Automatic connecting rod warehouse of drill jumbo and control method thereof

Abstract

The invention relates to a drill jumbo automatic connecting rod warehouse and a control method thereof.The drill jumbo automatic connecting rod warehouse comprises an automatic connecting rod warehouse assembly, and the automatic connecting rod warehouse assembly comprises an extension rod warehouse, a structural support, a first-stage rotating arm, a second-stage rotating arm, a rotating arm support and a rod feeding mechanical arm; a first-stage rotating arm is rotationally connected between the two structural supports, a rotating arm support is arranged on the first-stage rotating arm, a second-stage rotating arm is rotationally connected to the rotating arm support, and a rod feeding manipulator is arranged on the second-stage rotating arm; the extension rod library, the first-stage rotating arm and the second-stage rotating arm are each provided with a rotating motor, the rotating motors are connected with a hydraulic system, and the hydraulic system is connected with the controller. The automatic rod extension and disassembly work is completed by combining the automatic rod extension and storage assembly with the operation control of the propelling beam assembly and the rock drill and the rod feeding manipulator according to the set drilling depth. And the working accuracy and the working efficiency are improved.

Description

Technical Field

[0001] The invention relates to the technical field of rock drilling trolley equipment, and in particular to an automatic rod connecting rod warehouse for a rock drilling trolley and a control method thereof. Background Art

[0002] As the core excavation equipment for tunnel drilling and blasting construction, the drilling rig is equipped with a high-power rock drill, with a drilling diameter of up to φ43mm-140mm and a drilling depth of more than 30m. In addition to the main 3m-5m drilling and blasting holes, construction parties often use drilling rigs for pipe shed holes (12m), anchor holes (16m), and advanced drilling (30~50m). The demand for one machine for multiple uses is very strong. Limited by the propulsion beam structure of the drilling rig, manual rod connection is required when drilling holes above 5m, which has high safety risks and high labor intensity.

[0003] At present, automatic rod changing mechanism and supporting rod storage mechanism have gradually appeared in the application technology of rock drilling trolleys, such as the automatic rod connection mechanism of rock drilling trolley and rock drilling trolley with application number CN109488231A, which adds a set of fixed automatic rod connection mechanism on the special propulsion beam. However, such schemes have the problems of fixed structure, which affects the boom movement of blast hole rock drilling after application; high requirements for control and manufacturing precision, great construction difficulty; and inability to effectively control the rod removal process.

[0004] Therefore, there is an urgent need for a fully automatic rod-jointing device with high operating accuracy. Summary of the invention

[0005] The present invention solves the problem that the existing rock drilling trolley automatic rod changing equipment is difficult to construct and cannot achieve accurate rod removal and rod connection. The present invention proposes an automatic rod connection rod warehouse for rock drilling trolley and a control method thereof. The automatic rod connection rod warehouse assembly is combined with the operation control of the propulsion beam assembly and the rock drill and the rod feeding manipulator to complete the automatic rod connection and rod removal according to the set drilling depth, thereby improving the work accuracy and work efficiency.

[0006] In order to achieve the above-mentioned purpose, the present invention firstly proposes an automatic rod receiving rod warehouse of a rock drilling trolley, comprising a drill arm assembly, a push beam assembly, a rock drill and a drill rod, the drill arm assembly is detachably connected to the push beam assembly, the push beam assembly comprises a push beam, the rock drill and the push beam are slidably connected, the rock drill is detachably connected to the drill rod, the side of the push beam is detachably connected with an automatic rod receiving rod warehouse assembly, the automatic rod receiving rod warehouse assembly comprises an extension rod warehouse, a structural support, a primary rotating arm, a secondary rotating arm, a rotating arm support and a rod sending manipulator, a plurality of drill rods are arranged on the inner circumference of the extension rod warehouse, structural supports are arranged at both ends of the extension rod warehouse, the extension rod warehouse is rotatably connected to the structural support, a primary rotating arm is also rotatably connected between the two structural supports, a rotating arm support is arranged on the primary rotating arm, a secondary rotating arm is rotatably connected to the rotating arm support, a rod sending manipulator is arranged on the secondary rotating arm, an elastic mechanism is arranged between the rod manipulator and the secondary rotating arm, and the rod manipulator is slidably connected to the secondary rotating arm through the elastic mechanism; The extension rod library, the primary rotating arm and the secondary rotating arm are all provided with a rotating motor, the rotating motor is connected to a hydraulic system, the hydraulic system is connected to a controller, and the controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill propulsion pressure sensor and a rock drill; The drill rod comprises a male head and a female head, the male head and the female head are provided with threads, and two drill rods are connected end to end through the male head and the female head.

[0007] Further, the extension rod library includes a connecting plate, a fixing plate and a connecting shaft, the number of the fixing plates is multiple, and the multiple fixing plates are arranged in a straight line equidistant from the end of the connecting shaft to the tail of the connecting shaft, the fixing plate is a circular plate, and a plurality of superior arc-shaped notches are equidistantly arranged on the circumference of the fixing plate, and the drill rod is arranged in the superior arc-shaped notch; Connecting plates are arranged at both ends of the connecting shaft. The connecting plates are cylindrical structures with one side closed. The connecting plates are rotatably connected to the connecting shaft, and a square notch is opened on the side of the connecting plate. The connecting plate is fixed to the structural support; The connecting shaft is connected to the output end of the rotary motor through a ratchet transmission.

