Low-hole-position drill rod replenishing device for fully automatic drill rig in coal mine and method for taking and placing drill rods

Abstract

The present invention discloses a low-hole-position rod replenishing device and a method for picking and placing drill rods for a fully automatic drill rig in coal mines. The rod replenishing device can cooperate with the drill rig main body, the main robotic arm, and the drill rod transporter to complete the full-automatic loading and unloading of drill rods. The rod replenishing device includes a rod bin assembly, a mounting frame, a driving sprocket assembly, a driving lead screw assembly, an opening height matching assembly, a gantry cross beam, a two-stage telescopic robotic arm assembly, an electro-hydraulic proportional multi-way valve, and a sensor assembly. The present invention is an independent automatic drill rig for low-hole-position rod replenishment, with a small overall volume and a low construction height, achieving complete automation of drill rod grasping and playback. The three-stage telescopic robotic arm is used to pick and place drill rods, greatly reducing the height of the rod replenishing device during drill rod transportation and realizing full-automatic construction of low-hole positions in low tunnels. It provides an important equipment for the unmanned and intelligent operation of borehole construction in coal mines.

Description

Technical Field

[0001] The invention belongs to the field of underground coal mine automatic drilling equipment, and relates to a low-hole-position drill rod replenishing device and a method for picking up and placing drill rods for a fully automatic drill in underground coal mines. Background Art

[0002] In recent years, with the continuous development of coal mine automatic drilling technology, automatic drills have become indispensable equipment for coal mine construction of gas drainage holes, impact prevention and pressure relief holes, etc. At present, there are several mature automatic drills on the market, but their drill rod replenishing devices occupy a large space, resulting in an increase in the overall size of the drill, poor passability during roadway transportation of the drill, and a relatively high height during the conveyance of drill rods by the drill rod replenishing device, making it impossible to perform fully automatic construction of low-position holes in low roadway. Therefore, there is an urgent need to develop a drill rod grasping device to enhance the adaptability of the matching fully automatic drill to the size of low roadways. Summary of the Invention

[0003] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a low-hole-position drill rod replenishing device and a method for picking up and placing drill rods for a fully automatic drill in underground coal mines, to overcome the problems of poor passability of existing automatic drills during underground low roadway transportation and inability to perform fully automatic construction of low-position holes, etc.

[0004] To solve the above technical problems, the present invention is implemented by adopting the following technical solutions:

[0005] A low-hole-position drill rod replenishing device for a fully automatic drill in underground coal mines, the replenishing device can cooperate with the drill rig mainframe, the main robotic arm and the drill rod transfer device to complete the full-automatic loading and unloading of drill rods; the replenishing device includes a rod bin assembly, a mounting frame, a driving sprocket assembly, a driving lead screw assembly, an opening height matching assembly, a gantry cross beam, a two-stage telescopic robotic arm assembly, an electromagnetic proportional multi-way valve and a sensor assembly;

[0006] The mounting frame is provided below the end of the rod bin assembly to be connected to the end of the crawler body of the drill rig; the driving sprocket assembly, the driving lead screw assembly and the opening height matching assembly are all two groups and are symmetrically arranged on both sides of the rod bin assembly respectively. The gantry cross beam is connected to the tops of the two opening height matching assemblies and is located above the rod bin assembly, and a two-stage telescopic robotic arm assembly is provided in the middle of the gantry cross beam. The driving sprocket assembly can drive the opening height matching assembly, the gantry cross beam and the two-stage telescopic robotic arm assembly to move horizontally along the rod bin assembly through the driving lead screw assembly. The end gripper of the two-stage telescopic robotic arm assembly can grasp or place back drill rods from the rod bin assembly vertically; the electromagnetic proportional multi-way valve is provided on the middle cross plate at one end of the rod bin assembly, and each connection respectively controls the actions of the driving sprocket assembly, the driving lead screw assembly and the two-stage telescopic robotic arm assembly; the sensor assembly includes a magnetostrictive sensor provided below the driving lead screw assembly, a laser sensor provided on the two-stage telescopic robotic arm assembly, and a proximity switch provided on the gripper.

[0007] The present invention further includes the following technical features:

[0008] Specifically, the rod bin assembly includes a rod bin bottom plate, two rod bin side plates, partition plates, a transverse pulling plate, and a middle transverse plate; the two rod bin side plates are parallel and opposite to each other and are perpendicularly welded to both sides of the rod bin bottom plate. A plurality of partition plates that are parallel to each other and arranged at equal intervals are provided on the rod bin side plates. The partition plates are perpendicular to both the rod bin side plates and the rod bin bottom plate, and the partition plates on the two rod bin side plates are symmetrically arranged; connecting blocks are connected to the lower ends of adjacent partition plates. The transverse pulling plate is connected between the two rod bin side plates and is located at the upper part of the front end of the rod bin assembly, and the middle transverse plate is connected between the two rod bin side plates and is located at the middle part of the front end of the rod bin assembly. The mounting frame is located at the lower part of the rear end of the rod bin assembly.

[0009] Specifically, slag leakage holes are provided on the rod bin bottom plate to clean out the coal slag and foreign matters that fall into the rod bin assembly through the slag leakage holes; oil brushing holes are provided on the rod bin side plates to facilitate applying thread oil to the drill rod threads.

[0010] Specifically, the driving sprocket assembly includes a mounting seat, a chain tensioning mechanism I, a driving motor, a double sprocket, and a motor mounting seat;

[0011] The mounting seat includes a mounting seat bottom plate, a mounting seat vertical plate, and double stiffening plates; the mounting seat bottom plate is vertically provided on one side of the mounting seat vertical plate, and the double stiffening plates are perpendicularly connected to both the mounting seat bottom plate and the mounting seat vertical plate;

[0012] The chain tensioning mechanism I is located between the mounting seat and the motor mounting seat and includes a vertical plate, a transverse plate, a sliding groove, a sliding plate, an adjusting bolt, and an adjusting nut; the vertical plate is closely attached to and fixed on the other side of the mounting seat vertical plate, the transverse plate is fixed on the upper part of the vertical plate, the sliding groove is located below the transverse plate and is fixed on the vertical plate, the sliding plate is stuck in the sliding groove and can move vertically along the sliding groove, the adjusting bolt vertically penetrates the transverse plate and is connected to the sliding plate, and the vertical position of the adjusting bolt can be adjusted by the adjusting nut to drive the sliding plate to move vertically;

[0013] The driving motor and the double sprocket are installed on the motor mounting seat. The motor mounting seat is connected to the sliding plate, and the double sprocket is connected to the driving lead screw assembly above it through a chain; the tension of the chain on the double sprocket is adjusted by the vertical movement of the sliding plate.

