阅读说明：本技术 钻孔角度自动调整系统、钻孔工作机构及矿山钻车 (Automatic drilling angle adjusting system, drilling work mechanism and mine drill carriage ) 是由 肖永胜 高飞 刘建 于 2021-09-10 设计创作，主要内容包括：本发明涉及矿山设备技术领域,尤其涉及一种钻孔角度自动调整系统、钻孔工作机构及矿山钻车,本发明钻孔角度自动调整系统公开了一种钻孔角度自动调整系统,其通过传感器单元获取在调整钻孔位后,钻孔工具的轴线与工作面夹角的变动值,控制模块通过控制推进延伸组件,使得钻孔工具轴线与工作面夹角恢复到预定的角度上,从而使得钻孔工具与工作面始终保持比较一致的夹角,避免了在平移钻孔工具后,可能导致多个钻孔相贯穿、多个钻孔深浅不一致进一步影响爆破效果的问题。由于是采用控制模块自动调整钻孔工具的工作角度,故调整速度快,调整精度高,提高了作业人员的劳效和准确度。(The invention relates to the technical field of mining equipment, in particular to an automatic drilling angle adjusting system, a drilling working mechanism and a mine drill carriage. Because the working angle of the drilling tool is automatically adjusted by the control module, the adjustment speed is high, the adjustment precision is high, and the labor efficiency and the accuracy of operators are improved.)

1. An automatic adjustment system for drilling angle, comprising: the sensor unit is in signal connection with the control module;

the sensor unit is used for acquiring a horizontal swing angle signal of the propelling extension assembly, a vertical swing angle signal of the propelling extension assembly, a horizontal swing angle signal of the bent arm assembly and a vertical swing angle signal of the bent arm assembly;

the control module is used for generating a first control signal according to the horizontal swing angle signal of the bent arm assembly, the horizontal swing angle signal of the propelling extension assembly and a first preset value, and the first control signal is used for indicating the propelling extension assembly to control a horizontal included angle between the drilling tool and the working surface;

the control module is further used for generating a second control signal according to the vertical swing angle signal of the bent arm assembly, the vertical swing angle signal of the pushing extension assembly and a second preset value, and the second control signal is used for indicating the pushing extension assembly to control a vertical included angle between the drilling tool and the working face.

2. The automatic adjustment system for drilling angle of claim 1, further comprising: the control panel is in signal connection with the control module;

the control module is further used for adjusting the first preset value and the second preset value according to the input of the control panel.

3. The automatic adjustment system for drilling angle according to claim 1 or 2, further comprising: the operating handle is in signal connection with the control module;

the operating handle is used for collecting operating signals of a person, and the control module is further used for controlling horizontal movement and/or vertical movement of the drilling tool through the bent arm assembly according to the operating signals.

4. A drilling work mechanism, comprising: the automatic drill angle adjustment system according to any one of claims 1 to 3, further comprising: the device comprises a bent arm assembly, a propelling extension assembly and a propeller device;

the propeller device is fixedly connected with the propelling extension assembly, and the propelling extension assembly is hinged with the bent arm assembly;

the propeller device includes: the rock drilling machine comprises a rock drilling machine bottom plate and a propelling module, wherein the rock drilling machine bottom plate is used for fixing a rock drilling device, the propelling module is used for driving the rock drilling machine bottom plate to move forwards or backwards, and the rock drilling machine bottom plate is connected with the propelling module in a sliding mode;

the bent arm assembly includes: the drilling arm is hinged with the large hinged support, and the lifting module is used for driving the drilling arm to horizontally swing and/or vertically swing by taking the large hinged support as a hinged point;

the propel extension assembly includes: the drilling boom comprises a swing angle module and a pitching module, wherein the swing angle module is used for driving the propelling module to swing horizontally, the pitching module is used for driving the propelling module to swing vertically, the pitching module is hinged to the drilling boom, and the swing angle module is hinged to the propelling module.