[0008] Furthermore, the structural support is a teardrop-shaped plate, the wide end and the narrow end of the structural support are both fixedly provided with the rotary motor, the extension rod library is provided near the wide end of the structural support, and the primary rotary arm is provided near the narrow end of the structural support; A support is arranged on the arc segment of the narrow end of the structural support, the support and the structural support are an integrated structure, a crossbeam is arranged between the two supports, a rod storage mounting frame is arranged on the crossbeam, and the horizontal section of the rod storage mounting frame is connected to the propulsion beam.

[0009] Furthermore, the rotating arm bracket includes a first bracket and a second bracket, wherein the first bracket is a sheet-like structure, and the first bracket is disposed at both ends of the primary rotating arm and the secondary rotating arm, wherein one of the first brackets is fixedly connected to the primary rotating arm and rotatably connected to the secondary rotating arm; Another one end of the first bracket is fixed to the primary rotating arm, and the other end is fixed to the rotating motor. A second bracket is arranged at the other end of the rotating motor. The second bracket is a sheet-like structure. One side of the second bracket is rotatably connected to the secondary rotating arm, and the other side is fixedly connected to the primary rotating arm. The primary rotating arm and the secondary rotating arm are both cylindrical structures.

[0010] Furthermore, the elastic mechanism is arranged at both ends of the secondary rotating arm, and the elastic mechanism includes a first baffle, a second baffle and a spring. The first baffle is an I-shaped wheel, and the first baffle is sleeved on the secondary rotating arm. One side of the first baffle is fixed to the second bracket, and the other side is fixed to the spring. The other side of the spring is fixed to the second baffle. The second baffle is an annular plate, and the second baffle is sleeved on the secondary rotating arm. Two rod manipulators are arranged between the two second baffles, and the rod manipulators are slidably connected to the secondary rotating arm.

[0011] Furthermore, the rod feeding manipulator includes a hydraulic pliers, the hydraulic pliers include a claw, the inner side surface of the claw is a curved surface structure, and the claw is connected to a hydraulic system.

[0012] Further, the propulsion beam includes a first slider, a second slider and a slide rail, the first slider is arranged at the upper end of the slide rail, the first slider is slidably connected to the slide rail, the rock drill is fixedly arranged on the upper part of the first slider, the second slider is arranged at the bottom end of the slide rail, the second slider is fixed to the drill arm assembly and is slidably connected to the slide rail; The propulsion system comprises a first oil cylinder and a second oil cylinder, wherein the first oil cylinder is arranged inside the slide rail, and the piston rod of the first oil cylinder is fixed to the first sliding block, and the second oil cylinder is arranged at the end of the drill arm assembly, and the piston rod of the second oil cylinder is fixed to the bottom surface of the slide rail; The first oil cylinder and the second oil cylinder are connected to a hydraulic system.

[0013] Furthermore, the rock drill is connected to a rock drill tail, and the rock drill tail is detachably connected to the drill rod; A plurality of middle drill supports and front drill supports are sequentially arranged in front of the drill tail of the rock drill, and the middle drill supports and front drill supports are slidably connected with the slide rail, and the centers of the drill tail of the rock drill, the middle drill supports and the front drill supports are located on the same straight line.

[0014] A second aspect of the present invention provides a control method for an automatic rod storage of a rock drilling trolley, including an automatic drill rod installation method, the automatic drill rod installation method comprising: Step 1: The controller obtains the drilling task, determines the drilling depth L, calculates the number of drill rods N required and the depth La of each penetration of the rock drill, and drills the first connecting rod drill rod pre-placed on the propulsion beam assembly into the hole to a depth of La; Step 2: The depth L1 of the drill rod entering the hole is obtained through the displacement sensor of the rock drill. If L1 < L is satisfied, the front drill rod holder clamps the tail of the drill rod, and the controller reverses the rock drill. The propulsion pressure sensor of the rock drill obtains the propulsion pressure X1 when the rock drill retreats. The controller sets the reverse propulsion pressure setting threshold as X. If X1 < X is satisfied, the controller obtains the number of drill rods N1 through the drill rod detection unit; If X1 < X is not satisfied, the controller makes the rock drill start to impact and reverse, disengages the shank of the rock drill from the previous connecting rod drill rod, and the rock drill retreats to the initial position; If L1 < L is not satisfied, the drilling is completed and the equipment stops running; Step 3: If N1 < N is satisfied, the automatic rod connection magazine assembly pushes the connecting rod drill rod, performs self-inspection at the initial position, the extension rod magazine returns to the initial position, the secondary rotating arm rotates, the primary rotating arm rotates, and the jaws of the rod manipulator retract to the bottom; The extension rod magazine rotates forward one increment, and sends an extension drill rod into the rod feeding manipulator. The jaws of the rod feeding manipulator lock the extension drill rod; If N1 < N is not satisfied, the equipment pauses; Step 4: The controller controls the rotation of the primary rotating arm and the secondary rotating arm through the hydraulic system. The secondary rotating arm drives the rod feeding manipulator to place the drill rod 2 in front of the shank of the rock drill. The controller uses the hydraulic system to make the rock drill and the shank of the rock drill press against the drill rod 2; Step 5: The controller controls the rock drill to rotate forward, and the extension drill rod is screwed together with the shank of the rock drill. The propulsion pressure sensor of the rock drill obtains the propulsion pressure X2 when the rock drill advances. The controller sets the forward propulsion pressure setting threshold as XA; If X2 > XA is satisfied, the rock drill continues to advance forward, the extension drill rod and the rod feeding manipulator are pushed forward and slide, the bit of the extension drill rod is sent into the shank of the previous drill rod, the jaws of the rod feeding manipulator are released, the rod feeding manipulator springs back to its original position, and at the same time the rock drill rotates forward to screw the extension drill rod together with the previous drill rod; Step 6: The controller uses the hydraulic system to reset the rod feeding manipulator, rotates the primary rotating arm and resets the secondary rotating arm. The controller uses the hydraulic system to move the rock drill and the slide rail, and drills the combined drill rod into the hole according to La. The depth L1 of the drill rod entering the hole is obtained through the displacement sensor of the rock drill. If L1 < L is satisfied, execute Step 2; If L1 < L is not satisfied, the equipment pauses.

