CN215718453U - Narrow fuselage drilling robot for underground coal mine - Google Patents

Abstract

The application discloses narrow fuselage creeps into robot in pit in colliery, including running gear, sharp moving mechanism, first slewer and drilling portion, first slewer with running gear connects, first slewer passes through sharp moving mechanism with the drilling portion is connected, first slewer is used for driving sharp moving mechanism rotates, sharp moving mechanism is used for driving the drilling portion is flexible along the straight line direction. The utility model has flexible allocation and transportation, can adapt to narrow space operation, and can adjust the position of the drilling part in multiple degrees of freedom so as to adapt to various section roadways and efficiently carry out full-section anchor rod operation.

Description

Narrow fuselage drilling robot for underground coal mine

Technical Field

The application relates to the technical field of mining equipment, in particular to a narrow machine body drilling robot for a coal mine underground.

Background

At present, the coal resources in China are rich, the fully mechanized mining equipment is mature, and the coal mining process is gradually improved. Along with the shortage of energy, the coal mining pace in China is increasingly accelerated, and higher requirements are provided for the supporting operation of the roadway.

In order to adapt to a rapid tunneling process to improve the operation efficiency of coal mine footage, the self-moving support, the tunneling machine and the conveyor are matched to operate simultaneously, the existing multi-arm anchor rod drill carriage is usually wide in body and inflexible in action, cannot be applied to the rapid tunneling process, occupies a large space when the multi-arm anchor rod drill carriage is staggered with equipment such as the tunneling machine and the like, and adds extra time to the whole tunneling work.

SUMMERY OF THE UTILITY MODEL

The utility model provides a narrow fuselage creeps into robot in pit in colliery, and the allocation and transportation is nimble, can adapt to narrow and small space operation, and can adjust the position of drilling portion with multi freedom to adapt to various section roadways, the full section stock operation is carried out to the high efficiency.

The technical scheme of this application provides a narrow fuselage creeps into robot in pit in colliery, including running gear, sharp moving mechanism, first slewer and drilling portion, first slewer with running gear connects, first slewer passes through sharp moving mechanism with the drilling portion is connected, first slewer is used for driving sharp moving mechanism rotates, sharp moving mechanism is used for driving the drilling portion is flexible along the rectilinear direction.

Preferably, the linear motion mechanism comprises a frame, a first-stage sliding part and a second-stage sliding part, the first-stage sliding part is connected with the frame in a sliding mode, and the second-stage sliding part is arranged on the first-stage sliding part in a sliding mode.

Preferably, the frame includes the backplate and installs the fixed block on the backplate, one-level sliding part includes first push rod, guide bar seat and first guide arm, second level sliding part includes second guide arm, sliding block and second push rod, first guide arm with the second guide arm all sets up on the guide bar seat, first guide arm with fixed block sliding connection, first push rod with the guide bar seat is connected and is driven the guide bar seat activity, the sliding block with second guide arm sliding connection, the second push rod is installed on the guide bar seat, the second push rod with the sliding block is connected and is driven the sliding block activity.

Preferably, the drilling device further comprises a second rotating device, the second rotating device is connected with the linear moving mechanism, the drilling part is connected with the second rotating device, and the second rotating device is used for driving the drilling part to rotate.

Preferably, the drilling device further comprises a swing driving member, the swing driving member is connected between the second rotating device and the drilling portion, and the rotation shafts of the swing driving member and the second rotating device are perpendicular to each other.

Preferably, still include fine setting mechanism, the portion of creeping into through the hinge joint support with the swing driving piece is connected, the swing driving piece drives the hinge joint support action, the portion of creeping into with the hinge joint support rotates to be connected, fine setting mechanism includes the fine setting push rod, fine setting push rod one end with the hinge joint support is articulated, the other end with the portion of creeping into is articulated.

Preferably, still include a stabilising arrangement that props up, a stabilising arrangement that props up includes landing leg stand and flexible leg, landing leg stand one end with running gear connects, the other end with flexible leg rotates and is connected.

