Rock drilling rig rod changing device, rock drilling rig and rod loading and unloading method

Abstract

The present invention discloses a drilling rig rod-changing device, a drilling rig, and a rod-loading and unloading method. The drilling rig rod-changing device includes a propulsion beam and a rod-feeding mechanism, and the propulsion beam is provided with a rod-changing station; the rod-feeding mechanism has at least one clamping opening that can clamp or release a drill rod; the rod-feeding mechanism is located on the side of the propulsion beam, and has a rotational and / or translational travel to drive the clamping opening to a position that coincides with the rod-changing station. The present invention is applied to the field of rock drill technology, and not only has a streamlined structure and simple components, but also occupies a small space while being convenient for rod installation, disassembly, and maintenance, and has the advantages of simple operation and a high degree of automation.

Description

Technical Field

[0001] The present invention relates to the technical field of rock drills, in particular to a rock drilling trolley rod changing device, a rock drilling trolley and a rod loading and unloading method. Background Art

[0002] A drilling rig is a type of rock drilling equipment used in tunnel and underground construction using the drill-and-blast method. It primarily consists of a rock drill, a propeller beam (which supports, positions, and propels the drill), a steel frame, a traveling mechanism, and other necessary ancillary equipment, with additional equipment added based on project needs. Because the drill rods on drilling rigs typically have a fixed length to penetrate to a specific depth, a significant discrepancy between the rod length and the desired drilling depth requires replacing the propeller beam assembly or performing rod changes during drilling.

[0003] The drill rod changing devices used in most rock drilling rigs currently on the market feature a rod storage area for storing drill rods or anchor rods on one side of the propulsion beam, and a rod loading device on the propulsion beam. During rod changing, the loading device transfers the drill rod or anchor rod from the rod storage area to the front end of the rock drill. The rod grabbing device then grabs the drill rod from the caliper device with a gripper to complete the rod change. This structural design is not only large and complex, but also occupies a large amount of workspace, which limits work. It also hinders the inspection and maintenance of the rock drill on the propulsion beam. In actual use, loading rods using the cylindrical drill rod storage area is also cumbersome. Summary of the Invention

[0004] To address the shortcomings of the prior art, the present invention provides a drilling rig rod-changing device, a drilling rig, and a rod-loading and unloading method. These devices feature a streamlined structure and simple components, occupy a small space, and facilitate rod installation, removal, and maintenance. They offer advantages such as simple operation and a high degree of automation.

[0005] To achieve the above-mentioned purpose, the present invention provides a rod changing device for a rock drilling rig, comprising a propulsion beam and a rod feeding mechanism, wherein the propulsion beam is provided with a rod changing station;

[0006] The rod feeding mechanism has at least one clamping opening for clamping or releasing the drill rod;

[0007] The rod-feeding mechanism is located on the side of the propulsion beam, and has a rotational and / or translational travel to drive the clamping jaw to move to a position that coincides with the rod-changing station.

[0008] In one embodiment, the drilling rig rod changing device further includes a guide mechanism;

[0009] The guide mechanism is provided with a storage compartment capable of accommodating the head end and / or tail end and / or middle portion of the drill rod, and the storage compartment is provided with a rod changing port communicating with the interior of the storage compartment;

[0010] The guide mechanism is located on the side of the propulsion beam, and the guide mechanism has a rotation and / or translation stroke to drive the rod-changing port to move to a position that coincides with the rod-changing station;

[0011] The rod delivery mechanism has a rotational and / or translational travel relative to the guide mechanism, so as to deliver the drill rod in the storage bin to the rod changing port, or deliver the drill rod at the rod changing port to the storage bin.

[0012] In one embodiment, the guiding mechanism comprises:

[0013] The first guide has a receiving compartment and a rod changing port for receiving the head end of the drill rod;

[0014] The second guide has a receiving compartment and a rod changing port for receiving the tail end of the drill rod;

[0015] The rod-changing opening on the first guide and the rod-changing opening on the second guide are located on the same straight line, and the first guide and the second guide have a synchronous rotation and / or translation stroke;

[0016] The rod sending mechanism has a rotational and / or translational travel relative to the first guide and the second guide.

[0017] In one embodiment, the first guide and the second guide are both provided with rod mounting openings, and the rod mounting openings are communicated with the corresponding storage bins.

[0018] In one embodiment, the number of the rod sending mechanisms is two;

[0019] One of the rod-feeding mechanisms is located between the first guide and the second guide and close to the first guide;

[0020] The other rod sending mechanism is located between the first guide and the second guide and close to the second guide.

[0021] In one embodiment, the drilling rig rod changing device further includes a first drive assembly and a connecting member;

[0022] The first guide, the second guide, and the rod sending mechanism are all connected to the connecting member;

[0023] The first guide, the second guide and the connecting member are all in rotational fit, and the rod-feeding mechanism and the connecting member are in fixed fit;

[0024] The first driving assembly is in transmission connection with the connecting member to drive the connecting member to rotate.

[0025] In one embodiment, the connecting member includes a first connecting member, a second connecting member and a connecting shaft;

[0026] The first guide is connected to the adjacent rod-feeding mechanism via a first connecting piece, the first connecting piece and the first guide are in rotational engagement, and the first connecting piece and the corresponding rod-feeding mechanism are in fixed engagement;

[0027] The second guide is connected to the adjacent rod sending mechanism via a second connecting piece, the second connecting piece and the second guide are in rotational engagement, and the second connecting piece and the corresponding rod sending mechanism are in fixed engagement;

[0028] One end of the connecting shaft is connected to the first connecting member, and the other end is connected to the second connecting member. The first driving assembly is drivingly connected to the first connecting member or the second connecting member or the connecting shaft.

[0029] In one embodiment, the connecting shaft is a telescopic rod; or

[0030] The connecting shaft is composed of a plurality of connecting rods which are detachably connected end to end.

[0031] In one embodiment, the guide mechanism is a third guide;

[0032] The third guide has a receiving compartment and a rod changing port, and the receiving compartment passes through the third guide in a transverse direction for receiving the middle portion of the drill rod;

[0033] There are two rod sending mechanisms, and the two rod sending mechanisms are respectively located on both sides of the third guide.

[0034] In one embodiment, the drilling rig rod changing device further comprises a second drive assembly, and a mounting seat is provided on the side of the propulsion beam;

[0035] The guide mechanism is hinged on the mounting seat, and the second driving assembly is transmission-connected to the guide mechanism to drive the guide mechanism to rotate around a hinge point.

[0036] In one embodiment, a limit block is provided on the mounting seat or the propulsion beam;

[0037] The limiting block is located on the rotation path of the guide mechanism, so as to stop the rod-changing opening at a position that coincides with the rod-changing station during the rotation of the guide mechanism.

[0038] In one embodiment, the rod delivery mechanism is a clamp structure formed by hingedly connecting a first clamp body and a second clamp body;

[0039] The first jaw body is provided with at least one first jaw, the second jaw body is provided with at least one second jaw, and the first jaw corresponds to the second jaw one to one;

[0040] The first jaw and the corresponding second jaw form the clamping jaw.

