A drill bit replacement method

Abstract

The present invention discloses a roller drill bit replacement device, a drilling rig and a drill bit replacement method, wherein the roller drill bit replacement device comprises: a support; a mechanical arm assembly, which is hinged with the support and is provided with a mounting tube and a rotary reducer; a drill bit storage assembly, which comprises a turntable and a sealing plate, wherein the turntable is sleeved on the mounting tube, and the rotary reducer is connected with the turntable and is used to drive the turntable to rotate around the mounting tube; the turntable is provided with a storage slot for storing the drill bit, and the sealing plate is provided above the turntable and is provided with a guide slot; a first detection structure is used to detect whether a drill bit is stored in the storage slot; and a second detection structure is used to detect the rotation angle of the turntable. According to the roller drill bit replacement device of the present invention, the roller drill bit can be automatically replaced, which greatly improves the replacement efficiency, reduces the labor cost, and also reduces the risk of manual operation.

Description

Technical Field

[0001] The invention relates to the technical field of mining machinery, and in particular to a drill bit replacement method. Background Art

[0002] The rotary drill is one of the main drilling equipment in open-pit mines. The rotary drill bit is a consumable part during the drilling operation. In order to ensure the operation efficiency and protect the equipment, the drill bit must be replaced as needed. At present, the replacement of the rotary drill bit of the rotary drill mainly relies on manual replacement, which has low replacement efficiency, high labor cost, and great operation risks. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a drill bit replacement method, which can realize automatic replacement of a roller drill bit, effectively improve replacement efficiency, and reduce labor costs and operation risks.

[0004] The drill bit replacement method of the embodiment of the present invention is applicable to a rotary drill, the rotary drill includes a drilling platform and a rotary drill bit replacement device, the support of the rotary drill bit replacement device is installed on the drilling platform, the drilling platform is installed with a drill rack, the drill rack is installed with a drill rod, and the drill rack is arranged above the rotary drill bit replacement device;

[0005] The roller drill bit replacement device comprises:

[0006] Support;

[0007] A mechanical arm assembly is hinged to the support, the mechanical arm assembly is provided with a mounting tube and is equipped with a slewing reducer;

[0008] The drill bit magazine assembly comprises a turntable and a sealing plate, wherein the turntable is sleeved on the mounting tube, the rotary reducer is connected to the turntable and is used to drive the turntable to rotate around the mounting tube; the turntable is provided with a storage groove, and the storage groove is used to store drill bits; the sealing plate is provided above the turntable and is connected to the mounting tube, and the sealing plate is provided with a guide groove, and the guide groove is used to guide the drill rod;

[0009] A first detection structure, mounted on the mounting tube, for detecting whether a drill bit is stored in the storage tank;

[0010] a second detection structure, mounted on the mechanical arm assembly, for detecting a rotation angle of the turntable so that the storage slot is aligned with the guide slot;

[0011] There are a plurality of storage slots, a plurality of first detection structures are provided corresponding to the storage slots, and the plurality of first detection structures correspond to the plurality of storage slots one-to-one; the storage slot is provided with a limiting structure for limiting the drill bit; the turntable is provided with a detection hole, and when the turntable rotates to a position corresponding to the detection hole and the second detection structure, the turntable stops rotating; there are a plurality of detection holes corresponding to the storage slots, and the plurality of detection holes correspond to the plurality of storage slots one-to-one;

[0012] The drill bit replacement method includes the following steps:

[0013] The drill stand drives the drill rod to descend to a set position;

[0014] The mechanical arm assembly drives the drill bit magazine assembly to move from an initial position to below the drill rod, so that the guide groove of the sealing plate is aligned with the drill rod;

[0015] executing a first control strategy so that a first target storage slot where no drill bit is placed is aligned with the guide slot;

[0016] The drill rack drives the drill rod to descend so that the drill bit of the drill rod falls into the first target storage groove, and then the drill rack drives the drill rod to rotate around its own axis so that the rod body of the drill rod is separated from the drill bit;

[0017] The drill stand drives the drill rod to rise to the set position;

[0018] executing a second control strategy so that a second target storage slot where a new drill bit is placed is aligned with the guide slot;

[0019] The drill stand drives the drill rod to descend so that the shaft of the drill rod is aligned with the new drill bit in the second target storage slot, and then the drill stand drives the drill rod to rotate around its own axis so that the shaft of the drill rod is connected with the new drill bit in the second target storage slot;

