Automatic rod changing system and method for down-the-hole drill and down-the-hole drill

Abstract

The invention provides an automatic rod changing system and method of a down-the-hole drill and the down-the-hole drill. The automatic rod changing system of the down-the-hole drill comprises a rotary head and a rod changing device, the propelling driving device is used for driving the rotary head to move up and down along the propelling beam; the drill rod warehouse is used for storing drill rods; the drill rod clamping device is used for clamping a drill rod; the drill rod moving device can clamp the drill rods, and the drill rod moving device is at least used for carrying the drill rods in the drill rod warehouse to the position between the rotary head and the drill rod clamping device; the automatic rod changing button is used for responding to the operation of an operator to generate a rod changing instruction; the controller is respectively connected with the rotary head, the propelling driving device, the drill rod clamping device, the drill rod moving device and the automatic rod changing button; the controller is used for controlling the rotation head, the propelling driving device, the drill rod clamping device and the drill rod moving device to move based on the rod changing instruction so as to execute automatic rod changing operation. The automatic rod replacing system of the down-the-hole drill can automatically carry out rod replacing operation, the rod replacing efficiency is improved, and the labor cost and the safety risk are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to an automatic rod changing system and method for a down-the-hole drill and a down-the-hole drill. Background Art

[0002] Down-the-hole drilling rigs are a common type of construction machinery. During the construction of down-the-hole drilling rigs, due to the drilling depth requirements, new drill rods need to be repeatedly connected so that the drill rod length meets the drilling depth requirements. During the rod changing process of traditional down-the-hole drilling rigs, the driver needs to manually control each step of the rod changing action, and the driver needs to observe the position where the swivel head stops during the rod changing, and adjust the swivel head to the appropriate position to complete the rod changing action. This makes the entire rod changing action time-consuming, inefficient, and consumes a lot of manpower. In addition, there are certain safety risks in manually judging the rod changing action. Summary of the invention

[0003] The object of the present invention is to provide an automatic rod changing system and method for a down-the-hole drill and a down-the-hole drill, aiming to solve or at least partially solve the deficiencies of the above-mentioned background technology. The automatic rod changing system for the down-the-hole drill can automatically perform rod changing operations, improve rod changing efficiency, and reduce labor costs and safety risks.

[0004] The present invention provides an automatic rod changing system for a down-the-hole drill, comprising:

[0005] A swivel head, movably connected to the propulsion beam, the swivel head is used to connect the drill rod and drive the drill rod to rotate;

[0006] A propulsion drive device is arranged on the propulsion beam, the propulsion drive device is connected to the slewing head, and the propulsion drive device is used to drive the slewing head to move up and down along the propulsion beam;

[0007] A drill rod magazine connected to the propulsion beam, the drill rod magazine being used to store drill rods;

[0008] A drill clamp connected to the lower end of the propulsion beam, the drill clamp being used to clamp the drill rod;

[0009] A drill moving device connected to the propulsion beam, the drill moving device can clamp a drill rod, and the drill moving device is at least used to move the drill rod in the drill rod magazine to between the rotary head and the drill clamp;

[0010] An automatic rod change button, used to generate a rod change instruction in response to an operator's operation;

[0011] The controller is respectively connected to the swivel head, the propulsion drive device, the drill clamp, the drill moving device and the automatic rod changing button; the controller is used to control the movement of the swivel head, the propulsion drive device, the drill clamp and the drill moving device based on the rod changing instruction to perform the automatic rod changing operation.

[0012] Furthermore, it also includes:

[0013] The displacement detection device is used to detect the moving position of the swivel head relative to the propulsion beam; the controller is connected to the displacement detection device, and the controller controls the movement of the propulsion drive device according to the moving position of the swivel head detected by the displacement detection device.

[0014] Further, when performing the automatic rod-changing operation, the controller controls the propulsion drive device to move at least in the following manner:

[0015] When the distance between the initial position and the target position of the turret head is greater than a first preset value, the controller controls the propulsion drive device to drive the turret head to move at a first speed;

[0016] When the distance between the actual position of the turret head and the target position is shortened to less than or equal to the first preset value, the controller controls the propulsion drive device to drive the turret head to perform a deceleration motion, and the movement speed of the turret head is not less than a second speed until the turret head reaches the target position; wherein the second speed is less than the first speed.

[0017] Furthermore, it also includes:

[0018] The tightening force detection device is used to detect the screwing pressure between the rotary head and the drill rod, and the controller is connected to the tightening force detection device; when the rotary head and the drill rod or the drill rod and the drill rod are screwed, the controller controls the rotational movement of the rotary head according to the screwing pressure detected by the tightening force detection device.

[0019] Furthermore, the drill rod moving device includes a manipulator capable of clamping a drill rod and a second rotary drive device connected to the manipulator, the second rotary drive device is connected to the propulsion beam, and the second rotary drive device is used to drive the manipulator to rotate so that the manipulator enters or leaves the drill rod storage; the controller is respectively connected to the manipulator and the second rotary drive device to control the movement of the manipulator and the second rotary drive device.

[0020] Furthermore, it also includes:

[0021] a first clamping force detection device, used to detect the clamping force of the manipulator when clamping the drill rod, the controller is connected to the first clamping force detection device; when the manipulator clamps the drill rod, the controller controls the clamping movement of the manipulator according to the clamping force detected by the first clamping force detection device;

[0022] A manipulator position detection device is used to detect the position of the manipulator, and the controller is connected to the manipulator position detection device; when the manipulator enters or leaves the drill rod storage, the controller controls the movement of the second rotation drive device according to the position signal detected by the manipulator position detection device.

[0023] Furthermore, it also includes:

[0024] The second clamping force detection device is used to detect the clamping force of the drill clamp when clamping the drill rod, and the controller is connected to the second clamping force detection device; when the drill clamp clamps the drill rod, the controller controls the clamping movement of the drill clamp according to the clamping force detected by the second clamping force detection device.

[0025] Furthermore, the drill rod magazine is provided with a third rotary drive device, and the third rotary drive device is used to drive the drill rod magazine to rotate; the controller is connected to the third rotary drive device, and the controller is used to control the third rotary drive device to drive the drill rod magazine to rotate, so that the drill rod magazine cooperates with the drill moving device to clamp the drill rod.

[0026] Furthermore, the controller is also used to exit the automatic rod changing operation after receiving a manual operation instruction issued by the manual control device, and control the drill moving device and the drill clamp to clamp the drill rod.