5. The drill work mechanism of claim 4, wherein the sensor unit comprises: a first sensor, a second sensor, a third sensor, and a fourth sensor;

the first sensor, the second sensor, the third sensor, the fourth sensor, the swing angle module and the pitch module are respectively in signal connection with the control module;

the first sensor is used for acquiring a horizontal swing signal of the drill boom, the second sensor is used for acquiring a vertical swing signal of the drill boom, the third sensor is used for acquiring a horizontal swing signal of the propulsion module, and the fourth sensor is used for acquiring a vertical swing signal of the propulsion module;

the first control signal is used for indicating the swing angle module to control a horizontal included angle between the propelling module and the working surface, and the second control signal is used for indicating the pitching module to control a vertical included angle between the propelling module and the working surface.

6. The drill work mechanism of claim 4, wherein the lifting module comprises: the drilling boom comprises a small hinged support, a left lifting oil cylinder and a right lifting oil cylinder, wherein the left lifting oil cylinder and the right lifting oil cylinder are respectively and symmetrically arranged on two sides of the drilling boom, the small hinged support is two cross hinged support hinged supports with the same structure, one end of the left lifting oil cylinder is hinged with the first of the small hinged supports, and the other end of the left lifting oil cylinder is hinged with the drilling boom; one end of the right lifting oil cylinder is hinged with the second small hinged support, and the other end of the right lifting oil cylinder is hinged with the drill boom.

7. The drill work mechanism of claim 4, wherein the pitch module comprises: every single move hydro-cylinder and roating seat, the pivot angle module includes: a swing angle oil cylinder and an extension frame;

the rotary seat is hinged with the drill boom, one end of the pitching oil cylinder is hinged with the rotary seat, and the other end of the pitching oil cylinder is hinged with the drill boom;

the extension frame is hinged with the rotating seat, one end of the swing angle oil cylinder is hinged with the rotating seat, and the other end of the swing angle oil cylinder is hinged with the extension frame;

the extension frame is used for supporting the propelling module, and the propelling module is arranged above the extension frame.

8. The drill work mechanism of claim 4, wherein the propulsion module is a traveling block speed multiplier arrangement.

9. The drilling work mechanism of claim 4, further comprising: the rock drill, the rock drill with rock drill bottom plate upper surface fixed connection.

10. A mine drill carriage comprising a drilling mechanism as claimed in any one of claims 4 to 9.

Technical Field

The invention relates to the technical field of mining equipment, in particular to an automatic drilling angle adjusting system, a drilling working mechanism and a mine drill carriage.

Background

The construction of the roadway is an important step for the mining of mines, and the efficiency of the rock drilling equipment directly influences the mining speed of the mine.

The mine drill carriage is used for underground excavation engineering such as underground mine roadways, railway and highway tunnels, hydraulic culverts and the like. In the roadway construction operation, the mine drill carriage plays a vital role and is a main rock drilling tool for mining and constructing a mine roadway. The core part of the mine drill carriage is a rock drill, and the mine drill carriage is generally provided with a working mechanism for driving the rock drill to advance, and the rock drill drives a drill bit to drill a working surface.

A drill hole formed on a working face by a rock drill is usually used for placing gunpowder, and a tunnel is excavated by blasting the gunpowder; however, the blasting effect has a profound relationship with the equipment, the skill level of the operator, and the condition of the working face. Better blasting effect can reduce the efficiency of later-stage supporting work, improve the safety of operation of operating personnel, reduce the use amount of gunpowder, and is remarkable in the meaning of roadway construction work.

Therefore, how to improve the blasting effect is a difficult problem to be solved by the technical personnel in the field.

Disclosure of Invention

The embodiment of the invention provides a drilling angle automatic adjusting system, a drilling working mechanism and a mine drill carriage, which are used for solving the problem of poor blasting cutting effect of a working face.