[0020] The drill stand drives the drill rod to rise, and the mechanical arm assembly drives the drill bit magazine assembly to move from below the drill rod to an initial position;

[0021] The first control strategy is:

[0022] The first detection structure detects each storage slot on the turntable, determines the number and position of the storage slots on the turntable where no drill bits are placed, and calculates a first alignment angle that each storage slot where no drill bits are placed needs to rotate to align with the guide slot;

[0023] Selecting a minimum first alignment angle and marking it as a first target angle, marking a storage slot corresponding to the first target angle as a first target storage slot, and determining a first target detection hole to be aligned with the second detection structure according to the first target storage slot;

[0024] The rotary reducer drives the turntable to rotate, and when the second detection structure detects the first target detection hole, the rotary reducer stops rotating;

[0025] The second control strategy is:

[0026] The first detection structure detects each storage slot on the turntable and excludes the first target storage slot, thereby determining the number and position of new drill bits on the turntable; and calculating a second alignment angle that each new drill bit needs to rotate to align with the guide slot;

[0027] Selecting the smallest second alignment angle and marking it as a second target angle, marking a storage slot corresponding to the second target angle as a second target storage slot, and determining a second target detection hole to be aligned with the second detection structure according to the second target storage slot;

[0028] The rotary reducer drives the turntable to rotate, and when the second detection structure detects the second target detection hole, the rotary reducer stops rotating.

[0029] The drill bit replacement method according to the embodiment of the present invention has at least the following beneficial effects:

[0030] By setting up a robotic arm assembly to drive the drill bit magazine assembly to move, and locating the position of the drill bit magazine assembly through the first detection structure and the second detection structure, and then executing the first control strategy and the second control strategy, automatic replacement of the roller drill bit can be achieved, which greatly improves the replacement efficiency, reduces labor costs, and also reduces the risks of manual operations.

[0031] According to some embodiments of the present invention, the robotic arm assembly includes a large robotic arm, a small robotic arm and a support plate, the large robotic arm is hinged to the small robotic arm, the large robotic arm is hinged to the support, the mounting tube is arranged on the small robotic arm, and the support plate is installed under the mounting tube.

[0032] According to some embodiments of the present invention, the robotic arm assembly also includes a large arm cylinder and a small arm cylinder, the large arm cylinder is used to drive the large robotic arm to rotate around a hinge between it and the support, and the small arm cylinder is used to drive the small robotic arm to rotate around a hinge between it and the large robotic arm.

[0033] According to some embodiments of the present invention, a third detection structure is provided at the hinge between the large robotic arm and the support, and the third detection structure is used to detect the rotation angle of the large robotic arm; a fourth detection structure is provided at the hinge between the large robotic arm and the small robotic arm, and the fourth detection structure is used to detect the rotation angle of the small robotic arm.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0036] Figure 1 A schematic diagram of the structure of a drilling rig according to an embodiment of the present invention;

[0037] Figure 2 for Figure 1 A schematic diagram of the structure of the drill bit library component;

[0038] Figure 3 for Figure 1 A schematic diagram of the structure of the bottom of the middle drill magazine assembly;

[0039] Figure 4 It is a structural schematic diagram of a roller drill bit replacement device according to an embodiment of the present invention;

[0040] Figure 5 It is a schematic assembly diagram of a fourth detection structure of a roller drill bit replacement device according to an embodiment of the present invention;

[0041] Figure 6 for Figure 5 Assembly diagram of the robotic arm assembly.

[0042] Figure Number:

[0043] Support 100;

[0044] The mechanical arm assembly 200, the large mechanical arm 210, the large arm oil cylinder 211, the small mechanical arm 220, the small arm oil cylinder 221, the mounting pipe 230, the support plate 240, the rotary reducer 250, the third detection structure 260, and the fourth detection structure 270;

[0045] Drill bit storage assembly 300, turntable 310, storage slot 311, detection hole 312, sealing plate 320, guide slot 321;

[0046] A first detection structure 400;

[0047] A second detection structure 500;

[0048] Drilling rig platform 600 and drill pipe 610 . DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0052] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0053] Reference Figures 1 to 6 The roller drill bit replacement device of the first aspect of the present invention includes a support 100, a mechanical arm assembly 200 and a drill bit magazine assembly 300. The drill bit magazine assembly 300 is connected to the support 100 through the mechanical arm assembly 200. The mechanical arm assembly 200 is used to drive the drill bit magazine assembly 300 to move below the drill rod 610, thereby facilitating the movement of the drill rod 610 to realize the replacement of the drill bit.