[0027] The present invention also provides an automatic rod changing method for a down-the-hole drill based on the automatic rod changing system for a down-the-hole drill as described above, and the automatic rod changing method for a down-the-hole drill comprises the following steps:

[0028] S1: After the drilling operation of the down-the-hole drill is completed, the controller receives a rod change command issued by the automatic rod change button;

[0029] S2: Based on the rod changing instruction, the controller controls the drill clamp to clamp the drill rod;

[0030] S3: the controller controls the rotary head to rotate in a first direction and controls the propulsion drive device to drive the rotary head to move upward, so that the rotary head is separated from the lower drill rod;

[0031] S4: When the rotary head is separated from the lower drill rod, the controller controls the rotary head to stop rotating, and controls the propulsion drive device to continue to drive the rotary head to move upward; when the rotary head reaches the rod-changing position at the top of the propulsion beam, the controller controls the propulsion drive device to stop moving;

[0032] S5: the controller controls the drill moving device to move a new drill rod in the drill rod storage to between the rotary head and the drill clamp, and the drill moving device keeps clamping the new drill rod; the new drill rod is the upper drill rod;

[0033] S6: the controller controls the swivel head to rotate in a second direction and controls the propulsion drive device to drive the swivel head to move downward, so that the swivel head is connected to the top end of the upper drill rod through threads; wherein the second direction is opposite to the first direction;

[0034] S7: After the swivel head is tightened with the upper drill rod, the controller controls the swivel head to stop rotating, controls the drill moving device to release the upper drill rod, and controls the propulsion drive device to continue to drive the swivel head to move downward, so that the swivel head and the upper drill rod move downward together;

[0035] S8: When the bottom end of the upper drill rod moves close to the top end of the lower drill rod, the controller controls the rotary head to rotate in the second direction and controls the propulsion drive device to continue to drive the rotary head to move downward, so that the bottom end of the upper drill rod is connected to the top end of the lower drill rod through threads;

[0036] S9: After the upper drill rod and the lower drill rod are tightened, the controller controls the drill clamp to loosen the lower drill rod.

[0037] Further, the drill moving device comprises a manipulator capable of clamping a drill rod and a second rotation drive device connected to the manipulator, the second rotation drive device is used to drive the manipulator to rotate; a third rotation drive device is provided on the drill rod magazine, the third rotation drive device is used to drive the drill rod magazine to rotate; the controller is respectively connected to the manipulator, the second rotation drive device and the third rotation drive device;

[0038] The above step S5 specifically includes:

[0039] The controller controls the second rotation drive device to drive the manipulator to rotate, so that the manipulator enters the drill rod storage;

[0040] The controller controls the third rotary drive device to drive the drill rod magazine to rotate, so that a new drill rod in the drill rod magazine moves to the clamping position of the manipulator;

[0041] The controller controls the manipulator to clamp the new drill rod;

[0042] The controller controls the second rotary drive device to drive the manipulator to rotate, so that the manipulator leaves the drill rod magazine and moves the new drill rod between the rotary head and the drill clamp, and the manipulator keeps clamping the new drill rod.

[0043] The present invention also provides a down-the-hole drill, comprising the automatic rod changing system for the down-the-hole drill as described above.

[0044] The automatic rod-changing system for a down-the-hole drill provided by the present invention generates a rod-changing instruction by operating the automatic rod-changing button after the drilling operation of the down-the-hole drill is completed. After receiving the rod-changing instruction, the controller controls the movement of the rotary head, the propulsion drive device, the drill clamp and the drill moving device, thereby performing the automatic rod-changing operation. During the rod-changing operation, the controller controls each rod-changing step to be performed continuously at one time without the need for the operator to manually control it twice. The automatic rod-changing system for a down-the-hole drill can automatically perform the rod-changing operation, which reduces the time of manual operation, improves the efficiency of rod-changing, and reduces the labor cost and the safety risks brought by manual judgment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the structure of the automatic rod changing system of the down-the-hole drill in the embodiment of the present invention.

[0046] Figure 2 Schematic diagram of the connection relationship between the propulsion drive device and the turret head in an embodiment of the present invention.

[0047] Figure 3 1 is a structural block diagram of an automatic rod changing system for a down-the-hole drill in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0049] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0050] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0051] like Figures 1 to 3 As shown, an embodiment of the present invention provides an automatic rod changing system for a down-the-hole drill, comprising:

[0052] The swivel head 2 is movably connected to the propulsion beam 1, and is used to connect the drill rod 9 and drive the drill rod 9 to rotate; during the rotation of the swivel head 2, the swivel head 2 can be connected / disassembled with the drill rod 9, or the drill rods 9 can be connected / disassembled with each other;

[0053] A propulsion drive device 3 is arranged on the propulsion beam 1, the propulsion drive device 3 is connected to the slewing head 2, and the propulsion drive device 3 is used to drive the slewing head 2 to move up and down along the propulsion beam 1;

[0054] A drill rod storage 4 is connected to the propulsion beam 1, and the drill rod storage 4 and the propulsion beam 1 are arranged at intervals, and the drill rod storage 4 is used to store drill rods 9;

[0055] A drill clamp 5 is connected to the lower end of the propulsion beam 1, and the drill clamp 5 is used to clamp the drill rod 9;

[0056] The drill moving device 6 is connected to the propulsion beam 1. The drill moving device 6 can clamp and carry the drill rod 9. The drill moving device 6 is at least used to carry the drill rod 9 in the drill rod storage 4 to between the rotary head 2 and the drill clamp 5;

[0057] An automatic lever-changing button 7, used to generate a lever-changing instruction in response to an operation of an operator (such as a driver);

[0058] The controller 8 is connected to the slewing head 2, the propulsion drive device 3, the drill clamp 5, the drill moving device 6 and the automatic rod changing button 7 respectively. The controller 8 can receive the rod changing instruction issued by the automatic rod changing button 7. The controller 8 is used to control the slewing head 2, the propulsion drive device 3, the drill clamp 5 and the drill moving device 6 to move based on the rod changing instruction after receiving the rod changing instruction, so as to perform the automatic rod changing operation. The steps of the automatic rod changing operation can refer to the steps in the automatic rod changing method of the down-the-hole drill rig described below.

[0059] Among them, when the controller 8 controls the slewing head 2, the propulsion drive device 3, the drill clamp 5 and the drill moving device 6 to cooperate with each other to perform the rod changing operation, each operation step is executed continuously, that is, the execution of each step and the switching between steps are completely controlled by the controller 8; compared with the traditional down-the-hole drill rig, which requires the driver to manually control each operation step during the rod changing process, this embodiment can improve the continuity of the rod changing action, save the manual operation time required for each step, and improve the rod changing efficiency.

