Automatic rod-changing control method, device, system and drill rig of drill rig

Abstract

The present invention discloses a method, device, system and drilling rig for automatically changing drill rods, belonging to the technical field of construction machinery. The method includes: receiving the position of the rock drill, the position of the manipulator, the state of the drill rod holder and the drill rod position signal; defining a drill rod changing state, where the drill rod changing state includes an automatic rod adding state and an automatic rod removing state; during the automatic rod adding process, determining which automatic rod adding state to enter based on the current position of the rock drill and the position of the manipulator to perform actions in the corresponding state; during the automatic rod removing process, determining which automatic rod removing state to enter based on the current position of the rock drill, the position of the manipulator, the state of the drill rod holder and the drill rod position to perform actions in the corresponding state. The device, system and drilling rig all use the proposed method to control the drilling rig to automatically change drill rods. The present invention overcomes the problems of reduced operation efficiency and reduced operation safety caused by human factors, and improves the efficiency of the drilling rig as a whole.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction machinery, and particularly relates to a control method, device, system and drill rig for automatic rod changing of a drill rig. Background Art

[0002] The speed of the rod changing system of a drill rig largely affects the working efficiency of the drill rig. Especially for some operators who are not very familiar with the machine or some novices, it takes a certain amount of time to adapt to the rod changing operation. Even for some relatively skilled operators, sometimes due to negligence or operational errors, the drill rod may fall, thus affecting production safety. In most existing drill rigs, the rod changing system is operated step by step manually, and the operator needs to observe and judge based on experience during the connection process of each step. If the experience is insufficient, repeated operations may occur, resulting in a reduction in the overall perforation efficiency of the machine. More seriously, the phenomenon of rod dropping may occur due to the negligence and operational errors of the operator. Summary of the Invention

[0003] Technical Problem: The present invention provides a control method, device, system and drill rig for automatic rod changing of a drill rig, aiming to overcome the problems of reduced operation efficiency and reduced operation safety caused by human factors, and improve the efficiency of the drill rig as a whole through an automated solution.

[0004] Technical Solution: In a first aspect, the present invention provides a control method for automatic rod changing of a drill rig, including:

[0005] S100. Receiving the position of the rock drill, the position of the manipulator, the state of the drill rod holder and the drill rod position signal, where the position of the rock drill includes specific positions M1 to M7, where

[0006] M1: The rock drill is at the forefront;

[0007] M2: The rock drill is at the drill rod holder;

[0008] M3: The fast forward stop position;

[0009] M4: The lower connection sleeve is at the drill rod holder;

[0010] M5: The rod taking position;

[0011] M6: The position where the upper connection sleeve is unthreaded;

[0012] M7: The rock drill is at the rearmost end;

[0013] S200. Defining the rod changing state, where the rod changing state includes an automatic rod adding state and an automatic rod removing state, and the automatic rod adding state includes:

[0014] The first automatic rod adding state, where the first automatic rod adding state is loosening the thread;

[0015] The second automatic rod adding state, which is to quickly return to position M6;

[0016] The third automatic rod adding state, which is that the drill pipe enters the jaw;

[0017] The fourth automatic rod adding state, which is that the drill pipe reaches the rock drilling center;

[0018] The fifth automatic rod adding state, which is to re-clamp from M6 to M5;

[0019] The sixth automatic rod adding state, which is to lightly clamp from M5 to M4;

[0020] The seventh automatic rod adding state, which is that the manipulator returns to the drill pipe magazine;

[0021] The automatic rod unloading states include:

[0022] The first automatic rod unloading state, which is to quickly return to M4;

[0023] The second automatic rod unloading state, which is that the drill pipe exits the jaw;

[0024] The third automatic rod unloading state, which is that the manipulator goes to the rock drilling center;

[0025] The fourth automatic rod unloading state, which is that the jaw closes;

[0026] The fifth automatic rod unloading state, which is the standby state;

[0027] The sixth automatic rod unloading state, which is to tightly thread on;

[0028] The seventh automatic rod unloading state, which is to loosen the thread;