[0054] Reference Figure 6As shown, the mechanical arm assembly 200 includes a large mechanical arm 210, a small mechanical arm 220, a large arm oil cylinder 211 and a small arm oil cylinder 221. The two ends of the large mechanical arm 210 are respectively hinged to the support 100 and the small mechanical arm 220, the first end of the small mechanical arm 220 is hinged to the large mechanical arm 210, and the second end of the small mechanical arm 220 is provided with a mounting tube 230, and the drill magazine assembly 300 is mounted on the mounting tube 230. The two ends of the large arm oil cylinder 211 are respectively hinged to the support 100 and the large mechanical arm 210, and the two ends of the small arm oil cylinder 221 are respectively hinged to the large mechanical arm 210 and the small mechanical arm 220. The large arm oil cylinder 211 is used to drive the large mechanical arm 210 to rotate around the hinge between it and the support 100, and the small arm oil cylinder 221 is used to drive the small mechanical arm 220 to rotate around the hinge between it and the large mechanical arm 210.

[0055] In order to ensure that the robot arm assembly 200 can accurately transfer the drill bit magazine assembly 300 to the bottom of the drill rod 610 when replacing the drill bit, it is necessary to check and control the rotation angle of the large robot arm 210 and the small robot arm 220. Therefore, in the embodiment of the present invention, reference is made to Figure 4 As shown, a third detection structure 260 is provided at the hinge between the large robot arm 210 and the support 100, and the third detection structure 260 is used to detect the rotation angle of the large robot arm 210; Figure 5 As shown, a fourth detection structure 270 is provided at the hinge of the large robot arm 210 and the small robot arm 220, and the fourth detection structure 270 is used to detect the rotation angle of the small robot arm 220. The third detection structure 260 and the fourth detection structure 270 preferably use the same detection equipment to reduce equipment costs, and the third detection structure 260 and the fourth detection structure 270 can use angle sensors, contact sensors, visual sensors, etc.

[0056] In the embodiments of the present invention, referring to Figures 1 to 3 As shown, the mechanical arm assembly 200 further includes a support plate 240, which is connected to the small mechanical arm 220 and is installed below the mounting tube 230. As can be seen from the above, the drill magazine assembly 300 is mainly installed on the mounting tube 230, and the mounting tube 230 is arranged at one end of the small mechanical arm 220 away from the large mechanical arm 210. Therefore, when a large force is borne on the mounting tube 230, it is easy to cause the large mechanical arm 210 or the small mechanical arm 220 to deform, which may cause damage to the mechanical arm assembly 200; therefore, the function of the support plate 240 is to support the large mechanical arm 210 and the small mechanical arm 220, so as to avoid excessive deformation of the large mechanical arm 210 or the small mechanical arm 220 during the drill bit replacement process, which may cause damage to the mechanical arm assembly 200.

[0057] In the embodiments of the present invention, referring to Figure 5As shown, the small robot arm 220 is also equipped with a rotary reducer 250, and the rotary reducer 250 is also installed at the end of the small robot arm 220 away from the large robot arm 210. Figure 2 As shown, the drill bit magazine assembly 300 includes a turntable 310 and a sealing plate 320. The turntable 310 is sleeved on the mounting tube 230. The rotary reducer 250 is connected to the turntable 310 and is used to drive the turntable 310 to rotate around the mounting tube 230. The turntable 310 is provided with a storage groove 311, and the storage groove 311 is used to store drill bits. The sealing plate 320 is arranged above the turntable 310 and is connected to the mounting tube 230. The sealing plate 320 is provided with a guide groove 321, and the guide groove 321 is used to guide the drill rod 610 to ensure that the drill rod 610 can accurately fall into the storage groove 311 when the drill rod 610 is lowered to replace the drill bit. Specifically, the rotary reducer 250 can be purchased from existing technology, and a rotary reducer 250 of suitable size and power can be selected according to actual conditions; the sealing plate 320 is fixedly connected to the mounting tube 230, and the sealing plate 320 is arranged at the end of the mounting tube 230, and the spacing between the sealing plate 320 and the turntable 310 should be greater than the height of the drill bit; the sealing plate 320 and the mounting tube 230 can be fixedly connected by welding or bolting.