[0060] Furthermore, in this embodiment, the controller 8 is also used to immediately exit the automatic rod changing operation after receiving a manual operation instruction from a manual control device (such as an operating handle or a console, specifically, a four-way right handle), and control the drill moving device 6 and the drill clamp 5 to clamp the drill rod 9, thereby preventing the drill rod 9 on the drill moving device 6 and the drill rod 9 on the drill clamp 5 from being separated from their original positions. That is, the automatic rod changing system of the down-the-hole drill in this embodiment has an automatic protection function. When the operator needs to manually change the rod or perform other actions (it may also be a misoperation), the controller 8 immediately exits the automatic rod changing operation, and makes the drill moving device 6 and the drill clamp 5 clamp the drill rod 9 to avoid the risk of the drill rod 9 falling off.

[0061] Furthermore, if Figures 1 to 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0062] The displacement detection device 3A is used to detect the moving position of the swivel head 2 relative to the propulsion beam 1; the controller 8 is connected to the displacement detection device 3A, and the controller 8 controls the movement of the propulsion drive device 3 according to the moving position of the swivel head 2 detected by the displacement detection device 3A, so that the swivel head 2 can accurately reach the desired target position.

[0063] Furthermore, in this embodiment, the displacement detection device 3A is connected to the propulsion drive device 3, and the displacement detection device 3A can detect the movement distance of the propulsion drive device 3, and then calculate the movement position of the turret head 2 relative to the propulsion beam 1 according to the movement distance of the propulsion drive device 3. Of course, in other embodiments, the displacement detection device 3A can also be a device that directly detects the movement distance of the turret head 2, such as a laser distance measuring device.

[0064] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the propulsion drive device 3 is a synchronous gear belt mechanism, and the propulsion drive device 3 includes an upper gear shaft 31, a lower gear shaft 32, a chain guide 33 and a first rotation drive device (not shown in the figure), the upper gear shaft 31 and the lower gear shaft 32 are respectively arranged at the upper and lower ends of the propulsion beam 1, and the upper gear shaft 31 and the lower gear shaft 32 are both rotatably connected to the propulsion beam 1; the chain guide 33 is simultaneously wound around the upper gear shaft 31 and the lower gear shaft 32, the first rotation drive device is connected to the upper gear shaft 31 and / or the lower gear shaft 32, and the slewing head 2 is connected to the chain guide 33; the first rotation drive device drives the upper gear shaft 31 and / or the lower gear shaft 32 to rotate, thereby driving the chain guide 33 and the slewing head 2 to move. The controller 8 is connected to the first rotation drive device for controlling the movement of the first rotation drive device.

[0065] The displacement detection device 3A is a rotary encoder disposed on the upper gear shaft 31 and / or the lower gear shaft 32. The rotary encoder is used to detect the number of rotations and / or the rotation angle of the upper gear shaft 31 and / or the lower gear shaft 32. According to the number of rotations and / or the rotation angle of the upper gear shaft 31 and / or the lower gear shaft 32, the movement distance of the chain guide 33 and the slewing head 2 is calculated, and the absolute position of the slewing head 2 on the propulsion beam 1 is obtained. The structure and working principle of the rotary encoder can be referred to the prior art, which will not be described here.

[0066] Specifically, in this embodiment, the first rotary drive device is a hydraulic motor, which is connected to one end of the upper gear shaft 31, thereby driving the upper gear shaft 31 to rotate, that is, the upper gear shaft 31 is the driving shaft, and the lower gear shaft 32 is the driven shaft; the rotary encoder is connected to the other end of the upper gear shaft 31, thereby detecting the number of rotations and / or the rotation angle of the upper gear shaft 31. Of course, in other embodiments, the propulsion drive device 3 and the displacement detection device 3A can also be other structural forms.

[0067] Further, in this embodiment, when performing the automatic rod-changing operation, the controller 8 controls the propulsion drive device 3 to move at least in the following manner:

[0068] When the distance between the initial position and the target position of the turret head 2 is greater than a first preset value, the controller 8 controls the propulsion drive device 3 to drive the turret head 2 to move at a first speed;

[0069] When the distance between the actual position (i.e., the current position) of the swivel head 2 and the target position is shortened to less than or equal to the first preset value, the controller 8 controls the propulsion drive device 3 to drive the swivel head 2 to perform a deceleration motion (specifically, it can perform a uniform deceleration motion or a variable deceleration motion), and the movement speed of the swivel head 2 is not less than the second speed until the swivel head 2 reaches the target position; wherein the second speed is less than the first speed. That is, when the initial position of the swivel head 2 is far away from the target position, the controller 8 controls the movement of the propulsion drive device 3 so that the swivel head 2 moves at a higher speed first, and then moves at a lower speed after the swivel head 2 approaches the target position, thereby improving the position accuracy of the swivel head 2 on the basis of ensuring the movement efficiency, so that the distance error between the stop position of the swivel head 2 and the target point is within an acceptable range.

[0070] It should be noted that this segmented movement mode is generally used when the initial position of the swivel head 2 is far away from the target position; when the initial position of the swivel head 2 is close to the target position (for example, less than or equal to the first preset value), the controller 8 controls the propulsion drive device 3 to drive the swivel head 2 to move directly at a lower speed.

[0071] Furthermore, in this embodiment, the first speed is the movement speed V corresponding to the turret head 2 at the maximum power allowed by the propulsion drive device 3. max , in order to improve the movement efficiency of the turret head 2. The second speed is the minimum movement speed V corresponding to the turret head 2 when the turret head 2 overcomes the friction of the propulsion beam 1. min (If it is less than this speed, the turret 2 will not be able to move under the friction of the propulsion beam 1.) Of course, in other embodiments, the first speed and the second speed may also be other speed values, for example, the first speed is less than V max , the second speed is greater than V min .