[0014] Specifically, a chain tensioning mechanism II is provided between the two groups of driving sprocket assemblies. The chain tensioning mechanism II includes an adjusting plate, a sprocket mounting seat, a tensioning sprocket, and an adjusting bolt;

[0015] The tensioning sprocket is installed in the middle of the adjusting plate through the sprocket mounting seat, and a synchronous chain is connected between the tensioning sprocket and the two double sprockets of the two driving sprocket assemblies at both ends;

[0016] Both ends of the adjusting plate are respectively arranged on the double rib plates of two groups of driving sprocket assemblies. The adjusting bolt fixes the adjusting plate and the double rib plate through the vertical waist-shaped holes on the double rib plate. By adjusting the position of the adjusting bolt in the vertical waist-shaped holes, the vertical position of the adjusting plate can be adjusted, so as to adjust the up and down movement of the tensioning sprocket to adjust the tightness of the synchronous chain.

[0017] Specifically, the driving lead screw assembly includes an external shield, a fixed guide rail, a slider, a lead screw, a lead screw mounting seat, an end plate, a sprocket and a connecting plate;

[0018] The fixed guide rail is horizontally fixed on the outer wall of the rod bin side plate through bolts. The slider is stuck on the fixed guide rail and contacts the fixed guide rail through a rolling bearing. Both ends of the lead screw are installed on the end plates at both ends of the fixed guide rail through the lead screw mounting seat. The lead screw passes through the slider and is threadedly connected with the slider. The lead screw is parallel to the fixed guide rail. The sprocket at the end of the lead screw is connected with the double sprocket chain of the driving sprocket assembly. The connecting plate is fixed on the slider and the connecting plate is connected with the opening height matching assembly. The driving sprocket assembly can drive the lead screw to rotate through the chain to drive the slider to move along the fixed guide rail, so as to drive the connecting plate and the opening height matching assembly to move horizontally.

[0019] Specifically, the opening height matching assembly includes a vertical first telescopic oil cylinder, an assembly outer cylinder, an assembly inner cylinder, and an assembly top plate. The assembly outer cylinder is sleeved outside the assembly inner cylinder. The cylinder barrel of the first telescopic oil cylinder is connected with the assembly inner cylinder. The assembly top plate is connected to the upper end of the assembly inner cylinder. The assembly top plate is connected with the gantry beam. The gantry beam includes a square steel pipe and L-shaped connecting plates arranged at both ends of the square steel pipe. The L-shaped connecting plate is connected with the assembly top plate of the opening height matching assembly.

[0020] Specifically, the two-stage telescopic robotic arm assembly includes a vertical second telescopic oil cylinder, an L-shaped connecting seat, a connecting seat clamping block, a vertical guide rail, a robotic arm outer sleeve, a connecting ear seat, a robotic arm inner sleeve, a vertical third telescopic oil cylinder and a gripper;

[0021] The cylinder barrel of the second telescopic oil cylinder is fixed on the gantry beam through the horizontal plate of the L-shaped connecting seat. The vertical plate of the L-shaped connecting seat is fixedly connected with the connecting seat clamping block. The connecting seat clamping block is cooperatively installed on the vertical guide rail. The vertical guide rail is fixed on the robotic arm outer sleeve. The upper end of the robotic arm outer sleeve is fixedly connected with the connecting ear seat. The upper end of the cylinder rod of the second telescopic oil cylinder is hinged with the connecting ear seat. Thus, the second telescopic oil cylinder can drive the robotic arm outer sleeve to move vertically;

[0022] The robotic arm inner sleeve is arranged inside the robotic arm outer sleeve. The third telescopic oil cylinder connects the top of the robotic arm outer sleeve and the robotic arm inner sleeve to drive the robotic arm inner sleeve to move vertically. The gripper is arranged at the lower end of the robotic arm inner sleeve.

[0023] The method for taking and placing drill pipes of the low-hole-position drill pipe supplementing device for fully automatic coal mine underground drills. The steps of taking drill pipes in this method are as follows:

[0024] Step a1. Initialize the positions of the components of the rod replenishing device, that is, retract the first telescopic oil cylinder, extend the second telescopic oil cylinder, retract the third telescopic oil cylinder, loosen the gripper, and horizontally move the gantry beam to the first column position of the rod bin assembly;

[0025] Step a2. Determine whether there is a drill rod in the first column through the laser sensor. If there is a drill rod, execute Step a3; if there is no drill rod, jump to execute Step a8;

[0026] Step a3. Retract the second telescopic oil cylinder to grasp the drill rod. If the drill rod is grasped, execute Step a4; if the drill rod is not grasped, jump to execute Step a5;

[0027] Step a4. Extend the second telescopic oil cylinder, horizontally move the gantry beam to the drill rod transporter, and lower the two-stage telescopic robotic arm assembly to place the drill rod on the drill rod transporter, then jump to execute Step a7;

[0028] Step a5. Extend the third telescopic oil cylinder to grasp the drill rod, and clamp the gripper, then execute Step a6;

[0029] Step a6. Retract the third telescopic oil cylinder, extend the second telescopic oil cylinder, horizontally move the gantry beam to the position of the drill rod transporter, and lower the two-stage telescopic robotic arm assembly to place the drill rod on the drill rod transporter, then execute Step a7;

[0030] Step a7. Raise the two-stage telescopic robotic arm assembly to restore to the initial position, horizontally move the gantry beam in the reverse direction to the column where the rod is to be grasped, then jump to execute Step a9;

[0031] Step a8. Horizontally move the gantry beam to the second column position of the rod bin assembly, and determine whether there is a drill rod in the second column through the laser sensor. If there is a drill rod, jump back to execute Step a3;

[0032] Step a9. Repeat Steps a2 to a7. If the drill rods in the bottom layer of the last column are all taken, and the drill rods are transported to the drill rod transporter, after the robotic arm of the rod replenishing device restores to the initial position, all the actuators of the rod replenishing device stop operating.