[0041] In one embodiment, the number of the first jaws and the number of the second jaws are both two.

[0042] In one embodiment, the first jaw and the second jaw are both detachably provided with a clamping block;

[0043] The clamping block is provided with an opening, and the clamping opening is surrounded by the openings on the two clamping blocks.

[0044] In one embodiment, the tail end of the propulsion beam is provided with an end clamp to clamp and fix the drill rod on the rock.

[0045] To achieve the above object, the present invention further provides a method for raising a rod of a rock drilling rig, using the above-mentioned rock drilling rig rod changing device, and the method for raising a rod comprises the following steps:

[0046] Step 101: After the rock drill is advanced so that the first drill rod on the propulsion beam is driven into the rock mass, the rock drill is controlled to return to the head end of the propulsion beam;

[0047] Step 102: Control the rod feeding mechanism to rotate and / or translate so that the first clamping jaw on the rod feeding mechanism is moved to a position that coincides with the rod changing station on the propulsion beam;

[0048] Step 103: Keep the clamps clamping the drill pipe, advance the rock drill, and connect the rock drill to the head end of the drill pipe on the corresponding clamp and tighten it;

[0049] Step 104: Control the jaws to open slightly so that the drill rod can move within the jaws but is still confined within the jaws. Then, advance the rock drill and connect the tail end of the drill rod in the corresponding jaws to the head end of the previous drill rod and tighten them.

[0050] Step 105, controlling the jaws to fully open, controlling the rod feed mechanism to rotate and / or translate to reset, and then controlling the jaws to clamp;

[0051] Step 106: advance the rock drill, drive the drill rod on the current rock drill into the rock mass, and then control the rock drill to return to the head end of the propulsion beam;

[0052] Step 107, controlling the rod feeding mechanism to rotate and / or translate so that the next clamp on the rod feeding mechanism moves to a position that coincides with the rod changing station on the propulsion beam, and repeating steps 103 to 107 until all the drill rods on the rod feeding mechanism are driven into the rock mass.

[0053] To achieve the above object, the present invention further provides a rod unloading method for a drilling rig, using the above-mentioned rod changing device for the drilling rig, and the rod unloading method comprises the following steps:

[0054] Step 201: advancing the rock drill, engaging the rock drill with the exposed head end of the drill rod on the current rock mass and tightening the rock drill, and then controlling the rock drill to retract to the head end of the propulsion beam to separate the drill rod on the rock drill from the rock mass;

[0055] Step 202: Clamp and secure the exposed head end of the drill rod on the current rock mass, and control the rotation and / or translation of the rod feeding mechanism so that the first clamping opening of the rod feeding mechanism is moved to a position that coincides with the rod changing station on the propulsion beam, and the drill rod on the rock drill is positioned in the clamping opening.

[0056] Step 203: Control the jaws to close so that the drill rod on the current rock drill can move within the jaws but is still confined within the jaws. Then, control the rock drill to reverse and move backward to separate the drill rod on the current rock drill from the exposed drill rod on the rock mass.

[0057] Step 204: Control the clamps to clamp the drill rod, control the rock drill to reverse and move backward, separate the rock drill from the drill rod, and then control the rod feeding mechanism to rotate and / or translate to reset.

[0058] Step 205, repeat steps 201 to 204 until all the drill rods on the rock mass are removed.

[0059] In order to achieve the above-mentioned object, the present invention further provides a drilling rig, on which the above-mentioned drilling rig rod changing device is provided.

[0060] In one embodiment, the drilling rig is provided with a manual controller;

[0061] The manual controller is connected to the drilling rig rod changing device to manually control the drilling rig rod changing device to perform part or all of the steps of the above-mentioned rod loading method, or manually control the drilling rig rod changing device to perform part or all of the steps of the above-mentioned rod unloading method.

[0062] In one embodiment, the drilling rig is provided with an automatic controller;

[0063] The automatic controller is connected to the drilling rig rod changing device to automatically control the drilling rig rod changing device to perform part or all of the steps of the above-mentioned rod loading method, or automatically control the drilling rig rod changing device to perform part or all of the steps of the above-mentioned rod unloading method.

[0064] The present invention has the following beneficial technical effects:

[0065] 1. The drilling rig rod changing device of the present invention takes up little space, thus greatly reducing the impact of external devices on the working range of the drilling rig;

[0066] 2. Each component of the drilling rig rod changing device of the present invention is a split structure, and each component is small in size and light in weight, making it easy to disassemble and repair;

[0067] 3. The drilling rig rod changing device of the present invention uses mechanical limit or work to ensure its accuracy, which greatly improves the accuracy of rod changing;

[0068] 4. The drilling rig rod changing device of the present invention has a simple structure, is easy to operate, has simple operation actions, and maintains low cost;

[0069] 5. The rod raising and lowering operations of the rock drilling rig in the present invention can be performed through an automatic controller in a one-touch intelligent manner, reducing the dependence on the operator's skills. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0071] Figure 1 A top view of the rod changing device for a drilling rig in Example 1 of the present invention;

[0072] Figure 2 This is a first axonometric view of the rod changing device of the drilling rig in Example 1 of the present invention;

[0073] Figure 3 This is a second axonometric view of the rod changing device of the drilling rig in Example 1 of the present invention;

[0074] Figure 4 This is an axonometric view of the rod feeding mechanism in Example 1 of the present invention;

[0075] Figure 5 2 is a front view of the rod feeding mechanism in Example 1 of the present invention;

[0076] Figure 6 This is a front view of the guide mechanism in Example 1 of the present invention;

[0077] Figure 7 Schematic diagram of the connection structure between the first guide and the rod-feeding mechanism in Example 1 of the present invention;

[0078] Figure 8 This is a module diagram of the automatic controller in Example 4 of the present invention.

[0079] Figure numbers: propulsion beam 1, rod changing station 101, rod feeding mechanism 2, clamping mouth 201, rock drill 3, drill rod 4, guide mechanism 5, storage bin 501, rod changing mouth 502, first guide 6, second guide 7, base frame 8, side baffle 9, first curved plate 10, second curved plate 11, connecting member 12, rotating cylinder 13, rocker arm 14, first connecting member 15, second connecting member 16, connecting shaft 17, mounting seat 18, pivot 19, swing cylinder 20, limit block 21, first clamp body 22, second clamp body 23, clamping cylinder 24, clamping block 25, clamping plate 26, end clamp 27.

[0080] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0082] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0083] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0084] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0086] Example 1

[0087] like Figure 1-7 The figure shows a rod changing device for a rock drilling trolley disclosed in this embodiment, which mainly includes a propulsion beam 1 and a rod feeding mechanism 2. A rock drill 3 is slidably connected to the propulsion beam 1. A rod changing station 101 is also provided on the propulsion beam 1. The rock drill 3 is mainly used to drive the drill rod 4 into the rock mass. The rod changing station 101 is located on the travel path of the drill bit of the rock drill 3. That is, when the drill rod 4 is located on the rod changing station 101, the drill bit on the rod changing station 101 can be connected and fixed to the rock drill 3 by screwing the rock drill 3.