[0058] Further, see Figure 2 As shown, the sealing plate 320 is provided with only one guide groove 321, which is an arc groove. When the mechanical arm assembly 200 drives the drill bit magazine assembly 300 to move below the drill rod 610, the guide groove 321 is just aligned with the drill rod 610. The storage slot 311 is provided with a limiting structure for limiting the drill bit. The specific setting of the limiting structure can be specifically set according to the specific shape of the roller drill bit, which is not limited in this embodiment.

[0059] In the embodiments of the present invention, referring to Figure 2 As shown, the mounting tube 230 is installed with a first detection structure 400, and the first detection structure 400 is used to detect whether there is a drill bit stored in the storage slot 311. The first detection structure 400 is installed between the sealing plate 320 and the rotating disk 310. The rotating disk 310 is provided with a plurality of storage slots 311, and a plurality of first detection structures 400 are provided corresponding to the storage slots 311. The plurality of first detection structures 400 correspond to the plurality of storage slots 311 one by one; for example, the attachment of this embodiment Figure 2 The turntable 310 is provided with four storage slots 311 , and the mounting tube 230 is correspondingly provided with four first detection structures 400 .

[0060] It can be imagined that the first detection structure 400 in this embodiment is provided with multiple corresponding storage slots 311, so each first detection structure 400 is fixedly installed on the mounting tube 230, and the first detection structure 400 can also be selected to be rotatably installed on the mounting tube 230, so that only one first detection structure 400 can be set to detect multiple storage slots 311.

[0061] In the embodiment of the present invention, a second detection structure 500 is further included, and the second detection structure 500 is used to detect the rotation angle of the turntable 310 so as to align the storage slot 311 with the guide slot 321. Figure 3 As shown, the second detection structure 500 is installed on the small robotic arm 220, and the turntable 310 is provided with a detection hole 312. When the turntable 310 rotates to the position where the detection hole 312 corresponds to the second detection structure 500, the turntable 310 stops rotating; there are multiple detection holes 312 corresponding to the storage slots 311, and the multiple detection holes 312 correspond one-to-one to the multiple storage slots 311.

[0062] It should be understood that the sizes of the plurality of detection holes 312 are preferably consistent, that is, there is no second detection structure 500 that can determine which storage slot 311 is based on each detection hole 312. The purpose of the detection hole 312 is to determine the angle of a single rotation of the turntable 310. For example, Figure 2 , Figure 3 The turntable 310 is provided with four storage slots 311, and four detection holes 312 are provided correspondingly. Each time the second detection structure 500 detects a detection hole 312, it means that the turntable 310 has rotated ninety degrees. Similarly, the turntable 310 does not stop rotating every time the second detection structure 500 detects a signal from a detection hole 312. It needs to be judged according to the actual situation. For example, the turntable 310 in this embodiment needs to stop when it rotates one hundred and eighty degrees. Then, when the second detection structure 500 detects the first detection hole 312, the turntable 310 will not stop rotating, and the rotation of the turntable 310 will only stop when the second detection hole 312 is detected.

[0063] The roller drill bit replacement device of the embodiment of the present invention can realize automatic replacement of the roller drill bit by setting a mechanical arm assembly 200 to drive the drill bit magazine assembly 300 to move, and locate the position of the drill bit magazine assembly 300 through the first detection structure 400 and the second detection structure 500, thereby greatly improving the replacement efficiency, reducing labor costs, and also reducing the risks of manual operations.

[0064] Reference Figures 1 to 6The drilling rig of the second embodiment of the present invention comprises a drilling rig platform 600 and the above-mentioned roller drill bit replacement device, the support 100 of the roller drill bit replacement device is installed on the drilling rig platform 600, the drilling rig platform 600 is installed with a drill rack, the drill rack is installed with a drill rod 610, and the drill rack is arranged above the roller drill bit replacement device. Figure 1 As shown, the drill rack is not shown in this embodiment, but the drill rack is slidably installed on the drilling rig platform 600, and the drill rack can drive the drill rod 610 to vertically rise and fall and drive the drill rod 610 to rotate around its own axis.

[0065] The drill bit replacement method of the third aspect of the present invention is applicable to the above-mentioned drilling rig, and comprises the following steps:

[0066] S1. The drill rack drives the drill rod 610 to descend to a set position. The set position can also be defined as a set height. The drill rack drives the drill rod 610 to descend to the set height.