[0029] The eighth automatic rod unloading state, which is to loosen and thread on;

[0030] The ninth automatic rod unloading state, which is that the drill pipe exits the jaw;

[0031] The tenth automatic rod unloading state, which is that the manipulator goes to the drill pipe magazine;

[0032] The eleventh automatic rod unloading state, which is to quickly advance to M3;

[0033] The twelfth automatic rod unloading state, which is to tighten the thread;

[0034] During the automatic rod adding process of the S300, the position of the current rock drill and the position of the manipulator are judged to determine which automatic rod adding state to enter to execute the actions in the corresponding state, including:

[0035] If M2 ≤ the position of the rock drill < M3, enter the first automatic rod adding state;

[0036] If M3 ≤ the position of the rock drill < M6 and the manipulator is at the drill pipe storage position, enter the second automatic rod adding state;

[0037] If M6 ≤ the position of the rock drill and the manipulator is at the drill pipe storage position, enter the third automatic rod adding state;

[0038] If M4 ≤ the position of the rock drill and the manipulator is at the rock drilling center, enter the fifth automatic rod adding state;

[0039] During the automatic rod unloading process, the position of the current rock drill, the position of the manipulator, the state of the drill pipe holder, and the position of the drill pipe are judged to determine which automatic rod unloading state to enter to execute the actions in the corresponding state, including:

[0040] If the position of the rock drill < M4 and the drill pipe holder is open, enter the first automatic rod unloading state;

[0041] If the position of the rock drill = M4, the drill pipe holder is closed, the manipulator is at the drill pipe storage position, and the drill pipe is at the jaw position, enter the second automatic rod unloading state;

[0042] If the position of the rock drill = M4, the drill pipe holder is closed, the manipulator is at the drill pipe storage position, and the drill pipe is not at the jaw position, enter the third automatic rod unloading state;

[0043] If M4 ≤ the position of the rock drill < M5, the drill pipe holder is closed, and the manipulator is at the rock drilling center, enter the sixth automatic rod unloading state;

[0044] If M5 ≤ the position of the rock drill < M6, the drill pipe holder is closed, and the manipulator is at the rock drilling center, enter the eighth automatic rod unloading state;

[0045] If the position of the rock drill = M6, the drill pipe holder is closed, and the manipulator is at the rock drilling center, enter the ninth automatic rod unloading state;

[0046] If the position of the rock drill = M6, the drill pipe holder is closed, and the manipulator is at the drill pipe storage, enter the eleventh automatic rod unloading state;

[0047] If the position of the rock drill = M3, the drill pipe holder is closed, and the manipulator is at the drill pipe storage, enter the twelfth automatic rod unloading state.

[0048] In a second aspect, the present invention provides a control device for automatic rod changing of a drilling rig, which controls the automatic rod changing of the drilling rig by using the above-mentioned control method for automatic rod changing of the drilling rig, including:

[0049] A signal receiving unit, configured to receive the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill pipe position signal;

[0050] A state definition unit, configured to define the rod changing state, and the rod changing state includes an automatic rod adding state and an automatic rod removing state;

[0051] An execution control unit, configured to, during the automatic rod adding process, determine what kind of automatic rod adding state to enter according to the current position of the rock drill and the position of the manipulator so as to execute actions in the corresponding state; during the automatic rod removing process, determine what kind of automatic rod removing state to enter according to the current position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill pipe position so as to execute actions in the corresponding state.

[0052] In a third aspect, a drilling rig automatic rod changing control system is provided, including:

[0053] A signal acquisition element, configured to acquire the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill pipe position signal;

[0054] A controller, including the proposed drilling rig automatic rod changing control device; the signal acquisition element can transmit the acquired signal data to the signal receiving unit of the controller.

[0055] Further, the signal acquisition element includes:

[0056] An absolute encoder, used to calibrate the positions of M1 - M7 and measure the position of the rock drill;

[0057] A proximity switch, used to judge the position of the manipulator and the position of the drill pipe.