[0088] The rod feeding mechanism 2 has at least one clamping opening 201 for clamping or releasing the drill rod 4. The rod feeding mechanism 2 is located on the side of the propulsion beam 1 and has a rotational and / or translational travel compared to the propulsion beam 1. During the rotation and / or translation of the rod feeding mechanism 2, the clamping opening 201 can be moved to a position that coincides with the rod changing station 101. Furthermore, when the rod feeding mechanism 2 has multiple clamping openings 201, each rotation and / or translation of the rod feeding mechanism 2 can move a different clamping opening 201 to a position that coincides with the rod changing station 101.

[0089] Preferably, the drilling rig rod-changing device further includes a guide mechanism 5, which is provided with a storage compartment 501 capable of accommodating the leading end, / or trailing end, and / or middle portion of the drill rod 4. The storage compartment 501 serves to protect and guide the drill rod 4. The arc-shaped side of the storage compartment 501 is provided with a rod-changing opening 502 that communicates with the interior of the storage compartment 501. The width of the rod-changing opening 502 is greater than the diameter of the drill rod 4 and less than twice the diameter of the drill rod 4, facilitating the entry and exit of the drill rod 4 from the storage compartment 501. The guide mechanism 5 is located on the side of the propulsion beam 1 and has a rotational and / or translational travel. During the rotation and / or translation process of the guide mechanism 5, the rod-changing opening 502 can be driven to a position that coincides with the rod-changing station 101. The rod feeding mechanism 2 has a rotational and / or translational travel relative to the guide mechanism 5 to feed the drill rod 4 in the storage compartment 501 to the rod changing port 502, or to feed the drill rod 4 at the rod changing port 502 to the storage compartment 501. In a specific application process, the drill rod 4 is first clamped by the rod feeding mechanism 2, and the head end, tail end, and / or middle portion of the drill rod 4 are then placed in the storage compartment 501 of the guide mechanism 5 and are not located at the rod changing port 502. When performing a rod changing operation, the guide mechanism 5 and the rod feeding mechanism 2 are first driven to rotate and / or translate synchronously, so that the rod changing port 502 is moved to a position that coincides with the rod changing station 101. During this process, the relative positions of the guide mechanism 5 and the rod feeding mechanism 2 remain fixed, that is, the drill rod 4 in the storage compartment 501 remains fixed. Then, the guide mechanism 5 is kept fixed, and the rod feeding mechanism 2 is driven to rotate and / or translate, so that a clamping opening 201 on the rod feeding mechanism 2 is moved to a position overlapping with the rod changing station 101, and the subsequent rod changing operation can be carried out; at this time, a drill rod 4 in the storage bin 501 is moved to the position of the rod changing opening 502, and the other drill rods 4 are in a closed position in the storage bin 501, so the storage bin 501 can limit the other drill rods 4 to prevent them from falling, and the storage bin 501 with the rod changing opening 502 can ensure that a drill rod 4 is accurately fed out during the rod loading process.

[0090] In this embodiment, the guide mechanism 5 has multiple implementations.

[0091] The first embodiment of the guide mechanism 5 is:

[0092] The guide mechanism 5 includes a first guide 6 and a second guide 7. The first guide 6 and the second guide 7 have the same structure and are arranged opposite to each other. Both are provided with a storage bin 501 and a rod changing port 502, and the rod changing port 502 on the first guide 6 and the rod changing port 502 on the second guide 7 are located on the same straight line. The first guide 6 is used to store the front end of the drill rod 4, and the second guide 7 is used to store the rear end of the drill rod 4. When storing, the front end and the rear end of the drill rod 4 are both located in the middle position along the axial direction in the storage bin 501, that is, the front end or the rear end of the drill rod 4 extends from one end of the storage bin 501 into the storage bin 501 but does not pass through the storage bin 501, so as to prevent the front end and the rear end of the drill rod 4 from being subjected to additional impact force through the first guide 6 and the second guide 7, thereby protecting the drill rod 4 from damage.

[0093] The first guide 6 and the second guide 7 have sufficient strength and support surfaces to protect the drill rod 4. In the specific implementation process, the first guide 6 and the second guide 7 both include: a base frame 8, a side baffle 9, and a first curved plate 10 and a second curved plate 11 of an arc-shaped structure. Among them, the first curved plate 10 and the second curved plate 11 are fixedly connected to the base frame 8 by welding, and the second curved plate 11 is sleeved on the first curved plate 10. The storage bin 501 is the annular groove between the first curved plate 10 and the second curved plate 11, and the rod changing port 502 is opened in the middle of the second curved plate 11. The side baffle 9 is welded and fixed to the base frame 8, the first curved plate 10, and the second curved plate 11, and the side baffle 9 covers one side of the annular groove. The side baffle 9 on the first guide 6 covers the storage bin 501 and is away from the side of the second guide 7 to prevent the front end of the drill rod 4 from being subjected to additional impact force and to prevent the drill rod 4 from sliding out from the side of the storage bin 501 when it is stored on the first guide 6; the side baffle 9 on the second guide 7 covers the storage bin 501 and is away from the side of the first guide 6 to prevent the rear end of the drill rod 4 from being subjected to additional impact force and to prevent the drill rod 4 from sliding out from the side of the storage bin 501 when it is stored on the second guide 7.

[0094] In the first embodiment of the guide mechanism 5, there are two rod-feeding mechanisms 2. One rod-feeding mechanism 2 is located between the first guide 6 and the second guide 7 and is close to the first guide 6, and is used to clamp the front end of the drill rod 4. The other rod-feeding mechanism 2 is located between the first guide 6 and the second guide 7 and is close to the second guide 7, and is used to clamp the rear end of the drill rod 4. This ensures synchronization between the front and rear ends of the drill rod 4 during the rod change process, which is more stable and reliable.

[0095] In the first embodiment of the guide mechanism 5, the drilling rig rod-changing device further includes a first drive assembly and a connecting member 12. The first guide 6, the second guide 7, and the rod-feeding mechanism 2 are all connected to the connecting member 12. Specifically, the first guide 6, the second guide 7, and the connecting member 12 are rotationally engaged, while the rod-feeding mechanism 2 and the connecting member 12 are fixedly engaged. The first drive assembly is in driving connection with the connecting member 12 to drive the connecting member 12 to rotate. The rotational engagement is achieved through bearings or a clearance fit, while the fixed engagement can be achieved through welding. Since the connecting member 12 is in rotational cooperation with the first guide 6 and the second guide 7, and is fixedly cooperated with the rod feeding mechanism 2, when the first driving assembly drives the connecting member 12 to rotate, the first guide 6 and the second guide 7 can maintain their position and posture unchanged, and the rod feeding mechanism 2 can rotate with the connecting member 12, and then the clamp 201 on the rod feeding mechanism 2 can be rotated to a position in the same line with the rod changing port 502, so that the drill rod 4 in the clamp 201 can enter and exit the storage bin 501 through the rod changing port 502.