In a first aspect, an embodiment of the present invention provides an automatic drilling angle adjusting system, including: the sensor unit is in signal connection with the control module;

the sensor unit is used for acquiring a horizontal swing angle signal of the propelling extension assembly, a vertical swing angle signal of the propelling extension assembly, a horizontal swing angle signal of the bent arm assembly and a vertical swing angle signal of the bent arm assembly;

the control module is used for generating a first control signal according to the horizontal swing angle signal of the bent arm assembly, the horizontal swing angle signal of the propelling extension assembly and a first preset value, and the first control signal is used for indicating the propelling extension assembly to control a horizontal included angle between the drilling tool and the working surface;

the control module is further used for generating a second control signal according to the vertical swing angle signal of the bent arm assembly, the vertical swing angle signal of the pushing extension assembly and a second preset value, and the second control signal is used for indicating the pushing extension assembly to control a vertical included angle between the drilling tool and the working face.

In one possible implementation manner, the automatic drilling angle adjusting system further includes: the control panel is in signal connection with the control module;

the control module is further used for adjusting the first preset value and the second preset value according to the input of the control panel.

In one possible implementation manner, the automatic drilling angle adjusting system further includes: the operating handle is in signal connection with the control module;

the operating handle is used for collecting operating signals of a person, and the control module is further used for controlling horizontal movement and/or vertical movement of the drilling tool through the bent arm assembly according to the operating signals.

In a second aspect, an embodiment of the present invention provides a drilling work mechanism, including: the automatic adjustment system for a drilling angle according to the technical solution possibly implemented by the first aspect further includes: the device comprises a bent arm assembly, a propelling extension assembly and a propeller device;

the propeller device is fixedly connected with the propelling extension assembly, and the propelling extension assembly is hinged with the bent arm assembly;

the propeller device includes: the rock drilling machine comprises a rock drilling machine bottom plate and a propelling module, wherein the rock drilling machine bottom plate is used for fixing a rock drilling device, the propelling module is used for driving the rock drilling machine bottom plate to move forwards or backwards, and the rock drilling machine bottom plate is connected with the propelling module in a sliding mode;

the bent arm assembly includes: the drilling arm is hinged with the large hinged support, and the lifting module is used for driving the drilling arm to horizontally swing and/or vertically swing by taking the large hinged support as a hinged point;

the propel extension assembly includes: the drilling boom comprises a swing angle module and a pitching module, wherein the swing angle module is used for driving the propelling module to swing horizontally, the pitching module is used for driving the propelling module to swing vertically, the pitching module is hinged to the drilling boom, and the swing angle module is hinged to the propelling module.

In one possible implementation, the sensor unit includes: a first sensor, a second sensor, a third sensor, and a fourth sensor;

the first sensor, the second sensor, the third sensor, the fourth sensor, the swing angle module and the pitch module are respectively in signal connection with the control module;

the first sensor is used for acquiring a horizontal swing signal of the drill boom, the second sensor is used for acquiring a vertical swing signal of the drill boom, the third sensor is used for acquiring a horizontal swing signal of the propulsion module, and the fourth sensor is used for acquiring a vertical swing signal of the propulsion module;

the first control signal is used for indicating the swing angle module to control a horizontal included angle between the propelling module and a working surface;

the second control signal is used for indicating the pitching module to control a vertical included angle between the propelling module and a working surface.

In one possible implementation, the lifting module includes: the drilling boom comprises a small hinged support, a left lifting oil cylinder and a right lifting oil cylinder, wherein the left lifting oil cylinder and the right lifting oil cylinder are respectively and symmetrically arranged on two sides of the drilling boom, the small hinged support is two cross hinged support hinged supports with the same structure, one end of the left lifting oil cylinder is hinged with the first of the small hinged supports, and the other end of the left lifting oil cylinder is hinged with the drilling boom; one end of the right lifting oil cylinder is hinged with the second small hinged support, and the other end of the right lifting oil cylinder is hinged with the drill boom.

In one possible implementation, the pitch module includes: every single move hydro-cylinder and roating seat, the pivot angle module includes: a swing angle oil cylinder and an extension frame;

the rotary seat is hinged with the drill boom, one end of the pitching oil cylinder is hinged with the rotary seat, and the other end of the pitching oil cylinder is hinged with the drill boom;

the extension frame is hinged with the rotating seat, one end of the swing angle oil cylinder is hinged with the rotating seat, and the other end of the swing angle oil cylinder is hinged with the extension frame;

the extension frame is used for supporting the propelling module, and the propelling module is arranged above the extension frame.

