A drill jumbo automatic rod connecting rod magazine and a control method thereof

Abstract

The present application relates to a kind of automatic rod connecting rod storehouse of drill jumbo and its control method, including automatic rod connecting rod storehouse assembly, automatic rod connecting rod storehouse assembly includes extension rod storehouse, structure support, primary rotary arm, secondary rotary arm, rotary arm support and rod feeding manipulator, multiple drill rods are built-in in extension rod storehouse, primary rotary arm is rotatably connected between two structure supports, rotary arm support is set on primary rotary arm, secondary rotary arm is rotatably connected on rotary arm support, and rod feeding manipulator is set on secondary rotary arm;Extension rod storehouse, primary rotary arm and secondary rotary arm are all provided with rotary motor, rotary motor is connected with hydraulic system, and hydraulic system is connected with controller.The present application sets up automatic rod connecting rod storehouse assembly to combine the operation control of advancing beam assembly and drill jumbo and the rod feeding manipulator according to set drilling depth to complete automatic rod connecting and rod dismounting work.Working accuracy and working efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rock drilling jumbo equipment, and particularly relates to a rock drilling jumbo automatic rod connecting rod storehouse and a control method thereof. BACKGROUND

[0002] As the core excavation equipment of the tunnel drilling and blasting method, the rock drilling jumbo is equipped with a high-power rock drill, the drilling diameter can reach phi 43mm-140mm, and the drilling depth can reach more than 30m. In addition to the main 3m-5m footage drilling and blasting hole, the construction party often uses the rock drilling jumbo to make a pipe shed hole (12m), an anchor rod hole (16m), and an advanced drilling hole (30-50m), and the demand for one machine with multiple functions is very strong. Limited by the structure of the rock drilling jumbo advancing beam, when the drilling depth is more than 5m, manual rod connecting is required, which has high safety risks and high labor intensity.

[0003] At present, the automatic rod changing mechanism and the matching rod storehouse mechanism gradually appear in the application technology of the rock drilling jumbo, such as the rock drilling jumbo automatic rod connecting mechanism and the rock drilling jumbo of application number CN109488231A, which increases a set of fixed automatic rod connecting mechanism on the specially made advancing beam. However, such a scheme has the problems of fixed structure, affecting the boom action of the drilling and blasting hole after application, high requirement for control and manufacturing precision, great construction difficulty, and inability to effectively control the rod dismounting process.

[0004] Therefore, there is an urgent need for a full-automatic rod connecting equipment with high operation precision. SUMMARY

[0005] In order to solve the problem that the existing rock drilling jumbo automatic rod changing equipment has great construction difficulty and cannot realize accurate rod dismounting and rod connecting, the present application provides a rock drilling jumbo automatic rod connecting rod storehouse and a control method thereof, which sets the automatic rod connecting rod storehouse assembly, combines the operation control of the advancing beam assembly and the rock drill, and completes the automatic rod connecting and rod dismounting work according to the set drilling depth by the rod feeding manipulator. The working precision and the working efficiency are improved.

[0006] In order to achieve the above-mentioned purpose, the first aspect of the present application provides an automatic rod connecting rod store of a rock drilling jumbo, comprising a drilling arm assembly, a push beam assembly, a rock drill and a drill rod, the drilling 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 slidingly connected, the rock drill is detachably connected to the drill rod, and the push beam is detachably connected to the automatic rod connecting rod store assembly on the side of the push beam. The automatic rod connecting rod store assembly comprises an extension rod store, a structure support, a first rotary arm, a second rotary arm, a rotary arm support and a rod feeding manipulator, a plurality of drill rods are arranged on the inner circumference of the extension rod store, structure supports are arranged at both ends of the extension rod store, the extension rod store is rotatably connected to the structure supports, a first rotary arm is rotatably connected between the two structure supports, a rotary arm support is arranged on the first rotary arm, a second rotary arm is rotatably connected to the rotary arm support, and a rod feeding manipulator is arranged on the second rotary arm. A spring mechanism is arranged between the rod feeding manipulator and the second rotary arm, and the rod feeding manipulator is slidingly connected to the second rotary arm through the spring mechanism.

[0007] The extension rod store, the first rotary arm and the second rotary arm are provided with rotary motors, the rotary motors are connected with a hydraulic system, the hydraulic system is connected with a controller, the controller is electrically connected with a rock drill displacement sensor, a drill rod detection unit, a rock drill pushing pressure sensor and a rock drill.

[0008] 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.

[0009] Further, the extension rod store comprises a connecting plate, a fixing plate and a connecting shaft, the number of the fixing plates is multiple, the fixing plates are linearly and equidistantly arranged from the end of the connecting shaft to the tail of the connecting shaft, the fixing plate is a circular plate, a plurality of arc-shaped notches are equidistantly arranged on the circumference of the fixing plate, and a drill rod is arranged in the arc-shaped notch.

[0010] Connecting plates are arranged at both ends of the connecting shaft, the connecting plate is a cylindrical structure with one side closed, the connecting plate is rotatably connected to the connecting shaft, and a square notch is formed in the side surface of the connecting plate.