[0096] In the first embodiment of the guide mechanism 5, the first driving component is a rotary cylinder 13. The fixed end of the rotary cylinder 13 is fixedly connected to the side baffle 9 of the first guide 6 or the second guide 7 (in this embodiment, the rotary cylinder 13 is arranged on the side baffle 9 of the first guide 6), and the telescopic end of the rotary cylinder 13 is transmission-connected to the connecting member 12. In this embodiment, the telescopic end of the rotary cylinder 13 is connected to the connecting member 12 by a rocker arm 14. Specifically, the connecting member 12 is provided with a flat key, and one end of the rocker arm 14 is provided with a sleeve configured with the connecting member 12, and the sleeve is provided with a keyway configured with the flat key. One end of the rocker arm 14 is fixedly connected to the connecting member 12 through the flat key and the keyway, and the other end of the rocker arm 14 is provided with a connecting column. The connecting column is hinged to the telescopic end of the rotary cylinder 13 through a hinge. Therefore, when the rotary cylinder 13 drives the rocker arm 14 to swing with the connecting member 12 as the center, the rocker arm 14 can drive the connecting member 12 to rotate. Of course, in the specific implementation process, welding or other fastening devices can also be used to connect the rocker arm 14 and the connecting member 12.

[0097] When the rotary cylinder 13 drives the connecting member 12 to rotate, the connecting member 12 is in rotational engagement with the first guide 6 and the second guide 7. Therefore, the first guide 6, the second guide 7, the storage bin 501, and the rod-changing port 502 remain stationary. Since the connecting member 12 is fixedly connected to the rod-feeding mechanism 2, the connecting member 12 drives the rod-feeding mechanism 2 to rotate. The drill rod 4 is clamped by the rod-feeding mechanism 2, and the rod-feeding mechanism 2 drives the drill rod 4 to rotate together, thereby moving a drill rod 4 in the storage bin 501 to the rod-changing port 502, thereby facilitating the subsequent rod-changing operation.

[0098] It should be noted that although the first drive assembly in this embodiment is a cylinder mounted on the first guide 6 or the second guide 7, in practical applications, the first drive assembly is not limited to being a cylinder or mounted on the first guide 6 or the second guide 7. It only needs to be able to drive the connection member 12 to rotate. For example, a gear can be fixedly mounted on the connection member 12, and a motor and a reducer can be used to drive the gear to rotate, thereby driving the connection member 12 to rotate. Here, the motor and reducer can be mounted on the first guide 6 or the second guide 7, or they can be arranged separately on a bracket.

[0099] In the first embodiment of the guide mechanism 5, a single integral shaft can be used as the connecting member 12. Preferably, the connecting member 12 can be configured as three parts, namely a first connecting member 15, a second connecting member 16, and a connecting shaft 17. The first guide 6 is connected to the adjacent rod feeding mechanism 2 via the first connecting member 15, which is in rotational engagement with the first guide 6 and a fixed engagement with the corresponding rod feeding mechanism 2. The second guide 7 is connected to the adjacent rod feeding mechanism 2 via the second connecting member 16, which is in rotational engagement with the second guide 7 and a fixed engagement with the corresponding rod feeding mechanism 2. One end of the connecting shaft 17 is connected to the first connecting member 15, and the other end is connected to the second connecting member 16. The first drive assembly is in transmission connection with the first connecting member 15, the second connecting member 16, or the connecting shaft 17. This structural design allows the spacing between the first guide 6 and the second guide 7 to be changed by replacing the connecting shaft 17 of different lengths, thereby adapting to drill rods 4 of different lengths. At the same time, the connector 12 is designed to be split and modularized, so that each component is small in size and light in weight, achieving the effect of convenient disassembly and maintenance.

[0100] Further preferably, the connector 12 or the connecting shaft 17 can be configured as a telescopic rod structure, for example, using the same telescopic structure as a telescopic umbrella rod, thereby being able to adapt to drill rods 4 of different lengths without replacing the connector 12 or the connecting shaft 17. Alternatively, another preferred embodiment can be selected, whereby the connector 12 or the connecting shaft 17 is formed by a plurality of connecting rods detachably connected end to end. Adjacent connecting rods can be connected by bolts, snaps, or flanges. When adapting to drill rods 4 of different lengths, the number of connecting rods can be increased or decreased according to the length of the drill rod 4.

[0101] The second embodiment of the guide mechanism 5 is:

[0102] The guide mechanism 5 is a third guide, which has a storage compartment 501 and a rod-changing opening 502. The storage compartment 501 extends horizontally through the third guide to accommodate the middle portion of the drill rod 4. The implementation structure of the third guide is basically the same as the first guide 6 and the second guide 7 described above, with the only difference being that the third guide lacks side guards. Specifically, the third guide comprises a base frame 8 and first and second curved plates 10 and 11, each of which is an arc-shaped. The first and second curved plates 10 and 11 are both fixedly connected to the base frame 8 by welding, and the second curved plate 11 is sleeved onto the first curved plate 10. The storage compartment 501 is the annular groove between the first and second curved plates 10 and 11, and the rod-changing opening 502 is located in the middle of the second curved plate 11. Since there are no side guards, the storage compartment 501 on the third guide extends horizontally through the third guide. During storage, the drill rod 4 passes through the storage compartment 501 on the third guide, and the rod body in the middle area of the drill rod 4 is located in the storage compartment 501 on the third guide.

[0103] In the second embodiment of the guide mechanism 5, there are two rod feeding mechanisms 2, which are respectively located on both sides of the third guide, and the two rod feeding mechanisms 2 are adjacent to the third guide, so that the drill rod 4 can be stably stored in the storage bin 501.

[0104] In the second embodiment of the guide mechanism 5, the drilling rig rod changing device also includes a first drive assembly and a connecting member 12, and the third guide and the rod feeding mechanism 2 are both connected to the connecting member 12. Specifically, the third guide and the connecting member 12 are in rotational engagement, and the rod feeding mechanism 2 and the connecting member 12 are in fixed engagement. The first drive assembly is in transmission connection with the connecting member 12 to drive the connecting member 12 to rotate. The rotational engagement is achieved by means of a bearing or clearance engagement, and the fixed engagement can be achieved by welding. Since the connecting member 12 is in rotational engagement with the third guide and in fixed engagement with the rod feeding mechanism 2, when the first drive assembly drives the connecting member 12 to rotate, the third guide can maintain its position and posture unchanged, and the rod feeding mechanism 2 can rotate with the connecting member 12, thereby rotating the clamp 201 on the rod feeding mechanism 2 to a position aligned with the rod changing opening 502, so that the drill rod 4 in the clamp 201 can pass through the rod changing opening 502 and enter and exit the storage bin 501.