[0015] Furthermore, a control method for the automatic rod magazine of a rock drilling jumbo includes an automatic rod splitting method, and the automatic rod splitting method includes: Step 1: The controller controls the first cylinder through the hydraulic system to make the rock drill drive all the drill rods to retreat to the initial position. The rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill retreats, and the controller sets the backward propulsion pressure setting threshold as XB; If X3 < XB is satisfied, the front drill rod holder clamps the tail of the extension drill rod. The controller controls the rotary motor through the hydraulic system to make the first-stage rotary arm and the second-stage rotary arm rotate. The jaws of the rod feeding manipulator contact the extension drill rod, and the rod feeding manipulator moves slightly upward to prevent the extension drill rod from falling. The controller controls the rock drill to move backward through the hydraulic system to pull the extension drill rod, and at the same time the controller controls the rock drill to reverse to loosen the extension drill rod from the tool joint of the drill rod; If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill to impact and retreat, and the controller controls the first cylinder through the hydraulic system to make the rock drill drive all the drill rods to retreat to the initial position; Step 2: The rock drill propulsion pressure sensor obtains the propulsion pressure X4 when the rock drill retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator through the hydraulic system to make the jaws clamp the extension drill rod; When the propulsion pressure X4 remains unchanged continuously, the controller controls the rock drill to impact and reverse to loosen the extension drill rod from the tool joint of the drill rod, and obtains the propulsion pressure X4 when the rock drill retreats again until X4 continuously decreases; Step 3: The rock drill propulsion pressure sensor obtains the propulsion pressure X5 when the rock drill retreats. When X5 continuously decreases, the extension drill rod and the rod feeding manipulator bounce back. The controller controls the rotary motor through the hydraulic system to make the first-stage rotary arm and the second-stage rotary arm rotate in the reverse direction. The controller controls the rotary motor through the hydraulic system to make the extension rod magazine reverse one position. The rod feeding manipulator feeds the extension drill rod into the U-shaped notch of the fixed plate during the movement of the second-stage rotary arm; If the propulsion pressure X5 remains unchanged, the rock drill pulls the extension drill rod backward, starts to impact and reverse to loosen the tool joint of the extension drill rod, and obtains the propulsion pressure X4 when the rock drill retreats again until X4 continuously decreases; Step 4: The controller controls the rotary motor through the hydraulic system to reset the first-stage rotary arm and the second-stage rotary arm; The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2 = N is satisfied, the controller controls the hydraulic system to reset and controls the rock drill to stop; If N2 = N is not satisfied, repeat Steps 1 to 3.

[0016] Through the above technical solutions, the beneficial effects of the present invention are: (1) The present invention can conveniently select connecting rods and removing rods according to the needs of drilling operations of the rock drilling trolley, thereby improving the applicable scope of the working conditions of the rock drilling trolley and improving the problem of limited movement of the rock drilling trolley due to the addition of fixed structures. An automatic connecting rod warehouse assembly is provided, which includes an extension rod warehouse, a structural support, a primary rotating arm, a secondary rotating arm, a rotating arm support and a rod delivery manipulator. Multiple drill rods are arranged in the extension rod warehouse. The extension rod warehouse, the primary rotating arm and the secondary rotating arm are all provided with a rotary motor, and the rotary motor is connected to a hydraulic system. The hydraulic system is connected to a controller, and the controller controls the hydraulic system to drive the rotary motor. The three rotary motors respectively drive the primary rotating arm and the secondary rotating arm of the extension rod warehouse to rotate. The rod delivery manipulator delivers the drill rod to the front end of the rock drill or the extension rod warehouse, realizing the transport of drill rods for connecting rod operations and removing rods. The screwing or disassembly of multiple drill rods is completed by controlling the rock drill and the hydraulic system. The rod-feeding robot that can move along the rotating arm can effectively solve the problem of easy jamming and need for manual assistance during automatic disassembly and assembly of the drill rod, greatly increase the number of extension rods available for a single drilling, and reduce the difficulty of operation during equipment maintenance.

[0017] (2) The rod manipulator of the present invention can slide left and right on the secondary rotating arm. An elastic mechanism is provided to push the rod manipulator to automatically reset after the rod manipulator completes the operation, so as to solve the problem that the automatic disassembly and assembly of the drill rod is prone to jamming and requires manual assistance, thereby improving the degree of automation of the disassembly and assembly of the drill rod and achieving smooth disassembly and assembly effects.

[0018] (3) The present invention inputs the drilling depth through an automatic drill rod installation method and an automatic drill rod disassembly method, thereby realizing automated rod connection operation and drilling depth control as well as rod disassembly operation after the drilling operation is completed, thereby improving construction efficiency and quality and reducing construction costs.

