CN112901067B

CN112901067B - Underground drilling robot for coal mine

Info

Publication number: CN112901067B
Application number: CN202110114373.1A
Authority: CN
Inventors: 宋宜猛; 时宝; 杨刚; 王安虎; 包若羽; 刘懿; 伦嘉云
Original assignee: Information Research Institute Of Emergency Management Department
Current assignee: Information Research Institute Of Emergency Management Department
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2023-02-28
Anticipated expiration: 2041-01-27
Also published as: CN112901067A

Abstract

The invention discloses a coal mine underground drilling robot which comprises a walking device, a mainframe box, a first motor, a second motor and a drill rod, wherein a threaded rod is transversely arranged in a shell cover below the mainframe box, a transmission sleeve frame is sleeved on the threaded rod, the lower end of the transmission sleeve frame is fixedly connected with the upper end of a left end motor box of the drill rod, the first motor is used for adjusting the drill rod to move left and right, the second motor is used for driving the drill rod to drill holes, a material conveying device is arranged in a space below the drill rod, a storage device is arranged on the left side of the shell cover, a crawler walking structure is adopted in the walking device on the lower side, and positioning devices are arranged on the right side of the mainframe box and the right side above the walking device.

Description

Underground drilling robot for coal mine

Technical Field

The invention relates to the technical field of coal mine drilling, in particular to a coal mine underground drilling robot.

Background

In the coal mining process, bearing structure, the process such as survey is taken out of mineral aggregate, all involve the drilling procedure, current drilling equipment, to the coal mine drilling in-process, probably produce the extrusion to the coal seam structure of pore wall, make pore wall and coal seam structure around it change, the part coal seam that leads to pore wall department appears droing, make the back of inserting of bearings such as follow-up stock, inseparable laminating that can not be fine, receive pressure for a long time, probably there is the danger of caving, and the mineral aggregate that can not be complete takes out the hole heart inside detects, the drilling location is accurate inadequately.

Therefore, the technical personnel in the field provide a coal mine underground drilling robot to solve the problems in the background technology.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a colliery is drilling machine people in pit, its includes running gear, mainframe box, motor one, motor two and drilling rod, transversely be provided with the threaded rod in the mainframe box below cap, the cover has the transmission cover frame on the threaded rod, transmission cover frame lower extreme and drilling rod left end motor case upper end fixed connection, by motor one adjusts the drilling rod left and right removal, by two drive drilling rods of motor bore a hole, is located inside the drilling rod below space is provided with passes the material device, is located the cap left side is provided with storage device, downside adopt track walking structure among the running gear, mainframe box right side, running gear top right side all are provided with positioner.

As a preferred technical scheme of the invention, the drill rod comprises a first fixed box, an outer rotating shell and an inner rotating shell, the left end of the inner rotating shell extending into the first fixed box is connected with a bearing at the output end of a second motor, the left shell of the outer rotating shell is connected with the right side wall of the first fixed box in a sliding manner through an annular frame, and the output ends of driving motors positioned at the upper side and the lower side of the first fixed box are fixedly connected with straight gears and meshed with gear racks arranged at the inner side of the outer rotating shell;

a first telescopic machine is arranged at the axis of the inner rotating shell, a clamping base is fixed at the output end of the first telescopic machine, a clamping frame is installed on the right side of the clamping base, and a probe is arranged at the axis of an output telescopic cylinder of the first telescopic machine;

outer rotatory shell right-hand member inner wall is provided with telescopic bracket, telescopic bracket output end is fixed with the L template, L template upper end is fixed with crushing unit, just vibration piece is still installed to outer rotatory shell right-hand member end.

As a preferable technical scheme of the invention, the outer surface of the vibrating piece is of an arc structure, a plurality of groups of vibrating pieces are arranged in a circumferential manner, and a small gap is reserved between every two adjacent groups of vibrating pieces.