[0105] In the second embodiment of the guide mechanism 5, the first drive component is a combination of a rotating cylinder 13 or a motor and a reducer externally mounted through a bracket, and the way in which it drives the connecting member 12 to rotate is the same as that of the first embodiment of the guide mechanism 5, so it will not be described in detail.

[0106] In the second embodiment of the guide mechanism 5, an integral shaft is used as the preferred embodiment of the connecting member 12. Of course, the connecting member 12 can also be designed as a split modular design or a telescopic design, which will not be described in detail here.

[0107] In the two embodiments of the above-mentioned guide mechanism 5, the first guide 6, the second guide 7 and the third guide are all provided with rod loading openings, and the rod loading openings are connected to the interior of the corresponding storage bin 501, that is, the same storage bin 501 has two openings, the rod changing opening 502 and the rod loading opening; among them, the function of the rod changing opening 502 remains unchanged, and is used to perform rod changing operations in conjunction with the rod changing station 101, and the rod loading opening is mainly used as an entrance for manually placing the drill rod 4 into the storage bin 501.

[0108] In the two aforementioned embodiments of the guide mechanism 5, the drilling rig rod changing device further includes a second drive assembly. Mounting blocks 18 are provided on the side of the propulsion beam 1. Mounting blocks 18 can be fixedly connected to the propulsion beam 1 by welding or removably connected by bolts. The number and position of mounting blocks 18 are determined by the positions of the first and second guides 6 and 7 in the guide mechanism 5, or by the position of the third guide.

[0109] If the guide mechanism 5 includes a first guide 6 and a second guide 7, the propulsion beam 1 has two mounting seats 18, and the first guide 6 and the second guide 7 are respectively hinged on the corresponding mounting seats 18 via pivots 19, and the pivots 19 on the two mounting seats 18 are coaxial. The second driving component is a swing cylinder 20 corresponding to the two first guides 6 and the second guide 7. One end of the swing cylinder 20 is hinged to the pivot 19 on the corresponding mounting seat 18, and the other end is hinged to the corresponding first guide 6 or second guide 7. The synchronous extension and contraction of the two swing cylinders 20 can drive the first guide 6 and the second guide 7 to rotate synchronously around the pivot 19. At this time, since the rod feeding mechanism 2 is connected to the first guide 6 and the second guide 7 via the connecting member 12, the rod feeding mechanism 2 and the first guide 6 and the second guide 7 rotate synchronously around the pivot 19, which can achieve the overlap of the rod changing port 502 and the rod changing station 101, and the relative position of the rod changing port 502 and the clamping opening 201 remains unchanged. When the rod changing opening 502 is moved to coincide with the rod changing station 101, the rotating cylinder 13 is driven. At this time, the position of the rod changing opening 502 remains fixed, and the clamping opening 201 gradually rotates until the position of the clamping opening 201 coincides with the rod changing station 101, and the subsequent rod changing operation can be carried out.

[0110] If the guide mechanism 5 is a third guide, the propulsion beam 1 has a mounting seat 18, and the third guide is hinged to the mounting seat 18 via a pivot 19. The second drive assembly is a swing cylinder 20, one end of which is hinged to the pivot 19 on the mounting seat 18, and the other end is hinged to the third guide. The swing cylinder 20 can be extended and retracted to drive the third guide to rotate around the pivot 19. At this time, since the rod feeding mechanism 2 is connected to the third guide via the connecting member 12, the rod feeding mechanism 2 and the third guide rotate synchronously around the pivot 19, which can achieve the overlap of the rod changing port 502 and the rod changing station 101, and the relative position of the rod changing port 502 and the clamping opening 201 remains unchanged. When the rod changing port 502 moves to overlap with the rod changing station 101, the rotating cylinder 13 is driven. At this time, the position of the rod changing port 502 remains fixed, and the clamping opening 201 gradually rotates until the position of the clamping opening 201 overlaps with the rod changing station 101, and the subsequent rod changing operation can be carried out.

[0111] Preferably, a limit block 21 is provided on the mounting seat 18 or the propulsion beam 1. The limit block 21 in this embodiment is fixed on the mounting seat 18 by welding, and the limit block 21 is located on the rotation path of the guide mechanism 5 (the first guide 6 and the second guide 7, or the third guide) so that the rod changing port 502 can be stopped at a position overlapping with the rod changing station 101 during the rotation of the guide mechanism 5.

[0112] It should be noted that although the second drive assembly in this embodiment is a cylinder disposed between the mounting base 18 and the guide mechanism 5, in actual applications, the second drive assembly is not limited to a cylinder, nor is it limited to being disposed between the mounting base 18 and the guide mechanism 5. It only needs to be able to drive the guide mechanism 5 to rotate. For example, a transmission gear can be fixed to the guide mechanism 5, and then a motor and a reducer can be used to drive the transmission gear to rotate, thereby driving the guide mechanism 5 to rotate. Here, the motor and reducer can be disposed between the mounting base 18 and the guide mechanism 5, or they can be arranged separately via a bracket.

[0113] In this embodiment, the rod feeding mechanism 2 is a clamp structure formed by a first jaw body 22 and a second jaw body 23 being hingedly connected. Specifically, the first jaw body 22 is fixedly matched with the connecting member 12 by welding or key connection, and the second jaw body 23 is sleeved on the connecting member 12 by a clearance fit. Alternatively, the first jaw body 22 is fixedly matched with the connecting member 12 by welding or key connection, the second jaw body 23 does not contact the connecting member 12, and the second jaw body 23 is rotationally matched with the first jaw body 22 via another axis or hinge.

[0114] The drilling rig's rod-changing device also includes a third drive assembly, the number of which is the same as the rod-feeding mechanism 2. Specifically, the third drive assembly is a clamping cylinder 24 mounted on the first jaw 22. The fixed end of the clamping cylinder 24 is fixedly connected to the first jaw 22 via a bolt or other fixing device, while the telescopic end of the clamping cylinder 24 is hingedly connected to the second jaw 23. When the clamping cylinder 24 telescopes, the second jaw 23 can rotate relative to the first jaw 22 because the first jaw 22 is rigidly connected to the connector 12.

[0115] The first jaw 22 is provided with at least one first jaw, and the second jaw 23 is provided with at least one second jaw, with the first jaw corresponding to the second jaw one-to-one. The first jaw and the corresponding second jaw together form a clamp 201. Driven by the clamping cylinder 24, the second jaw 23 rotates on the first jaw 22 to move the first jaw and the corresponding second jaw closer to or farther away from each other, thereby switching the clamp 201 between open and closed positions, thereby achieving either a loosened or clamped state for the drill rod 4.

[0116] Specifically in this embodiment, the number of the first jaws and the number of the second jaws are both two, that is, one set of rod feeding mechanism 2 can clamp two drill rods 4 at the same time.