In one possible implementation, the propulsion module is a traveling block speed multiplying structure.

In one possible implementation manner, the drilling work mechanism further includes: the rock drill, the rock drill with rock drill bottom plate upper surface fixed connection.

In a third aspect, embodiments of the present invention provide a mine drill rig including the drilling work mechanism according to any one of the possible implementations of the second aspect.

Compared with the prior art, the implementation mode of the invention has the following beneficial effects:

the embodiment of the invention discloses an automatic drilling angle adjusting system, which obtains a variation value of an included angle between the axis of a drilling tool and a working face after the drilling position is adjusted through a sensor unit, and a control module controls a propelling extension assembly to restore the included angle between the axis of the drilling tool and the working face to a preset angle, so that the drilling tool and the working face always keep the optimal included angle, and the problems of non-parallel drilling holes, drilling hole penetration and different drilling hole depths and further poor blasting effect are solved.

The automatic adjusting system for the drilling angle further avoids the problems that multiple drilling holes penetrate through and the depths of the multiple drilling holes are not consistent after the drilling tool is translated. Because the working angle of the drilling tool is automatically adjusted by the control module, the adjustment speed is high, the adjustment precision is high, and the labor efficiency and the accuracy of operators are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a functional block diagram of an automatic adjustment system for drilling angle provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating the movement effect of the curved arm assembly provided by the embodiment of the present invention;

FIG. 3 is a front view of a mechanical portion of a drill work mechanism according to an embodiment of the present invention;

fig. 4 is a top view of a mechanical portion of a drill work mechanism according to an embodiment of the present invention.

In the figure:

101 a sensor unit;

102 a control module;

2, a bent arm component;

21 large hinged supports;

22 small hinged supports;

23 a drill boom;

24 left lift cylinders;

25 right lifting oil cylinder;

3 advancing the extension assembly;

31 a rotary base;

a 32 swing angle cylinder;

33 an extension frame;

34 extending the oil cylinder;

35 a connecting seat;

36 pitch rams;

4 a propeller device;

401 advancing a beam;

403, a drill rod lifter;

404 a rock drill;

405 a rock drill floor;

406 a thrust cylinder;

407 a rubber hosting wheel;

408 rubber tube support;

409 front steel wire rope;

a rear wire rope 410;

411 rear closure;

6, working surface;

7 drill bit.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made with reference to the accompanying drawings.

The following is a detailed description of the embodiments of the present invention, which is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Fig. 1 is a functional block diagram of an automatic drilling angle adjustment system according to an embodiment of the present invention.

As shown in fig. 1, it shows a functional block diagram of an automatic drilling angle adjusting system provided by an embodiment of the present invention, which is detailed as follows:

a first aspect of an embodiment of the present invention provides an automatic adjustment system for a drilling angle, including: the sensor system comprises a control module 102 and a sensor unit 101, wherein the sensor unit 101 is in signal connection with the control module 102;

the sensor unit 101 is used for acquiring a horizontal swing angle signal of the propelling extension assembly 3, a vertical swing angle signal of the propelling extension assembly 3, a horizontal swing angle signal of the bent arm assembly 2 and a vertical swing angle signal of the bent arm assembly 2;

the control module 102 is configured to generate a first control signal according to the horizontal swing angle signal of the curved arm assembly 2, the horizontal swing angle signal of the pushing extension assembly 3, and a first preset value, where the first control signal is used to instruct the pushing extension assembly 3 to control a horizontal included angle between the drilling tool and the working surface 6;

the control module 102 is further configured to generate a second control signal according to the vertical swing angle signal of the curved arm assembly 2, the vertical swing angle signal of the pushing extension assembly 3, and a second preset value, where the second control signal is used to instruct the pushing extension assembly 3 to control a vertical included angle between the drilling tool and the working surface 6.

