Finally, the boom of the suspended platform is lowered to an appropriate angle so that the working platform 21 reaches the ideal working height and position.

[0071] In order to adapt to narrow spaces or low clearance conditions (such as small cross-section tunnels), the leveling state of the working platform 21 can be released, and the height of the working platform 21 can be adjusted by the second leveling cylinder 20 to lower its height, thereby reducing the pitching height and turning radius of the entire boom system, making it easier to operate in a limited space.

[0072] 2. The attitude switching of the right-side propulsion boom (e.g.) Figures 8 to 10 ): From driving position to working position: The right-side push boom also starts from a compact driving position, and the transition steps are as follows: The outer arm 5 first tilts upward to a certain angle, preparing to rotate.

[0073] The leveling seat 10 performs a downward movement at the same angle simultaneously to ensure that the propulsion mechanism 7 remains horizontal throughout the process.

[0074] Next, the boom is rotated to the left and forward via the first boom slewing drive 2.

[0075] Finally, the boom is lowered to an appropriate angle so that the propulsion beam base 13 and the propulsion mechanism 7 are positioned in the correct working position.

[0076] During the slewing process, the yaw leveling slewing drive 12 rotates the propulsion beam base 13 and the propulsion mechanism 7 together to the right to compensate for the attitude change caused by the slewing. For small-section tunnels, the upward tilt and slewing radius can be minimized by keeping the propulsion mechanism 7 in a horizontal position at all times, thus simplifying the attitude adjustment process.

[0077] 3. Switching the attitude of the left-side propulsion boom (e.g.) Figure 9 and Figure 10 ): The conversion process of the left-side propulsion boom is a mirror copy of the movement of the right-side propulsion boom. For example, the specific steps include tilting the outer boom 5 upward, tilting the leveling seat 10 downward, turning to the right and forward, and finally tilting down to the specified angle. This design ensures that the left and right propulsion booms can complete drilling operations independently and in a coordinated manner, while also allowing for flexible operation in confined spaces.

[0078] It should be noted that the reason for switching the boom to the front of the chassis 1 first is to allow space for the left and right push booms. This makes it easier to rotate the left push boom to the right and the right push boom to the left. During the rotation, the top support unit 71 of the push mechanism 7 always faces forward.

[0079] 4. Driver's cab posture switching (e.g.) Figure 10 ) The extension of the cab drive cylinder 23 raises the cab 25 from the lower rear to the upper front, thus switching to the working posture; conversely, the retraction of the cab drive cylinder 23 lowers the cab 25 to switch to the driving posture.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A rock drilling rig, characterized in that, It includes a frame (1), a first boom slewing drive (2), a propulsion boom, a first pitch cylinder (4), a propulsion beam base (13), a second boom slewing drive (26), a basket boom, a basket pitch cylinder, and a work platform (21). The first boom slewing drive (2) and the second boom slewing drive (26) are both mounted on the frame (1); One end of the propulsion boom and one end of the first pitch cylinder (4) are both hinged to the first boom slewing drive (2). The first boom slewing drive (2) is used to drive the propulsion boom and the first pitch cylinder (4) to rotate synchronously relative to the frame (1) around the vertical axis. The other end of the first pitch cylinder (4) is hinged to the propulsion boom. The first pitch cylinder (4) is used to drive the propulsion boom to rotate about the horizontal axis relative to the first boom rotation drive (2). The propulsion beam base (13) is installed at the other end of the propulsion boom, and the propulsion boom is capable of telescopic extension and driving the propulsion beam base (13) to rotate; One end of the suspended basket boom and one end of the suspended basket pitch cylinder are both hinged to the second boom slewing drive (26). The second boom slewing drive (26) is used to drive the suspended basket boom and the second pitch cylinder (16) to rotate synchronously relative to the vehicle frame (1) around the vertical axis. The other end of the second pitch cylinder (16) is hinged to the basket boom. The second pitch cylinder (16) is used to drive the basket boom to rotate about the horizontal axis relative to the second boom rotation drive (26). The working platform (21) is installed at the other end of the basket boom, and the basket boom is used to drive the working platform (21) to extend and retract and drive the working platform (21) to rotate.