[0117] As a preferred embodiment, a clamping block 25 is detachably provided on the groove wall of the first jaw and the groove wall of the second jaw. The clamping block 25 has an opening, and the jaw 201 is surrounded by the openings on the two clamping blocks 25. Assembling the removable clamping blocks 25 on the contact surfaces of the first jaw body 22, the second jaw body 23, and the drill rod 4 not only achieves a modular design, allowing different clamping blocks 25 to be equipped according to the diameter of the drill rod 4 and convenient replacement, but also allows direct replacement of the clamping blocks 25 when the rod feeding mechanism 2 is worn after long-term use. The clamping blocks 25 are of lower value than the rod feeding mechanism 2 as a whole, avoiding the need to replace the entire jaw 201 structure and reducing maintenance costs. Further preferably, the clamping blocks 25 can be made of wear-resistant materials such as alloy steel to extend the service life of the clamping blocks 25.

[0118] In practice, the clamping block 25 can be fixedly mounted on the groove walls of the first and second jaws by gluing, bolting, or other methods. As a preferred embodiment, the clamping block 25 can be configured as a plate, block, or strip structure with one end wide and the other narrow. For example, the clamping block 25 can be configured as a trapezoidal block structure with the opening located at the narrow end of the clamping block 25. Furthermore, the groove walls of the first and second jaws can also be configured as the same trapezoidal structure as the clamping block 25. During assembly, the clamping block 25 can be simply snapped into place within the first or second jaw, making it less likely to fall out and easier to remove and replace, reducing maintenance costs.

[0119] More specifically, clamping plates 26 are detachably connected to positions on both sides of the first jaw 22 and on both sides of the second jaw 23, respectively. These clamping plates 26 are detachably mounted on the first jaw 22 or the second jaw 23 by means of fastening devices such as screws. The clamping plates 26 cover part or all of the side portions of the clamping block 25, excluding the opening. This allows the clamping blocks 25 to be clamped and fixed by the clamping plates 26 on both sides of the first and second jaws. This structural design prevents the clamping block 25 from shifting left or right within the first or second jaw, or even falling out. It also increases the thickness of the first and second jaws 22, 23, enhancing the overall structural strength of the jaw 201. It also increases the contact (fixed) length between the first and second jaws 22, 23 and the drill rod 4, reducing the amplitude of shaking and increasing stability.

[0120] It should be noted that although the third drive assembly in this embodiment is a cylinder mounted on the first caliper body 22, in practical applications, the third drive assembly is not limited to a cylinder or mounted on the first caliper body 22. It only needs to be able to drive the second caliper body 23 to rotate relative to the first caliper body 22. For example, a drive gear can be fixed to the second caliper body 23, and a motor and a reducer can drive the drive gear to rotate, thereby driving the second caliper body 23 to rotate. The motor and reducer can be mounted on the first caliper body 22 or separately via a bracket.

[0121] In this embodiment, the rear end of the propulsion beam 1 is further provided with an end clamp 27. Driven by a hydraulic cylinder, the end clamp 27 tightens and loosens the drill rod 4, thereby clamping the drill rod 4 against the rock to prevent rotation and shaking, and facilitating the connection or disconnection of two drill rods 4 during rod replacement. In practice, the end clamp 27 utilizes a conventional two-finger gripper structure, and the jaws of the end clamp 27 are also equipped with a removable support block to accommodate drill rods 4 of varying diameters, achieving a wear-resistant, modular design.

[0122] Example 2

[0123] This embodiment discloses a method for raising a rod of a rock drilling rig, using the rock drilling rig rod changing device of embodiment 1. The method comprises the following steps:

[0124] Step 101: First, the drilling rig rod changing device of Example 1 is loaded onto the drilling rig, and a drill rod is pre-placed on the rock drill on the propulsion beam 1. After the rock drill is pushed forward and the first drill rod on the propulsion beam is driven into the rock mass, the rock drill is controlled to retract to the head end of the propulsion beam.

[0125] Step 102: Control the rod feeding mechanism to rotate and / or translate so that the first clamping jaw on the rod feeding mechanism is moved to a position that coincides with the rod changing station on the propulsion beam. The specific process is as follows:

[0126] First, the swing cylinder is retracted, causing it to drive the guide mechanism to rotate counterclockwise until it hits the limit block. At this time, the rod-changing opening on the guide mechanism coincides with the rod-changing station on the propulsion beam. At the same time, since the rod-feeding mechanism is connected to the guide mechanism through a connector, the rod-feeding mechanism rotates synchronously with the guide mechanism. However, at this time, the clamping opening on the rod-feeding mechanism does not coincide with the rod-changing station on the propulsion beam.

[0127] Then, keep the swing cylinder stationary and retract the rotary cylinder, so that the rotary cylinder drives the rod feeding mechanism to rotate until the first clamp on the rod feeding mechanism moves to a position that coincides with the rod changing station on the propulsion beam, and at the same time, the drill rod on the interface also moves to the rod changing station on the propulsion beam;

[0128] Step 103: Keep the swing cylinder, the rotation cylinder, and the clamping cylinder stationary so that the clamps on the rod feeding mechanism remain clamped on the drill rod. Then, advance the rock drill, connect the rock drill to the head end of the drill rod on the rod changing station, and tighten it.

[0129] Step 104: Retract the clamping cylinder to drive the jaws of the rod feeding mechanism to open slightly, so that the jaws are in a slightly loose state where the drill rod can move within the jaws but is still restrained within the jaws. The rock drill is then advanced to connect the tail end of the drill rod in the corresponding jaws to the head end of the previous drill rod and tighten them.

[0130] Step 105: After the clamping cylinder is retracted to drive the jaws of the rod feeding mechanism to fully open, the swing cylinder is extended to drive the rod feeding mechanism to rotate and reset, and then the clamping cylinder is extended to drive the jaws of the rod feeding mechanism to clamp again;

[0131] Step 106: advance the rock drill, drive the drill rod on the current rock drill into the rock mass, and then control the rock drill to return to the head end of the propulsion beam;

[0132] Step 107, retract the swing cylinder to drive the rod feeding mechanism to rotate until it hits the limit block, so that the rod changing port on the guide mechanism coincides with the rod changing station on the propulsion beam, keep the swing cylinder stationary, retract the rotary cylinder, and drive the rod feeding mechanism to rotate until the next clamp on the rod feeding mechanism moves to a position that coincides with the rod changing station on the propulsion beam, and at the same time, the drill rod on the interface is also moved to the rod changing station on the propulsion beam, and then repeat steps 103-107 until all the drill rods on the rod feeding mechanism are driven into the rock mass.

[0133] Example 3

[0134] This embodiment discloses a rod unloading method for a rock drilling rig, using the rock drilling rig rod changing device of embodiment 1. The rod unloading method includes the following steps:

[0135] Step 201: Advance the rock drill, engage the rock drill with the exposed head end of the drill rod on the current rock mass, tighten the rock drill, and then control the rock drill to retract to the head end of the propulsion beam to separate the drill rod from the rock mass. The drill rod on the rock drill then falls onto the rod changing station of the propulsion beam.