As a preferred technical scheme of the invention, the clamping frame comprises a motor four, a clamping shell one and a clamping shell two, the output end of the motor four is fixedly connected with the axis of the rotating disc, a telescopic push block is fixed on the outer side wall of the rotating disc, support rods are fixed on the left side and the right side of the telescopic push block, the upper end of the telescopic push block is fixedly connected with the inner side wall of the clamping shell one, the upper end of the support rod is in sliding connection with a strip-shaped sliding groove formed in the clamping shell one, and the left end of the clamping shell one is in sliding connection with a sliding groove formed in the right side of the fixed box two;

a reset component in the vertical direction is arranged on the right side wall of the clamping shell, a herringbone support frame is hinged to the center of the reset component, the right end head of a telescopic frame in the herringbone support frame is hinged to an L-shaped arc plate, and an arc plate is fixedly connected to the right side of the L-shaped arc plate;

the right end of the clamping shell is provided with a structure identical to that of the left end of the clamping shell, the left end of the expansion bracket on the right side is hinged to the right end of the arc-shaped sleeve plate, and the arc-shaped sleeve plate is sleeved on the outer side of the arc-shaped plate and is in sliding connection with the outer side of the arc-shaped plate.

As a preferred technical solution of the present invention, an upper side surface of a left end of the clamping housing is connected to a bottom end surface of the auxiliary fixing device through a T-shaped member.

As a preferred technical scheme of the invention, a telescopic rod is arranged in a thick arc-shaped sleeve plate which is fixed at the left end of the two ends of the clamping shell and is close to the inner side direction, and the output end of the telescopic rod is fixedly connected with the right end of an arc-shaped plate which is fixed at the right side wall of the clamping shell and is close to the inner side.

As a preferred technical scheme of the invention, the inner side walls of the two right ends of the clamping shell and the inner side wall of the right end of the inner rotating shell are respectively provided with a flow guide ring.

As a preferred technical scheme of the present invention, the guide ring comprises eight sets of arc-shaped elastic rollers, arc-shaped elastic rollers and driving adjustment devices, the driving adjustment devices are circumferentially arranged, the right ends of the arc-shaped elastic rollers are fixedly connected with the output end of a rotating motor in the driving adjustment device, the left ends of the arc-shaped elastic rollers are rotatably connected with a right rotating base of the driving adjustment device, and the arc-shaped elastic rollers are sleeved outside the arc-shaped elastic rollers.

According to a preferable technical scheme, the crushing assembly comprises a second telescopic machine, a third motor, a fixed block and a threaded drill bit, the output end of the second telescopic machine is fixedly connected with the left end of the shell on the outer side of the third motor, the output end of the third motor penetrates through the fixed block and is fixedly connected with the axis of the threaded drill bit, a flow guide frame is arranged in the fixed block in the vertical direction, and the left side wall of the fixed block is in sealing connection with the right side wall of the shell on the outer side of the second telescopic machine through an elastic cover.

As a preferred technical scheme of the invention, the guide plates in the guide assembly in the guide frame are arranged in 6 groups in a circumferential manner and can move in an up-and-down telescopic manner.

Compared with the prior art, the invention provides a coal mine underground drilling robot, which has the following beneficial effects:

1. according to the invention, the drill rod structure is a cylindrical structure, when a mine hole is drilled through a drill rod, the ore core mineral aggregate is taken out and detected, the end head of the outer rotary shell is provided with a plurality of groups of vibrating pieces, the ore wall is firstly crushed to avoid direct contact, so that large twisting force is generated, the relative twisting and friction force between the end head of the drill rod and the ore wall is reduced, on one hand, the mineral aggregate outside the mine core is crushed to avoid mineral aggregate accumulation and extrude the outer wall of a drill bit to damage a drill bit shell, on the other hand, the crushed mineral aggregate is timely discharged through the thread fan blade on the outer wall of the inner rotary shell, so that the complete original mineral aggregate structure inside the axis is ensured, the measured data is more accurate, the mineral aggregate is prevented from extruding the hole wall to damage a supporting structure, the hole wall is regular, and the softness degree of the inner structure of the mineral aggregate at different depths can be detected through the probe, so that the firmness and the strength of the hole wall is judged.