Preferably, flexible leg includes the outer landing leg of top support, top support inner leg, first driving piece, second driving piece and top support dish, the top support outer landing leg with the landing leg stand rotates to be connected, the top support inner leg with top support outer landing leg sliding connection, the top support dish sets up landing leg tip in the top support, first driving piece with the top support outer landing leg is connected and drives the top support outer landing leg does relatively the rotation of landing leg stand, the second driving piece with top support inner leg is connected and drives the top support inner leg does relatively the slip that the top support outer landing leg was done.

Preferably, the outer supporting leg of the top support is provided with a first cavity, the inner supporting leg of the top support is provided with a second cavity, the inner supporting leg of the top support is slidably arranged in the first cavity, and the first cavity is communicated with the second cavity.

Preferably, still include operation platform, operation platform installs on running gear, still include one-level work footboard and second grade work footboard, one-level work footboard with operation platform is articulated, second grade work footboard with one-level work footboard is articulated.

After adopting above-mentioned technical scheme, have following beneficial effect: the device is flexible in allocation and transportation, can adapt to narrow space operation, and can adjust the position of the drilling part in multiple degrees of freedom so as to adapt to various section roadways and efficiently carry out full-section anchor rod operation.

Drawings

The disclosure of the present application will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the figure:

FIG. 1 is a schematic view of the overall structure of the present invention in one embodiment;

FIG. 2 is a partially disassembled schematic view of the overall structure of one embodiment of the present invention;

FIG. 3 is a schematic view of the construction of a linear motion mechanism in one embodiment of the present invention;

FIG. 4 is a schematic view of the mounting of the hinge bracket and the drilling portion of the present invention in one embodiment;

FIG. 5 is a schematic diagram of the construction of an overhead stabilizing device in one embodiment of the present invention;

fig. 6 is a schematic structural view of a magazine assembly according to an embodiment of the present invention.

Reference symbol comparison table:

a traveling mechanism 1: a frame assembly 11;

the linear moving mechanism 3: the back plate 31, the fixed block 32, the first push rod 33, the guide rod seat 34, the first guide rod 35, the second push rod 36, the sliding block 37 and the second guide rod 38;

the hinge bracket 7: a first hinge plate 71, a second hinge plate 72, a connecting plate 73;

supporting and stabilizing device 8: the support leg column 81, the top support outer support leg 821, the top support inner support leg 822, the top support disc 823 and the first driving piece 824;

an operating platform 91, a primary working pedal 92 and a secondary working pedal 93;

drilling portion 10, first slewer 2, swing driving piece 4, second slewer 5, fine setting push rod 6.

Detailed Description

Embodiments of the present application are further described below with reference to the accompanying drawings.

It is easily understood that according to the technical solutions of the present application, those skilled in the art can substitute various structures and implementations without changing the spirit of the present application. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present application, and should not be construed as limiting or restricting the technical solutions of the present application in their entirety.

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The foregoing is to be understood as belonging to the specific meanings in the present application as appropriate to the person of ordinary skill in the art.

In an embodiment of the utility model, as shown in fig. 1 and 2, the robot for drilling the narrow fuselage in the underground coal mine comprises a traveling mechanism 1, a linear moving mechanism 3, a first rotating device 2 and a drilling part 10, wherein the first rotating device 2 is connected with the traveling mechanism 1, the first rotating device 2 is connected with the drilling part 10 through the linear moving mechanism 3, the first rotating device 2 is used for driving the linear moving mechanism 3 to rotate, and the linear moving mechanism 3 is used for driving the drilling part 10 to stretch and retract along a linear direction.

In the device, the traveling mechanism 1 provides a traveling function, the drilling part 10 is taken to a roadway, when the device reaches a construction position, the first rotating device 2 acts to drive the drilling part 10 to rotate so as to adjust the angle of the drilling part 10, then the linear moving mechanism 3 drives the drilling part 10 to linearly act, the required construction distance between the drilling part 10 and the wall surface of the roadway is achieved, and finally the drilling part 10 is started to perform anchor drilling work. In this device, drilling portion 10 can rotate with the anchor of different positions in the adaptation tunnel with multi-angle and bore construction and location, and the position of adjusting drilling portion 10 is stretched out and retract through sharp moving mechanism 3 simultaneously for drilling portion 10 can realize multi freedom and adjust, thereby the holistic width of robot that has significantly reduced, the robot of being convenient for is transferred and transported, and drilling portion 10 can stretch out by the left and right sides simultaneously, has promoted the adaptability of tunnel width greatly. The device is more flexible in allocation and transportation, can adapt to a rapid tunneling process and various section roadways, and can efficiently carry out full-section anchor rod operation.