[0067] S2, the robot arm assembly 200 drives the drill bit magazine assembly 300 to move from the initial position to below the drill rod 610, so that the guide groove 321 of the sealing plate 320 is aligned with the drill rod 610;

[0068] S3, executing the first control strategy to align the first target storage slot 311 where no drill bit is placed with the guide slot 321;

[0069] S4, the drill rack drives the drill rod 610 to descend, so that the drill bit of the drill rod 610 falls into the first target storage slot 311, and then the drill rack drives the drill rod 610 to rotate around its own axis, so that the shaft of the drill rod 610 is separated from the drill bit;

[0070] S5, the drill stand drives the drill rod 610 to rise to a set position;

[0071] S6, executing the second control strategy to align the second target storage slot 311 where the new drill bit is placed with the guide slot 321;

[0072] S7, the drill rack drives the drill rod 610 to descend so that the shaft of the drill rod 610 is aligned with the new drill bit in the second target storage slot 311, and then the drill rack drives the drill rod 610 to rotate around its own axis so that the shaft of the drill rod 610 is connected with the new drill bit in the second target storage slot 311;

[0073] S8. The drill rack drives the drill rod 610 to rise, and the robot arm assembly 200 drives the drill bit storage assembly 300 to move from under the drill rod 610 to the initial position.

[0074] In an embodiment of the present invention, the first control strategy is:

[0075] The first detection structure detects each storage slot 311 on the turntable 310, determines the number and position of the storage slots 311 on the turntable 310 where no drill bits are placed, and calculates the first alignment angle that each storage slot 311 where no drill bits are placed needs to rotate to align with the guide slot 321;

[0076] Select the smallest first alignment angle and mark it as the first target angle, mark the storage slot 311 corresponding to the first target angle as the first target storage slot 311, and determine the first target detection hole 312 to be aligned with the second detection structure according to the first target storage slot 311;

[0077] The rotary reducer 250 drives the turntable 310 to rotate, and when the second detection structure detects the first target detection hole 312, the rotary reducer 250 stops rotating;

[0078] Specifically, the first alignment angles are all positive integers, and the minimum value of the first alignment angles is zero, that is, the first target angle is zero; when the drill bit magazine assembly 300 moves to the bottom of the drill rod 610, if there is no drill bit in the storage slot 311 that is aligned with the guide slot 321 at this time, then this storage slot 311 is the first target storage slot 311, and the rotary reducer 250 does not need to drive the turntable 310 to rotate.

[0079] The second control strategy is:

[0080] The first detection structure detects each storage slot 311 on the turntable 310 and excludes the first target storage slot 311, thereby determining the number and position of new drill bits on the turntable 310; and calculating the second alignment angle that each new drill bit needs to rotate to align with the guide slot 321;

[0081] Select the smallest second alignment angle and mark it as the second target angle, mark the storage slot 311 corresponding to the second target angle as the second target storage slot 311, and determine the second target detection hole 312 to be aligned with the second detection structure according to the second target storage slot 311;

[0082] The rotary reducer 250 drives the turntable 310 to rotate, and when the second detection structure detects the second target detection hole 312, the rotary reducer 250 stops rotating;