[0072] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0073] The tightening force detection device 2A is used to detect the screwing pressure between the swivel head 2 and the drill rod 9, and the controller 8 is connected to the tightening force detection device 2A; when the swivel head 2 and the drill rod 9 or the drill rod 9 and the drill rod 9 are screwed, the controller 8 controls the rotational movement of the swivel head 2 according to the screwing pressure detected by the tightening force detection device 2A. For example, during the screwing process of the swivel head 2 and the drill rod 9 or the screwing process of the drill rod 9 and the drill rod 9 (the swivel head 2 and the drill rod 9 and the drill rod 9 and the drill rod 9 are all connected by threads), when the tightening force detection device 2A detects that the screwing pressure is greater than the preset value, the controller 8 determines that the swivel head 2 and the drill rod 9 or the drill rod 9 and the drill rod 9 have been tightened, thereby controlling the swivel head 2 to stop rotating. The tightening force detection device 2A is generally arranged on the swivel head 2, and the tightening force detection device 2A can specifically be a torque detection device, etc.

[0074] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the drill moving device 6 includes a manipulator 61 capable of clamping the drill rod 9 (i.e., the manipulator 61 can perform opening and closing movements) and a second rotary drive device 62 connected to the manipulator 61, the second rotary drive device 62 is connected to the propulsion beam 1, and the second rotary drive device 62 is used to drive the manipulator 61 to rotate relative to the propulsion beam 1, so that the manipulator 61 enters or leaves the drill rod warehouse 4. When the second rotary drive device 62 drives the manipulator 61 to rotate in a certain direction, the manipulator 61 can enter the drill rod warehouse 4, and then the manipulator 61 clamps the drill rod 9 in the drill rod warehouse 4; then the second rotary drive device 62 drives the manipulator 61 to rotate in the opposite direction, so that the manipulator 61 drives the drill rod 9 to leave the drill rod warehouse 4 and reach the bottom of the swivel head 2, so as to perform the next step of connecting the rods. The controller 8 is respectively connected to the manipulator 61 and the second rotary drive device 62 to control the movement of the manipulator 61 and the second rotary drive device 62. The second rotary drive device 62 can be a hydraulic cylinder or other device.

[0075] Furthermore, if Figure 1 As shown, in this embodiment, there are two drill moving devices 6, which are spaced apart from each other and can move synchronously to more stably clamp the drill rod 9. Of course, in other embodiments, there may be one or more drill moving devices 6.

[0076] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0077] The first clamping force detection device 6A is used to detect the clamping force of the manipulator 61 when clamping the drill rod 9. The controller 8 is connected to the first clamping force detection device 6A. When the manipulator 61 clamps the drill rod 9, the controller 8 controls the clamping movement of the manipulator 61 according to the clamping force detected by the first clamping force detection device 6A. For example, when the manipulator 61 clamps the drill rod 9, when the clamping force detected by the first clamping force detection device 6A is greater than a preset value, the controller 8 determines that the manipulator 61 has clamped the drill rod 9, thereby stopping the manipulator 61 from continuing to apply the clamping force, and proceeding to the next step. The first clamping force detection device 6A is generally arranged on the manipulator 61, and the first clamping force detection device 6A can specifically be a pressure sensor, etc.

[0078] In this embodiment, the manipulator 61 has three working modes, namely, heavy clamping mode, light clamping mode and loose clamping mode. When the manipulator 61 is in heavy clamping mode, the manipulator 61 tightly clamps the drill rod 9; when the manipulator 61 is in light clamping mode, the manipulator 61 gently supports the drill rod 9 (i.e., the manipulator 61 is close to the drill rod 9 but does not contact the drill rod 9 to play a supporting role); when the manipulator 61 is in loose clamping mode, the manipulator 61 completely releases the drill rod 9.

[0079] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0080] The manipulator position detection device 6B is used to detect the position of the manipulator 61, and the controller 8 is connected to the manipulator position detection device 6B; when the manipulator 61 enters or leaves the drill rod storage 4, the controller 8 controls the movement of the second rotary drive device 62 according to the position signal detected by the manipulator position detection device 6B. Specifically, when the manipulator 61 enters or leaves the drill rod storage 4, after the manipulator 61 moves to the target position, the manipulator position detection device 6B generates an entry signal or an exit signal. After receiving the entry signal or the exit signal, the controller 8 determines that the manipulator 61 has reached the target position, and then controls the second rotary drive device 62 to stop moving, that is, controls the manipulator 61 to stop rotating.

[0081] In this embodiment, the manipulator position detection device 6B is two proximity switch sensors arranged on the manipulator 61; when the manipulator 61 enters the drill rod warehouse 4, when one of the proximity switch sensors senses the drill rod 9 (or senses a specific position of the drill rod warehouse 4), the proximity switch sensor generates a warehouse entry signal, and the controller 8 controls the second rotary drive device 62 to stop moving after receiving the warehouse entry signal; when the manipulator 61 leaves the drill rod warehouse 4, when the other proximity switch sensor senses the propulsion beam 1 (or other parts), the proximity switch sensor generates a warehouse exit signal, and the controller 8 controls the second rotary drive device 62 to stop moving after receiving the warehouse exit signal. Of course, in other embodiments, the manipulator position detection device 6B can also be other sensing structures and setting positions.

[0082] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0083] The second clamping force detection device 5A is used to detect the clamping force of the drill clamp 5 when clamping the drill rod 9. The controller 8 is connected to the second clamping force detection device 5A. When the drill clamp 5 clamps the drill rod 9, the controller 8 controls the clamping movement of the drill clamp 5 according to the clamping force detected by the second clamping force detection device 5A. For example, when the drill clamp 5 clamps the drill rod 9, when the clamping force detected by the second clamping force detection device 5A is greater than a preset value, the controller 8 determines that the drill clamp 5 has clamped the drill rod 9, thereby stopping the drill clamp 5 from continuing to apply the clamping force and performing the next operation; when the drill clamp 5 releases the drill rod 9, when the clamping force detected by the second clamping force detection device 5A is less than a set value, the controller 8 determines that the drill clamp 5 has released the drill rod 9, thereby stopping the drill clamp 5 from continuing to move and performing the next operation. The second clamping force detection device 5A is generally arranged on the drill clamp 5, and the second clamping force detection device 5A can be specifically a pressure sensor, etc.

[0084] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the brazing device 5 includes an upper brazing device 51 and a lower brazing device 52, the upper brazing device 51 and the lower brazing device 52 are arranged at intervals from top to bottom, and the upper brazing device 51 and the lower brazing device 52 are both connected to the controller 8; wherein, the lower brazing device 52 is used to cooperate in the automatic rod changing operation, and the upper brazing device 51 is used to cooperate in the rod unloading operation. Of course, in other embodiments, the upper brazing device 51 may cooperate in the automatic rod changing operation, or the upper brazing device 51 and the lower brazing device 52 may cooperate in the automatic rod changing operation at the same time.