[0033] The method for picking and placing drill rods of the low-hole-position rod replenishing device for fully automatic coal mine drills. The steps of placing drill rods in this method are as follows:

[0034] Step b1. Initialize the positions of the components of the rod replenishing device, that is, retract the first telescopic oil cylinder, extend the second telescopic oil cylinder, retract the third telescopic oil cylinder, loosen the gripper, and horizontally move the gantry beam to the nth column position of the rod bin assembly, then execute Step b2;

[0035] Step b2. Determine the number of layers of the drill rods to be placed in the nth column based on the distance value detected by the laser ranging sensor, then jump to execute Step b4; if it is determined that the nth column is full of drill rods, execute Step b3;

[0036] Step b3. The gantry beam moves horizontally to the (n + 1)-th column of the rod bin, determines the number of layers of drill pipes to be placed in the (n + 1)-th column of the rod bin, and executes step b4. If the (n + 1)-th column is already full, the number of columns of the rod bin is incremented, and step b3 is looped. If each column of the rod bin is already full of drill pipes, jump to execute step b8;

[0037] Step b4. The gantry beam moves horizontally to directly above the drill pipe transporter. After the two-stage telescopic robotic arm assembly retrieves the drill pipe, it moves horizontally to the position of the n-th column of the rod bin and executes step b5;

[0038] Step b5. The second telescopic oil cylinder retracts, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the layer to be placed, and then executes step b6; After the second telescopic oil cylinder retracts and the falling height does not place the drill pipe on the layer to be placed, the third telescopic oil cylinder extends to place the drill pipe, and then jump to execute step b7;

[0039] Step b6. The second telescopic oil cylinder extends, and steps b4 to b6 are looped;

[0040] Step b7. The third telescopic oil cylinder retracts, the second telescopic oil cylinder extends, and steps b4 to b7 are looped;

[0041] Step b8. The rod bin is already full of drill pipes. After the position initialization of each actuator of the rod replenishment device, the machine stops.

[0042] Compared with the prior art, the present invention has the following technical effects:

[0043] The present invention is a low-position hole drill pipe grasping device for an independent automated drilling rig, with a small overall volume and a low construction height, realizing complete automation of drill pipe grasping and playback.

[0044] The present invention uses a three-stage telescopic robotic arm to grasp and place drill pipes, greatly reducing the height of the rod replenishment device during drill pipe transportation and realizing full-automatic construction of low-position holes in low roadway.

[0045] The present invention adopts a gantry beam structure, improving the load-bearing performance of the rod replenishment device and thus enhancing the reliability of the rod replenishment device.

[0046] The low-position hole rod replenishment device for the full-automatic drilling rig of the present invention provides an important equipment for the unmanned and intelligent drilling construction in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic structural diagram of the rod replenishment device assembly;

[0048] Figure 2 It is a schematic layout diagram of the sensor assembly of the rod replenishment device;

[0049] Figure 3 It is a schematic structural diagram of the rod bin assembly;

[0050] Figure 4 It is a schematic diagram of a driving sprocket assembly;

[0051] Figure 5 It is a schematic diagram of two sets of driving sprocket assemblies;

[0052] Figure 6 It is a schematic diagram of the internal structure of a driving lead screw assembly;

[0053] Figure 7 It is a schematic diagram of an opening height matching assembly;

[0054] Figure 8 It is a schematic diagram of a gantry crossbeam;

[0055] Figure 9 It is a schematic diagram of a two-stage telescopic robotic arm assembly;

[0056] Figure 10 It is a schematic diagram of the structure of a full-automatic drilling rig system.

[0057] The meanings of the various labels in the figure are as follows:

[0058] 1. Rod bin assembly, 2. Mounting frame, 3. Driving sprocket assembly, 4. Driving lead screw assembly, 5. Opening height matching assembly, 6. Gantry cross beam, 7. Two-stage telescopic robotic arm assembly, 8. Electro-hydraulic proportional multi-way valve, 9. Sensor assembly; 101. Rod bin bottom plate, 102. Rod bin side plate, 103. Partition plate, 104. Transverse pull plate, 105. Middle transverse plate, 106. Connecting block, 107. Slag leakage hole, 108. Oil brushing hole; 301. Mounting seat, 302. Chain tensioning mechanism I, 303. Driving motor, 304. Double sprocket, 305. Motor mounting seat; 306. Mounting seat bottom plate, 307. Mounting seat vertical plate, 308. Double ribbed plate; 309. Vertical plate, 310. Transverse plate, 311. Chute, 312. Slide plate, 313. Adjusting bolt, 314. Adjusting nut; 315. Chain tensioning mechanism II, 316. Adjusting plate, 317. Sprocket mounting seat, 318. Tensioning sprocket, 319. Adjusting bolt; 401. Fixed guide rail, 402. Slide block, 403. Lead screw, 404. Lead screw mounting seat, 405. End plate, 406. Sprocket, 407. Connecting plate; 501. First telescopic oil cylinder, 502. Assembly outer cylinder, 503. Assembly top plate; 601. Square steel pipe, 602. L-shaped connecting plate; 701. Second telescopic oil cylinder, 702. L-shaped connecting seat, 703. Connecting seat clamping block, 704. Vertical guide rail, 705. Robotic arm outer sleeve, 706. Connecting ear seat, 707. Third telescopic oil cylinder, 708. Hand claw; 709. Hand claw oil cylinder, 710. Lower claw, 711. Upper claw; 901. Magnetostrictive sensor, 902. Laser sensor, 903. Proximity switch; 10. Drilling rig mainframe, 20. Main robotic arm, 30. Drill pipe transporter, 40. Rod supply device. Detailed implementation manners

[0059] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and any equivalent transformation based on the technical solutions of this application falls within the protection scope of the present invention.

[0060] Embodiment 1:

[0061] As Figures 1 to 10 shown, this embodiment provides a low-hole-position rod supply device 40 for a fully automatic coal mine underground drilling rig. The rod supply device 40 can cooperate with the drilling rig mainframe 10, the main robotic arm 20 and the drill pipe transporter 30 to complete the full-automatic loading and unloading of drill pipes, and complete the full-automatic drilling construction of low-position holes in low roadway. The lowest roadway height that can be constructed is 2 m, and the lowest opening height is 0.8 m; when performing full-automatic construction, the drilling rig mainframe 101 and the rod supply device 40 maintain a vertical posture.