2. According to the invention, the efficiency of reselecting the hole position is improved through the positioning device, and the crawler belt and crushed mineral aggregate are removed in time through the storage device and the cleaning device. The collection avoids the more kibbling mineral aggregate of equipment lateral surface accumulation, influences the walking of equipment, and still can be used as the detection of coal seam structure density to the core of ore taking out.

Drawings

FIG. 1 is a schematic view of the construction of the drilling apparatus of the present invention;

FIG. 2 is an enlarged schematic view of the drill stem construction of the present invention;

FIG. 3 is an enlarged view of the structure at A of the present invention;

FIG. 4 is an enlarged view of the structure of the holder of the present invention;

FIG. 5 is an enlarged view of a portion of the clamping housing of the present invention;

fig. 6 is an enlarged schematic view of the cross-sectional structure of the deflector ring of the present invention;

FIG. 7 is an enlarged schematic view of the size reduction assembly of the present invention;

in the figure: 1. a traveling device; 2. a main chassis; 3. a first motor; 4. a threaded rod; 5. a transmission sleeve frame; 6. a drill stem; 61. a first fixing box; 62. an outer rotating shell; 63. an inner rotating shell; 64. an annular frame; 65. a first stretching machine; 66. clamping the base; 67. a clamping frame; 68. a probe; 69. a size reduction assembly; 610. a second stretching machine; 611. a third motor; 612. a fixed block; 613. a thread drill bit; 614. a flow guiding frame; 615. a flow guide ring; 616. an arc-shaped elastic roller; 617. an arc-shaped elastic roller; 618. driving the adjusting device; 619. a telescopic bracket; 620. a vibrating member; 621. a fourth motor; 622. a second fixing box; 623. clamping the first shell; 624. a second clamping shell; 625. rotating the disc; 626. an auxiliary fixing device; 627. a telescopic push block; 628. a support bar; 629. a reset assembly; 630. an arc-shaped plate; 631. a herringbone support frame; 632. an arc-shaped sleeve plate; 633. a telescopic rod; 7. a material conveying device; 8. a storage device; 9. a second motor; 10. and a positioning device.

Detailed Description

Referring to fig. 1, the present invention provides a technical solution: a coal mine underground drilling robot comprises a traveling device 1, a mainframe box 2, a first motor 3, a second motor 9 and a drill rod 6, wherein a threaded rod 4 is transversely arranged in a casing cover below the mainframe box 1, a transmission sleeve frame 5 is sleeved on the threaded rod 4, the lower end of the transmission sleeve frame 5 is fixedly connected with the upper end of the left end motor box of the drill rod 6, the first motor 3 is used for adjusting the drill rod 6 to move left and right, the second motor 9 is used for driving the drill rod 6 to drill a hole, a material conveying device 7 is arranged in a space below the drill rod 6, a storage device 8 is arranged on the left side of the casing cover, a crawler traveling structure is adopted in the traveling device 1 on the lower side, and positioning devices 10 are arranged on the right side of the mainframe box 2 and the right side above the traveling device 1;

the part needing to be punched is accurately positioned through the positioning device 10, as the best embodiment, a cleaning device is further arranged on the left side of the positioning device 10 and is positioned below the material conveying device 7, mineral aggregates on a conveying belt in the material conveying device 7 can be conveniently cleaned in real time, and a cleaning wheel brush capable of horizontally sliding leftwards and rightwards is further arranged at the bottom end of the right side of the storage device 8, so that the mineral aggregates adhered to a crawler belt can be conveniently and timely removed, the walking efficiency is improved, and the phenomenon that the machine breaks down due to the fact that the conveying belt and the crawler belt are adhered with more mineral aggregates is avoided;