Illustratively, the rock drill 404 of the mine drill rig is the core working portion thereof, and the rock drill 404 of the mine drill rig is mounted on the drilling working mechanism thereof. The drilling work mechanism includes: a bent boom assembly 2, a propulsion extension assembly 3 and a thruster unit 4, the thruster unit 4 being adapted to advance or retract the rock drill 404, completing the drilling and retraction operations.

For the working face 6, it is usually necessary to complete vertical rows of holes. So after completing one borehole it is necessary to move the rock drill 404 to the next position for drilling and so on to form vertical rows of boreholes.

Fig. 2 shows a schematic diagram of the effect of the movement of the bent arm assembly 2. The bending arm assembly 2 is used for moving a rock drilling machine (not shown in the figures) from one working position to the next, and one embodiment of the bending arm assembly 2 is a swing type, and the bending arm assembly 2 can swing horizontally or vertically by taking a hinge point as a center.

After the boom assembly 2 has moved the rock drilling machine from one working position to another, the horizontal and/or vertical angle between the rock drilling machine 404 and the work surface 6 changes. After creative work, the inventor of the present invention finds that, when the rock drill 404 drives the drill bit 7 to move, the included angle between the drill bit 7 and the working surface 6 changes, and the change causes different blast hole depths, non-parallel drilling holes and even penetration, further affecting the blasting effect.

The included angle between the axis of the drill bit 7 and the working surface 6 is adjusted to enable the axis of the drill bit 7 and the working surface to be always maintained at a constant level, so that the drill bit 7 is always at the optimal working angle when the drill bit 7 works, and the technical effect of reducing the abrasion of the drill bit 7 is achieved.

When the propelling extension assembly can compensate the bent arm assembly 2 and drive the rock drill to move, the change of the included angle between the drill bit 7 and the working surface 6 is realized, and after the bent arm assembly 2 moves, the propelling extension assembly is adjusted to enable the rock drill to horizontally swing and/or vertically swing at an angle, so that the technical effects are realized.

In the embodiments of the present patent application, the drilling tool is a drill bit, and it should be understood by those skilled in the art that the drill bit is an embodiment of the drilling tool, and is not limited thereto.

The sensor unit 101 may include a plurality of sensors, which are respectively used for acquiring a horizontal swing angle signal of the pushing and extending assembly 3, a vertical swing angle signal of the pushing and extending assembly 3, a horizontal swing angle signal of the bent arm assembly, and a vertical swing angle signal of the bent arm assembly. After a horizontal swing angle signal of the bent arm assembly and a vertical swing angle signal of the bent arm assembly are obtained, the change of an included angle between the axis of the drill bit 7 and the working surface 6 can be obtained. Depending on the change in the axis of the drill bit 7, the control module 102 can adjust the advancing extension set 3 by a predetermined angle in the horizontal and/or vertical direction, so that the drill bit 7 axis is again perpendicular to the working surface 6. Therefore, the control module 102 controls the horizontal and/or vertical swing angle of the propulsion extension assembly 3 according to the horizontal swing angle signal of the propulsion extension assembly 3 and the vertical swing angle signal of the propulsion extension assembly 3, so as to realize compensation of the angle change of the drill bit 7 axis relative to the working surface 6 after moving the rock drilling machine 404.

According to the automatic drilling angle adjusting system, after the drilling position is adjusted, the sensor unit 101 acquires the variation value of the included angle between the axis of the drilling tool and the working face 6, the control module 102 controls the propelling extension assembly 3 to restore the included angle between the axis of the drilling tool and the working face 6 to a preset angle, so that the drilling tool and the working face 6 always keep the optimal included angle, and the problems that the drilling depth is different, the drilling holes are not parallel, and even the drilling holes penetrate through each other to influence the blasting effect are solved.

The automatic adjusting system for the drilling angle further avoids the problems that multiple drilling holes penetrate through and the depths of the multiple drilling holes are not consistent after the drilling tool is translated. Because the control module 102 is adopted to automatically adjust the working angle of the drilling tool, the adjustment speed is high, the adjustment precision is high, and the labor efficiency and the accuracy of operators are improved.