[0085] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, a third rotation drive device 41 is provided on the drill rod magazine 4, the third rotation drive device 41 is connected to the propulsion beam 1, and the third rotation drive device 41 is used to drive the drill rod magazine 4 to rotate relative to the propulsion beam 1; the controller 8 is connected to the third rotation drive device 41, and the controller 8 is used to control the third rotation drive device 41 to drive the drill rod magazine 4 to rotate, so that the drill rod magazine 4 cooperates with the drill moving device 6 to clamp the drill rod 9.

[0086] Specifically, in this embodiment, a plurality of drill rods 9 are arranged in the drill rod warehouse 4, and the plurality of drill rods 9 are arranged at intervals along the circumference of the drill rod warehouse 4; after the manipulator 61 enters the drill rod warehouse 4, the third rotation drive device 41 drives the drill rod warehouse 4 to rotate, so that the drill rods 9 in the drill rod warehouse 4 are moved to the clamping position of the manipulator 61, thereby facilitating the manipulator 61 to clamp the drill rods 9. At the same time, since a plurality of drill rods 9 are arranged in the drill rod warehouse 4, the manipulator 61 can continuously perform the rod taking operation through the rotation of the drill rod warehouse 4. The third rotation drive device 41 can specifically be a device such as a hydraulic cylinder.

[0087] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod changing system of the down-the-hole drilling rig also includes:

[0088] The drill rod magazine position detection device 4A is used to detect the rotation position of the drill rod magazine 4. The controller 8 is connected to the drill rod magazine position detection device 4A. The controller 8 controls the movement of the third rotation drive device 41 according to the position signal detected by the drill rod magazine position detection device 4A. Specifically, when the third rotation drive device 41 drives the drill rod magazine 4 to rotate, when the drill rod magazine 4 rotates to the right position, the drill rod magazine position detection device 4A generates a rotation to the right position signal. After receiving the rotation to the right position signal, the controller 8 controls the third rotation drive device 41 to stop moving.

[0089] The drill rod storehouse position detection device 4A may be a proximity switch sensor disposed on the drill rod storehouse 4. When the drill rod storehouse 4 rotates a certain angle, the proximity switch sensor senses the manipulator 61, thereby generating a rotation-in-place signal. After receiving the rotation-in-place signal, the controller 8 controls the third rotation drive device 41 to stop moving. Alternatively, the drill rod storehouse position detection device 4A may also be an angle detection device disposed on the third rotation drive device 41. When the drill rod storehouse 4 rotates a preset angle (i.e., the drill rod storehouse 4 rotates at the same angle each time), the angle detection device generates a rotation-in-place signal. After receiving the rotation-in-place signal, the controller 8 controls the third rotation drive device 41 to stop moving. Of course, the drill rod storehouse position detection device 4A may also be other configurations.

[0090] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the automatic rod-changing system of the down-the-hole drill also includes a prompt device, which is connected to the controller 8; when the automatic rod-changing operation is completed, the controller 8 controls the prompt device to send a corresponding prompt message to remind the operator that the rod-changing operation is completed. In this embodiment, the prompt device is a display device 81, which can provide text or icon prompts after the automatic rod-changing operation is completed. The display device 81 can specifically be an original instrument on the down-the-hole drill. Of course, in other embodiments, the prompt device can also be a sound prompt device.

[0091] Furthermore, in the present embodiment, the controller 8 is an original vehicle controller of the down-the-hole drill; of course, in other embodiments, the controller 8 may also be an additionally provided controller.

[0092] Further, in this embodiment, the automatic rod-changing button 7 can be a button on the console of the down-the-hole drill, a button on a control handle, or a remote control button, etc. The automatic rod-changing button 7 can be a virtual button on a display screen, or a physical button, specifically, a control element such as a button or a knob.

[0093] Furthermore, if Figure 1 and Figure 3 As shown, in this embodiment, the controller 8 is connected to the turret head 2 through the first control valve group 20, and the first control valve group 20 includes a turret head forward valve and a turret head reverse valve. When the controller 8 controls the turret head forward valve to open, the turret head 2 rotates in a certain direction (forward); when the controller 8 controls the turret head reverse valve to open, the turret head 2 rotates in the opposite direction (reverse).

[0094] The controller 8 is connected to the propulsion drive device 3 through the second control valve group 30, and the second control valve group 30 includes a swivel head forward valve and a swivel head backward valve. When the controller 8 controls the swivel head forward valve to open, the propulsion drive device 3 drives the swivel head 2 to move downward; when the controller 8 controls the swivel head backward valve to open, the propulsion drive device 3 drives the swivel head 2 to move upward.

[0095] The controller 8 is connected to the third rotation drive device 41 through the third control valve group 40, and the third control valve group 40 includes a left-turn valve of the drill rod storehouse and a right-turn valve of the drill rod storehouse. When the controller 8 controls the left-turn valve of the drill rod storehouse to open, the third rotation drive device 41 drives the drill rod storehouse 4 to rotate in a certain direction (left turn); when the controller 8 controls the right-turn valve of the drill rod storehouse to open, the third rotation drive device 41 drives the drill rod storehouse 4 to rotate in the opposite direction (right turn).

[0096] The controller 8 is connected to the brazing clamp 5 through the fourth control valve group 50; specifically, the fourth control valve group 50 includes an upper brazing clamp clamping valve, an upper brazing clamp unclamping valve, a lower brazing clamp clamping valve and a lower brazing clamp unclamping valve. The controller 8 is connected to the upper brazing clamp 51 through the upper brazing clamp clamping valve and the upper brazing clamp unclamping valve, and the controller 8 is connected to the lower brazing clamp 52 through the lower brazing clamp clamping valve and the lower brazing clamp unclamping valve. When the controller 8 controls the upper brazing clamp clamping valve to open, the upper brazing clamp 51 performs a clamping action; when the controller 8 controls the upper brazing clamp unclamping valve to open, the upper brazing clamp 51 performs an unclamping action. When the controller 8 controls the lower brazing clamp clamping valve to open, the lower brazing clamp 52 performs a clamping action; when the controller 8 controls the lower brazing clamp unclamping valve to open, the lower brazing clamp 52 performs an unclamping action.