[0136] Step 202: Control the end clamp to clamp and fix the head end of the drill rod exposed on the current rock mass, and at the same time extend the rotary cylinder to drive the rod feeding mechanism to rotate, so that the first clamping opening on the rod feeding mechanism and the rod changing opening on the guide mechanism are on the same straight line, and at the same time extend the clamping cylinder so that the clamping opening on the rod feeding mechanism is in a fully open state, and then retract the swing cylinder to drive the guide mechanism to rotate counterclockwise until it hits the limit block. At this time, the rod changing opening on the guide mechanism coincides with the rod changing station on the propulsion beam. At the same time, since the rod feeding mechanism is connected to the guide mechanism through a connecting piece, the rod feeding mechanism rotates synchronously with the guide mechanism, that is, at this time, the clamping opening on the rod feeding mechanism also coincides with the rod changing station on the propulsion beam. At this time, the drill rod on the rock drill falls into the rod changing opening and the clamping opening;

[0137] Step 203: Keep the swing cylinder and the rotary cylinder stationary, and retract the clamping cylinder to drive the clamping jaws on the rod feeding mechanism to retract, ensuring that the drill rod in the clamping jaws can rotate but does not fall too much. Then, the rock drill is controlled to reverse and move backward, separating the drill rod currently on the rock drill from the exposed drill rod on the rock mass.

[0138] Step 204: Keep the swing cylinder and the rotary cylinder stationary, retract the clamping cylinder to drive the clamps on the rod feeding mechanism to clamp the drill rod, control the rock drill to reverse and move backward, separate the rock drill from the drill rod, and then control the rod feeding mechanism to rotate and reset.

[0139] Step 205: After controlling the end clamp to loosen the head end of the drill rod currently exposed on the rock mass, steps 201 to 204 are repeated again until all the drill rods on the rock mass are removed.

[0140] Example 4

[0141] This embodiment discloses a drilling trolley equipped with the drilling trolley rod changing device of embodiment 1.

[0142] In this embodiment, a manual controller is provided on the drilling rig, and the manual controller is connected to the swing cylinder, rotating cylinder, clamping cylinder, rock drill and end clamp control on the drilling rig rod changing device, so that the staff can manually control part or all steps of the rod-loading method in Example 2 of the drilling rig rod changing device, or manually control the drilling rig rod changing device to perform part or all steps of the rod-unloading method in Example 3.

[0143] Preferably, the drilling rig is also provided with an automatic controller, which is connected to the rocking cylinder, rotating cylinder, clamping cylinder, rock drill and end clamp on the rod changing device of the drilling rig for communication and control. The automatic controller has a one-button automatic control mode. It only needs to select the automatic rod connection or automatic rod retraction function switch in the input module of the automatic controller, and the automatic controller can automatically control the output of the output module according to the preset control logic, and implement part or all of the steps of the rod-mounting method in Example 2 or part or all of the steps of the rod-unloading method in Example 3 without human intervention. By setting the automatic controller, different operation control methods for different scenarios can be realized by selecting different input module types. For example, local operation can be achieved by using a local fixed operating console, remote operation within visual range can be achieved by using a remote control operating console, and unmanned remote operation of the construction site can be achieved by using a remote network operating console through network connection.

[0144] refer to Figure 8 The automatic controller consists of four parts: input module, data acquisition module, controller, and output module. The input module inputs action function instructions, and the controller logic program controls the output module to perform function output. At the same time, the data acquisition module detects the function action of the output module and determines the function output status. Taking the upper rod method in Example 2 as an example, the upper rod control logic of the automatic controller is:

[0145] Step 301, the automatic controller system starts;

[0146] Step 302: Determine whether the rock drill has retreated to its proper position by detecting with the drilling progress encoder:

[0147] If yes, proceed to step 303;

[0148] Otherwise, control the rock drill to move backward and perform step 302 again;

[0149] Step 303: Rod loading starts, and determines whether the drill rod in the clamping jaws coincides with the rod changing station:

[0150] If yes, proceed to step 304;

[0151] Otherwise, the swing cylinder and the rotary cylinder are controlled to extend or retract, and step 303 is performed again;

[0152] Step 304: Control the rock drill to move forward and determine whether the rock drill is connected to the head end of the drill rod at the rod changing station, based on the condition that the rotation pressure reaches 80 bar.

[0153] If yes, proceed to step 305;

[0154] Otherwise, after the rock drilling rotation and forward thrust are simultaneously performed, step 304 is performed again;

[0155] Step 305: Control the clamping cylinder to slightly loosen the clamp. During this process, the rock drill is controlled to move forward. The connection between the drill rod on the rock drill and the previous drill rod driven into the rock mass is determined based on the condition that the rotation pressure reaches 80 bar.

[0156] If yes, proceed to step 306;

[0157] Otherwise, after the rock drilling rotation and forward thrust are simultaneously performed, step 305 is performed again;

[0158] Step 305: After the clamping oil cylinder is controlled to completely release the clamping jaws, the swing oil cylinder and the rotary oil cylinder are controlled to reset the rod changing device. After the reset is successful, the clamping oil cylinder is controlled to clamp the clamping jaws again.

[0159] Step 306: Control the rock drill to drill, and after drilling is completed, control the rock drill to reverse and retreat to separate it from the drill rod;

[0160] Step 307: Perform steps 302 to 306 again until all drill rods on the rod changing device have completed the drilling.

[0161] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A rod changing device for a rock drilling rig, comprising a propulsion beam, and a rod changing station on the propulsion beam, characterized in that: It also includes a rod feeding mechanism, a guide mechanism and a third driving assembly; The rod feeding mechanism has at least one clamping opening for clamping or releasing the drill rod; The rod-feeding mechanism is located on the side of the propulsion beam, and the rod-feeding mechanism has a rotational and / or translational travel to drive the clamping jaw to move to a position that coincides with the rod-changing station; The guide mechanism is provided with a storage compartment capable of accommodating the head end and / or tail end and / or middle portion of the drill rod, and the storage compartment is provided with a rod changing port communicating with the interior of the storage compartment; The guide mechanism is located on the side of the propulsion beam, and the guide mechanism has a rotation and / or translation stroke to drive the rod-changing port to move to a position that coincides with the rod-changing station; The rod delivery mechanism has a rotational and / or translational travel relative to the guide mechanism to deliver the drill rod in the storage bin to the rod changing port, or deliver the drill rod at the rod changing port to the storage bin; The guiding mechanism comprises: The first guide has a receiving compartment and a rod changing port for receiving the head end of the drill rod; The second guide has a receiving compartment and a rod changing port for receiving the tail end of the drill rod; The rod-changing opening on the first guide and the rod-changing opening on the second guide are located on the same straight line, and the first guide and the second guide have a synchronous rotation and / or translation stroke; The rod-feeding mechanism has a rotational and / or translational travel relative to the first guide and the second guide; The sending rod mechanism is a clamp structure formed by a first clamp body and a second clamp body being hinged; the first clamp body is provided with at least one first jaw, and the second clamp body is provided with at least one second jaw, and the first jaw corresponds to the second jaw one-to-one; the first jaw and the corresponding second jaw constitute the clamp; the number of the third drive components is the same as the number of the sending rod mechanism, which is used to drive the second clamp body and the first clamp body to rotate relative to each other.