[0019] Reference Numbers Figure 1 This is one of the structural schematic diagrams of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 2 This is a second structural schematic diagram of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 3 This is a third structural schematic diagram of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 4 A schematic diagram of a drill rod structure of an automatic rod receiving rod magazine for a rock drilling trolley and a control method thereof according to the present invention; Figure 5 This is one of the operation schematic diagrams of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 6 This is a second operation schematic diagram of an automatic rod receiving and rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 7 This is a third operation schematic diagram of an automatic rod receiving and rod magazine of a rock drilling trolley and a control method thereof of the present invention; Figure 8 This is a fourth operation schematic diagram of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof of the present invention; Fig. 9 The present invention is a controller operation principle diagram of an automatic rod receiving rod magazine of a rock drilling trolley and a control method thereof.

[0020] Figure numbers: drill arm assembly 1, push beam assembly 2, rock drill 3, automatic rod connecting rod magazine assembly 4, rod feeding manipulator 5, rotary motor 6, support 7, cross beam 8, rod magazine mounting frame 9, rock drill tail 10, middle drill support 11, front drill support 12, push beam 201, first slider 2011, second slider 2012, slide rail 2013, extended rod magazine 401, structural support 402, first rotating arm 403, second rotating arm 404, rotating arm support 405, connecting plate 4011, fixed plate 4012, connecting shaft 4013, first bracket 4051, second bracket 4052, 13 is the first baffle, 14 is the second baffle, and 15 is the spring. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: Example 1 like Figures 1 to 4 As shown in Figure 9, an automatic rod receiving rod warehouse of a rock drilling trolley includes a drill arm assembly 1, a push beam assembly 2, a rock drill 3 and a drill rod, wherein the drill arm assembly 1 is detachably connected to the push beam assembly 2, the push beam assembly 2 includes a push beam 201, the rock drill 3 is slidably connected to the push beam 201, the rock drill 3 is detachably connected to the drill rod, and the side of the push beam 201 is detachably connected to an automatic rod receiving rod warehouse assembly 4, the automatic rod receiving rod warehouse assembly 4 includes an extension rod warehouse 401, a structural support 402, a primary rotating arm 403, a secondary rotating arm 404, a rotating arm support 405 and a rod feeding manipulator 5, the extension rod warehouse A plurality of drill rods are arranged on the inner circumference of the long rod warehouse 401, and a structural support 402 is arranged at both ends of the extended rod warehouse 401, the extended rod warehouse 401 is rotatably connected to the structural support 402, and a primary rotating arm 403 is rotatably connected between the two structural supports 402, a rotating arm support 405 is arranged on the primary rotating arm 403, and a secondary rotating arm 404 is rotatably connected to the rotating arm support 405, and a rod feeding manipulator 5 is arranged on the secondary rotating arm 404, and an elastic mechanism is arranged between the rod manipulator 5 and the secondary rotating arm 404, and the rod manipulator 5 is slidably connected to the secondary rotating arm 404 through the elastic mechanism; The extension rod library 401, the primary rotating arm 403 and the secondary rotating arm 404 are all provided with a rotating motor 6, the rotating motor 6 is connected to a hydraulic system, the hydraulic system is connected to a controller, and the controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill propulsion pressure sensor and a rock drill 3; The drill rod comprises a male head and a female head, the male head and the female head are provided with threads, and two drill rods are connected end to end through the male head and the female head.

[0022] The extension rod library 401 includes a connecting plate 4011, a fixing plate 4012 and a connecting shaft 4013. The number of the fixing plates 4012 is multiple, and the multiple fixing plates 4012 are arranged in a straight line equidistant from the end of the connecting shaft 4013 to the tail of the connecting shaft 4013. The fixing plate 4012 is a circular plate, and a plurality of major arc notches are equidistantly arranged on the circumference of the fixing plate 4012, and a drill rod is arranged in the major arc notch. Connecting plates 4011 are provided at both ends of the connecting shaft 4013. The connecting plates 4011 are cylindrical structures with one side closed. The connecting plates 4011 are rotatably connected to the connecting shaft 4013. A square notch is provided on the side of the connecting plate 4011. The connecting plate 4011 is fixed to the structural support 402; The connecting shaft 4013 is connected to the output end of the rotary motor 6 via a ratchet transmission.

[0023] The structural support 402 is a teardrop-shaped plate, the wide end and the narrow end of the structural support 402 are both fixedly provided with the rotary motor 6, the extension rod library 401 is provided near the wide end of the structural support 402, and the primary rotary arm 403 is provided near the narrow end of the structural support 402; A support 7 is arranged on the arc segment of the narrow end of the structural support 402. The support 7 and the structural support 402 are an integrated structure. A crossbeam 8 is arranged between the two supports 7. A rod storage mounting frame 9 is arranged on the crossbeam 8. The horizontal section of the rod storage mounting frame 9 is connected to the propulsion beam 201.

[0024] The rotating arm bracket 405 includes a first bracket 4051 and a second bracket 4052. The first bracket 4051 is a sheet-like structure. The first bracket 4051 is disposed at both ends of the primary rotating arm 403 and the secondary rotating arm 404. One of the first brackets 4051 is fixedly connected to the primary rotating arm 403 and rotatably connected to the secondary rotating arm 404. Another first bracket 4051 has one end fixed to the primary rotating arm 403, and the other end fixed to the rotating motor 6. A second bracket 4052 is provided at the other end of the rotating motor 6. The second bracket 4052 is a sheet-like structure. One side of the second bracket 4052 is rotatably connected to the secondary rotating arm 404, and the other side is fixedly connected to the primary rotating arm 403. The primary rotating arm 403 and the secondary rotating arm 404 are both cylindrical structures.