as a best embodiment, a plurality of groups of vertical lifting devices in the storage device 8 are arranged in parallel towards the inner side direction, a spoon-shaped storage box is arranged on a threaded rod in each group of lifting devices, an auxiliary support slide rod is also arranged on the inner side of the spoon-shaped storage box and is in sliding connection with the inner side wall of the spoon-shaped storage box, the pressure born by the threaded rod is differentiated, and the safety of the storage structure is improved;

as a preferred embodiment, the material conveying device 7 is provided with a long main conveyor belt and a short auxiliary conveyor belt, wherein the short auxiliary conveyor belt is arranged below the left side of the long main conveyor belt, a telescopic push plate for pushing mineral materials to the right is further arranged below the short auxiliary conveyor belt, an inclined sealing elastic belt is arranged above the telescopic push plate, so that the mineral materials can be pushed to the right conveniently, and when the spoon-shaped storage box is full of mineral materials, a warning sensor in the storage device 8 transmits a signal to a reverse operation receiver arranged in the short auxiliary conveyor belt to rotate clockwise to convey the mineral materials to the right, so that the mineral materials in the storage device 8 can be timely reminded to be discharged, and the self-checking safety performance of the equipment is enhanced.

Referring to fig. 2 and 3, in this embodiment, the drill rod 6 includes a first fixed box 61, an outer rotating shell 62 and an inner rotating shell 63, the left end of the inner rotating shell 63 extending into the first fixed box 61 is connected with the output end of the second motor 9 through a bearing, the left side shell of the outer rotating shell 62 is connected with the right side wall of the first fixed box 61 through an annular frame 64 in a sliding manner, and the output ends of the driving motors located on the upper side and the lower side of the first fixed box 61 are connected and fixed with spur gears and are in meshing connection with gear racks arranged on the inner side of the outer rotating shell 62;

a first telescopic machine 65 is arranged at the axis of the inner rotating shell 63, a clamping base 66 is fixed at the output end of the first telescopic machine 65, a clamping frame 67 is installed on the right side of the clamping base 66, and a probe 68 is arranged at the axis of an output telescopic cylinder of the first telescopic machine 65;

a telescopic support 619 is arranged on the inner wall of the right end of the outer rotating shell 62, an L-shaped plate is fixed at the output end of the telescopic support 619, a crushing assembly 69 is fixed at the upper end of the L-shaped plate, and a vibrating piece 620 is further installed at the end head of the right end of the outer rotating shell 62;

the rotating directions of the outer rotating shell 62 and the inner rotating shell 63 are opposite, the clamping base 66 is rotatably connected with the inner part of the inner rotating shell 63, the first telescopic machine 65 is in a non-rotating state, as a best embodiment, an auxiliary supporting rod is further arranged between the outer rotating shell 62 and the inner rotating shell 63, the upper end and the lower end of the auxiliary supporting rod are slidably connected with the inner side wall of the outer rotating shell 62, and the outer side wall of the inner rotating shell 63 is fixedly connected, so that the inner rotating shell and the outer rotating shell are subjected to more uniform pressure, spiral fan blades (not shown in the figure) are further arranged on the outer side wall of the inner rotating shell 62, and an arc-shaped square hole is formed in the outer rotating shell 62 close to the right side part of the first fixed box 61, so that crushed mineral materials can be discharged timely;

as the best embodiment, the probe is the non-retractable structure, the different degree of depth seam of the core of getting to the drilling is measured the core softness degree, be convenient for judge the fastness of the pore wall structure of locating, its drilling in-process, and smash the core outside through crushing subassembly 69, grind the collection by interior rotation shell 63 to inside core, guaranteed that the core of getting can not fail timely discharge because of kibbling mineral aggregate in the drilling process, and then extrude the core, make its inner structure change, can not guarantee its original structure, make the detection data to core inner structure inaccurate.

In this embodiment, the outer surface of the vibrating member 620 is of an arc structure, and is circumferentially arranged to form a plurality of groups, and each group of the vibrating members 620 leaves a small gap between adjacent vibrating members, as a preferred embodiment, the gap between adjacent vibrating members 620 is 1cm, and the length of the telescopic vibration is also 1cm.