[0058] Further, the control system further includes a switch, and the switch is used to select automatic rod adding and automatic rod removing.

[0059] In a fourth aspect, a drilling rig is provided, and the automatic rod changing of the drilling rig is controlled by using the proposed drilling rig automatic rod changing control method.

[0060] Compared with the prior art, the present invention greatly improves the work efficiency and production safety by performing automated operations on the rod changing system, and tries to avoid the problems of efficiency reduction and some safety risks caused by some human factors. Description of the Drawings

[0061] Figure 1 It is the mechanical structure diagram of the rod changing system of the drilling rig;

[0062] Figure 2 It is the flowchart of the drilling rig automatic rod changing control method in the embodiment of the present invention;

[0063] Figures 3 to 9 Schematic diagram of positions M1 to M7 in the embodiments of the present invention. Detailed implementation manners

[0064] The present invention will be further described below in conjunction with embodiments and the accompanying drawings of the specification. It should be noted that the terms "first", "second", etc. are only for the purpose of convenience of description and should not be construed as limiting the quantity, nature, etc.

[0065] Combined with Figure 1 As shown, the mechanical mechanisms involved in the automatic drill rod changing system of the drill rig include a drill rod magazine 1, a propulsion beam 2, a rock drill 3, a drill rod holder 4, a manipulator 5, a jaw 6, etc., and the components involved include an encoder 7, a proximity switch 8, a controller, a hydraulic valve block 9, etc.

[0066] Figure 2 The flowchart of the automatic drill rod changing control method of the drill rig in the embodiments of the present invention is shown. Combined with Figure 2 , in the example, the method includes:

[0067] Step S100: Receive the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill rod position signal, where the position of the rock drill includes the set positions M1 to M7. The present invention mainly determines the current position of the rock drill and then determines what control actions to perform.

[0068] Figures 3 to 9 The important positions M1 to M7 of the rock drill are given. These positions are necessary for the drill rod changing system. Specifically:

[0069] M1: The rock drill is at the forefront, as Figure 3 shown;

[0070] M2: The rock drill is at the drill rod holder, as Figure 4 shown;

[0071] M3: The rapid forward stop position, as Figure 5 shown;

[0072] M4: The lower connection sleeve is at the drill rod holder, as Figure 6 shown;

[0073] M5: The rod taking position, as Figure 7 shown;

[0074] M6: The position where the upper connection sleeve is unthreaded, as Figure 8 shown;

[0075] M7: The rock drill is at the rearmost end, as Figure 9 shown.

[0076] For the position of the manipulator, the positions of the manipulator involved in the examples include: the manipulator at the drill pipe library and the manipulator at the rock drilling center; the states of the drill pipe holder involved include the drill pipe holder being open and the drill pipe holder being closed; the drill pipe positions include the drill pipe being at the jaw position and the drill pipe not being at the jaw position.

[0077] Step S200: Define the rod changing states, which include the automatic rod adding state and the automatic rod removing state. In the embodiments of the present invention, the automatic rod adding includes the following states:

[0078] The first automatic rod adding state: loosen the thread.

[0079] The second automatic rod adding state: quickly return to position M6.

[0080] The third automatic rod adding state: the drill pipe enters the jaw.

[0081] The fourth automatic rod adding state: the drill pipe reaches the rock drilling center.

[0082] The fifth automatic rod adding state: re-clamp from M6 to M5.

[0083] The sixth automatic rod adding state: lightly clamp from M5 to M4.

[0084] The seventh automatic rod adding state: the manipulator returns to the drill pipe library.

[0085] The automatic rod removing includes the following states:

[0086] The first automatic rod removing state: quickly return to M4.

[0087] The second automatic rod removing state: the drill pipe exits the jaw.

[0088] The third automatic rod removing state: the manipulator goes to the rock drilling center.

[0089] The fourth automatic rod removing state: the jaw closes.

[0090] The fifth automatic rod removing state: standby state.

[0091] The sixth automatic rod removing state: tightly tighten the thread.

[0092] The seventh automatic rod removing state: loosen the thread.