[0062] The rod replenishing device 40 includes a rod bin assembly 1, a mounting frame 2, a driving sprocket assembly 3, a driving lead screw assembly 4, an opening height matching assembly 5, a gantry cross beam 6, a two-stage telescopic robotic arm assembly 7, an electromagnetic proportional multi-way valve 8, and a sensor assembly 9.

[0063] A mounting frame 2 is provided below the end of the rod bin assembly 1 to connect with the end of the crawler body of the drill rig; the driving sprocket assembly 3, the driving lead screw assembly 4, and the opening height matching assembly 5 are all in two groups and are symmetrically arranged on both sides of the rod bin assembly 1 respectively. The gantry cross beam 6 is connected to the tops of the two opening height matching assemblies 5 and is located above the rod bin assembly 1, and a two-stage telescopic robotic arm assembly 7 is provided in the middle of the gantry cross beam 6. The driving sprocket assembly 3 can drive the opening height matching assembly 5, the gantry cross beam 6, and the two-stage telescopic robotic arm assembly 7 to move horizontally along the rod bin assembly 1 through the driving lead screw assembly 4. The end gripper 708 of the two-stage telescopic robotic arm assembly 7 can grab or put back the drill pipe vertically from the rod bin assembly 1; the electromagnetic proportional multi-way valve 8 is arranged on the middle cross plate 105 at one end of the rod bin assembly 1, and each connection respectively controls the actions of the driving sprocket assembly 3, the driving lead screw assembly 4, and the two-stage telescopic robotic arm assembly 7; the sensor assembly 9 includes a magnetostrictive sensor 901 arranged below the driving lead screw assembly 4, a laser sensor 902 arranged on the two-stage telescopic robotic arm assembly 7, and a proximity switch 903 arranged on the gripper 708. The magnetostrictive sensor 901 is used to detect the horizontal displacement of the opening height matching assembly 5, so as to locate the position of the drill pipe row, so as to realize the accurate grasping of each row of drill pipes; the laser sensor 902 is used to detect the vertical displacement of the robotic arm, so as to locate the position of each layer where the drill pipe is located to realize the accurate grasping of each layer of drill pipes; the proximity switch 903 is used to detect whether there is a drill pipe in the rod bin when grasping the rod. When the gripper 708 touches the drill pipe, the proximity switch 903 can be triggered.

[0064] Specifically, the driving sprocket assemblies 3 on both sides of the rod bin are connected by a synchronous chain, and the driving sprocket assembly 3 at the lower part of the rod bin and the upper driving lead screw 403 are connected by a driving chain. The driving sprocket assembly 3 is driven by a hydraulic motor as the active component to drive the driven component - the driving lead screw assembly 4 to move, so as to drive the opening height matching assembly 5, the gantry cross beam 6, and the two-stage telescopic robotic arm assembly 7 to move horizontally along the rod bin. The two-stage telescopic robotic arm assembly 7 and the opening height matching assembly 5 constitute a three-stage telescopic robotic arm. The three-stage telescopic robotic arm extends or retracts successively according to a certain logical sequence, and the gripper 708 fixed at the end of the two-stage telescopic robotic arm assembly 7 grabs or puts back the drill pipe vertically from the rod bin.

[0065] The rod bin assembly 1 is a multi-layer and multi-column structure that can accommodate drill pipes of different specifications, including a rod bin bottom plate 101, two rod bin side plates 102, partition plates 103, a transverse pull plate 104, and a middle transverse plate 105. The two rod bin side plates 102 are parallel and opposite to each other and are perpendicularly welded to both sides of the rod bin bottom plate 101. Multiple partition plates 103 that are parallel to each other and arranged at equal intervals are provided on the rod bin side plates 102. The partition plates 103 are perpendicular to both the rod bin side plates 102 and the rod bin bottom plate 101, and the partition plates 103 on the two rod bin side plates 102 are symmetrically arranged. Connecting blocks 106 are connected to the lower ends of adjacent partition plates 103 to ensure equal spacing of the partition plates 103 and improve the connection strength of the partition plates 103. The transverse pull plate 104 is connected between the two rod bin side plates 102 and is located at the upper part of the front end of the rod bin assembly 1 to reinforce the two rod bin side plates 102. The middle transverse plate 105 is connected between the two rod bin side plates 102 and is located in the middle of the front end of the rod bin assembly 1. Four mounting holes are provided on the left and right of the middle transverse plate 105 for mounting the electromagnetic proportional multi-way valve 8 and the pipe connection plate assembly respectively. The mounting frame 2 is located at the lower part of the rear end of the rod bin assembly 1. In this embodiment, a reinforcing rib is connected between the lower end of the rod bin assembly 1 and the mounting frame 2 to improve the strength and stiffness of the mounting frame 2.

[0066] Slag leakage holes 107 are provided on the rod bin bottom plate 101 to clean out the coal slag and foreign objects that fall into the rod bin assembly 1 through the slag leakage holes 107. Brush oil holes 108 are provided on the rod bin side plates 102 to facilitate applying thread oil to the drill pipe threads.

[0067] The drive sprocket assembly 3 includes a mounting seat 301, a chain tensioning mechanism I 302, a drive motor 303, a double sprocket 304, and a motor mounting seat 305.

[0068] The mounting seat 301 includes a mounting seat bottom plate 306, a mounting seat vertical plate 307, and a double rib plate 308. The mounting seat bottom plate 306 is perpendicularly provided on one side of the mounting seat vertical plate 307, and the double rib plate 308 is perpendicularly connected to both the mounting seat bottom plate 306 and the mounting seat vertical plate 307.

