CN219081482U - Mining automatic drilling device - Google Patents

Abstract

The application provides a mining automation drilling device. The drill is used for drilling operations on rock formations, and comprises: a crawler chassis; the mounting main body is rotatably mounted on the crawler-type chassis and can rotate around a first axis, and the first axis is an axis in the vertical direction, which is rotationally connected with the crawler-type chassis, of the mounting main body; the main drilling part is rotatably arranged on the mounting main body and can rotate around a second axis to adjust the pitching angle of the main drilling part, wherein the second axis is perpendicular to the first axis; the drill rod warehouse is fixedly arranged on the installation main body and can rotate along with the installation main body, and the drill rod warehouse is used for storing drill rods for drilling operation; the mechanical arm is sleeved on the installation main body in a sliding manner and can move up and down along a first axis on the installation main body, and the mechanical arm is used for moving the drill rods stored in the drill rod warehouse to the main drill part for filling; or the drill rod on the main drilling part which is subjected to the drilling operation is disassembled, and the drill rod is moved to a drill rod warehouse for storage.

Description

Mining automatic drilling device

Technical Field

The application belongs to the technical field of drilling construction, and particularly relates to a mining automatic drilling device.

Background

In the process of roadway (tunnel) tunneling and coal mining, operations such as water exploration, gas drainage and the like are often required to be carried out because of safety requirements, and drilling operations are required to be carried out in all the operations. China is a large country of coal and a large country of capital construction, and thousands of kilometers are reached only for new tunneling tunnels each year. Along with the continuous promotion of the mechanized progress in China, the mechanized drilling operation is basically popularized at present, and along with the annual increase of labor cost and the urgent requirement of laborers on the labor quantity reduction, the realization of the automation and the intellectualization of drilling construction is a trend.

Accordingly, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.

Disclosure of Invention

An object of the present application is to provide an automatic drilling device and an automatic drilling method for mining, so as to solve or alleviate the problems existing in the prior art.

In order to achieve the above object, the present application provides the following technical solutions:

the application provides a mining automation drilling equipment for carry out drilling operation on the stratum, include: a crawler chassis; the mounting main body is rotatably mounted on the crawler-type chassis and can rotate around a first axis, wherein the first axis is an axis in the vertical direction, and the mounting main body is rotatably connected with the crawler-type chassis; the main drilling part is rotatably arranged on the mounting main body and can rotate around a second axis to adjust the pitching angle of the main drilling part, wherein the second axis is perpendicular to the first axis; the drill rod warehouse is fixedly arranged on the installation main body and can rotate along with the installation main body, and the drill rod warehouse is used for storing drill rods for drilling operation; the mechanical arm is sleeved on the installation main body in a sliding manner and can move up and down along the first axis on the installation main body, and the mechanical arm is used for moving the drill rods stored in the drill rod warehouse to the main drill part for filling; or the drill rod on the main drilling part which is subjected to the drilling operation is disassembled, and the drill rod is moved to the drill rod warehouse for storage.

Optionally, in any embodiment of the present application, the rotating portion and the fixing portion are of a disc-shaped structure, and are rotatably installed on an upper end surface of the crawler-type chassis through a rotating support, wherein an axis of the rotating support is the first axis; the fixed part is of a column structure and is fixedly arranged in the center of the upper end face of the rotating part along the vertical direction.

Optionally, in any embodiment of the present application, the drill rod magazine and the main drill are respectively located at two sides of the mounting body.

Optionally, in any embodiment of the present application, the drill rod magazine is symmetrically provided with two storage cavities, and the storage cavities are used for storing the drill rods.

Optionally, in any embodiment of the present application, the mechanical arm includes: the vertical moving part is sleeved on the mounting main body and can move vertically along the first axis; the rotating part is sleeved on the outer side of the up-and-down moving part, can move together with the up-and-down moving part and can rotate around the first axis relative to the up-and-down moving part; the mechanical claw is fixedly arranged on the rotating part and is used for grabbing the drill rods stored in the drill rod warehouse, or assisting the main drilling part to withdraw the drill rods for completing the drilling operation.

Optionally, in any embodiment of the present application, a first motor is disposed at an upper end of the up-down moving portion, and an output end of the first motor is meshed with a rack on the mounting main body through a first gear, where the rack extends along the first axis direction.