Referring to fig. 4 and 5, in this embodiment, the clamping frame 67 includes a motor four 621, a clamping housing one 623, and a clamping housing two 624, an output end of the motor four 621 is fixedly connected to an axis of the rotating disc 625, a telescopic push block 627 is fixed on an outer side wall of the rotating disc 625, support rods 628 are further fixed on left and right sides of the telescopic push block 627, an upper end of the telescopic push block 627 is fixedly connected to an inner side wall of the clamping housing one 623, an upper end of the support rod 628 is slidably connected to a bar-shaped sliding slot formed in the clamping housing one 623, and a left end of the clamping housing one 623 is slidably connected to a sliding slot formed on a right side of the fixing box two 622;

a reset component 629 in the vertical direction is arranged on the right side wall of the first clamping shell 623, the center of the reset component 629 is hinged with a herringbone support frame 631, the right end of a telescopic frame in the herringbone support frame 631 is hinged with an L-shaped arc plate, and the right side of the L-shaped arc plate is fixedly connected with an arc plate 630;

the right end of the second clamping shell 624 is provided with a structure which is the same as the left end of the first clamping shell 623, wherein the left end of the right telescopic frame is hinged with the right end of an arc-shaped sleeve plate 632, and the arc-shaped sleeve plate 632 is sleeved outside the arc-shaped plate 630 and is in sliding connection;

as a preferred embodiment, the side surfaces of the support rods 628 and the inner walls of the holes and the grooves, which are matched with the first clamping shell 623 in a sliding manner, are micro semi-elliptical arc surfaces, wherein the support rods 628 have a convex structure, and the inner walls of the holes and the grooves have a concave structure, so that a certain micro fault-tolerant gap is formed, so that the clamping shells are attached to each other when being rotationally drilled into the mine wall, and the fixing strength of the rotating disc 625 and the first clamping shell 623 is further improved;

as a best embodiment, a telescopic supporting component in the vertical direction is installed between the L-shaped arc plate and the arc sleeve plate 632 which are arranged in parallel at the upper and lower parts, so that the supporting and fixing strength of the structure is improved, and the L-shaped arc plate and the arc sleeve plate 632 at the upper and lower parts are ensured to be in a parallel state;

in this embodiment, the upper side surface of the left end of the first clamping casing 623 is connected to the bottom end surface of the auxiliary fixing device 626 through a T-shaped member, and the arc plate at the lower end of the auxiliary fixing device 626 and the first clamping casing 623 slide up and down together, wherein the auxiliary fixing devices 626 are circumferentially arranged in multiple groups.

In this embodiment, the telescopic rod 633 is arranged inside the thick arc-shaped sleeve plate which is fixed to the left end of the second clamping housing 624 and close to the inner side, and the output end of the telescopic rod 633 is fixedly connected to the right end of the arc-shaped plate 630 which is fixed to the right side wall of the first clamping housing 623 and close to the inner side.

In this embodiment, the inner side walls of the right end of the second clamping shell 624 and the inner side walls of the right end of the inner rotating shell 63 are provided with the guide rings 615, and the guide rings 615 are arranged in a plurality of groups in a transverse linear arrangement, as a preferred embodiment, in the drilling process, auxiliary driving is provided for the drill rod 6 to enter the mine wall, and after the drilling is completed, the core obtained by the drilling is taken out, and the core can also be reversely guided by the guide rings 615 at the axle centers of the second clamping shell 624 and the inner rotating shell 63, so that the core can be completely discharged.

Referring to fig. 6, in this embodiment, the guide ring 615 includes eight groups of arc-shaped elastic rollers 616, arc-shaped elastic rollers 617 and driving adjustment devices 618, the driving adjustment devices 618 are circumferentially arranged, a right end of each of the arc-shaped elastic rollers 617 is fixedly connected to an output end of a rotating motor in the driving adjustment device 618, a left end of each of the arc-shaped elastic rollers 617 is rotatably connected to a right rotating base of the driving adjustment device 618, and the arc-shaped elastic rollers 616 are sleeved outside the arc-shaped elastic rollers 617.