[0069] The chain tensioning mechanism I 302 is located between the mounting seat 301 and the motor mounting seat 305, and includes a vertical plate 309, a transverse plate 310, a sliding groove 311, a sliding plate 312, an adjusting bolt 313, and an adjusting nut 314. The vertical plate 309 is closely attached to and fixed on the other side of the mounting seat vertical plate 307. The transverse plate 310 is fixed on the upper part of the vertical plate 309. The sliding groove 311 is located below the transverse plate 310 and is fixed on the vertical plate 309. The sliding plate 312 is stuck in the sliding groove 311 and can move vertically along the sliding groove 311. The adjusting bolt 313 vertically penetrates the transverse plate 310 and is connected to the sliding plate 312. The vertical position of the adjusting bolt 313 can be adjusted by the adjusting nut 314 to drive the vertical movement of the sliding plate 312.

[0070] The driving motor 303 and the double sprockets 304 are installed on the motor mounting base 305. The motor mounting base 305 is connected to the sliding plate 312. The double sprockets 304 are connected to the driving lead screw assembly 4 above them through a chain. The tension of the chain on the double sprockets 304 is adjusted by the vertical movement of the sliding plate 312.

[0071] There is a chain tensioning mechanism II 315 between the two groups of driving sprocket assemblies 3. The chain tensioning mechanism II 315 includes an adjusting plate 316, a sprocket mounting base 317, a tensioning sprocket 318, and an adjusting bolt 319.

[0072] The tensioning sprocket 318 is installed in the middle of the adjusting plate 316 through the sprocket mounting base 317. A synchronous chain is connected between the tensioning sprocket 318 and the two double sprockets 304 of the driving sprocket assemblies 3 at both ends.

[0073] Both ends of the adjusting plate 316 are respectively arranged on the double rib plates 308 of the two groups of driving sprocket assemblies 3. The adjusting bolt 319 fixes the adjusting plate 316 and the double rib plate 308 through the vertical waist-shaped holes on the double rib plate 308. By adjusting the position of the adjusting bolt 319 in the vertical waist-shaped holes, the vertical position of the adjusting plate 316 can be adjusted, so as to adjust the up and down movement of the tensioning sprocket 318 to adjust the tightness of the synchronous chain.

[0074] The driving lead screw assembly 4 includes an external shield, a fixed guide rail 401, a slider 402, a lead screw 403, a lead screw mounting base 404, an end plate 405, a sprocket 406, and a connecting plate 407.

[0075] The fixed guide rail 401 is horizontally fixed on the outer wall of the rod bin side plate 102 through bolts. The slider 402 is stuck on the fixed guide rail 401 and contacts the fixed guide rail 401 through a rolling bearing. Both ends of the lead screw 403 are installed on the end plates 405 at both ends of the fixed guide rail 401 through the lead screw mounting base 404. The lead screw 403 passes through the slider 402 and is threadedly connected with the slider 402. The lead screw 403 is parallel to the fixed guide rail 401. The sprocket 406 at the end of the lead screw 403 is chain-connected to the double sprockets 304 of the driving sprocket assembly 3. The connecting plate 407 is fixed on the slider 402 and the connecting plate 407 is connected to the opening height matching assembly 5. The driving sprocket assembly 3 can drive the lead screw 403 to rotate through the chain to drive the slider 402 to move along the fixed guide rail 401, so as to drive the connecting plate 407 and the opening height matching assembly 5 to move horizontally.

[0076] More specifically, the magnetostrictive sensor 901 is installed on the external shield of the driving lead screw assembly 4. The magnetic ring mounting base 301 of the magnetostrictive sensor 901 is connected to the slider 402. When the slider 402 moves, it drives the hollow magnetic ring to move along the sensor metal body, so that the sensor emits an electrical signal, and then locates the position of the drill pipe in the column.

[0077] The opening height matching component 5 includes a vertical first telescopic oil cylinder 501, a component outer cylinder 502, a component inner cylinder, and a component top plate 503; the component outer cylinder 502 is sleeved outside the component inner cylinder, the cylinder barrel of the first telescopic oil cylinder 501 is connected to the component inner cylinder, the component top plate 503 is connected to the upper end of the component inner cylinder, and the component top plate 503 is connected to the gantry cross beam 6; the gantry cross beam 6 includes a square steel pipe 601 and L-shaped connecting plates 602 provided at both ends of the square steel pipe 601; the L-shaped connecting plates 602 are connected to the component top plate 503 of the opening height matching component 5; specifically, the L-shaped connecting plates 602 include a connecting horizontal plate 310, a connecting vertical plate 309, and a connecting rib plate. Four square holes are opened in the upper part of the square steel pipe 601 to facilitate the passage of hydraulic hoses and sensor cables.

[0078] The two-stage telescopic robotic arm component 7 includes a vertical second telescopic oil cylinder 701, an L-shaped connecting seat 702, a connecting seat clamping block 703, a vertical guide rail 704, a robotic arm outer sleeve 705, a connecting ear seat 706, a robotic arm inner sleeve, a vertical third telescopic oil cylinder 707, and a gripper 708.

[0079] The cylinder barrel of the second telescopic oil cylinder 701 is fixed on the gantry cross beam 6 through the horizontal plate 310 of the L-shaped connecting seat 702. Specifically, the cylinder barrel of the second telescopic oil cylinder 701 penetrates through the bottom plate of the L-shaped connecting seat 702 and the square steel pipe 601 of the gantry cross beam 6 and is fixed on the L-shaped connecting seat 702 and the gantry cross beam 6; the vertical plate 309 of the L-shaped connecting seat 702 is fixedly connected to the connecting seat clamping block 703, the connecting seat clamping block 703 is fitted and installed on the vertical guide rail 704, the vertical guide rail 704 is fixed on the robotic arm outer sleeve 705, the upper end of the robotic arm outer sleeve 705 is fixedly connected to the connecting ear seat 706, and the upper end of the cylinder rod of the second telescopic oil cylinder 701 is hinged to the connecting ear seat 706, so that the second telescopic oil cylinder 701 can drive the robotic arm outer sleeve 705 to move vertically.

[0080] The robotic arm inner sleeve is arranged inside the robotic arm outer sleeve 705. The third telescopic oil cylinder 707 connects the top of the robotic arm outer sleeve 705 and the robotic arm inner sleeve to drive the robotic arm inner sleeve to move vertically. The laser sensor 902 is fixed on the robotic arm outer sleeve 705, and the gripper 708 is arranged at the lower end of the robotic arm inner sleeve.