Optionally, in any embodiment of the present application, a rotating gear ring is disposed at a lower end of the up-down moving portion along a circumferential direction, and correspondingly, a second motor is disposed on the rotating portion, and an output end of the second motor is meshed with the rotating gear ring through a second gear, so as to drive the rotating portion to rotate around the first axis relative to the up-down moving portion.

Optionally, in any embodiment of the application, the gripper comprises: a fixed clamping plate and a telescopic clamping plate; the fixed clamping plate is connected to the rotating part, a first clamping surface is arranged on the fixed clamping plate, the telescopic clamping plate is connected to the fixed clamping plate in a telescopic manner, a second clamping surface is arranged on the telescopic clamping plate, and the telescopic clamping plate can move relative to the fixed clamping plate so as to clamp the drill rod by matching the second clamping surface with the first clamping surface; the first clamping surface is a 1/2 circular arc surface, and the second clamping surface consists of a 1/4 circular arc surface and a plane.

Optionally, in any embodiment of the present application, the fixing clamp plate is connected to the rotating portion through a first telescopic cylinder, and can move telescopically relative to the rotating portion under the driving of the first telescopic cylinder; the telescopic clamp plate is connected to the fixed clamp plate through a second telescopic cylinder, and can move relative to the fixed clamp plate under the drive of the second telescopic cylinder, wherein the second telescopic cylinder is located on the upper portion of the fixed clamp plate.

Optionally, in any embodiment of the present application, the mining automatic drilling device further includes: a main drill mounting body on which the main drill section is rotatably mounted so that the main drill section can be tilted about the second axis relative to the main drill mounting body; the main drill mounting body is sleeved on the mounting main body so as to drive the main drill part to move up and down along the first axis.

Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:

in the technical scheme for drilling operation on the rock stratum, the crawler chassis is adopted, so that the passing performance of the mining automatic drilling device is effectively improved; the main drilling part is driven to rotate in the horizontal plane by rotating the mounting main body on the crawler chassis, so that the drilling operation can be performed on the periphery of a roadway under the condition that the crawler chassis does not move, and the working range of the automatic drilling machine is effectively improved; the main drilling part is rotatably arranged on the installation main body, so that the main drilling part can perform pitching and swinging relative to the installation main body, and drilling operations with different angles are performed in a roadway, so that the working range of the automatic drilling machine is further improved; moving the drill rods stored in the drill rod warehouse to the main drill part for filling by the mechanical arm; or, the drill rod which completes the drilling operation on the main drilling part is disassembled and moved into the drill rod warehouse for storage, so that the automation of the drilling operation is realized, the labor cost is effectively reduced, the labor capacity of workers is reduced, more drill rods can be provided for the main drilling part, the drill rods are arranged, and the efficiency of the drilling operation is effectively improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. Wherein:

FIG. 1 is a schematic view of a mining automation drilling device according to some embodiments of the present application;

FIG. 2 is a schematic illustration of an assembly of a robotic arm with a mounting body provided in accordance with some embodiments of the present application;

FIG. 3 is an assembled schematic view of a robotic arm provided according to some embodiments of the present application;

fig. 4 is a schematic structural view of an up-and-down moving part provided according to some embodiments of the present application;

fig. 5 is an assembled schematic view of a main drill mounting body provided in accordance with some embodiments of the present application.

Reference numerals illustrate:

100-crawler-type chassis; 200-mounting a main body; 300-a main drilling part; 400-drill rod warehouse; 500-mechanical arms; 600-main drill mounting body; 201-a rotating part; 202-a fixing part; 501-an up-and-down moving part; 502-a rotating part; 503-mechanical claw; 504-a first telescopic cylinder; 505-a second telescopic cylinder; 601-a third motor; 602-a third gear; 901-a second clamping surface; 902-a first clamping surface; 511-rotating the ring gear; 521-first gear; 531-a first motor; 512-a second motor; 522-a second gear; 513-a fixed splint; 523-telescopic splint.

Detailed Description

The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. Various examples are provided by way of explanation of the present application and not limitation of the present application. Indeed, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present application include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

In the description of the present application, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely for convenience in describing the present application and do not require that the present application must be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present application. The terms "coupled," "connected," and "configured" as used herein are to be interpreted broadly, and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through an intermediate component; either a wired electrical connection, a radio connection or a wireless communication signal connection, the specific meaning of which terms will be understood by those of ordinary skill in the art as the case may be.