[0097] The controller 8 is connected to the drill moving device 6 through the fifth control valve group 60; specifically, the fifth control valve group 60 includes a light clamping valve, a heavy clamping valve, a loose clamping valve, a storage-out valve and a storage-in valve. The controller 8 is connected to the manipulator 61 through the light clamping valve, the heavy clamping valve and the loose clamping valve. The controller 8 is connected to the second rotary drive device 62 through the storage-out valve and the storage-in valve. When the controller 8 controls the light clamping valve to open, the manipulator 61 performs a light clamping action; when the controller 8 controls the heavy clamping valve to open, the manipulator 61 performs a clamping action; when the controller 8 controls the loose clamping valve to open, the manipulator 61 performs a loosening action. When the controller 8 controls the storage-in valve to open, the second rotary drive device 62 drives the manipulator 61 to rotate in a certain direction so that the manipulator 61 enters the drill rod storage 4; when the controller 8 controls the storage-out valve to open, the second rotary drive device 62 drives the manipulator 61 to rotate in the opposite direction so that the manipulator 61 leaves the drill rod storage 4.

[0098] In this embodiment, each of the control valves is a solenoid valve, and the controller 8 is connected to each solenoid valve by electrical signals.

[0099] An embodiment of the present invention further provides a down-the-hole drill, comprising the automatic rod changing system for the down-the-hole drill as described above.

[0100] The embodiment of the present invention further provides a method for automatically changing rods for a down-the-hole drill based on the automatic rod changing system for a down-the-hole drill as described above. The method for automatically changing rods for a down-the-hole drill includes the following steps:

[0101] S1: After the drilling operation of the down-the-hole drill is completed, the operator presses the automatic rod-changing button 7 to generate a rod-changing instruction, and the controller 8 receives the rod-changing instruction issued by the automatic rod-changing button 7;

[0102] S2: Based on the rod change instruction, the controller 8 controls the drill clamp 5 to clamp the lower drill rod;

[0103] In this step, since the down-the-hole drill has just completed the drilling operation, the lower drill rod is in a free state, that is, the drill clamp 5 does not clamp the lower drill rod. Therefore, the drill clamp 5 is required to clamp the lower drill rod to facilitate the subsequent unloading operation of the rotary head 2 and the lower drill rod and the connecting operation of the upper drill rod and the lower drill rod, while preventing the lower drill rod from falling off or shifting in position.

[0104] S3: the controller 8 controls the turret 2 to rotate in the first direction and controls the propulsion drive device 3 to drive the turret 2 to move upward, so that the turret 2 is separated from the lower drill rod;

[0105] In this step, the rotary head 2 is connected to the lower drill rod by threads, and the first direction is the direction in which the threads on the rotary head 2 and the threads on the lower drill rod are loosened. In this step, the rotary head 2 rotates while the propulsion drive device 3 drives the rotary head 2 to move upward, thereby separating the rotary head 2 from the lower drill rod.

[0106] S4: After the swivel head 2 is separated from the lower drill rod, the controller 8 controls the swivel head 2 to stop rotating, and controls the propulsion drive device 3 to continue to drive the swivel head 2 to move upward, until the swivel head 2 reaches the rod-changing position at the top of the propulsion beam 1 (at this rod-changing position, the swivel head 2 is a short distance above the top of the upper drill rod); when the swivel head 2 reaches the rod-changing position at the top of the propulsion beam 1, the controller 8 controls the propulsion drive device 3 to stop moving;

[0107] In this step, since the initial position of the swivel head 2 is at the lower end of the propulsion beam 1, it is necessary to drive the swivel head 2 to move upward to the top of the propulsion beam 1 so that the swivel head 2 can be connected to the new drill rod.

[0108] S5: the controller 8 controls the drill moving device 6 to move the new drill rod in the drill rod storage 4 to between the rotary head 2 and the drill clamp 5 (at this time, the new drill rod is located directly below the rotary head 2), and the drill moving device 6 keeps clamping the new drill rod; the new drill rod is the upper drill rod;

[0109] S6: The controller 8 controls the turret 2 to rotate in a second direction and controls the propulsion drive device 3 to drive the turret 2 to move downward, so that the turret 2 is connected to the top of the upper drill rod through threads; wherein the second direction is opposite to the first direction;

[0110] In this step, the second direction is the direction in which the threads on the rotary head 2 are tightened with the threads on the top of the upper drill rod; while the rotary head 2 rotates, the propulsion drive device 3 drives the rotary head 2 to move downward, thereby tightening the rotary head 2 with the top of the upper drill rod.

[0111] S7: After the turret 2 is tightened with the upper drill rod, the controller 8 controls the turret 2 to stop rotating, and controls the drill moving device 6 to release the upper drill rod (it should be noted that at this time, the manipulator 61 in the drill moving device 6 can be in either a light clamping mode or a loose clamping mode; preferably in a light clamping mode), and at the same time controls the propulsion drive device 3 to continue to drive the turret 2 to move downward, so that the turret 2 and the upper drill rod move downward together;

[0112] S8: When the bottom end of the upper drill rod moves close to the top end of the lower drill rod, the controller 8 controls the rotary head 2 to rotate in the second direction and controls the propulsion drive device 3 to continue to drive the rotary head 2 to move downward, so that the bottom end of the upper drill rod is connected to the top end of the lower drill rod through threads;

[0113] In this step, the second direction is the direction in which the thread at the bottom end of the upper drill rod is tightened with the thread at the top end of the lower drill rod; the rotary head 2 rotates to drive the upper drill rod to rotate, and the propulsion drive device 3 drives the rotary head 2 downward to drive the upper drill rod downward, thereby tightening the bottom end of the upper drill rod with the top end of the lower drill rod.

[0114] S9: After the upper drill rod and the lower drill rod are tightened, the controller 8 controls the drill clamp 5 to loosen the lower drill rod.

[0115] Furthermore, in this embodiment, the automatic rod changing method of the down-the-hole drill also includes the following steps:

[0116] S10: The controller 8 controls the prompt device to issue a corresponding prompt message (specifically, the display device 81 may be controlled to provide a text or icon prompt) to remind the operator that the rod change is completed.

[0117] Further, in this embodiment, in the above step S4 and / or step S7, when the propulsion drive device 3 drives the turret head 2 to move upward or downward, the controller 8 can control the propulsion drive device 3 using the above-mentioned segmented motion method.