Referring to fig. 7, in this embodiment, the crushing assembly 69 includes a second telescopic machine 610, a third motor 611, a fixing block 612, and a thread bit 613, an output end of the second telescopic machine 610 is fixedly connected to a left end of an outer housing of the third motor 611, an output end of the third motor 611 penetrates through the fixing block 612 and is fixedly connected to an axis of the thread bit 613, a guide frame 614 is vertically disposed inside the fixing block 612, a left side wall of the fixing block 612 and a right side wall of an outer housing of the second telescopic machine 610 are hermetically connected by an elastic cover, and as a preferred embodiment, a plurality of groups of the thread bits 613 are circumferentially arranged.

In this embodiment, the guide plates in the guide assembly inside the guide frame 614 are arranged in 6 groups in a circumferential arrangement, and can move in an up-and-down telescopic manner, wherein a micro-motor (not shown in the figure) is fixedly connected to one end of a rotating shaft fixedly connected to the bottom end of the guide plate, and is actively driven to operate.

When the concrete implementation, control this equipment operation work through mainframe box 2, through motor two 9, rotatory shell 63 in the driving motor drive in the fixed case 61 outside, outer rotatory shell 62 is rotatory, simultaneously, through vibrating piece 620, carry out the microseism to the hole wall and smash, telescopic bracket 619 adjusts crushing unit 69 and removes to the pore wall direction, it is fixed to stretch into to the hole heart mineral aggregate and end by the centre gripping frame 67 rotation, when stretching into to the ore wall inside along with motor 3 driving drill pipe, combine the first 65 of compressor to collect the mineral aggregate, mineral aggregate between interior rotation shell 63 and the outer rotatory shell 62, along with the conveying of the screw thread flabellum in the interior rotation shell 63 outside, conveying in falling into material conveying device 7 through the arc square hole, and collect the mineral aggregate through storage device 8, through cleaning device, clean round brush conveying belt, the mineral aggregate cleans on the track, detect the inside soft degree of core through probe 68, judge the firm intensity of pore wall, carry out accurate location to subsequent drilling position by positioner 10.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides a colliery is drilling robot in pit, its includes running gear (1), mainframe box (2), motor (3), motor two (9) and drilling rod (6), transversely be provided with threaded rod (4) in mainframe box (1) below cap, the cover has transmission cover frame (5) on threaded rod (4), transmission cover frame (5) lower extreme and drilling rod (6) left end motor case upper end fixed connection, by motor (3) are adjusted drilling rod (6) and are moved on the left and right sides, by motor two (9) drive drilling rod (6) drilling, its characterized in that: a material conveying device (7) is arranged in the space below the drill rod (6), a storage device (8) is arranged on the left side of the shell cover, a crawler walking structure is adopted in the walking device (1) on the lower side, and positioning devices (10) are arranged on the right side of the mainframe box (2) and the right side above the walking device (1);

drilling rod (6) are connected with motor two (9) output end bearing including fixed case (61), outer rotating shell (62) and interior rotating shell (63) stretch into fixed case (61) inside interior rotating shell (63) left end, outer rotating shell (62) left side casing passes through annular frame (64) sliding connection with fixed case (61) right side wall, is located fixed case (61) upper and lower side driving motor output is connected and is fixed with the straight-teeth gear, and with the rack and pinion meshing that outer rotating shell (62) inboard set up is connected, interior rotating shell (63) axle center is provided with telescopic machine (65), telescopic machine (65) output is fixed with centre gripping base (66), centre gripping frame (67) is installed on centre gripping base (66) right side, just telescopic machine (65) output telescopic cylinder axle center is provided with probe (68), outer rotating shell (62) right-hand member inner wall is provided with telescopic bracket (619), telescopic bracket (619) output is fixed with L template, L upper end is fixed with crushing unit (69), and outer rotating shell (62) end still installs rotating member (620).