[0083] Specifically, the second alignment angles are also positive integers, and the minimum value of the second alignment angle is also zero. However, in actual situations, since the first target storage slot 311 needs to be excluded, the minimum value of the second alignment angle will not be zero. Taking the four storage slots 311 of this embodiment as an example, the second alignment angle can be ninety degrees, one hundred and eighty degrees, two hundred and seventy degrees, etc., and the second target angle is at least ninety degrees. That is, when the drill bit magazine assembly 300 moves to the bottom of the drill rod 610, there is a new drill bit in the storage slot 311 adjacent to the storage slot 311 aligned with the guide slot 321 at this time. Then this storage slot 311 is the second target storage slot 311, and the rotary reducer 250 drives the turntable 310 to rotate ninety degrees, that is, from the start of the rotation of the rotary reducer 250, the second detection structure 500 detects the first detection hole 312, and the turntable 310 stops rotating.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0085] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A drill bit replacement method, characterized in that: Applicable to a rotary drill, the rotary drill comprises a drilling platform and a rotary drill bit replacement device, the support of the rotary drill bit replacement device is installed on the drilling platform, the drilling platform is installed with a drill rack, the drill rack is installed with a drill rod, and the drill rack is arranged above the rotary drill bit replacement device; The roller drill bit replacement device comprises: Support; A mechanical arm assembly is hinged to the support, the mechanical arm assembly is provided with a mounting tube and is equipped with a slewing reducer; The drill bit magazine assembly comprises a turntable and a sealing plate, wherein the turntable is sleeved on the mounting tube, the rotary reducer is connected to the turntable and is used to drive the turntable to rotate around the mounting tube; the turntable is provided with a storage groove, and the storage groove is used to store drill bits; the sealing plate is provided above the turntable and is connected to the mounting tube, and the sealing plate is provided with a guide groove, and the guide groove is used to guide the drill rod; A first detection structure, mounted on the mounting tube, for detecting whether a drill bit is stored in the storage tank; a second detection structure, mounted on the mechanical arm assembly, for detecting a rotation angle of the turntable so that the storage slot is aligned with the guide slot; There are a plurality of storage slots, a plurality of first detection structures are provided corresponding to the storage slots, and the plurality of first detection structures correspond to the plurality of storage slots one-to-one; the storage slot is provided with a limiting structure for limiting the drill bit; the turntable is provided with a detection hole, and when the turntable rotates to a position corresponding to the detection hole and the second detection structure, the turntable stops rotating; there are a plurality of detection holes corresponding to the storage slots, and the plurality of detection holes correspond to the plurality of storage slots one-to-one; The drill bit replacement method includes the following steps: The drill stand drives the drill rod to descend to a set position; The mechanical arm assembly drives the drill bit magazine assembly to move from an initial position to below the drill rod, so that the guide groove of the sealing plate is aligned with the drill rod; executing a first control strategy so that a first target storage slot where no drill bit is placed is aligned with the guide slot; The drill rack drives the drill rod to descend so that the drill bit of the drill rod falls into the first target storage groove, and then the drill rack drives the drill rod to rotate around its own axis so that the rod body of the drill rod is separated from the drill bit; The drill stand drives the drill rod to rise to the set position; executing a second control strategy so that a second target storage slot where a new drill bit is placed is aligned with the guide slot; The drill stand drives the drill rod to descend so that the shaft of the drill rod is aligned with the new drill bit in the second target storage slot, and then the drill stand drives the drill rod to rotate around its own axis so that the shaft of the drill rod is connected with the new drill bit in the second target storage slot; The drill stand drives the drill rod to rise, and the mechanical arm assembly drives the drill bit magazine assembly to move from below the drill rod to an initial position; The first control strategy is: The first detection structure detects each storage slot on the turntable, determines the number and position of the storage slots on the turntable where no drill bits are placed, and calculates a first alignment angle that each storage slot where no drill bits are placed needs to rotate to align with the guide slot; Selecting a minimum first alignment angle and marking it as a first target angle, marking a storage slot corresponding to the first target angle as a first target storage slot, and determining a first target detection hole to be aligned with the second detection structure according to the first target storage slot; The rotary reducer drives the turntable to rotate, and when the second detection structure detects the first target detection hole, the rotary reducer stops rotating; The second control strategy is: The first detection structure detects each storage slot on the turntable and excludes the first target storage slot, thereby determining the number and position of new drill bits on the turntable; and calculating a second alignment angle that each new drill bit needs to rotate to align with the guide slot; Selecting the smallest second alignment angle and marking it as a second target angle, marking a storage slot corresponding to the second target angle as a second target storage slot, and determining a second target detection hole to be aligned with the second detection structure according to the second target storage slot; The rotary reducer drives the turntable to rotate, and when the second detection structure detects the second target detection hole, the rotary reducer stops rotating.

2. The drill bit replacement method according to claim 1, characterized in that: The robotic arm assembly includes a large robotic arm, a small robotic arm and a support plate, the large robotic arm is hinged to the small robotic arm, the large robotic arm is hinged to the support, the mounting tube is arranged on the small robotic arm, and the support plate is installed below the mounting tube.

3. The drill bit replacement method according to claim 2, characterized in that: The mechanical arm assembly also includes a large arm oil cylinder and a small arm oil cylinder. The large arm oil cylinder is used to drive the large mechanical arm to rotate around the hinge between it and the support, and the small arm oil cylinder is used to drive the small mechanical arm to rotate around the hinge between it and the large mechanical arm.

4. The drill bit replacement method according to claim 2, characterized in that: A third detection structure is provided at the hinge between the large robotic arm and the support, and the third detection structure is used to detect the rotation angle of the large robotic arm; a fourth detection structure is provided at the hinge between the large robotic arm and the small robotic arm, and the fourth detection structure is used to detect the rotation angle of the small robotic arm.

Images