In some embodiments of the present invention, when the anchoring and drilling operation needs to be performed on the side wall of the roadway, the first rotating device 2 drives the drilling portion 10 to rotate until the drilling direction of the drilling portion 10 faces the side wall of the roadway, and at the same time, the linear moving mechanism 3 drives the drilling portion 10 to approach the side wall of the roadway, and at this time, the drilling portion 10 can perform the anchoring and drilling operation on the side wall of the roadway. Similarly, when the top surface of the roadway needs to be constructed, the first rotating device 2 drives the drilling part 10 to enable the drilling direction to be upward, and meanwhile, the linear moving mechanism 3 lifts the drilling part 10 upward to the construction distance. In addition, this device can also carry out the anchor to bore the construction to tunnel ground, keeps first slewer 2's initial condition promptly, and the direction of creeping into of portion 10 this moment is towards ground, when carrying out the anchor and bore, only needs to drive through sharp movable mechanism 3 and creeps into portion 10 and move down and be close to ground, can carry out the anchor to bore the construction to ground. Similarly, the construction in other directions can be realized by the cooperation of the first rotating device 2 and the linear moving mechanism 3, and the position of the drilling part can be adjusted with multiple degrees of freedom by the device so as to adapt to various section roadways and efficiently carry out full-section anchor rod operation.

In some embodiments of the present invention, the linear motion mechanism 3 includes a frame, a primary sliding portion and a secondary sliding portion, the primary sliding portion is slidably connected to the frame, and the secondary sliding portion is slidably disposed on the primary sliding portion. The telescopic length of the linearly movable mechanism 3 can be increased by the two-stage sliding portion so that the drilling portion 10 can be adapted to a larger space.

Preferably, as shown in fig. 3, the rack includes a back plate 31 and a fixed block 32 installed on the back plate 31, the primary sliding portion includes a first push rod 33, a guide rod seat 34 and a first guide rod 35, the secondary sliding portion includes a second guide rod 38, a sliding block 37 and a second push rod 36, the first guide rod 35 and the second guide rod 38 are both disposed on the guide rod seat 34, the first guide rod 35 is slidably connected with the fixed block 32, the first push rod 33 is connected with the guide rod seat 34 and drives the guide rod seat 34 to move, the sliding block 37 is slidably connected with the second guide rod 38, the second push rod 36 is installed on the guide rod seat 34, and the second push rod 36 is connected with the sliding block 37 and drives the sliding block 37 to move.

When the first sliding part is operated, the first push rod 33 drives the guide rod seat 34 to slide along the direction of the first guide rod 35, so as to drive the second sliding part to operate together, and when the second sliding part is operated, the second push rod 36 drives the sliding block 37 to operate, so as to drive the drilling part 10 to operate. Through setting up two-stage sliding part, can increase sharp movable mechanism 3's flexible length, simultaneously in the shrink, can furthest reduce sharp movable mechanism 3's whole length to reduce the occupation of the whole space of robot, thereby adapt to the use in narrow and small space, the allocation and transportation is more nimble.

In some embodiments of the present invention, as shown in fig. 3, the present invention further comprises a second rotating device 5, the second rotating device 5 is connected to the linear moving mechanism 3, the drilling portion 10 is connected to the second rotating device 5, and the second rotating device 5 is configured to drive the drilling portion 10 to rotate. Can carry out the adjustment of secondary angle to drilling portion 10 through second slewer 5, when the anchor bored the location, earlier through the rotation angle of first slewer 2 adjustment straight line moving mechanism 3 to accomplish first location, then the rotation angle of rethread second slewer 5 adjustment drilling portion 10, in order to accomplish the secondary location, make drilling portion 10 can accurate rotation to required anchor and bore the position.