[0081] The gripper 708 includes a gripper oil cylinder 709, a lower claw 710, and an upper claw 711; the gripper oil cylinder 709 is fixedly connected to the lower claw 710 through a cover plate, the piston rod of the gripper oil cylinder 709 is connected to the lower claw 710 through a connecting pin, the lower claw 710 is connected to the upper claw 711 through a pin, and the upper claw 711 is fixed at the end of the robotic arm inner sleeve. When the piston of the gripper oil cylinder 709 expands and contracts, the lower claw 710 opens and closes relative to the upper claw 711, that is, the drill pipe is clamped or loosened. The proximity switch 903 is arranged on the upper claw 711, and the proximity switch 903 is installed in a protective housing. The two proximity switches 903 are used to detect whether there is a drill pipe in the rod bin and play a redundant protection role for each other.

[0082] In this embodiment, the rod supplementing device 40 further includes a drag chain assembly and a pipe connection plate assembly. The drag chain assemblies are symmetrically arranged on both sides of the rod bin assembly 1, with 3 on each side, and are used to arrange hydraulic hoses to make the hose routing neat and beautiful; the pipe connection plate assembly is arranged on the middle cross plate 105.

[0083] Principle of picking and placing rods by the low-hole rod supplementing device of the present invention:

[0084] The full-automatic grasping and replacement of drill rods by the rod supplementing device are matched with the drilling and drill pipe unloading operations of the full-automatic drill rig main machine, and the two operate in coordination. After the drill rig remote controller issues a full-automatic drilling or drill pipe unloading instruction, the drill rig controller outputs a control voltage according to the set control method, and the voltage drives the electromagnetic proportional multi-way valve to change direction, so that each component of the rod supplementing device acts to realize the rod grasping and placing actions of the manipulator. When grasping the rod, the magnetostrictive sensor of the rod supplementing device real-time collects the position value X of the drill rod in the column, and makes a difference comparison with the calibrated position values X1, X2, X3, X4, X5, X6 of the drill rods in the columns to be picked or placed. When the difference is within the allowable range, accurate column positioning of the hand grasping is realized, so as to accurately grasp each column of drill rods to be grasped. After accurately positioning to each column, the three-stage telescopic robotic arm extends to grasp the drill rods in the rod bin. When the proximity switch of the manipulator is triggered, that is, the hand claw touches the drill rods in the rod bin, the hand claw clamps and grasps, that is, when loading the rod, it is not necessary to position the drill rods on each layer. When unloading the rod, the rod supplementing device not only needs to realize the accurate positioning of the column to be unloaded in the rod bin, but also needs to collect the position value Y of the layer where the drill rod is to be placed in the rod bin through the laser sensor, and make a difference comparison with the calibrated position values Y1, Y2, Y3, Y4, Y5, Y6, Y7, Y8 of the rod bin layers. When the difference is within the allowable range, accurate positioning of the layer to be placed is realized when the robotic arm places the rod, that is, the drill rods retrieved by the robotic arm from the transporter can be accurately placed in the column and layer to be placed in the rod bin. During the process of grasping or placing the rod by the rod supplementing device, the combined state of the extension or retraction of the three-stage telescopic robotic arm reduces the overall height of the robotic arm of the rod supplementing device, and can match the drilling of low roadway by the full-automatic drill rig.

[0085] Embodiment 2:

[0086] This embodiment provides a method for picking and placing drill rods by a low-hole position rod supplementing device for a full-automatic drill rig in coal mines. The steps of this method for picking drill rods are as follows:

[0087] Step a1. Initialize the positions of each component of the rod supplementing device, that is, the first telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the third telescopic oil cylinder retracts, the hand claw is loosened (the hand claw oil cylinder retracts), and the gantry cross beam moves horizontally to the first column position of the rod bin assembly;

[0088] Step a2. Determine whether there is a drill rod in the first column through the laser sensor. If there is a drill rod, execute step a3; if there is no drill rod, jump to execute step a8;

[0089] Step a3. The second telescopic oil cylinder retracts (the two-stage robotic arm descends) to grasp the drill pipe. If the drill pipe is grasped, proceed to step a4; if the drill pipe is not grasped, jump to step a5;

[0090] Step a4. The second telescopic oil cylinder extends (the two-stage robotic arm ascends), the gantry crossbeam moves horizontally to the drill pipe transporter, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the drill pipe transporter, then jump to step a7;

[0091] Step a5. The third telescopic oil cylinder extends (the two-stage robotic arm descends) to grasp the drill pipe, and the gripper clamps, then proceed to step a6;

[0092] Step a6. The third telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the three-stage robotic arm returns to the initial position, the gantry crossbeam moves horizontally to the position of the drill pipe transporter, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the drill pipe transporter, then proceed to step a7;

[0093] Step a7. The two-stage telescopic robotic arm assembly ascends to return to the initial position, the gantry crossbeam moves horizontally in the reverse direction to the row of drill pipes to be grasped, then jump to step a9;

[0094] Step a8. The gantry crossbeam moves horizontally to the second row position of the rod bin assembly, and uses a laser sensor to determine whether there is a drill pipe in the second row. If there is a drill pipe, jump back to step a3;

[0095] Step a9. Repeat steps a2 to a7. If the drill pipes in the bottom row of the last row are all taken and placed on the drill pipe transporter, after the robotic arm of the rod replenishing device returns to the initial position, all actuators of the rod replenishing device stop running.

[0096] The steps of placing the drill pipe in this method are as follows:

[0097] Step b1. Initialize the positions of all components of the rod replenishing device, that is, the first telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the third telescopic oil cylinder retracts, the gripper releases (the gripper oil cylinder retracts), and the gantry crossbeam moves horizontally to the nth row position of the rod bin assembly, then proceed to step b2;

[0098] Step b2. Based on the distance value detected by the laser distance sensor, determine the number of layers of drill pipes to be placed in the nth row, then jump to step b4; if it is determined that the nth row is full of drill pipes, proceed to step b3;

[0099] Step b3. The gantry crossbeam moves horizontally to the (n + 1)th row of the rod bin, determine the number of layers of drill pipes to be placed in the (n + 1)th row, then proceed to step b4. If the (n + 1)th row is full, increment the row number of the rod bin, and loop to execute step b3. If all rows of the rod bin are full of drill pipes, jump to step b8;

[0100] Step b4. The gantry beam moves horizontally to directly above the drill pipe transporter. After the two-stage telescopic robotic arm assembly retrieves the drill pipe, it moves horizontally to the position of the nth column in the pipe bin and executes step b5;

[0101] Step b5. The second telescopic oil cylinder retracts, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the layer to be placed, and then executes step b6; If the drill pipe is not placed on the layer to be placed after the second telescopic oil cylinder retracts and the height drops, the third telescopic oil cylinder extends to place the drill pipe, and then jumps to execute step b7;

[0102] Step b6. The second telescopic oil cylinder extends, and steps b4 to b6 are executed in a loop;

[0103] Step b7. The third telescopic oil cylinder retracts, the second telescopic oil cylinder extends, and steps b4 to b7 are executed in a loop;

[0104] Step b8. When the pipe bin is full of drill pipes, the feeding device stops after initializing the positions of all actuators.