[0093] The eighth automatic rod removing state: loosen the upper thread.

[0094] The ninth automatic rod removing state: the drill pipe exits the jaw.

[0095] The tenth automatic rod removing state: the manipulator goes to the drill pipe library.

[0096] The eleventh automatic rod removing state: quickly advance to M3.

[0097] The twelfth automatic rod unloading state: Tighten the thread.

[0098] Step S300: During the automatic rod adding process, determine which automatic rod adding state to enter based on the current position of the rock drill and the position of the manipulator to perform the actions in the corresponding state; during the automatic rod unloading process, determine which automatic rod unloading state to enter based on the current position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the position of the drill rod to perform the actions in the corresponding state.

[0099] In the example of the present invention, during the automatic rod adding process, determining which automatic rod adding state to enter based on the current position of the rock drill and the position of the manipulator includes:

[0100] If M2 ≤ the position of the rock drill < M3: Enter the first automatic rod adding state;

[0101] If M3 ≤ the position of the rock drill < M6 and the manipulator is at the drill rod magazine position: Enter the second automatic rod adding state;

[0102] If M6 ≤ the position of the rock drill and the manipulator is at the drill rod magazine position: Enter the third automatic rod adding state;

[0103] If M4 ≤ the position of the rock drill and the manipulator is at the rock drilling center: Enter the fifth automatic rod adding state.

[0104] Sequentially execute the actions in various states. When the state is:

[0105] The first automatic rod adding state:

[0106] - Clamp the drill rod holder;

[0107] - The rock drill rotates and retracts to loosen the thread;

[0108] - When the rock drill reaches M3, enter the second automatic rod adding state.

[0109] The second automatic rod adding state:

[0110] - The rock drill quickly retracts to the M6 position;

[0111] - When the rock drill reaches the M6 position, enter the third automatic rod adding state.

[0112] The third automatic rod adding state:

[0113] - Open the gripper;

[0114] - Rotate the drill rod magazine to feed the rod into the gripper;

[0115] - When the drill rod is at the out-of-store position, enter the fourth automatic rod adding state.

[0116] The fourth automatic rod adding state:

[0117] - Clamp the drill pipe, and the manipulator moves from the drill pipe library to the rock drilling center;

[0118] - When the manipulator is at the rock drilling center, enter the fifth automatic rod adding state.

[0119] Fifth automatic rod adding state:

[0120] - The rock drill rotates and advances to tighten the thread;

[0121] - The gripper reclamps;

[0122] - When the rock drill reaches the M5 position, enter the sixth automatic rod adding state.

[0123] Sixth automatic rod adding state:

[0124] - The drill stabilizer clamps, and the gripper lightly clamps

[0125] - The rock drill rotates and advances to tighten the thread

[0126] - When the rock drill reaches the M4 position, enter the seventh automatic rod adding state

[0127] Seventh automatic rod adding state:

[0128] - The manipulator moves from the rock drilling center to the drill pipe library;

[0129] - When the manipulator reaches the drill pipe library position, the automatic rod adding program ends and exits.

[0130] In the example of the present invention, during the automatic rod adding process, determining which automatic rod unloading state to enter based on the current position of the rock drill and the position of the manipulator includes:

[0131] If the position of the rock drill < M4 and the drill stabilizer is open: enter the first automatic rod unloading state;

[0132] If the position of the rock drill = M4 and the drill stabilizer is closed and the manipulator is at the drill pipe library position and the drill pipe is at the gripper position, enter the second automatic rod unloading state;

[0133] If the position of the rock drill = M4 and the drill stabilizer is closed and the manipulator is at the drill pipe library position and the drill pipe is not at the gripper position, enter the third automatic rod unloading state;

[0134] If M4 ≤ the position of the rock drill < M5 and the drill stabilizer is closed and the manipulator is at the rock drilling center: enter the sixth automatic rod unloading state;

[0135] If M5 ≤ the position of the rock drill < M6 and the drill stabilizer is closed and the manipulator is at the rock drilling center: enter the eighth automatic rod unloading state;

[0136] If the rock drill position = M6 and the drill rod holder is closed and the manipulator is at the rock drilling center: Enter the ninth automatic rod unloading state;

[0137] If the rock drill position = M6 and the drill rod holder is closed and the manipulator is at the drill rod magazine: Enter the eleventh automatic rod unloading state;

[0138] If the rock drill position = M3 and the drill rod holder is closed and the manipulator is at the drill rod magazine: Enter the twelfth automatic rod unloading state.