In some embodiments of the present invention, as shown in fig. 4, the drilling apparatus further comprises a swing driving member 4, the swing driving member 4 is connected to the second rotating device 5, the drilling portion 10 is connected to the swing driving member 4, and the rotation axes of the swing driving member 4 and the second rotating device 5 are perpendicular to each other. The position of the drilling part 10 can be further adjusted by swinging the drive member 4, thereby achieving a more azimuthal adjustment of the position of the drilling part 10.

In some embodiments of the present invention, as shown in fig. 4, the present invention further includes a fine adjustment mechanism, the drilling portion 10 is connected to the swing driving member 4 through the hinge support 7, the swing driving member 4 drives the hinge support 7 to move, the drilling portion 10 is rotatably connected to the hinge support 7, the fine adjustment mechanism includes a fine adjustment push rod 6, one end of the fine adjustment push rod 6 is hinged to the hinge support 7, and the other end of the fine adjustment push rod 6 is hinged to the drilling portion 10. The fine adjustment mechanism is used for realizing the compensation action of the drilling part 10 when finding the hole, so that the positioning of the drilling part 10 is more accurate, and when the fine adjustment mechanism acts, the fine adjustment push rod 6 drives the drilling part 10 to rotate.

In some embodiments of the present invention, as shown in fig. 5, the present invention further includes a supporting top stabilizing device 8, the supporting top stabilizing device 8 includes a supporting leg upright 81 and a telescopic leg, one end of the supporting leg upright 81 is connected to the walking mechanism, and the other end is rotatably connected to the telescopic leg. The supporting and stabilizing device 8 is used for stabilizing the robot during anchor drilling work, and when the anchor drilling work is carried out, the telescopic legs are overturned and unfolded relative to the supporting leg upright posts 81, and then the telescopic legs extend and completely support the top plate of a roadway, so that the robot is stable in body during anchor drilling work. When the robot is in a non-working state, the telescopic legs are contracted and turned to be perpendicular to the supporting leg upright columns 81, the overall height of the robot is reduced, and the robot can adapt to a narrow space to advance.

In some embodiments of the present invention, as shown in fig. 5, the telescopic leg includes a top support outer leg 821, a top support inner leg 822, a first driving member 824, and a second driving member 823, which are not shown in the drawing, the top support outer leg 821 is rotatably connected to the leg column 81, the top support inner leg 822 is slidably connected to the top support outer leg 821, the top support disc 823 is disposed at an end of the top support inner leg 822, the first driving member 824 is connected to the top support outer leg 821 and drives the top support outer leg 821 to rotate relative to the leg column 81, and the second driving member is connected to the top support inner leg 822 and drives the top support inner leg 822 to slide relative to the top support outer leg 821. When flexible leg extends, first driving piece 824 drives the outer landing leg 821 of shore and rotates for landing leg stand 81 for the outer landing leg 821 of shore rotates to be parallel with landing leg stand 81, then the second driving piece promotes the outer landing leg 821 of shore and outwards slides for the outer landing leg 821 of shore in shore, makes shore dish 823 withstand the roof in tunnel completely, thereby accomplishes the stabilizing effect of whole robot, improves the stability of anchor brill.

Preferably, the outer top support leg 821 is provided with a first cavity, the inner top support leg 822 is provided with a second cavity, the inner top support leg 822 is slidably disposed in the first cavity, and the first cavity is communicated with the second cavity. The second driving piece is arranged in the first cavity, so that extra space does not need to be occupied, and meanwhile, the inner supporting leg 822 of the top support can be completely slidingly accommodated in the first cavity when the top support is contracted, so that the length of the telescopic leg is reduced to the greatest extent.

In some embodiments of the present invention, as shown in fig. 6, the present invention further includes an operation platform 91, the operation platform 91 is installed on the traveling mechanism 1, and further includes a first-stage working pedal 92 and a second-stage working pedal 93, the first-stage working pedal 92 is hinged to the operation platform 91, and the second-stage working pedal 93 is hinged to the first-stage working pedal 92. Operation platform 91 can supply the staff to stand on it and operate, and when advancing, second grade work footboard 93 turns over to first order work footboard 92 on, then first order work footboard 92 upwards overturns to perpendicular with operation platform 91 to reduce the occupation in space, first order work footboard 92 and second grade work footboard 93 can overturn to be parallel with operation platform 91, increase the area of standing.