In one possible implementation manner, the automatic drilling angle adjusting system further includes: a control panel in signal connection with the control module 102. The control module 102 is further configured to adjust the first preset value and the second preset value according to the input of the control panel.

Illustratively, in one embodiment, the control panel is a touch screen and the control module 102 is a PLC. When the drilling operation is started by the operator, the angle between the drilling tool and the working surface 6 is adjusted to a reasonable value, for example, in one mode, the axis of the drill bit 7 is perpendicular to the working surface 6. And then resetting the preset included angle through the touch screen, and indicating that the horizontal swing angle and the vertical swing angle of the current drilling tool are preset values. Then, the drilling mechanism is operated to start the drilling operation. Each time the position is moved once, the control module 102 controls the propulsion extension assembly 3 to compensate for the angular offset caused by the movement of the boring tool.

As in one implementation, the touch screen has a zero clearing function that corrects when the boring tool is perpendicular to the working surface 6, identifying the zero point. The lifting and pitching of the bent arm can position whether the axial direction of the drilling tool is vertical to the working surface 6, and the propelling extension assembly drives the horizontal direction of the drilling tool, in which the swinging and swing angle can be positioned, to be vertical to the working surface 6. When the bent arm lifts or swings, the lifting angle or the swinging angle of the bent arm changes, the pitching action or the swinging angle action of the drilling tool is compensated through the change of the swinging angle of the propelling extension assembly, and therefore the axial direction of the drilling tool is always perpendicular to the working surface 6.

In one possible implementation manner, the automatic drilling angle adjusting system further includes: an operating handle in signal connection with the control module 102;

the operating handle is used for collecting operating signals of a person, and the control module 102 is further used for controlling the horizontal movement and/or the vertical movement of the drilling tool through the bent arm assembly 2 according to the operating signals

Illustratively, the operating handle is a man-machine module for receiving the operation of the operator, and the control module 102 controls the motion of the bending arm assembly 2. The operation handle is adopted to transmit the operation signal, the control module 102 controls the action of the bent arm assembly 2, the operation force is small compared with the mode of using the valve handle to operate, the linearity is good, and the valve handle assembly is more in line with ergonomics.

A second aspect of an embodiment of the present invention provides a drilling work mechanism, including the automatic drilling angle adjusting system as described in any one of the possible implementations of the first aspect, further including: a curved arm assembly 2, a propulsion extension assembly 3 and a thruster means 4.

The propeller device is fixedly connected with the propelling extension component, and the propelling extension component is hinged with the bent arm component.

The thruster means 4 comprise: rock drill bottom plate 405 and propulsion module, rock drill bottom plate 405 is used for fixed rock drilling device, the propulsion module is used for through driving rock drill bottom plate 405 drive rock drilling device gos forward or retreats, rock drill bottom plate 405 with propulsion module sliding connection.

The bent arm assembly 2 includes: the drilling arm 23 is hinged to the large hinged support 21, and the lifting module is used for driving the drilling arm 23 to swing horizontally and/or vertically by taking the large hinged support 21 as a hinged point.

The propulsion extension assembly 3 comprises: the swing angle module is used for driving the propelling module to swing horizontally, the pitching module is used for driving the propelling module to swing vertically, the pitching module is hinged to the drill boom 23, and the swing angle module is hinged to the propelling module.

In one possible implementation, the lifting module includes: the drilling boom lifting device comprises a small hinged support 22, a left lifting oil cylinder 24 and a right lifting oil cylinder 25, wherein the left lifting oil cylinder 24 and the right lifting oil cylinder 25 are respectively and symmetrically arranged on two sides of the drilling boom 23, the small hinged support 22 is two cross hinged support hinged supports with the same structure, one end of the left lifting oil cylinder 24 is hinged with a first one of the small hinged supports 22, and the other end of the left lifting oil cylinder 24 is hinged with the drilling boom 23; one end of the right lifting oil cylinder 25 is hinged with the second of the small hinged supports 22, and the other end of the right lifting oil cylinder 25 is hinged with the drill boom 23.