[0139] Execute the actions in various states sequentially. When the state is:

[0140] The first automatic rod unloading state:

[0141] - The rock drill returns to the M4 position;

[0142] - When the rock drill reaches M4, enter the second automatic rod unloading state.

[0143] The second automatic rod unloading state:

[0144] - When the drill rod is not at the out-of-store position, enter the third automatic rod unloading state.

[0145] The third automatic rod unloading state:

[0146] - The manipulator moves from the drill rod magazine to the rock drilling center;

[0147] - When the manipulator is at the rock drilling center, enter the fourth automatic rod unloading state.

[0148] The fourth automatic rod unloading state:

[0149] - Clamp the gripper jaws;

[0150] - When the gripper jaws are clamped, enter the sixth automatic rod unloading state.

[0151] The sixth automatic rod unloading state:

[0152] - Clamp the drill rod holder;

[0153] - Re-clamp the gripper jaws;

[0154] - The rock drill rotates and advances to tighten the thread;

[0155] - When the thread is tightened, enter the seventh automatic rod unloading state.

[0156] The seventh automatic rod unloading state:

[0157] - Clamp the drill rod holder;

[0158] - Lightly clamp the gripper jaws;

[0159] - The rock drill rotates and returns to loosen the thread;

[0160] - When the position of the rock drill reaches M5, it enters the eighth automatic rod unloading state. The eighth automatic rod unloading state:

[0161] - The gripper re-clamps

[0162] - The rock drill rotates back and loosens the upper thread;

[0163] - When the position of the rock drill reaches M6, it enters the ninth automatic rod unloading state. The ninth automatic rod unloading state:

[0164] - When the drill rod is not in the out-of-store position, it enters the tenth automatic rod unloading state.

[0165] The tenth automatic rod unloading state:

[0166] - The gripper clamps;

[0167] - The manipulator moves from the rock drilling center to the drill rod magazine;

[0168] - When the manipulator is in the position of the drill rod magazine, it enters the eleventh automatic rod unloading state.

[0169] The eleventh automatic rod unloading state:

[0170] - The rock drill advances;

[0171] - When the rock drill reaches the position M3, it enters the twelfth automatic rod unloading state.

[0172] The twelfth automatic rod unloading state:

[0173] - Clamp the drill rod holder;

[0174] - The rock drill rotates and advances to tighten the thread;

[0175] - When the position of the rock drill reaches M2, the automatic rod unloading program ends and exits.

[0176] Through the proposed automatic rod changing control method for the drill rig, the operation efficiency reduction caused by human factors is overcome and the operation safety is increased, and the efficiency of the drill rig is improved as a whole through the automation solution.

[0177] Furthermore, in the embodiments of the present invention, based on the provided automatic drill rod changing control method for a drill rig, an automatic drill rod changing control device for the drill rig is provided. This device can control the automatic drill rod changing of the drill rig through the provided automatic drill rod changing control method. Specifically, the device includes a signal receiving unit, a state defining unit, and an execution control unit. Among them, the signal receiving unit is configured to receive the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill rod position signal; the state defining unit is configured to define the drill rod changing state, and the drill rod changing state includes an automatic rod adding state and an automatic rod removing state; the execution control unit is configured to, during the automatic rod adding process, determine which automatic rod adding state to enter based on the current position of the rock drill and the position of the manipulator, and execute the actions in the corresponding state; during the automatic rod removing process, determine which automatic rod removing state to enter based on the current position of the rock drill, the position of the manipulator, and the state of the drill rod holder, and execute the actions in the corresponding state. Specifically, corresponding actions on the drill rig can be executed through a solenoid valve group.