2. The rock drilling rig according to claim 1, characterized in that, The rock drilling rig also includes a first turntable (3) and a second turntable (14). The first turntable (3) is connected to the first boom slewing drive (2), and the propulsion boom and the first pitch cylinder (4) are both hinged to the first turntable (3). The second turntable (14) is connected to the second boom slewing drive (26), and the basket boom and the second pitch cylinder (16) are both hinged to the second turntable (14).

3. The rock drilling rig according to claim 2, characterized in that, The propulsion boom is hinged to the top of the first turntable (3); One end of the first pitch cylinder (4) is hinged to the middle or bottom of the first turntable (3), and the other end is hinged to the lower side of the propulsion boom.

4. The rock drilling rig according to claim 2, characterized in that, The basket boom is hinged to the top of the second turntable (14); One end of the second pitch cylinder (16) is hinged to the middle or bottom of the second turntable (14), and the other end is hinged to the lower side of the basket boom.

5. The rock drilling rig according to claim 2, characterized in that, The propulsion boom includes a first telescopic boom, a propulsion rotary drive (9), a leveling seat (10), a first leveling cylinder (11), a yaw leveling rotary drive (12), and a compensation cylinder (6). One end of the first telescopic arm is hinged to the first turntable (3), and the other end is hinged to the leveling seat (10). One end of the first leveling cylinder (11) is hinged to the first telescopic arm, and the other end is hinged to the leveling seat (10). The first leveling cylinder (11) is used to drive the leveling seat (10) to rotate about the horizontal axis relative to the first telescopic arm. One end of the yaw leveling rotary drive (12) is fixed to the leveling seat (10), and the other end is fixed to the propulsion beam base (13). The yaw leveling rotary drive (12) is used to drive the propulsion beam base (13) to rotate relative to the leveling seat (10). One end of the compensation cylinder (6) is hinged to the propulsion beam base (13), and the other end is hinged to the propulsion mechanism (7) which is slidably mounted on the propulsion beam base (13).

6. The rock drilling rig according to claim 2, characterized in that, The suspended basket boom includes a second telescopic arm and a second leveling cylinder (20). One end of the second telescopic arm is hinged to the second turntable (14), and the other end is hinged to the working platform (21). One end of the second leveling cylinder (20) is hinged to the second telescopic arm, and the other end is hinged to the working platform (21). The second leveling cylinder (20) is used to drive the working platform (21) to rotate about the horizontal axis relative to the second telescopic arm.

7. The rock drilling rig according to claim 6, characterized in that, The rock drilling rig also includes a follower cylinder (15), one end of which is hinged to the second turntable (14), and the other end is hinged to the basket boom; The rodless chamber of the follower cylinder (15) is connected to the rodless chamber of the second leveling cylinder (20), and the rod chamber of the follower cylinder (15) is connected to the rod chamber of the second leveling cylinder (20).

8. The rock drilling rig according to claim 1, characterized in that, The rock drilling rig also includes a drive arm (24), a cab (25), and a cab drive cylinder (23). One end of the drive arm (24) is hinged to the frame (1). The cab (25) is connected to the drive arm (24); One end of the cab drive cylinder (23) is hinged to the frame (1), and the other end is hinged to the drive arm (24). The cab drive cylinder (23) is used to drive the drive arm (24) to rotate about a horizontal axis relative to the frame (1).

9. The rock drilling rig according to claim 8, characterized in that, The rock drilling rig also includes a connecting rod (22), one end of which is hinged to the drive arm (24) and the other end is hinged to the frame (1). The connecting rod (22), the drive arm (24), the cab drive cylinder (23) and the frame (1) together form a parallel four-bar linkage mechanism.

10. The rock drilling rig according to claim 1, characterized in that, The frame (1) is provided with a first slide rail and a second slide rail distributed at an angle, and at least one of the first slide rail and the second slide rail is at an angle to the horizontal direction; The rock drilling rig also includes a first mounting base and a second mounting base, wherein the first mounting base is slidably disposed on the first slide rail and the second mounting base is slidably disposed on the second slide rail; The first boom slewing drive (2) is mounted on the first mounting base, and the second boom slewing drive (26) is mounted on the second mounting base.

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