As shown in fig. 1-5, the mining automated drilling apparatus is for performing a drilling operation on a rock formation, comprising: a crawler chassis 100; the installation main body 200 is rotatably installed on the crawler chassis 100 and can rotate around a first axis, wherein the first axis is a vertical axis in which the installation main body 200 is rotatably connected with the crawler chassis 100; the main drilling part 300 is rotatably installed on the installation body 200 and can rotate around a second axis to adjust the pitching angle of the main drilling part 300, wherein the second axis is perpendicular to the first axis; the drill rod warehouse 400 is fixedly arranged on the installation main body 200, can rotate along with the installation main body 200, and is used for storing drill rods for drilling operation; the mechanical arm 500 is sleeved on the installation main body 200 in a sliding manner, can move up and down along a first axis on the installation main body 200, and the mechanical arm 500 is used for moving the drill rods stored in the drill rod warehouse 400 to the main drill part 300 for filling; alternatively, the drill rod on the main drill part 300, on which the drilling operation is completed, is unloaded and moved to the rod magazine 400 for storage. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the application, the crawler chassis 100 is adopted by the automatic drilling machine, so that the passing performance of the automatic drilling machine in a roadway is effectively improved, and the automatic drilling machine is suitable for a relatively complex road in the roadway; other forms of running chassis, such as a tire chassis, may be employed to increase the travel speed of the automated drilling machine. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the present application, the installation main body 200 is rotatably installed on the upper end surface of the crawler chassis 100, and the installation main body 200 may adopt an integral molding process to improve the structural mechanical properties of the installation main body 200; a split type process may be adopted to improve convenience in installation, transportation and maintenance of the installation main body 200 on the basis of ensuring structural mechanical properties of the installation main body 200. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In some alternative embodiments, the mounting body 200 includes: the rotating part 201 and the fixing part 202, wherein the rotating part 201 is of a disc-shaped structure and is rotatably installed on the upper end surface of the crawler chassis 100 through a rotating support, and the axis of the rotating support is a first axis; the fixing portion 202 has a cylindrical structure, and is fixedly attached to the center of the upper end surface of the rotating portion 201 in the vertical direction. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the present application, the rotating portion 201 is not limited to a disc type structure, but may be a rectangular structure, and a specific structural form may be determined according to an installation space and a shape on the crawler-type chassis 100. The rotating part 201 in the form of a disc is conveniently connected to the crawler chassis by a rotating support, which is mounted below the rotating part 201. The fixing part 202 is fixedly arranged in the center of the upper end face of the rotating part 201, so that the stress working condition of the installation main body 200 is improved, the bearing capacity on the installation main body 200 is uniformly distributed on the crawler chassis 100, and the stability of the mining automatic drilling device is improved. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the present application, the fixing portion 202 is designed into a cylindrical structure, which not only meets the structural performance requirement of the main drilling portion 300 when drilling operation is performed, but also facilitates the installation and maintenance of the mechanical arm 500 on the fixing portion 202. Here, the fixing portion 202 may be designed to have a cylindrical structure, a prismatic structure, or the like. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In some alternative embodiments, the rod magazine 400 and the main drill section 300 are located on either side of the mounting body 200. Thereby, the stress balance of the main drilling part 300 and the drill rod warehouse 400 on the two sides of the mining automatic drilling device is realized, so that the gravity center of the mining automatic drilling device is as close to the middle plane as possible, and the stability of the mining automatic drilling device is effectively improved. Meanwhile, the drill rod warehouse 400 and the main drill part 300 are respectively positioned at two sides of the installation main body 200, so that the mechanical arm 500 can conveniently take out the drill rods from the drill rod warehouse 400 and install the drill rods on the main drill part 300, or the drill rods on the main drill part 300 are disassembled to be put into the drill rod warehouse 400 for storage, the structure of the automatic drilling machine is more compact, and the moving flexibility of the automatic drilling machine is improved. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In some alternative embodiments, the rod magazine 400 is symmetrically provided with two storage cavities for storing rods. Therefore, when the mechanical arm 500 takes out the drill rods in the drill rod magazine 400, the storage cavity close to the mounting body 200, that is, the drill rods in the storage cavity inside the drill rod magazine 400, is taken out, and after the drill rods in the storage cavity inside the drill rod magazine 400 are taken out, the mechanical arm 500 takes out the drill rods from the storage cavity outside the drill rod magazine 400. When the drill rod on the main drill part 300 is removed, the mechanical arm 500 firstly places the drill rod into the storage cavity outside the drill rod warehouse 400, and after the storage cavity outside the drill rod warehouse 400 is filled with the drill rod, the mechanical arm 500 places the removed drill rod into the storage cavity inside the drill rod warehouse 400. The direction of storage of the drill rods in the rod magazine 400 is parallel and opposite to the direction of drilling of the drill rods on the main drill section 300. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In some alternative embodiments, the robotic arm 500 includes: a vertical moving part 501, a rotating part 502 and a mechanical claw 503, wherein the mountain bottom moving part is sleeved on the installation main body 200 and can move vertically along a first axis; the rotating portion 502 is sleeved outside the up-and-down moving portion 501, can move together with the up-and-down moving portion 501, and can rotate around a first axis relative to the up-and-down moving portion 501; the gripper 503 is fixedly installed on the rotating portion 502, and is used for gripping the drill rods stored in the drill rod magazine 400, or assisting the main drilling portion 300 in disassembling the drill rods after the drilling operation is completed. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In this embodiment, the mechanical arm 500 is driven to move up and down by the up-down moving portion 501 moving up and down along the first axis on the mounting main body 200, so that the mechanical arm 500 is convenient to effectively adapt to the height difference between the drill rod in the drill rod warehouse 400 and the main drill portion 300, and grasp the drill rod stored in the drill rod warehouse 400, or assist the main drill portion 300 to withdraw the drill rod for completing the drilling operation. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In a specific example, the upper end of the up-and-down moving part 501 is provided with a first motor 531, and an output end of the first motor is engaged with a rack on the mounting body 200 through a first gear 521, wherein the rack extends in the first axis direction. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the present application, the up-down moving part 501 has a cylindrical structure, an installation plane is provided on the outer side wall of the upper end, a first motor is installed on the installation plane, and the output end of the first motor 531 is connected with the first gear 521; the middle of the mounting plane is provided with a U-shaped opening, and the first gear 521 is positioned in the U-shaped opening. The vertical movement portion 501 has a vertical movement hole (for example, a square cross section) along the first axis direction, and the vertical movement portion 501 is sleeved on the mounting body 200 through the vertical movement hole. Correspondingly, a rack is provided on the mounting body 200 along the first axis direction, and the rack faces the U-shaped opening, so that the first gear 521 is meshed with the rack. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In another specific example, a rotating gear ring 511 is disposed at the lower end of the up-down moving portion 501 along the axial direction, and correspondingly, a second motor 512 is disposed on the rotating portion 502, and an output end of the second motor 512 is meshed with the rotating gear ring 511 through a second gear 522, so as to drive the rotating portion 502 to rotate around the first axis relative to the up-down moving portion 501. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In this embodiment, the outer side surface of the up-down moving portion 501 is a cylindrical surface, and a circular mounting hole adapted to the outer side surface of the up-down moving portion 501 is provided in the middle of the rotating portion 502, so that the rotating portion 502 is sleeved on the up-down moving portion 501 through the circular mounting hole. The rotating part 502 is provided with a second motor 512, an output end of the second motor 512 is connected with a second gear 522, and the second gear 522 is meshed with the rotating gear ring 511, so that the rotating part 502 can rotate around the first axis relative to the up-down moving part 501 under the action of the second motor 512. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In another specific example, the gripper 503 includes a fixed clamp 513 and a telescopic clamp 523; the fixed clamp plate 513 is connected to the rotating part 502, a first clamping surface 902 is arranged on the fixed clamp plate 513, the telescopic clamp plate 523 is connected to the fixed clamp plate 513 in a telescopic manner, a second clamping surface 901 is arranged on the telescopic clamp plate 523, and the telescopic clamp plate 523 can move relative to the fixed clamp plate 513 so as to clamp a drill rod by matching the second clamping surface 901 with the first clamping surface 902; the first clamping surface 902 is a 1/2 circular arc surface, and the second tightening surface is composed of a 1/4 circular arc surface and a plane. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the present embodiment, the fixed clamp 513 is located on the inside of the automated drilling machine, the telescopic clamp 523 is located on the outside of the automated drilling machine, and when clamping a drill rod, the second clamping surface 901 on the telescopic clamp 523 cooperates with the first clamping surface 902 on the fixed clamp 513 to clamp the drill rod. The first clamping surface 902 is designed to be a 1/2 circular arc surface, the second clamping surface 901 is designed to be a combination of a 1/4 circular arc surface and a plane, and when the first tightening surface extends outwards, the drill rod can freely fall into the drill rod warehouse 400. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In a specific application scenario, the fixed clamping plate 513 is connected to the rotating portion 502 through the first telescopic cylinder 504, and can move telescopically relative to the rotating portion 502 under the driving of the first telescopic cylinder 504; the telescopic clamp plate 523 is connected to the fixed clamp plate 513 through the second telescopic cylinder 505 and can move relative to the fixed clamp plate 513 under the driving of the second telescopic cylinder 505, wherein the second telescopic cylinder 505 is positioned at the upper part of the fixed clamp plate 513. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the present application, the first telescopic cylinder 504 and the second telescopic cylinder 505 may be an air cylinder, an oil cylinder, or the like. One end of the first telescopic cylinder 504 is fixedly connected to the rotating portion 502, for example, fixedly connected to one side surface of the rotating portion 502; the other end of the first telescopic cylinder 504 is fixedly coupled to the fixing clip 513, for example, fixedly coupled to a central portion of an outer side surface of the fixing clip 513. The cylinder barrel of the second telescopic cylinder 505 can be fixedly connected to the outer side surface of the fixed clamping plate 513, and the lever of the second telescopic cylinder 505 is fixedly connected to the inner side surface of the telescopic clamping plate 523 so as to drive the telescopic clamping plate 523 to move. There may be two second telescopic cylinders 505, and the two second telescopic cylinders 505 are arranged side by side in the axial direction when clamping the drill rod, so as to clamp the drill rod more effectively. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In some alternative embodiments, the mining automated drilling apparatus further comprises: a main drill mounting body 600 on which the main drill part 300 is rotatably mounted so that the main drill part 300 can be tilted about a second axis with respect to the main drill mounting body 600; the main drill mounting body 600 is sleeved on the mounting body 200 to drive the main drill 300 to move up and down along the first axis together. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In this embodiment of the present application, the main drill mounting body 600 is a cylindrical structure, and a main drill mounting table is disposed on an outer side surface of the cylindrical structure, and the main drill portion 300 is rotatably mounted on the main drill mounting table, so that pitching movement can be performed around the second axis, and a drilling angle is adjusted. A through hole along the first axis direction is provided in the middle of the main drill mounting body 600 so that the main drill mounting body 600 is sleeved on the mounting body 200 and is positioned below the mechanical arm 500. The third motor 601 is installed on the side face of the main drill installation body 600, the output end of the third motor 601 is connected with the third gear 602, a gear hole is formed in the corresponding side face of the main drill installation body 600, the third gear 602 penetrates through the gear hole to be meshed with a rack on the installation main body 200, so that the main drill installation body 600 is driven to move up and down along the first axis under the driving of the third motor 601, and the height of the main drill part 300 is adjusted to adapt to drilling operations of different heights in a roadway. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