2. The coal mine downhole drilling robot according to claim 1, characterized in that: the surface of the vibrating piece (620) is of an arc-shaped structure, multiple groups are arranged in a circumferential mode, and small gaps are reserved between the adjacent vibrating pieces (620).

3. The coal mine underground drilling robot according to claim 1, characterized in that: the clamping frame (67) comprises a motor IV (621), a clamping shell I (623) and a clamping shell II (624), the output end of the motor IV (621) is fixedly connected with the axis of a rotating disc (625), a telescopic push block (627) is fixed on the outer side wall of the rotating disc (625), support rods (628) are further fixed on the left side and the right side of the telescopic push block (627), the upper end of the telescopic push block (627) is fixedly connected with the inner side wall of the clamping shell I (623), the upper end of each support rod (628) is in sliding connection with a strip-shaped sliding groove formed in the clamping shell I (623), and the left end of the clamping shell I (623) is in sliding connection with a sliding groove formed in the right side of the fixed box II (622);

a reset component (629) in the vertical direction is arranged on the right side wall of the first clamping shell (623), the center of the reset component (629) is hinged with a herringbone support frame (631), the right end of a telescopic frame in the herringbone support frame (631) is hinged with an L-shaped arc plate, and the right side of the L-shaped arc plate is fixedly connected with an arc plate (630);

the right end of the second clamping shell (624) is provided with the same structure as the left end of the first clamping shell (623), wherein the left end of the expansion bracket is hinged to the right end of the arc-shaped sleeve plate (632), and the arc-shaped sleeve plate (632) is sleeved on the outer side of the arc-shaped plate (630) in a sliding connection mode.

4. The coal mine underground drilling robot according to claim 3, characterized in that: the upper side surface of the left end of the first clamping shell (623) is connected with the bottom end surface of the auxiliary fixing device (626) through a T-shaped piece.

5. The coal mine underground drilling robot according to claim 3, characterized in that: the inside telescopic link (633) that is provided with of thick arc lagging by inboard direction that centre gripping casing two (624) left end is fixed, telescopic link (633) output and the fixed arc (630) right-hand member fixed connection by inboard of centre gripping casing one (623) right side wall.

6. The coal mine underground drilling robot according to claim 3, characterized in that: and the inner side wall of the right end of the second clamping shell (624) and the inner side wall of the right end of the inner rotating shell (63) are both provided with a guide ring (615).

7. The coal mine underground drilling robot according to claim 6, characterized in that: the flow guide ring (615) comprises arc-shaped elastic rollers (616), arc-shaped elastic rollers (617) and a driving adjusting device (618), the driving adjusting device (618) is circumferentially arranged and provided with eight groups, the right ends of the arc-shaped elastic rollers (617) are fixedly connected with the output end of a rotating motor in the driving adjusting device (618), the left ends of the arc-shaped elastic rollers (617) are rotatably connected with a right rotating seat of the driving adjusting device (618), and the arc-shaped elastic rollers (616) are sleeved on the outer side of the arc-shaped elastic rollers (617).

8. The coal mine underground drilling robot according to claim 1, characterized in that: crushing unit (69) are including second (610) the telescopic machine, three (611) motors, fixed block (612) and screw drill (613), second (610) output of the telescopic machine and three (611) outside casing left end fixed connection of motor, three (611) output of motor run through fixed block (612) and screw drill (613) axle center fixed connection, be provided with water conservancy diversion frame (614) in the inside vertical direction of fixed block (612), through elastic boot sealing connection between fixed block (612) left side wall and the second (610) outside casing right side wall of telescopic machine.

9. The coal mine downhole drilling robot of claim 8, wherein: the guide plates in the guide assembly in the guide frame (614) are arranged in 6 groups in a circumferential arrangement mode and can move in an up-and-down telescopic mode.