[0118] Furthermore, in this embodiment, the above step S5 specifically includes:

[0119] The controller 8 controls the second rotation driving device 62 to drive the manipulator 61 to rotate, so that the manipulator 61 enters the drill rod storage 4;

[0120] The controller 8 controls the third rotation drive device 41 to drive the drill rod storage 4 to rotate, so that the new drill rod in the drill rod storage 4 moves to the clamping position of the manipulator 61;

[0121] The controller 8 controls the manipulator 61 to clamp a new drill rod;

[0122] The controller 8 controls the second rotary drive device 62 to drive the manipulator 61 to rotate (specifically, drives the manipulator 61 to rotate in the opposite direction), so that the manipulator 61 leaves the drill rod storage 4, and moves the new drill rod between the rotary head 2 and the drill clamp 5, and the manipulator 61 keeps clamping the new drill rod.

[0123] The following is a detailed description of the working process of the automatic rod changing system of the down-the-hole drill:

[0124] (1) After the drilling operation of the down-the-hole drill is completed, the operator presses the automatic rod-changing button 7 to generate a rod-changing instruction, and the controller 8 receives the rod-changing instruction issued by the automatic rod-changing button 7;

[0125] (2) Based on the rod change instruction, the controller 8 controls the clamping valve of the lower drill clamp to open, so that the lower drill clamp 52 clamps the lower drill rod; when the second clamping force detection device 5A detects that the clamping pressure of the lower drill clamp 52 is greater than P1, the next operation is performed;

[0126] (3) The controller 8 controls the turret reversing valve and the turret retracting valve to open, so that the turret 2 rotates and moves upward;

[0127] (4) The controller 8 receives the upward movement distance of the rotary head 2 measured by the rotary encoder. When the rotary head 2 moves above the thread height of the lower drill pipe, the controller 8 controls the rotary head reversing valve to close;

[0128] (5) The controller 8 controls the swivel head retract valve to output to the maximum, so that the swivel head 2 moves upward rapidly; when the swivel head 2 reaches the rod changing position at the top end of the propulsion beam 1, the controller 8 controls the swivel head retract valve to close, so that the swivel head 2 stops moving upward;

[0129] (6) The controller 8 controls the clamp release valve to open, so that the manipulator 61 opens. When the clamp release pressure is greater than P2, the next step is performed;

[0130] (7) The controller 8 controls the storage entry valve to open, so that the second rotary drive device 62 drives the manipulator 61 to rotate and enter the drill rod storage 4; when the controller 8 receives the storage entry arrival signal, it controls the storage entry valve to close;

[0131] (8) The controller 8 controls the right-turn valve of the drill rod storage to open, so that the third rotation driving device 41 drives the drill rod storage 4 to rotate; when the controller 8 receives the rotation to position signal, the right-turn valve of the drill rod storage is controlled to close;

[0132] (9) The controller 8 controls the re-clamping valve to open, so that the manipulator 61 clamps the drill rod. When the re-clamping pressure detected by the first clamping force detection device 6A is greater than P3, the next step is performed;

[0133] (10) The controller 8 controls the outbound valve to open, and the second rotary drive device 62 drives the manipulator 61 to rotate in the opposite direction, so that the manipulator 61 leaves the drill rod storage 4; when the controller 8 receives the outbound arrival signal, the outbound valve is controlled to close; at this time, the manipulator 61 moves the upper drill rod to the bottom of the rotary head 2;

[0134] (11) The controller 8 controls the forward valve and the forward valve of the rotary head to open, and the rotary head 22 rotates and moves slowly downward, so that the rotary head 2 is connected to the upper drill pipe through threads; when the tightening force detection device 2A detects that the screwing pressure is greater than P4, the forward valve of the rotary head is controlled to close, and the next operation is performed;

[0135] (12) The controller 8 controls the heavy clamp valve to close and the light clamp valve to open, so that the manipulator 61 gently holds the upper drill rod and holds it;

[0136] (13) The controller 8 controls the rotary head forward valve to continue to open, so that the rotary head 22 moves downward together with the upper drill rod until the bottom end of the upper drill rod moves close to the top end of the lower drill rod;

[0137] (14) The controller 8 controls the forward valve and the forward valve of the rotary head to open, and the rotary head 22 drives the upper drill rod to rotate and move slowly downward, so that the bottom end of the upper drill rod is connected to the top end of the lower drill rod through a thread; when the tightening force detection device 2A detects that the screwing pressure is greater than P4, the forward valve of the rotary head is controlled to close, and the next operation is performed;

[0138] (15) The controller 8 controls the lower drill clamp release valve to open, so that the lower drill clamp 52 releases the lower drill rod;

[0139] (16) The controller 8 controls the display device 81 to provide text or icon prompts to remind the operator that the rod change is completed.

[0140] The above steps are completed step by step under the control of the controller 8, and each step is executed continuously.

[0141] The automatic rod-changing system and method for a down-the-hole drill provided by the embodiment of the present invention is that after the drilling operation of the down-the-hole drill is completed, the operator generates a rod-changing instruction by operating the automatic rod-changing button 7, and the controller 8 controls the movement of the slewing head 2, the propulsion drive device 3, the drill clamp 5 and the drill moving device 6 after receiving the rod-changing instruction, thereby performing an automatic rod-changing operation; during the rod-changing operation, the controller 8 controls each rod-changing step to be performed continuously at one time, without the need for secondary manual control by the operator. The automatic rod-changing system for a down-the-hole drill can automatically perform a rod-changing operation, which reduces the time of manual operation, improves the efficiency of rod-changing, and reduces the labor cost and the safety risks brought by manual judgment operation.

[0142] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic rod changing system for a down-the-hole drill, characterized in that: include: A swivel head, movably connected to the propulsion beam, the swivel head being used to connect the drill rod and drive the drill rod to rotate; A propulsion drive device is arranged on the propulsion beam, the propulsion drive device is connected to the slewing head, and the propulsion drive device is used to drive the slewing head to move up and down along the propulsion beam; A drill rod magazine connected to the propulsion beam, the drill rod magazine being used to store drill rods; A drill clamp connected to the lower end of the propulsion beam, the drill clamp being used to clamp the drill rod; A drill moving device connected to the propulsion beam, the drill moving device can clamp a drill rod, and the drill moving device is at least used to move the drill rod in the drill rod magazine to between the rotary head and the drill clamp; An automatic rod change button, used to generate a rod change instruction in response to an operator's operation; The controller is respectively connected to the swivel head, the propulsion drive device, the drill clamp, the drill moving device and the automatic rod changing button; the controller is used to control the movement of the swivel head, the propulsion drive device, the drill clamp and the drill moving device based on the rod changing instruction to perform the automatic rod changing operation.