Example 1:

as shown in fig. 1, in the embodiment, a traveling direction of the robot is defined as an X direction, a width direction of the robot is defined as a Y direction, and a height direction of the robot is defined as a Z direction, for convenience of further explanation below.

The embodiment discloses a preferred scheme: a narrow-fuselage drilling robot for a coal mine underground comprises a traveling mechanism 1, a linear moving mechanism 3, a first rotating device 2, a second rotating device 5 and a drilling part 10, as shown in figures 1 and 2. The walking mechanism 1 provides walking power for the robot, and comprises two groups of crawler wheels and a mounting platform which are arranged in parallel, the device can be made to adapt to complex road conditions to walk through the crawler wheels, and meanwhile, the walking direction of the walking mechanism can be changed by adjusting the walking speed between the two groups of crawler wheels.

As shown in fig. 2 and 6, the first rotating device 2 is installed at the front end of the installation platform through the frame assembly 11, the rotation axis direction of the first rotating device 2 is the X direction, wherein the linear moving mechanism 3 is installed and connected to the first rotating device 2, the first rotating device 2 can drive the linear moving mechanism 3 to rotate around the X direction, the second rotating device 5 is installed on the linear moving mechanism 3, the linear moving mechanism 3 can move on the YZ plane, so as to drive the second rotating device 5 to move, the drilling portion 10 is connected to the second rotating device 5 and drives the drilling portion 10 to rotate around the X direction by the second rotating device 5, and further, the rotation angle of the drilling portion 10 is accurately controlled.

In the present embodiment, as shown in fig. 3, the adopted linear motion mechanism 3 includes a frame, a primary sliding portion and a secondary sliding portion, wherein the frame includes a back plate 31 and a fixing block 32 fixedly mounted on the back plate 31, and the primary sliding portion includes a first push rod 33, a guide rod seat 34 and a first guide rod 35; the secondary sliding portion includes a second guide rod 38, a sliding block 37 and a second push rod 36, wherein the first guide rod 35 and the second guide rod 38 are both mounted on the guide rod seat 34, in this embodiment, two first guide rods 35 and two second guide rods 38 are respectively provided, wherein the two first guide rods 35 are parallel to each other and are disposed on the inner side of the guide rod seat 34, the two second guide rods 38 are parallel to each other and are disposed on the outer side of the guide rod seat 34, and the first guide rods 35 and the second guide rods 38 are parallel to each other. Two first sliding holes corresponding to the positions of the first guide rods 35 are formed in the fixed block 32, the two first guide rods 35 penetrate through the first sliding holes in the fixed block 32, the fixed block 32 and the first guide rods 35 can slide relatively, two second sliding holes corresponding to the positions of the second guide rods 38 are formed in the sliding block 37, the second guide rods 38 penetrate through the second sliding holes in the sliding block 37, and the sliding block 37 and the second guide rods 38 can slide relatively. The first push rod 33 and the second push rod 36 are hydraulic push rods, wherein the bottom end of the first push rod 33 is connected with the mounting platform, the other end of the first push rod 33 is connected with the guide rod seat 34, the guide rod seat 34 can be driven by the first push rod 33 to slide up and down along the direction of the first guide rod 35, the bottom end of the second push rod 36 is connected with the guide rod seat 34, the other end of the second push rod 36 is connected with the sliding block 37, the sliding block 37 can be driven by the second push rod 36 to slide up and down along the direction of the second guide rod 38, and the second rotating device 5 is arranged on the sliding block 37. The linear motion mechanism 3 is provided with two-stage sliding parts, the telescopic length of the linear motion mechanism can be increased, when the linear motion mechanism is at the maximum extension length, the lower end of the guide rod seat 34 is in contact with the fixed block 32, and the sliding block 37 slides to the upper end of the guide rod seat 34. When the linear moving mechanism 3 is arranged at the minimum length, the fixed seat is arranged at the upper end of the guide rod seat 34, and the sliding block 37 is arranged at the lower end of the guide rod seat 34, so that the minimum length of the whole linear moving mechanism 3 is the length of the guide rod seat 34, the overall length of the linear moving mechanism 3 can be reduced to the maximum extent, the occupation of a robot on the space is reduced, the robot can adapt to the use in a narrow space, the adjustment and the transportation are convenient, and the movement is more flexible.