[0025] The elastic mechanism is arranged at both ends of the secondary rotating arm 404, and the elastic mechanism includes a first baffle 13, a second baffle 14 and a spring 15. The first baffle 13 is an I-shaped wheel, and the first baffle 13 is sleeved on the secondary rotating arm 404. One side of the first baffle 13 is fixed to the second bracket 4052, and the other side is fixed to the spring 15. The other side of the spring 15 is fixed to the second baffle 14. The second baffle 14 is an annular plate, and the second baffle 14 is sleeved on the secondary rotating arm 404. Two rod manipulators 5 are arranged between the two second baffles 14, and the rod manipulator 5 is slidably connected to the secondary rotating arm 404.

[0026] The rod feeding manipulator 5 comprises a hydraulic clamp, and the hydraulic clamp comprises a clamping claw, the inner side surface of the clamping claw is a curved surface structure, and the clamping claw is connected to a hydraulic system.

[0027] The push beam 201 includes a first slider 2011, a second slider 2012 and a slide rail 2013. The first slider 2011 is arranged at the upper end of the slide rail 2013, and the first slider 2011 is slidably connected to the slide rail 2013. The rock drill 3 is fixedly arranged on the upper part of the first slider 2011. The second slider 2012 is arranged at the bottom end of the slide rail 2013, and the second slider 2012 is fixed to the drill arm assembly 1 and slidably connected to the slide rail 2013. The propulsion system includes a first oil cylinder and a second oil cylinder, wherein the first oil cylinder is arranged inside the slide rail 2013, and the piston rod of the first oil cylinder is fixed to the first slider 2011, and the second oil cylinder is arranged at the end of the drill arm assembly 1, and the piston rod of the second oil cylinder is fixed to the bottom surface of the slide rail 2013; The first oil cylinder and the second oil cylinder are connected to a hydraulic system.

[0028] The rock drill 3 is connected to a rock drill tail 10, and the rock drill tail 10 is detachably connected to the drill rod; A plurality of middle drill supports 11 and front drill supports 12 are sequentially arranged in front of the rock drill tail 10, and the middle drill supports 11 and the front drill supports 12 are slidably connected to the slide rail 2013, and the centers of the rock drill tail 10, the middle drill supports 11 and the front drill supports 12 are located on the same straight line.

[0029] Example 2 A control method for an automatic rod storage of a rock drilling trolley includes an automatic drill rod installation method, wherein the automatic drill rod installation method includes: Step 1: The controller obtains the drilling task, determines the drilling depth L, calculates the number of drill rods N required and the depth La of each penetration of the rock drill 3 according to the drilling depth L, and drills the first connecting rod drill rod pre - placed on the propulsion beam assembly 2 into the hole to a depth of La; Step 2: The depth L1 of the drill rod entering the hole is obtained through the rock drill displacement sensor. If L1 < L is satisfied, the front drill rod holder 12 clamps the tail of the drill rod, and the controller makes the rock drill 3 reverse. The rock drill propulsion pressure sensor obtains the propulsion pressure X1 when the rock drill 3 retreats. The controller sets the reverse propulsion pressure setting threshold as X. If X1 < X is satisfied, the controller obtains the number of drill rods N1 through the drill rod detection unit; If X1 < X is not satisfied, the controller makes the rock drill 3 start to impact and reverse (the rock drill 3 is at the Figure 8 B position), disengages the shank of the rock drill 3 from the previous connecting rod drill rod, and the rock drill 3 retreats to the initial position; If L1 < L is not satisfied, the drilling is completed and the equipment stops running (the rock drill 3 is at the Figure 8 A position); Step 3: If N1 < N is satisfied, the automatic connecting rod magazine assembly pushes the connecting rod drill rod, conducts a self - inspection at the initial position, and the extension rod magazine returns to the initial position (the rock drill 3 is at the Figure 8 A position), the secondary rotating arm 404 rotates, the primary rotating arm 403 rotates, and the jaws of the rod manipulator 5 retract to the bottom (as Figure 5 shown); The extension rod magazine 401 rotates forward one increment, sends an extension drill rod into the rod feeding manipulator 5, and the jaws of the rod feeding manipulator 5 lock the extension drill rod; If N1 < N is not satisfied, the equipment pauses operation; Step 4: The controller controls the rotation of the primary rotating arm 403 and the secondary rotating arm 404 through the hydraulic system (as Figure 6-7 shown). The secondary rotating arm 404 drives the rod feeding manipulator 5 to place the drill rod 2 in front of the shank of the rock drill 10. The controller makes the rock drill 3 and the shank of the rock drill 10 press against the drill rod 2 through the hydraulic system; Step 5: The controller controls the rock drill 3 to rotate forward, and the extension drill rod is screwed together with the shank of the rock drill 10. The rock drill propulsion pressure sensor obtains the propulsion pressure X2 when the rock drill 3 advances. The controller sets the forward propulsion pressure setting threshold as XA; If X2 > XA is satisfied, the rock drill 3 continues to advance forward, the extension drill rod and the rod feeding manipulator are pushed forward and slide, the bit of the extension drill rod is sent into the shank of the previous drill rod, the jaws of the rod feeding manipulator are released, the rod feeding manipulator springs back to the original position, and at the same time the rock drill rotates forward to screw the extension drill rod together with the previous drill rod; Step 6: The controller resets the rod feeding manipulator 5 through the hydraulic system, rotates the first-stage rotating arm 403 and resets the second-stage rotating arm 404 (as Figure 5 shown), the controller moves the rock drill 3 and the slide rail 2013 through the hydraulic system, drills the combined drill rod into the hole according to La, obtains the penetration depth L1 of the drill rod through the rock drill displacement sensor, and if L1 < L is satisfied, step 2 is executed; If L1 < L is not satisfied, the equipment pauses operation.