In the embodiment of the application, the crawler-type chassis 100 is adopted, so that the passing performance of the mining automatic drilling device is effectively improved; the main drilling part 300 is driven to rotate in the horizontal plane by rotatably mounting the mounting main body 200 on the crawler chassis, so that the drilling operation can be performed around the roadway under the condition that the crawler chassis 100 does not move, and the working range of the automatic drilling machine is effectively improved; the main drilling part 300 is rotatably arranged on the installation main body 200, so that the main drilling part 300 can perform pitching and swinging relative to the installation main body 200, and drilling operations with different angles are performed in a roadway, so that the working range of the automatic drilling machine is further improved; the drill rods stored in the drill rod magazine 400 are moved to the main drill part 300 by the mechanical arm 500 to be filled; or, the drill rods which finish the drilling operation on the main drilling part 300 are disassembled and moved into the drill rod warehouse 400 for storage, so that the automation of the drilling operation is realized, the labor cost is effectively reduced, the labor capacity of workers is reduced, more drill rods can be provided for the main drilling part 300, the drill rods are sorted, and the efficiency of the drilling operation is effectively improved. It is to be understood that the above description is exemplary only and that the embodiments of the present application are not limited thereto.

The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (7)

1. An automated drilling device for use in drilling a borehole in a rock formation, comprising:

a crawler chassis;

the mounting main body is rotatably mounted on the crawler-type chassis and can rotate around a first axis, wherein the first axis is an axis in the vertical direction, and the mounting main body is rotatably connected with the crawler-type chassis;

the main drilling part is rotatably arranged on the mounting main body and can rotate around a second axis to adjust the pitching angle of the main drilling part, wherein the second axis is perpendicular to the first axis;

the drill rod warehouse is fixedly arranged on the installation main body and can rotate along with the installation main body, and the drill rod warehouse is used for storing drill rods for drilling operation;

the mechanical arm is sleeved on the installation main body in a sliding manner and can move up and down along the first axis on the installation main body, and the mechanical arm is used for moving the drill rods stored in the drill rod warehouse to the main drill part for filling; or, the drill rod on the main drilling part which completes the drilling operation is disassembled, and moved to the drill rod warehouse for storage; wherein, the arm includes: an up-and-down moving part, a rotating part and a mechanical claw,

the up-and-down moving part is sleeved on the mounting main body and can move up and down along the first axis;

the rotating part is sleeved on the outer side of the up-and-down moving part, can move together with the up-and-down moving part and can rotate around the first axis relative to the up-and-down moving part;

the mechanical claw is fixedly arranged on the rotating part and is used for grabbing the drill rods stored in the drill rod warehouse, or assisting the main drilling part to withdraw the drill rods for completing the drilling operation;

the upper end of the up-down moving part is provided with a first motor, and the output end of the first motor is meshed with a rack on the mounting main body through a first gear, wherein the rack extends along the first axis direction;

the lower end of the upper moving part and the lower moving part are circumferentially provided with a rotary gear ring, and correspondingly, the rotary part is provided with a second motor, and the output end of the second motor is meshed with the rotary gear ring through a second gear so as to drive the rotary part to rotate around the first axis relative to the upper moving part and the lower moving part.

2. The mining automation drilling device of claim 1, wherein the mounting body comprises: a rotating part and a fixing part,

the rotating part is of a disc-shaped structure and is rotatably arranged on the upper end face of the crawler-type chassis through a rotating support, wherein the axis of the rotating support is the first axis;

the fixed part is of a column structure and is fixedly arranged in the center of the upper end face of the rotating part along the vertical direction.

3. The mining automation drilling device of claim 1, wherein the drill rod magazine and the main drill are located on either side of the mounting body.

4. The mining automation drilling device according to claim 1, wherein the drill rod magazine is symmetrically provided with two storage cavities for storing the drill rods.

5. The mining automation drilling device of claim 1, wherein the gripper comprises: a fixed clamping plate and a telescopic clamping plate;

the fixed clamping plate is connected to the rotating part, a first clamping surface is arranged on the fixed clamping plate, the telescopic clamping plate is connected to the fixed clamping plate in a telescopic manner, a second clamping surface is arranged on the telescopic clamping plate, and the telescopic clamping plate can move relative to the fixed clamping plate so as to clamp the drill rod by matching the second clamping surface with the first clamping surface; the first clamping surface is a 1/2 circular arc surface, and the second clamping surface consists of a 1/4 circular arc surface and a plane.

6. The mining automatic drilling device according to claim 5, wherein the fixed clamping plate is connected to the rotating part through a first telescopic cylinder and can move in a telescopic manner relative to the rotating part under the driving of the first telescopic cylinder; the telescopic clamp plate is connected to the fixed clamp plate through a second telescopic cylinder, and can move relative to the fixed clamp plate under the drive of the second telescopic cylinder, wherein the second telescopic cylinder is located on the upper portion of the fixed clamp plate.

7. The mining automation drilling device of any one of claims 1-6, further comprising: the main drill mounting body is provided with a main drill,

the main drill mounting body is rotatably provided with the main drill part, so that the main drill part can pitch relative to the main drill mounting body around the second axis;

the main drill mounting body is sleeved on the mounting main body so as to drive the main drill part to move up and down along the first axis.

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