In addition, in the present embodiment, a swing driving member 4 is further included, as shown in fig. 4, the swing driving member 4 is connected to the second rotating device 5, a rotation axis of the swing driving member 4 is perpendicular to a rotation axis of the second rotating device 5, the drilling portion 10 is connected to the swing driving member 4, and the swing driving member 4 can drive the drilling portion 10 to swing left and right, so as to further adjust an anchor drilling position of the drilling portion 10.

In addition, the device also comprises a fine adjustment mechanism, as shown in fig. 4, a drilling part 10 is connected with a swing driving part 4 through a hinge support 7, the swing driving part 4 drives the hinge support 7 to move, the drilling part 10 is rotatably connected with the hinge support 7, the fine adjustment mechanism comprises a fine adjustment push rod 6, one end of the fine adjustment push rod 6 is hinged with the hinge support 7, and the other end of the fine adjustment push rod 6 is hinged with the drilling part 10. The fine adjustment mechanism is used for realizing the compensation action of the drilling part 10 when finding the hole, so that the positioning of the drilling part 10 is more accurate, and when the fine adjustment mechanism acts, the fine adjustment push rod 6 drives the drilling part 10 to rotate.

In particular, the hinge bracket 7 includes a first hinge plate 71 and a second hinge plate 72 integrally formed, and the first hinge plate 71 and the second hinge plate 72 are mounted in parallel on the swing driving member 4 through a connecting plate 73 to form a saddle-type connection structure, so that the mounting strength of the drill part 10 can be increased, and shaking of the drill part 10 during operation can be prevented.

In the present embodiment, the first rotating device 2, the second rotating device 5, the first push rod 33, the second push rod 36, the swing driving element 4, and the fine adjustment push rod 6 may be hydraulic driving devices, cylinder driving devices, or other driving devices, and are not limited in particular.

This device is adaptable narrow and small space to be used, when entering into narrow and small space operation, straight line moving mechanism 3 contracts to minimum length, and will creep into portion 10 through first slewer 2 and second slewer 5 and rotate to perpendicular with the mounting platform, thereby reduce the height and the width of whole car, it rotates portion 10 to the side towards the robot to creep into through swing driving piece 4 simultaneously, so both can reduce the ascending length of robot in X side, also can protect portion 10 of creeping into, avoid portion 10 of creeping into to collide the place ahead barrier when the walking and lead to damaging. When the robot travels to the operation area, at first, it is rotatory to drive drilling portion 10 through first slewer 2, make drilling portion 10 carry out coarse positioning, aim at the position that required anchor bored, then drive drilling portion 10 through sharp movable mechanism 3 and be close to towards the anchor brill position, then rethread second slewer 5 and swing driving piece 4 carry out secondary adjustment to the position of drilling portion 10, make the anchor brill position more accurate, start drilling portion 10 at last and can carry out the anchor brill, when the anchor is bored, fine-tuning realizes the compensation action of finding the hole at the anchor brill in-process, thereby improve the anchor brill precision. In this device, through first slewer 2, second slewer 5, sharp movable mechanism 3, swing driving piece 4 and fine-tuning cooperation, can realize fixing a position fast and look for the hole, and can adapt to various sectional tunnels, can carry out full sectional stock operation high-efficiently, and when non-operating condition, each mechanism can accomodate the occupation that reduces the whole space of robot furthest simultaneously, makes it can adapt to narrow and small space and march, and the allocation and transportation is more nimble.