[0030] Embodiment 3 A control method for an automatic rod connection rod magazine of a rock drilling jumbo, including an automatic drill rod splitting method, and the automatic drill rod splitting method includes: Step 1: The controller controls the first cylinder through the hydraulic system to drive the rock drill 3 to retreat all the drill rods to the initial position (the rock drill 3 is at Figure 8 position A), the rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill 3 retreats, and the controller sets the retreat propulsion pressure setting threshold to XB; If X3 < XB is satisfied, the front drill rod holder 12 clamps the tail of the extension drill rod, the controller controls the rotary motor 6 through the hydraulic system to rotate the first-stage rotating arm 403 and the second-stage rotating arm 404, and the jaws of the rod feeding manipulator 5 contact the extension drill rod (as Figure 7 shown), the rod feeding manipulator 5 moves slightly upward to prevent the extension drill rod from falling, the controller controls the rock drill 3 to move backward through the hydraulic system to pull the extension drill rod, and at the same time the controller controls the rock drill 3 to reverse to loosen the extension drill rod from the tool joint of the drill rod; If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill 3 to impact and retreat, and the controller controls the first cylinder through the hydraulic system to drive the rock drill 3 to retreat all the drill rods to the initial position; The rock drill propulsion pressure sensor obtains the propulsion pressure X4 when the rock drill 3 retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator 5 through the hydraulic system to clamp the extension drill rod with the jaws; When the propulsion pressure X4 remains unchanged, the controller controls the rock drill 3 to impact and reverse to loosen the extension drill rod from the tool joint of the drill rod, and obtains the propulsion pressure X4 when the rock drill 3 retreats again until X4 continuously decreases; Step 3: The rock drill propulsion pressure sensor obtains the propulsion pressure X5 when the rock drill 3 retreats. When X5 continuously decreases, the extension drill rod and the rod feeding manipulator 5 bounce back. The controller controls the rotary motor 6 through the hydraulic system to rotate the first-stage rotating arm 403 and the second-stage rotating arm 404 in the reverse direction, the controller controls the rotary motor 6 through the hydraulic system to reverse the extension rod magazine 401 by one position, and the rod feeding manipulator 5 feeds the extension drill rod into the excellent arc-shaped notch of the fixed plate 4012 during the movement of the second-stage rotating arm 404; If the propulsion pressure X5 remains unchanged, the rock drill 3 pulls the extended drill rod backward, starts impact and reverse rotation to loosen the extended drill rod tail, and obtains the propulsion pressure X4 when the rock drill 3 moves backward again, until X4 continues to decrease; Step 4: The controller controls the rotary motor 6 through the hydraulic system to reset the primary rotary arm 403 and the secondary rotary arm 404 (eg Figure 7 shown); The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2=N, the controller controls the hydraulic system to reset and the controller controls the rock drill 3 to stop. If N2=N is not satisfied, repeat steps 1 to 3.

[0031] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An automatic rod receiving and rod storage for a rock drilling trolley, comprising a drill arm assembly (1), a propulsion beam assembly (2), a rock drill (3) and a drill rod, wherein the drill arm assembly (1) is detachably connected to the propulsion beam assembly (2), the propulsion beam assembly (2) comprises a propulsion beam (201), the rock drill (3) and the propulsion beam (201) are slidably connected, and the rock drill (3) and the drill rod are detachably connected, characterized in that: The side of the push beam (201) is detachably connected to an automatic rod-connecting rod warehouse assembly (4), the automatic rod-connecting rod warehouse assembly (4) comprising an extension rod warehouse (401), a structural support (402), a primary rotating arm (403), a secondary rotating arm (404), a rotating arm support (405) and a rod-feeding manipulator (5), a plurality of drill rods are arranged on the inner circumference of the extension rod warehouse (401), structural supports (402) are arranged at both ends of the extension rod warehouse (401), and the extension rod warehouse (401) and the structural support (402) are connected to each other. Rotationally connected, the two structural supports (402) are also rotationally connected to a primary rotating arm (403), a rotating arm support (405) is provided on the primary rotating arm (403), the rotating arm support (405) is rotationally connected to a secondary rotating arm (404), a rod delivery manipulator (5) is provided on the secondary rotating arm (404), an elastic mechanism is provided between the rod manipulator (5) and the secondary rotating arm (404), and the rod manipulator (5) is slidably connected to the secondary rotating arm (404) via the elastic mechanism; The extension rod library (401), the primary rotating arm (403) and the secondary rotating arm (404) are all provided with a rotating motor (6), the rotating motor (6) is connected to a hydraulic system, the hydraulic system is connected to a controller, and the controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill propulsion pressure sensor and a rock drill (3); The drill rod comprises a male head and a female head, the male head and the female head are provided with threads, and two drill rods are connected end to end through the male head and the female head.