[0178] On the other hand, in the embodiments of the present invention, an automatic drill rod changing control system for a drill rig is further provided, which includes a data acquisition unit and a controller. Among them, a signal acquisition element is configured to acquire the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill rod position signal; the controller includes the above-mentioned automatic drill rod changing control device of the drill rig, and the data acquisition unit can transmit the acquired signal data to the signal receiving unit of the controller. In the embodiments of the present invention, it can be combined with Figure 1 , the data acquisition element includes an absolute encoder, which can be used to calibrate the positions of M1 - M7 and measure the position of the rock drill. The data acquisition element also includes proximity switches, which can be used to determine the position of the manipulator and the position of the drill rod. For example, in the structure shown in Figure 1 , three proximity switches are provided. One proximity switch can be used to detect whether the manipulator is at the drill rod magazine, one is used to detect whether the manipulator is at the rock drilling center, and the last one is used to detect the drill rod position. The proximity switches can transmit the detection signals to the controller. In the example of the present invention, the controller can adopt a programmable controller.

[0179] Furthermore, the present invention can select automatic rod adding and automatic rod removing by setting a switch. And a pressure strainer is set to judge the tightening degree through the detection of pressure. A human - machine interaction interface can also be set to display data and perform human - machine interaction, so that the operator can judge various situations according to the interface.

[0180] With this system, after the drilling rig stops drilling (percussion), the operator only needs to determine whether to add a rod to continue drilling or to remove the rod to the rod storage after this drilling operation is completed. When the operator determines whether to add or remove a rod for the next step, they only need to press the rod adding button or the rod removing button, and the automatic rod changing system will automatically perform a series of rod changing operations according to the pre-written software code until the rod adding or rod removing is completed.

[0181] Finally, the present invention provides a drilling rig that controls the automatic rod changing of the drilling rig by using the provided automatic rod changing control method for the drilling rig. This drilling rig can overcome the reduction in operating efficiency caused by human factors and increase operation safety, and improve the efficiency of the drilling rig as a whole through an automated solution.

[0182] The above embodiments are only the preferred embodiments of the present invention. It should be noted that: for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and equivalent replacements can be made. These technical solutions obtained by improving and making equivalent replacements to the claims of the present invention all fall within the protection scope of the present invention.