Example 2:

the embodiment is similar to embodiment 1, except that, in this embodiment, the support stabilizing device 8 is further included, when the construction of the anchor rod of the roadway side wall is performed, the drilling portion 10 has a lateral thrust to the whole machine, so that the stabilization effect on the robot can be achieved when the anchor drill works by additionally arranging the support stabilizing device 8, and the lateral thrust generated when the drilling portion 10 is constructed is offset through the support stabilizing device 8, so that the robot is safer and more reliable in the use process. Specifically, as shown in fig. 5, the roof supporting and stabilizing device 8 includes a leg column 81 and a telescopic leg, wherein one end of the leg column 81 is connected to the traveling mechanism, and the other end is rotatably connected to the telescopic leg. The supporting and stabilizing device 8 is used for stabilizing the robot during anchor drilling work, and when the anchor drilling work is carried out, the telescopic legs are overturned and unfolded relative to the supporting leg upright posts 81, and then the telescopic legs extend and completely support the top plate of a roadway, so that the robot is stable in body during anchor drilling work. When the robot is in a non-working state, the telescopic legs are contracted and turned to be perpendicular to the supporting leg upright columns 81, the overall height of the robot is reduced, and the robot can adapt to a narrow space to advance.

Wherein, flexible leg includes the outer landing leg 821 of shore, shore inner landing leg 822, first driving piece 824, second driving piece and shore dish 823, shore outer landing leg 821 rotates with landing leg stand 81 to be connected, shore inner landing leg 822 and shore outer landing leg 821 sliding connection, shore dish 823 sets up in shore inner landing leg 822 tip, first driving piece 824 is connected with shore outer landing leg 821 and drives shore outer landing leg 821 and do the rotation of relative landing leg stand 81, the second driving piece is connected with shore inner landing leg 822 and drives shore inner landing leg 822 and do the slip of relative shore outer landing leg 821. When flexible leg extends, first driving piece 824 drives the outer landing leg 821 of shore and rotates for landing leg stand 81 for the outer landing leg 821 of shore rotates to be parallel with landing leg stand 81, then the second driving piece promotes the outer landing leg 821 of shore and outwards slides for the outer landing leg 821 of shore in shore, makes shore dish 823 withstand the roof in tunnel completely, thereby accomplishes the stabilizing effect of whole robot, improves the stability of anchor brill.

The outer top support leg 821 is provided with a first cavity, the inner top support leg 822 is provided with a second cavity, the inner top support leg 822 is slidably arranged in the first cavity, and the first cavity is communicated with the second cavity. The second driving piece is arranged in the first cavity, so that extra space does not need to be occupied, and meanwhile, the inner supporting leg 822 of the top support can be completely slidingly accommodated in the first cavity when the top support is contracted, so that the length of the telescopic leg is reduced to the greatest extent.

Example 3:

this embodiment is similar to embodiment 1 or 2, except that this embodiment further includes an operation platform 91, as shown in fig. 6, the operation platform 91 is installed at the front end of the installation platform, wherein two ends of the operating platform 91 are respectively provided with two primary working pedals 92, the edge of the primary working pedal 92 is rotatably connected with the operating platform 91, a secondary working pedal 93 is also arranged on the primary working pedal 92, the secondary working pedal 93 is rotationally connected with the primary working pedal 92, wherein the rotation axis between the primary operating pedal 92 and the operating platform 91 is perpendicular to the rotation axis between the primary operating pedal 92 and the secondary operating pedal 93, that is, one side of the first-stage working pedal 92 is rotatably connected to the operation platform 91, and the adjacent side thereof is rotatably connected to the second-stage working pedal 93, the first-stage working pedal 92 can rotate around the X axis, and the second-stage working pedal 93 can rotate around the Y axis. Operation platform 91 can supply the staff to stand on it and operate, and when marcing, second grade work footboard 93 rotates to its surface and the laminating of the surface of one-level work footboard 92 around the Y axle, then rotates one-level work footboard 92 to perpendicular with operation platform 91 around the X axle to reduce the occupation of space, when arriving the operating position, one-level work footboard 92 and second grade work footboard 93 can overturn to be parallel with operation platform 91, increase the area of standing.

What has been described above is merely the principles and preferred embodiments of the present application. It should be noted that, for a person skilled in the art, several other modifications can be made on the basis of the principle of the present application, and these should also be considered as the scope of protection of the present application.

Claims (10)

1. A narrow machine body drilling robot for a coal mine underground is characterized by comprising a traveling mechanism (1), a linear moving mechanism (3), a first rotating device (2) and a drilling part (10);

first slewer (2) with running gear (1) is connected, first slewer (2) are passed through sharp moving mechanism (3) with drilling portion (10) are connected, first slewer (2) are used for driving sharp moving mechanism (3) rotate, sharp moving mechanism (3) are used for driving drilling portion (10) are flexible along the straight line direction.