2. The automatic rod receiving bar magazine of a rock drilling trolley according to claim 1, characterized in that: The extension rod library (401) comprises a connecting plate (4011), a fixing plate (4012) and a connecting shaft (4013); the fixing plates (4012) are multiple in number, and the multiple fixing plates (4012) are arranged in a straight line equidistantly from the end of the connecting shaft (4013) to the tail of the connecting shaft (4013); the fixing plate (4012) is a circular plate, and a plurality of major arc-shaped notches are equidistantly arranged on the circumference of the fixing plate (4012), and drill rods are arranged in the major arc-shaped notches; Connecting plates (4011) are provided at both ends of the connecting shaft (4013); the connecting plate (4011) is a cylindrical structure with one side closed; the connecting plate (4011) is rotatably connected to the connecting shaft (4013); and a square notch is provided on the side of the connecting plate (4011); The connecting plate (4011) is fixed to the structural support (402); The connecting shaft (4013) is connected to the output end of the rotary motor (6) via a ratchet transmission.

3. The automatic rod receiving warehouse of a rock drilling trolley according to claim 1, characterized in that: The structural support (402) is in the form of a teardrop-shaped plate, the rotary motor (6) is fixedly arranged at both the wide end and the narrow end of the structural support (402), the extension rod library (401) is arranged near the wide end of the structural support (402), and the primary rotary arm (403) is arranged near the narrow end of the structural support (402); A support (7) is provided on the arc segment at the narrow end of the structural support (402); the support (7) and the structural support (402) are an integrated structure; a crossbeam (8) is provided between the two supports (7); a rod storage mounting frame (9) is provided on the crossbeam (8); and a horizontal section of the rod storage mounting frame (9) is connected to the propulsion beam (201).

4. The automatic rod receiving warehouse for a rock drilling trolley according to claim 1, characterized in that: The rotating arm bracket (405) comprises a first bracket (4051) and a second bracket (4052), wherein the first bracket (4051) is a sheet-like structure, and the first bracket (4051) is disposed at both ends of the primary rotating arm (403) and the secondary rotating arm (404), wherein one of the first brackets (4051) is fixedly connected to the primary rotating arm (403) and is rotatably connected to the secondary rotating arm (404); Another first bracket (4051) has one end fixed to the primary rotating arm (403), and the other end fixed to the rotating motor (6); a second bracket (4052) is provided at the other end of the rotating motor (6); the second bracket (4052) is a sheet-like structure; one side of the second bracket (4052) is rotatably connected to the secondary rotating arm (404), and the other side is fixedly connected to the primary rotating arm (403); The primary rotating arm (403) and the secondary rotating arm (404) are both cylindrical structures.

5. The automatic rod receiving bar magazine of a rock drilling trolley according to claim 4, characterized in that: The elastic mechanism is disposed at both ends of the secondary rotating arm (404), and comprises a first baffle (13), a second baffle (14) and a spring (15); the first baffle (13) is an I-shaped wheel, the first baffle (13) is sleeved on the secondary rotating arm (404), one side of the first baffle (13) is fixed to the second bracket (4052), and the other side is fixed to the spring (15); the other side of the spring (15) is fixed to the second baffle (14); the second baffle (14) is an annular plate, the second baffle (14) is sleeved on the secondary rotating arm (404), two rod manipulators (5) are disposed between the two second baffles (14), and the rod manipulators (5) are slidably connected to the secondary rotating arm (404).

6. The automatic rod receiving bar magazine of a rock drilling trolley according to claim 5, characterized in that: The rod feeding manipulator (5) comprises a hydraulic clamp, the hydraulic clamp comprises a clamping claw, the inner side surface of the clamping claw is a curved surface structure, and the clamping claw is connected to a hydraulic system.

7. The automatic rod receiving bar magazine of a rock drilling trolley according to claim 1, characterized in that: The propulsion beam (201) comprises a first slider (2011), a second slider (2012) and a slide rail (2013); the first slider (2011) is arranged at the upper end of the slide rail (2013); the first slider (2011) is slidably connected to the slide rail (2013); the rock drill (3) is fixedly arranged on the upper part of the first slider (2011); the second slider (2012) is arranged at the bottom end of the slide rail (2013); the second slider (2012) is fixed to the drill arm assembly (1) and is slidably connected to the slide rail (2013); The propulsion system comprises a first oil cylinder and a second oil cylinder, wherein the first oil cylinder is arranged inside the slide rail (2013), and the piston rod of the first oil cylinder is fixed to the first sliding block (2011); the second oil cylinder is arranged at the end of the drill arm assembly (1), and the piston rod of the second oil cylinder is fixed to the bottom surface of the slide rail (2013); The first oil cylinder and the second oil cylinder are connected to a hydraulic system.

8. The automatic rod receiving bar magazine of a rock drilling trolley according to claim 7, characterized in that: The rock drill (3) is connected with a rock drill shank (10), and the rock drill shank (10) is detachably connected to the drill rod; A plurality of middle drill rod holders (11) and a front drill rod holder (12) are sequentially arranged in front of the rock drill shank (10). The middle drill rod holders (11) and the front drill rod holder (12) are both slidably connected to the slide rail (2013). The centers of the rock drill shank (10), the middle drill rod holders (11) and the front drill rod holder (12) are located on the same straight line.

