In order to meet the needs of fast and efficient transportation for coal mine drilling construction operations with trackless transportation conditions, a trackless rubber tyre vehicle integrated drilling rig was used to travel directly from the ground to the drilling site without the need for secondary transportation. By comparing the advantages and disadvantages of integral and articulated chassis structures, the narrow body rubber tyre chassis structure was determined based on actual underground tunnel conditions, and key performance parameters for the vehicle design were provided. By comparing the advantages and disadvantages of integral and articulated chassis structures, the narrow body rubber tyre chassis structure was determined based on actual underground tunnel conditions, and key performance parameters for the vehicle design were provided. Based on the overall technical requirements, multiple key technologies of the trackless rubber tyre vehicle were designed and analyzed, and the static load capacity and dynamic characteristics of the frame under two working conditions, namely the driving process and the drilling process, were simulated and analyzed. The simulation results show that the stress and displacement meet the design requirements of the frame load capacity during the walking and drilling processes, and it has good stability. After the installation and adjustment of the rubber wheel chassis, a climbing test and comprehensive performance test were carried out. The test shows that the whole vehicle meets the 15 ° large angle climbing condition, all data meet the standard requirements, and the performance meets the transportation needs of the coal mine drilling rig. It can adapt to the complex working conditions underground in coal mines.