2. The narrow fuselage drilling robot for the underground coal mine according to claim 1 is characterized in that the linear moving mechanism (3) comprises a rack, a primary sliding part and a secondary sliding part, wherein the primary sliding part is connected with the rack in a sliding manner, and the secondary sliding part is arranged on the primary sliding part in a sliding manner.

3. The narrow fuselage drilling robot for the underground coal mine according to claim 2, characterized in that the rack comprises a back plate (31) and a fixed block (32) installed on the back plate (31), the primary sliding part comprises a first push rod (33), a guide rod seat (34) and a first guide rod (35), the secondary sliding part comprises a second guide rod (38), a sliding block (37) and a second push rod (36), the first guide rod (35) and the second guide rod (38) are all arranged on the guide rod seat (34), the first guide rod (35) is in sliding connection with the fixed block (32), the first push rod (33) is connected with the guide rod seat (34) and drives the guide rod seat (34) to move, the sliding block (37) is in sliding connection with the second guide rod (38), the second push rod (36) is installed on the guide rod seat (34), the second push rod (36) is connected with the sliding block (37) and drives the sliding block (37) to move.

4. The narrow fuselage drilling robot for the underground coal mine according to claim 1 is characterized by further comprising a second rotating device (5), wherein the second rotating device (5) is connected with the linear moving mechanism (3), the drilling part (10) is connected with the second rotating device (5), and the second rotating device (5) is used for driving the drilling part (10) to rotate.

5. The narrow fuselage drilling robot for the underground coal mine according to claim 4, characterized by further comprising a swing driving member (4), wherein the swing driving member (4) is connected between the second rotating device (5) and the drilling part (10), and the rotation axes of the swing driving member (4) and the second rotating device (5) are perpendicular to each other.

6. The narrow fuselage drilling robot for the underground coal mine according to claim 1 is characterized by further comprising a fine adjustment mechanism, wherein the drilling part (10) is connected with the swing driving part (4) through a hinged support (7), the swing driving part (4) drives the hinged support (7) to move, the drilling part (10) is rotatably connected with the hinged support (7), the fine adjustment mechanism comprises a fine adjustment push rod (6), one end of the fine adjustment push rod (6) is hinged to the hinged support (7), and the other end of the fine adjustment push rod is hinged to the drilling part (10).

7. The narrow fuselage drilling robot for the underground coal mine according to claim 1 is characterized by further comprising a supporting and jacking stabilizing device (8), wherein the supporting and jacking stabilizing device (8) comprises a supporting leg upright column (81) and a telescopic leg, one end of the supporting leg upright column (81) is connected with the walking mechanism (1), and the other end of the supporting leg upright column is rotatably connected with the telescopic leg.

8. The narrow fuselage drilling robot for the underground coal mine according to claim 7, the telescopic leg comprises a top support outer leg (821), a top support inner leg (822), a first driving piece (824), a second driving piece and a top support disc (823), the top support outer leg (821) is rotatably connected with the leg upright post (81), the top support inner leg (822) is slidably connected with the top support outer leg (821), the top support disc (823) is arranged at the end part of the top support inner supporting leg (822), the first driving piece (824) is connected with the top support outer supporting leg (821) and drives the top support outer supporting leg (821) to rotate relative to the supporting leg upright (81), the second driving piece is connected with the top support inner supporting leg (822) and drives the top support inner supporting leg (822) to slide relative to the top support outer supporting leg (821).

9. The narrow fuselage drilling robot for the underground coal mine according to claim 8, is characterized in that the outer top support leg (821) is provided with a first cavity, the inner top support leg (822) is provided with a second cavity, the inner top support leg (822) is slidably arranged in the first cavity, and the first cavity is communicated with the second cavity.

10. The narrow fuselage drilling robot for the underground coal mine according to claim 1 is characterized by further comprising an operating platform (91), wherein the operating platform (91) is installed on the traveling mechanism (1), a primary working pedal (92) and a secondary working pedal (93), the primary working pedal (92) is hinged to the operating platform (91), and the secondary working pedal (93) is hinged to the primary working pedal (92).

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