9. A control method for an automatic rod-connecting bar magazine of a rock drilling trolley according to any one of claims 1 to 8, characterized in that: It includes a method for automatically installing drill rods. The method for automatically installing drill rods includes: Step 1: The controller obtains a drilling task, determines the drilling depth L, calculates the number N of drill rods required and the depth La of each drilling of the rock drill (3) according to the drilling depth L, and drills the first connecting rod drill rod preset on the propulsion beam assembly (2) into the hole at a depth of La. Step 2: The depth L1 of the drill rod entering the hole is obtained through the rock drill displacement sensor. If L1 < L is satisfied, the front drill rod holder (12) clamps the tail of the drill rod, and the controller reverses the rock drill (3). The rock drill propulsion pressure sensor obtains the propulsion pressure X1 when the rock drill (3) retreats. The controller sets the backward propulsion pressure setting threshold as X. If X1 < X is satisfied, the controller obtains the number N1 of drill rods through the drill rod detection unit. If X1 < X is not satisfied, the controller makes the rock drill (3) start to impact and reverse, loosens the connection between the rock drill shank of the rock drill (3) and the previous connecting rod drill rod, and the rock drill (3) retreats to the initial position. If L1 < L is not satisfied, the drilling is completed and the equipment stops running. Step 3: If N1 < N is satisfied, the automatic connecting rod magazine assembly pushes the connecting rod drill rod, performs self-inspection at the initial position, the extension rod magazine returns to the initial position, the secondary rotating arm (404) rotates, the primary rotating arm (403) rotates, and the jaws of the rod manipulator (5) retract to the bottom. The extension rod magazine (401) rotates forward by one step, sends an extension drill rod into the rod feeding manipulator (5), and the jaws of the rod feeding manipulator (5) lock the extension drill rod. If N1 < N is not satisfied, the equipment pauses operation. Step 4: The controller controls the rotation of the primary rotating arm (403) and the secondary rotating arm (404) through the hydraulic system, and the secondary rotating arm (404) drives the rod feeding manipulator (5) to place the drill rod 2 in front of the rock drill shank (10). The controller makes the rock drill (3) and the rock drill shank (10) press against the drill rod 2 through the hydraulic system. Step 5: The controller controls the forward rotation of the rock drill (3), and the extension drill rod is screwed together with the rock drill shank (10). The rock drill propulsion pressure sensor obtains the propulsion pressure X2 when the rock drill (3) advances. The controller sets the forward propulsion pressure setting threshold as XA. If X2 > XA is satisfied, the rock drill (3) continues to advance forward, the extension drill rod and the rod feeding manipulator are pushed forward and slide, the bit of the extension drill rod is sent into the shank of the previous drill rod, the jaws of the rod feeding manipulator are released, the rod feeding manipulator springs back to the original position, and at the same time the rock drill rotates forward to screw the extension drill rod together with the previous drill rod. Step 6: The controller resets the rod feeding manipulator (5) through the hydraulic system, rotates the first-stage rotating arm (403) and resets the second-stage rotating arm (404). The controller moves the rock drill (3) and the slide rail (2013) through the hydraulic system, drills the combined drill rod into the hole according to La, and obtains the penetration depth L1 of the drill rod through the rock drill displacement sensor. If L1 < L is satisfied, step 2 is executed; If L1 < L is not satisfied, the equipment pauses operation.

10. A control method for an automatic rod-connecting bar magazine of a rock drilling trolley according to any one of claims 1 to 8, characterized in that: Including an automatic drill rod splitting method, the automatic drill rod splitting method includes: Step 1: The controller controls the first cylinder through the hydraulic system to drive the rock drill (3) to drive all drill rods back to the initial position. The rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill (3) retreats. The controller sets the retreat propulsion pressure setting threshold as XB; If X3 < XB is satisfied, the front drill rod holder (12) clamps the tail of the extension drill rod. The controller controls the rotary motor (6) through the hydraulic system to rotate the first-stage rotating arm (403) and the second-stage rotating arm (404). The jaws of the rod feeding manipulator (5) contact the extension drill rod, and the rod feeding manipulator (5) moves slightly upward to prevent the extension drill rod from falling. The controller controls the rock drill (3) to move backward through the hydraulic system to pull the extension drill rod, and at the same time the controller controls the rock drill (3) to reverse to release the extension drill rod from the tool joint of the drill rod; If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill (3) to impact and retreat, and the controller controls the first cylinder through the hydraulic system to drive the rock drill (3) to drive all drill rods back to the initial position; Step 2: The rock drill propulsion pressure sensor obtains the propulsion pressure X4 when the rock drill (3) retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator (5) through the hydraulic system to make the jaws clamp the extension drill rod; When the propulsion pressure X4 remains unchanged continuously, the controller controls the rock drill (3) to impact and reverse to release the extension drill rod from the tool joint of the drill rod, and obtains the propulsion pressure X4 when the rock drill (3) retreats again until X4 continuously decreases; Step 3: The rock drill propulsion pressure sensor obtains the propulsion pressure X5 when the rock drill (3) retreats. When X5 continuously decreases, the extension drill rod and the rod feeding manipulator (5) bounce back. The controller controls the rotary motor (6) through the hydraulic system to rotate the first-stage rotating arm (403) and the second-stage rotating arm (404) in the reverse direction. The controller controls the rotary motor (6) through the hydraulic system to reverse-rotate the extension rod magazine (401) by one position. The rod feeding manipulator (5) feeds the extension drill rod into the U-shaped notch of the fixed plate (4012) during the movement of the second-stage rotating arm (404); If the propulsion pressure X5 remains unchanged continuously, the rock drill (3) pulls the extension drill rod backward, starts impact plus reverse rotation to release the tool joint of the extension drill rod, and obtains the propulsion pressure X4 when the rock drill (3) retreats again until X4 continuously decreases; Step 4: The controller controls the rotary motor (6) through the hydraulic system to reset the first-stage rotating arm (403) and the second-stage rotating arm (404); The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2 = N is satisfied, the controller controls the hydraulic system to reset, and the controller controls the rock drill (3) to stop; If N2=N is not satisfied, repeat steps 1 to 3.

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