2. The automatic rod changing system for down-the-hole drilling rig according to claim 1, characterized in that: Also includes: a displacement detection device for detecting the movement position of the turret head relative to the propulsion beam; The controller is connected to the displacement detection device, and the controller controls the movement of the propulsion drive device according to the movement position of the turret head detected by the displacement detection device.

3. The automatic rod changing system for down-the-hole drilling rig according to claim 2, characterized in that: When performing the automatic rod-changing operation, the controller controls the propulsion drive device to move at least in the following manner: When the distance between the initial position and the target position of the turret head is greater than a first preset value, the controller controls the propulsion drive device to drive the turret head to move at a first speed; When the distance between the actual position of the turret head and the target position is shortened to less than or equal to the first preset value, the controller controls the propulsion drive device to drive the turret head to perform a deceleration motion, and the movement speed of the turret head is not less than a second speed until the turret head reaches the target position; wherein the second speed is less than the first speed.

4. The automatic rod changing system for down-the-hole drilling rig according to claim 1, characterized in that: Also includes: A tightening force detection device, used to detect the screwing pressure between the rotary head and the drill rod, the controller is connected to the tightening force detection device; When the swivel head and the drill rod or the drill rods and the drill rods are screwed together, the controller controls the rotational movement of the swivel head according to the screwing pressure detected by the screwing force detection device.

5. The automatic rod changing system for down-the-hole drilling rig according to claim 1, characterized in that: The drill rod moving device includes a manipulator capable of clamping a drill rod and a second rotary drive device connected to the manipulator, the second rotary drive device is connected to the propulsion beam, and the second rotary drive device is used to drive the manipulator to rotate so that the manipulator enters or leaves the drill rod storage; the controller is respectively connected to the manipulator and the second rotary drive device to control the movement of the manipulator and the second rotary drive device.

6. The automatic rod changing system for down-the-hole drilling rig according to claim 5, characterized in that: Also includes: A first clamping force detection device, used to detect the clamping force of the manipulator when clamping the drill rod, and the controller is connected to the first clamping force detection device; When the manipulator clamps the drill rod, the controller controls the clamping movement of the manipulator according to the clamping force detected by the first clamping force detection device; A manipulator position detection device is used to detect the position of the manipulator, and the controller is connected to the manipulator position detection device; when the manipulator enters or leaves the drill rod storage, the controller controls the movement of the second rotation drive device according to the position signal detected by the manipulator position detection device.

7. The automatic rod changing system for down-the-hole drilling rig according to claim 1, characterized in that: Also includes: A second clamping force detection device, used to detect the clamping force of the drill clamp when clamping the drill rod, the controller is connected to the second clamping force detection device; When the drill clamp clamps the drill rod, the controller controls the clamping movement of the drill clamp according to the clamping force detected by the second clamping force detection device.

8. The automatic rod changing system for down-the-hole drilling rig according to claim 1, characterized in that: The drill rod magazine is provided with a third rotary drive device, and the third rotary drive device is used to drive the drill rod magazine to rotate; the controller is connected to the third rotary drive device, and the controller is used to control the third rotary drive device to drive the drill rod magazine to rotate, so that the drill rod magazine cooperates with the drill moving device to clamp the drill rod.

9. The automatic rod changing system for down-the-hole drilling rig according to any one of claims 1 to 8, characterized in that: The controller is also used to exit the automatic rod changing operation after receiving a manual operation instruction issued by the manual control device, and control the drill moving device and the drill clamp to clamp the drill rod.

10. An automatic rod changing method for a down-the-hole drill based on the automatic rod changing system for a down-the-hole drill according to any one of claims 1 to 9, characterized in that: The automatic rod changing method for a down-the-hole drill comprises the following steps: S1: After the drilling operation of the down-the-hole drill is completed, the controller receives a rod change command issued by the automatic rod change button; S2: Based on the rod changing instruction, the controller controls the drill clamp to clamp the drill rod; S3: the controller controls the rotary head to rotate in a first direction and controls the propulsion drive device to drive the rotary head to move upward, so that the rotary head is separated from the lower drill rod; S4: When the rotary head is separated from the lower drill rod, the controller controls the rotary head to stop rotating, and controls the propulsion drive device to continue to drive the rotary head to move upward; when the rotary head reaches the rod-changing position at the top of the propulsion beam, the controller controls the propulsion drive device to stop moving; S5: the controller controls the drill moving device to move a new drill rod in the drill rod storage to between the rotary head and the drill clamp, and the drill moving device keeps clamping the new drill rod; the new drill rod is the upper drill rod; S6: the controller controls the swivel head to rotate in a second direction and controls the propulsion drive device to drive the swivel head to move downward, so that the swivel head is connected to the top end of the upper drill rod through threads; wherein the second direction is opposite to the first direction; S7: After the swivel head is tightened with the upper drill rod, the controller controls the swivel head to stop rotating, controls the drill moving device to release the upper drill rod, and controls the propulsion drive device to continue to drive the swivel head to move downward, so that the swivel head and the upper drill rod move downward together; S8: When the bottom end of the upper drill rod moves close to the top end of the lower drill rod, the controller controls the rotary head to rotate in the second direction and controls the propulsion drive device to continue to drive the rotary head to move downward, so that the bottom end of the upper drill rod is connected to the top end of the lower drill rod through threads; S9: After the upper drill rod and the lower drill rod are tightened, the controller controls the drill clamp to loosen the lower drill rod.

11. The automatic rod changing method for a down-the-hole drill according to claim 10, characterized in that: The drill rod moving device comprises a manipulator capable of clamping a drill rod and a second rotation driving device connected to the manipulator, the second rotation driving device is used to drive the manipulator to rotate; a third rotation driving device is provided on the drill rod magazine, the third rotation driving device is used to drive the drill rod magazine to rotate; The controller is respectively connected to the manipulator, the second rotation drive device and the third rotation drive device; The above step S5 specifically includes: The controller controls the second rotation drive device to drive the manipulator to rotate, so that the manipulator enters the drill rod storage; The controller controls the third rotary drive device to drive the drill rod magazine to rotate, so that a new drill rod in the drill rod magazine moves to the clamping position of the manipulator; The controller controls the manipulator to clamp the new drill rod; The controller controls the second rotary drive device to drive the manipulator to rotate, so that the manipulator leaves the drill rod magazine and moves the new drill rod between the rotary head and the drill clamp, and the manipulator keeps clamping the new drill rod.

12. A down-the-hole drilling rig, characterized in that: It comprises the automatic rod changing system for a down-the-hole drill as described in any one of claims 1-9.

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