In one possible implementation, the pitch module includes: pitch cylinder 36 and swivel 31, the pivot angle module includes: a swing angle cylinder 32 and an extension bracket 33.

The rotating seat 31 is hinged to the drill boom 23, one end of the pitch oil cylinder 36 is hinged to the rotating seat 31, and the other end of the pitch oil cylinder 36 is hinged to the drill boom 23.

The extension frame 33 is hinged to the rotating base 31, one end of the swing angle oil cylinder 32 is hinged to the rotating base 31, and the other end of the swing angle oil cylinder 32 is hinged to the extension frame 33.

The extension frame 33 is used for holding the propulsion module, and the propulsion module is arranged above the extension frame 33.

In one possible implementation, the propulsion module is a traveling block speed multiplying structure.

In one possible implementation manner, the drilling work mechanism further includes: and the rock drilling machine 404 is fixedly connected with the upper surface of the rock drilling machine base plate 405.

Illustratively, fig. 3 shows a front view of a mechanical portion of the drilling mechanism, a main portion of the thruster device 4, according to an embodiment of the present invention, which will be described in detail with reference to fig. 3.

The bent arm assembly 2 includes: a large free bearing 21, a drill boom 23 and a lifting module.

The large hinged support 21 is a cross hinged support, a rotating shaft is arranged in a cross shape, one end of the large hinged support is hinged to the rotary support, and the other end of the large hinged support is hinged to the bent arm assembly 2.

And two small hinged supports 22 are arranged, a rotating shaft is arranged in a cross shape, one ends of the small hinged supports are symmetrically hinged to the rotary support, and the other ends of the small hinged supports are hinged to the left lifting arm oil cylinder and the right lifting arm oil cylinder respectively.

The drill boom 23 is bent, so that the height of the working mechanism is reduced, and the mechanism can work in a narrow roadway, particularly a roadway with the length of less than 2.2X2.2 m. The cross section of the drill boom 23 is rectangular with a high ratio of width, and the strength and the rigidity in the height direction are increased.

One end of the left lifting arm oil cylinder is hinged to the small hinged support 22, and the other end of the left lifting arm oil cylinder is hinged to the drill arm 23. And one end of the right lifting arm oil cylinder is hinged to the small hinged support 22, and the other end of the right lifting arm oil cylinder is hinged to the drill boom 23 and is symmetrically distributed with the left lifting arm oil cylinder.

Left and right arm cylinder of lifting can realize when flexible simultaneously under the effect of hydraulic oil 23 subassembly, propeller extension subassembly and propeller subassembly lift and descend, and left and right arm cylinder of lifting is one under the effect of hydraulic oil is stretched and is contracted and then can be realized 23 subassemblies of drill boom, propeller extension subassembly and propeller subassembly's horizontal hunting.

The propel extension assembly 3 includes: pitch ram 36, swivel 31, tilt ram 32, and extension bracket 33.

One end of the pitch oil cylinder 36 is hinged to the drill boom 23, and the other end of the pitch oil cylinder is hinged to the thruster extension assembly, so that the thruster extension assembly and the thruster assembly can be driven to perform pitching action when the pitch oil cylinder 36 extends or retracts.

One end of the rotating seat 31 is hinged to the drilling arm 23, one end of the rotating seat is hinged to the pitching oil cylinder 36, and the other end of the rotating seat is hinged to the extending frame 33.

One end of the swing angle oil cylinder 32 is hinged to the rotating base 31, the other end of the swing angle oil cylinder is hinged to the extension frame 33, and the extension frame 33 and the propeller device 4 swing left and right through the stretching of the swing angle oil cylinder 32.

One end of the extension frame 33 is hinged to the rotating base 31, and the other end is slidably mounted on the propeller device 4.

In some embodiments, it may further include: an extension cylinder 34 and a connecting seat 35.