Claims

1. A low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill, characterized in that, The rod replenishing device can cooperate with the main drilling rig, the main robotic arm, and the drill pipe transporter to complete the fully automatic loading and unloading of drill pipes. The rod replenishing device includes a rod bin assembly, a mounting frame, a driving sprocket assembly, a driving lead screw assembly, an opening height matching assembly, a gantry crossbeam, a two-stage telescopic robotic arm assembly, an electromagnetic proportional multi-way valve, and a sensor assembly. The mounting frame is provided below the end of the rod bin assembly to connect with the end of the crawler body of the drilling rig. There are two sets of the driving sprocket assembly, the driving lead screw assembly, and the opening height matching assembly, which are symmetrically arranged on both sides of the rod bin assembly respectively. The gantry crossbeam is connected to the tops of the two opening height matching assemblies and is located above the rod bin assembly. A two-stage telescopic robotic arm assembly is provided in the middle of the gantry crossbeam. The driving sprocket assembly can drive the opening height matching assembly, the gantry crossbeam, and the two-stage telescopic robotic arm assembly to move horizontally along the rod bin assembly through the driving lead screw assembly. The gripper at the end of the two-stage telescopic robotic arm assembly can grab or place the drill pipe vertically from the rod bin assembly. The electromagnetic proportional multi-way valve is arranged on the middle cross plate at one end of the rod bin assembly, and each section respectively controls the actions of the driving sprocket assembly, the driving lead screw assembly, and the two-stage telescopic robotic arm assembly. The sensor assembly includes a magnetostrictive sensor provided below the driving lead screw assembly, a laser sensor provided on the two-stage telescopic robotic arm assembly, and a proximity switch provided on the gripper. The rod bin assembly includes a rod bin bottom plate, two rod bin side plates, partition plates, transverse pull plates, and a middle cross plate. The two rod bin side plates are parallel and opposite to each other and are perpendicularly welded to both sides of the rod bin bottom plate. Multiple partition plates that are parallel to each other and arranged at equal intervals are provided on the rod bin side plates. The partition plates are perpendicular to both the rod bin side plates and the rod bin bottom plate, and the partition plates on the two rod bin side plates are symmetrically arranged. Connecting blocks are connected to the lower ends of adjacent partition plates. The transverse pull plate is connected between the two rod bin side plates and is located at the upper part of the front end of the rod bin assembly. The middle cross plate is connected between the two rod bin side plates and is located in the middle of the front end of the rod bin assembly. The mounting frame is located at the lower part of the rear end of the rod bin assembly.

2. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 1, characterized in that, Slag leakage holes are provided on the rod bin bottom plate to clean the coal slag and foreign objects that fall into the rod bin assembly through the slag leakage holes. Brush oil holes are provided on the rod bin side plates to facilitate applying thread oil to the drill pipe threads.

3. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 1, characterized in that, The driving sprocket assembly includes a mounting seat, a chain tensioning mechanism I, a driving motor, a double sprocket, and a motor mounting seat. The mounting seat includes a mounting seat bottom plate, a mounting seat vertical plate, and a double rib plate. The mounting seat bottom plate is vertically provided on one side of the mounting seat vertical plate, and the double rib plate is perpendicularly connected to both the mounting seat bottom plate and the mounting seat vertical plate. The chain tensioning mechanism I is located between the mounting seat and the motor mounting seat and includes a vertical plate, a transverse plate, a sliding groove, a sliding plate, an adjusting bolt, and an adjusting nut. The vertical plate is closely attached and fixed to the other side of the mounting seat vertical plate. The transverse plate is fixed to the upper part of the vertical plate. The sliding groove is located below the transverse plate and is fixed to the vertical plate. The sliding plate is stuck in the sliding groove and can move vertically along the sliding groove. The adjusting bolt vertically penetrates the transverse plate and is connected to the sliding plate. The vertical position of the adjusting bolt can be adjusted through the adjusting nut to drive the vertical movement of the sliding plate. The driving motor and the double sprocket are installed on the motor mounting seat. The motor mounting seat is connected to the sliding plate. The double sprocket is connected to the driving lead screw assembly above it through a chain. The tension of the chain on the double sprocket is adjusted by the vertical movement of the sliding plate.

4. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 3, characterized in that, A chain tensioning mechanism II is provided between two groups of driving sprocket assemblies. The chain tensioning mechanism II includes an adjusting plate, a sprocket mounting seat, a tensioning sprocket and an adjusting bolt; The tensioning sprocket is mounted in the middle of the adjusting plate through the sprocket mounting seat, and a synchronous chain is connected between the tensioning sprocket and the two double sprockets of the driving sprocket assemblies at both ends; Both ends of the adjusting plate are respectively arranged on the double rib plates of the two groups of driving sprocket assemblies. The adjusting bolt fixes the adjusting plate and the double rib plates through the vertical waist-shaped holes on the double rib plates. By adjusting the position of the adjusting bolt in the vertical waist-shaped holes, the vertical position of the adjusting plate can be adjusted, so as to adjust the up and down movement of the tensioning sprocket to adjust the tightness of the synchronous chain.

5. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 3, characterized in that, The driving lead screw assembly includes an outer shield, a fixed guide rail, a slider, a lead screw, a lead screw mounting seat, an end plate, a sprocket and a connecting plate; The fixed guide rail is horizontally fixed on the outer wall of the rod bin side plate through bolts. The slider is stuck on the fixed guide rail and contacts the fixed guide rail through a rolling bearing. Both ends of the lead screw are mounted on the end plates at both ends of the fixed guide rail through the lead screw mounting seat. The lead screw passes through the slider and is threadedly connected with the slider, and the lead screw is parallel to the fixed guide rail. The sprocket at the end of the lead screw is chain-connected with the double sprockets of the driving sprocket assembly. The connecting plate is fixed on the slider and the connecting plate is connected with the opening height matching assembly; the driving sprocket assembly can drive the lead screw to rotate through the chain to drive the slider to move along the fixed guide rail, so as to drive the connecting plate and the opening height matching assembly to move horizontally.

6. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 3, characterized in that, The opening height matching assembly includes a vertical first telescopic oil cylinder, an assembly outer cylinder, an assembly inner cylinder and an assembly top plate; the assembly outer cylinder is sleeved outside the assembly inner cylinder. The cylinder barrel of the first telescopic oil cylinder is connected with the assembly inner cylinder. The assembly top plate is connected to the upper end of the assembly inner cylinder. The assembly top plate is connected with the gantry beam; the gantry beam includes a square steel pipe and L-shaped connecting plates arranged at both ends of the square steel pipe; the L-shaped connecting plates are connected with the assembly top plate of the opening height matching assembly.

7. The low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 6, characterized in that, The two-stage telescopic robotic arm assembly includes a vertical second telescopic oil cylinder, an L-shaped connecting seat, a connecting seat block, a vertical guide rail, a robotic arm outer sleeve, a connecting ear seat, a robotic arm inner sleeve, a vertical third telescopic oil cylinder and a gripper; The cylinder barrel of the second telescopic oil cylinder is fixed on the gantry beam through the horizontal plate of the L-shaped connecting seat. The vertical plate of the L-shaped connecting seat is fixedly connected with the connecting seat block. The connecting seat block is fitted and installed on the vertical guide rail. The vertical guide rail is fixed on the robotic arm outer sleeve. The upper end of the robotic arm outer sleeve is fixedly connected with the connecting ear seat. The upper end of the cylinder rod of the second telescopic oil cylinder is hinged with the connecting ear seat, so that the second telescopic oil cylinder can drive the robotic arm outer sleeve to move vertically; The robotic arm inner sleeve is arranged inside the robotic arm outer sleeve. The third telescopic oil cylinder connects the top of the robotic arm outer sleeve and the robotic arm inner sleeve to drive the robotic arm inner sleeve to move vertically. The gripper is arranged at the lower end of the robotic arm inner sleeve.

8. The method for taking and placing drill rods of the low-hole-position drill rod replenishing device for a fully automatic coal mine underground drill according to claim 7, characterized in that, The steps of taking the drill pipe by this method: Step a1. Initialize the positions of the components of the rod replenishing device, that is, the first telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the third telescopic oil cylinder retracts, the gripper loosens, and the gantry beam moves horizontally to the first column position of the rod bin assembly; Step a2. Judge whether there is a drill pipe in the first column through the laser sensor. If there is a drill pipe, execute step a3. If there is no drill pipe, jump to execute step a8; Step a3. The second telescopic oil cylinder retracts to grasp the drill pipe. If the drill pipe is grasped, proceed to step a4; if the drill pipe is not grasped, jump to step a5; Step a4. The second telescopic oil cylinder extends, the gantry beam moves horizontally to the drill pipe transporter, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the drill pipe transporter, then jump to step a7; Step a5. The third telescopic oil cylinder extends to grasp the drill pipe, and the gripper clamps it, then proceed to step a6; Step a6. The third telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the gantry beam moves horizontally to the position of the drill pipe transporter, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the drill pipe transporter, then proceed to step a7; Step a7. The two-stage telescopic robotic arm assembly rises to return to the initial position, the gantry beam moves horizontally in the reverse direction to the row of drill pipes to be grasped, then jump to step a9; Step a8. The gantry beam moves horizontally to the second column position of the rod bin assembly, and uses a laser sensor to determine whether there is a drill pipe in the second column. If there is a drill pipe, jump back to step a3; Step a9. Repeat steps a2 to a7. If the drill pipes in the bottom layer of the last column have been taken and placed on the drill pipe transporter, after the robotic arm of the rod replenishment device returns to the initial position, all actuators of the rod replenishment device stop operating.

9. The method for taking and placing drill pipes by the low-hole-position drill pipe supplementing device for fully automatic coal mine underground drills according to claim 7, characterized in that, The steps of placing the drill pipe by this method are as follows: Step b1. Initialize the positions of all components of the rod replenishment device, that is, the first telescopic oil cylinder retracts, the second telescopic oil cylinder extends, the third telescopic oil cylinder retracts, the gripper releases, and the gantry beam moves horizontally to the nth column position of the rod bin assembly, then proceed to step b2; Step b2. Based on the distance value detected by the laser distance sensor, determine the number of layers of drill pipes to be placed in the nth column, then jump to step b4; if it is determined that the nth column is already full of drill pipes, proceed to step b3; Step b3. The gantry beam moves horizontally to the (n + 1)th column of the rod bin, determine the number of layers of drill pipes to be placed in the (n + 1)th column of the rod bin, then proceed to step b4. If the (n + 1)th column is already full, increment the column number of the rod bin and loop to execute step b3. If all columns of the rod bin are already full of drill pipes, jump to step b8; Step b4. The gantry beam moves horizontally directly above the drill pipe transporter. After the two-stage telescopic robotic arm assembly retrieves the drill pipe, it moves horizontally to the nth column position of the rod bin, then proceed to step b5; Step b5. The second telescopic oil cylinder retracts, and the two-stage telescopic robotic arm assembly descends to place the drill pipe on the layer to be placed, then proceed to step b6; if the drill pipe has not been placed on the layer to be placed after the second telescopic oil cylinder retracts and the drop height, the third telescopic oil cylinder extends to place the drill pipe, then jump to step b7; Step b6. The second telescopic oil cylinder extends, and loop to execute steps b4 to b6; Step b7. The third telescopic oil cylinder retracts, the second telescopic oil cylinder extends, and loop to execute steps b4 to b7; Step b8. The rod bin is already full of drill pipes. After initializing the positions of all actuators of the rod replenishment device, stop the machine.

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