2. The rod changing device of the drilling rig according to claim 1, characterized in that: The first guide and the second guide are both provided with rod mounting openings, and the rod mounting openings are communicated with the corresponding storage bins.

3. The rod changing device of the drilling rig according to claim 1, characterized in that: There are two rod-feeding mechanisms; One of the rod-feeding mechanisms is located between the first guide and the second guide and close to the first guide; The other rod sending mechanism is located between the first guide and the second guide and close to the second guide.

4. The rod changing device of the drilling rig according to claim 3, characterized in that: Also included is a first drive assembly and a connecting member; The first guide, the second guide, and the rod sending mechanism are all connected to the connecting member; The first guide, the second guide and the connecting member are all in rotational fit, and the rod-feeding mechanism and the connecting member are in fixed fit; The first driving assembly is in transmission connection with the connecting member to drive the connecting member to rotate.

5. The rod changing device of the drilling rig according to claim 4, characterized in that: The connecting member includes a first connecting member, a second connecting member and a connecting shaft; The first guide is connected to the adjacent rod-feeding mechanism via a first connecting piece, the first connecting piece and the first guide are in rotational engagement, and the first connecting piece and the corresponding rod-feeding mechanism are in fixed engagement; The second guide is connected to the adjacent rod sending mechanism via a second connecting piece, the second connecting piece and the second guide are in rotational engagement, and the second connecting piece and the corresponding rod sending mechanism are in fixed engagement; One end of the connecting shaft is connected to the first connecting member, and the other end is connected to the second connecting member. The first driving assembly is drivingly connected to the first connecting member or the second connecting member or the connecting shaft.

6. The rod changing device of the drilling rig according to claim 5, characterized in that: The connecting shaft is a telescopic rod; or the connecting shaft is composed of a plurality of connecting rods connected end to end in a detachable manner.

7. The rod changing device of a drilling rig according to any one of claims 1 to 6, characterized in that: Also included is a second drive assembly, wherein a mounting seat is provided on the side of the propulsion beam; The guide mechanism is hinged on the mounting seat, and the second driving assembly is transmission-connected to the guide mechanism to drive the guide mechanism to rotate around a hinge point.

8. The rod changing device of the drilling rig according to claim 7, characterized in that: A limit block is provided on the mounting seat or the propulsion beam; The limiting block is located on the rotation path of the guide mechanism, so as to stop the rod-changing opening at a position that coincides with the rod-changing station during the rotation of the guide mechanism.

9. The rod changing device of a drilling rig according to any one of claims 1 to 6, characterized in that: There are two first jaws and two second jaws.

10. The rod changing device of a drilling rig according to any one of claims 1 to 6, characterized in that: The first jaw and the second jaw are both detachably provided with a clamping block; The clamping block is provided with an opening, and the clamping opening is surrounded by the openings on the two clamping blocks.

11. The rod changing device of a drilling rig according to any one of claims 1 to 6, characterized in that: The tail end of the propulsion beam is provided with an end clamp to clamp and fix the drill rod on the rock.

12. A method for raising a drilling rig, characterized in that: The drilling rig rod changing device according to any one of claims 1 to 11 is used, and the rod-mounting method comprises the following steps: Step 101: After the rock drill is advanced so that the first drill rod on the propulsion beam is driven into the rock mass, the rock drill is controlled to return to the head end of the propulsion beam; Step 102: Control the rod feeding mechanism to rotate and / or translate so that the first clamping jaw on the rod feeding mechanism is moved to a position that coincides with the rod changing station on the propulsion beam; Step 103: Keep the clamps clamping the drill pipe, advance the rock drill, and connect the rock drill to the head end of the drill pipe on the corresponding clamp and tighten it; Step 104: Control the jaws to open slightly so that the drill rod can move within the jaws but is still confined within the jaws. Then, advance the rock drill and connect the tail end of the drill rod in the corresponding jaws to the head end of the previous drill rod and tighten them. Step 105, controlling the jaws to fully open, controlling the rod feed mechanism to rotate and / or translate to reset, and then controlling the jaws to clamp; Step 106: advance the rock drill, drive the drill rod on the current rock drill into the rock mass, and then control the rock drill to return to the head end of the propulsion beam; Step 107, controlling the rod feeding mechanism to rotate and / or translate so that the next clamp on the rod feeding mechanism moves to a position that coincides with the rod changing station on the propulsion beam, and repeating steps 103 to 107 until all the drill rods on the rod feeding mechanism are driven into the rock mass.

13. A method for unloading a drilling rig, characterized in that: The rod changing device for a rock drilling rig according to any one of claims 1 to 11 is used, and the rod unloading method comprises the following steps: Step 201: advancing the rock drill, engaging the rock drill with the exposed head end of the drill rod on the current rock mass and tightening the rock drill, and then controlling the rock drill to retract to the head end of the propulsion beam to separate the drill rod on the rock drill from the rock mass; Step 202: Clamp and secure the exposed head end of the drill rod on the current rock mass, and control the rotation and / or translation of the rod feeding mechanism so that the first clamping opening of the rod feeding mechanism is moved to a position that coincides with the rod changing station on the propulsion beam, and the drill rod on the rock drill is positioned in the clamping opening. Step 203: Control the jaws to close so that the drill rod on the current rock drill can move within the jaws but is still confined within the jaws. Then, control the rock drill to reverse and move backward to separate the drill rod on the current rock drill from the exposed drill rod on the rock mass. Step 204: Control the clamps to clamp the drill rod, control the rock drill to reverse and move backward, separate the rock drill from the drill rod, and then control the rod feeding mechanism to rotate and / or translate to reset. Step 205, repeat steps 201 to 204 until all the drill rods on the rock mass are removed.

14. A rock drilling rig, characterized in that: The drilling rig is provided with a drilling rig rod changing device according to any one of claims 1 to 11.

15. The drilling rig according to claim 14, wherein: The rock drilling rig is provided with a manual controller; The manual controller is connected to the drilling rig rod changing device to manually control the drilling rig rod changing device to perform part or all of the steps of the rod loading method described in claim 12, or manually control the drilling rig rod changing device to perform part or all of the steps of the rod unloading method described in claim 13.

16. The drilling rig according to claim 14, wherein: The rock drilling rig is provided with an automatic controller; The automatic controller is connected to the drilling rig rod changing device to automatically control the drilling rig rod changing device to perform part or all of the steps of the rod loading method described in claim 12, or automatically control the drilling rig rod changing device to perform part or all of the steps of the rod unloading method described in claim 13.

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