Claims

1. An automatic rod-changing control method for a drilling rig, characterized in that, Including: S100, receiving the position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill rod position signal. The position of the rock drill includes specific positions M1 to M7, where M1: The rock drill is at the forefront; M2: The rock drill is at the drill rod holder; M3: The fast forward stop position; M4: The lower connection sleeve is at the drill rod holder; M5: The rod-taking position; M6: The position where the upper connection sleeve is unthreaded; M7: The rock drill is at the rearmost end; S200, defining the rod-changing state, where the rod-changing state includes the automatic rod-adding state and the automatic rod-removing state. The automatic rod-adding state includes: The first automatic rod-adding state, which is unthreading; The second automatic rod-adding state, which is quickly returning to position M6; The third automatic rod-adding state, which is the drill rod entering the jaw; The fourth automatic rod-adding state, which is the drill rod reaching the rock drilling center; The fifth automatic rod-adding state, which is tightly clamping from M6 to M5; The sixth automatic rod-adding state, which is lightly clamping from M5 to M4; The seventh automatic rod-adding state, which is the manipulator returning to the drill rod magazine; The automatic rod-removing state includes: The first automatic rod-removing state, which is quickly returning to M4; The second automatic rod-removing state, which is the drill rod exiting the jaw; The third automatic rod-removing state, which is the manipulator reaching the rock drilling center; The fourth automatic rod-removing state, which is the jaw closing; The fifth automatic rod-removing state, which is the standby state; The sixth automatic rod-removing state, which is tightly threading the upper thread; The seventh automatic rod-removing state, which is loosening the lower thread; The eighth automatic rod-removing state, which is loosening the upper thread; The ninth automatic rod-removing state, which is the drill rod exiting the jaw; The tenth automatic rod-removing state, which is the manipulator going to the drill rod magazine; The eleventh automatic rod-removing state, which is quickly advancing to M3; The twelfth automatic rod-removing state, which is tightly threading; S300, during the automatic rod-adding process, judging the current position of the rock drill and the position of the manipulator to determine which automatic rod-adding state to enter to perform the actions in the corresponding state, including: If M2 ≤ the position of the rock drill < M3, enter the first automatic rod-adding state; If M3 ≤ the position of the rock drill < M6 and the manipulator is at the drill rod magazine position, enter the second automatic rod-adding state; If M6 ≤ the position of the rock drill and the manipulator is at the drill rod magazine position, enter the third automatic rod-adding state; If M4 ≤ the position of the rock drill and the manipulator is at the rock drilling center, enter the fifth automatic rod-adding state; During the automatic rod-removing process, judging the current position of the rock drill, the position of the manipulator, the state of the drill rod holder, and the drill rod position to determine which automatic rod-removing state to enter to perform the actions in the corresponding state, including: If the position of the rock drill < M4 and the drill rod holder is open, enter the first automatic rod-removing state; If the rock drill position = M4 and the rod holder is closed and the manipulator is at the drill pipe magazine position and the drill pipe is at the jaw position, enter the second automatic rod unloading state; If the rock drill position = M4 and the rod holder is closed and the manipulator is at the drill pipe magazine position and the drill pipe is not at the jaw position, enter the third automatic rod unloading state; If M4 ≤ rock drill position < M5 and the rod holder is closed and the manipulator is at the rock drilling center, enter the sixth automatic rod unloading state; If M5 ≤ rock drill position < M6 and the rod holder is closed and the manipulator is at the rock drilling center, enter the eighth automatic rod unloading state; If the rock drill position = M6 and the rod holder is closed and the manipulator is at the rock drilling center, enter the ninth automatic rod unloading state; If the rock drill position = M6 and the rod holder is closed and the manipulator is at the drill pipe magazine, enter the eleventh automatic rod unloading state; If the rock drill position = M3 and the rod holder is closed and the manipulator is at the drill pipe magazine, enter the twelfth automatic rod unloading state.

2. An automatic rod-changing control device for a drilling rig controls the automatic rod-changing of the drilling rig by using the automatic rod-changing control method of the drilling rig described in claim 1, characterized in that Comprising: A signal receiving unit configured to receive the position of the rock drill, the position of the manipulator, the state of the rod holder, and the drill pipe position signal; A state defining unit configured to define the rod changing state, the rod changing state including an automatic rod adding state and an automatic rod unloading state; An execution control unit configured to, during the automatic rod adding process, determine which automatic rod adding state to enter based on the current rock drill position and the position of the manipulator to perform actions in the corresponding state; during the automatic rod unloading process, determine which automatic rod unloading state to enter based on the current rock drill position, the position of the manipulator, the state of the rod holder, and the drill pipe position to perform actions in the corresponding state.

3. An automatic rod-changing control system for a drilling rig, characterized in that, Comprising: A signal acquisition element configured to obtain the position of the rock drill, the position of the manipulator, the state of the rod holder, and the drill pipe position signal; A controller including the automatic drill rod changing control device of claim 2; the signal acquisition element can transmit the acquired signal data to the signal receiving unit of the controller.

4. The automatic rod-changing control system for a drilling rig according to claim 3, wherein The signal acquisition element includes: An absolute encoder for calibrating the positions of M1 - M7 and measuring the position of the rock drill; A proximity switch for determining the position of the manipulator and the position of the drill pipe.

5. The automatic rod-changing control system for a drilling rig according to claim 4, characterized in that The control system further includes: A switch for selecting automatic rod adding and automatic rod unloading; A pressure transmitter for judging the tightening degree by detecting pressure; A human - machine interface for displaying data and performing human - machine interaction.

6. A drilling rig, characterized in that, Use the automatic drill rod changing control method of claim 1 to control the automatic drill rod changing of the drill rig.

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