One end of the extension oil cylinder 34 is hinged to the extension frame 33, the other end of the extension oil cylinder is hinged to the connecting seat 35, and the extension frame 33 and the propeller device 4 can be driven to extend and retract relative to the front and back directions of the drill carriage when the extension oil cylinder 34 extends and retracts;

and one end of the connecting seat 35 is hinged to the extending oil cylinder 34, and the other end of the connecting seat is fixedly arranged on the thruster device 4.

The propeller device 4 includes: a rock drill bedplate 405 and a propulsion module; in some embodiments, the propulsion module may be a traveling block speed multiplying structure. In other embodiments, a rock drill 404 may also be included.

Illustratively, as shown in fig. 3 and 4, the propulsion module includes: the device comprises a push beam 401, a middle drill rod lifter 403, a push oil cylinder 406, a rear blocking plate 411, a rubber pipe bracket 408, a rubber support wheel 407, a front steel wire rope 409 and a rear steel wire rope 410.

One end of the push beam 401 is slidably mounted on the extension frame 33, and the other end is fixedly mounted on the connecting seat 35.

The middle drill rod lifter 403 is fixedly arranged at the front end of the oil cylinder of the propeller and is provided with a rope pulley.

One end of the rock drilling machine base plate 405 is slidably mounted on the push beam 401, the rock drilling machine 404 is fixedly arranged at one end of the rock drilling machine base plate, and steel wire rope connecting hooks are arranged at two ends of the rock drilling machine base plate.

And one end of the propulsion oil cylinder 406 is fixedly arranged in the middle brazing rod lifter 403, and the other end of the propulsion oil cylinder 406 is fixedly arranged in the middle of the rear blocking plate 411.

And the rear blocking plate 411 is fixedly arranged at the rear end of the push beam 401.

One end of a front steel wire rope 409 is fixedly arranged on the rock drill bottom plate 405, and the other end of the front steel wire rope 409 is fixedly arranged on the rear blocking plate 411.

One end of a rear steel wire rope 410 is fixedly arranged on the rock drill bottom plate 405, the other end of the rear steel wire rope is fixedly arranged on the rubber hose bracket 408, one end of the rear steel wire rope 410 is connected by a screw rod, the length of the steel wire rope can be conveniently adjusted by a user, the steel wire rope is arranged on the front portion and the rear portion of the rock drill bottom plate 405, the front steel wire rope 409 bypasses the middle drill lifter 403 and is fixedly arranged on the rear blocking plate 411, the rear steel wire rope 410 bypasses the rubber supporting tube wheel 407 and is fixedly arranged on the push beam 401, and therefore a movable pulley structure is formed, and the moving speed of the rock drill 404 is doubled.

The rock drill 404 is fixedly arranged on a rock drill base plate 405.

The module is hinged with the drill boom 23 and the swing angle module is hinged with the propulsion module.

In one possible implementation, the sensor unit 101 includes: a first sensor, a second sensor, a third sensor, and a fourth sensor;

the first sensor, the second sensor, the third sensor, the fourth sensor, the swing angle module and the pitch module are respectively in signal connection with the control module 102;

the first sensor is used for acquiring a horizontal swing signal of the drill boom 23, the second sensor is used for acquiring a vertical swing signal of the drill boom 23, the third sensor is used for acquiring a horizontal swing signal of the propulsion module, and the fourth sensor is used for acquiring a vertical swing signal of the propulsion module;

the first control signal is used for indicating the swing angle module to control a horizontal included angle between the propelling module and the working surface 6;

the second control signal is used for instructing the pitching module to control the vertical included angle between the propelling module and the working surface 6.

Illustratively, the first sensor, the second sensor, the third sensor, and the fourth sensor are, in one embodiment, non-contact encoders, which are composed of two parts: the positioning element is arranged on a shaft of corresponding action and is fixed, the receiving coil is arranged on an arm of each action, the receiving coil rotates along with the action, based on the working principle of magnetic field coupling, a 4-20mA electric signal can be output through the relative position of the positioning element and the receiving coil and converted into an angle value of 0-360 degrees by a PLC (programmable logic controller), and the angle of each action is accurately measured.

The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.