[0011] The connecting plate is fixed to the structure support.

[0012] The connecting shaft is drivingly connected to the output end of the rotary motor through a ratchet.

[0013] Further, the structure support is a water drop-shaped plate body, the rotary motor is fixedly arranged at the wide end and the narrow end of the structure support, the extension rod store is arranged near the wide end of the structure support, and the first rotary arm is arranged near the narrow end of the structure support.

[0014] The arc segment of the narrow end of the structural support is provided with a support, which is an integrated structure with the structural support, two supports are provided with a cross beam, the cross beam is provided with a rod library mounting frame, and the horizontal segment of the rod library mounting frame is connected with the advancing beam.

[0015] Further, the rotating arm support comprises a first support and a second support, the first support is a sheet structure, and the first support is arranged at both ends of the primary rotating arm and the secondary rotating arm, one of the first supports is fixedly connected with the primary rotating arm and rotatably connected with the secondary rotating arm;

[0016] The other end of the first support is fixed with the primary rotating arm, and the other end is fixed with the rotating motor, the second support is arranged at the other end of the rotating motor, the second support is a sheet structure, one side of the second support is rotatably connected with the secondary rotating arm, and the other side is fixedly connected with the primary rotating arm;

[0017] The primary rotating arm and the secondary rotating arm are both cylindrical structures.

[0018] Further, the elastic mechanism is arranged at both ends of the secondary rotating arm, and the elastic mechanism comprises a first baffle, a second baffle and a spring, the first baffle is a I-shaped wheel, the first baffle is sleeved on the secondary rotating arm, one side of the first baffle is fixed with the second support, the other side is fixed with the spring, the other side of the spring is fixed with the second baffle, the second baffle is a circular ring plate, 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 with the secondary rotating arm.

[0019] Further, the rod feeding manipulator comprises a hydraulic clamp, the inner side of the clamp is a curved surface structure, and the clamp is connected with a hydraulic system.

[0020] Further, the advancing beam comprises a first sliding block, a second sliding block and a slide rail, the upper end of the slide rail is provided with the first sliding block, the first sliding block is slidably connected with the slide rail, the upper part of the first sliding block is fixedly provided with the rock drill, the second sliding block is arranged at the bottom end of the slide rail, and the second sliding block is fixed with the drill arm assembly and slidably connected with the slide rail.

[0021] The advancing system comprises a first oil cylinder and a second oil cylinder, the first oil cylinder is arranged in the slide rail, the piston rod of the first oil cylinder is fixed with the first sliding block, 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 with the bottom surface of the slide rail.

[0022] The first oil cylinder and the second oil cylinder are connected with a hydraulic system.

[0023] Further, the rock drill is connected with a rock drill bit, and the rock drill bit is detachably connected with the drill rod.

[0024] A plurality of middle and front drill holders are arranged in front of the drill bit of the rock drill in sequence, and the middle and front drill holders are slidably connected with the slide rail, and the centers of the rock drill bit, the middle drill holder and the front drill holder are located on the same straight line.

[0025] The second aspect of the application provides a control method of an automatic rod connecting rod magazine of a drill jumbo, which comprises an automatic rod installation method, and the automatic rod installation method comprises:

[0026] Step 1: the controller obtains a drilling task, determines a drilling depth L, calculates the number N of rods required and the drilling depth La of the rock drill each time according to the drilling depth L, and drills the first connecting rod on the push beam assembly into the hole at a depth of La.

[0027] Step 2: the drilling depth L1 of the rod is obtained through the displacement sensor of the rock drill, if L1 < L is satisfied, the tail of the rod is clamped by the front drill holder, the controller reverses the rock drill, the push pressure X1 of the rock drill when retreating is obtained through the push pressure sensor of the rock drill, the controller sets the retreat push pressure threshold value as X, if X1 < X is satisfied, the controller obtains the number N1 of rods through the rod detection unit;

[0028] If X1 < X is not satisfied, the controller starts impact and reversal of the rock drill, the rock drill bit is loosened from the last connecting rod, and the rock drill retreats to the initial position;

[0029] If L1 < L is not satisfied, the drilling is completed, and the equipment stops running;

[0030] Step 3: if N1 < N is satisfied, the automatic rod connecting rod magazine assembly pushes the connecting rod, the initial position is self-checked, the extension rod magazine returns to the initial position, the secondary rotary arm rotates, the primary rotary arm rotates, and the rod mechanical hand claw is retracted to the bottom.

[0031] The extension rod magazine rotates one bit, and one extension rod is sent to the rod feeding mechanical hand, and the rod feeding mechanical hand claw locks the extension rod;

[0032] If N1 < N is not satisfied, the equipment is temporarily stopped;

[0033] Step 4: the controller controls the primary rotary arm and the secondary rotary arm to rotate through the hydraulic system, the secondary rotary arm drives the rod feeding mechanical hand to place the rod 2 in front of the rock drill bit, and the controller makes the rock drill and the rock drill bit stop the rod 2 through the hydraulic system;

[0034] Step 5: the controller controls the rock drill to rotate forward, the extension rod is combined with the rock drill bit, the push pressure X2 of the rock drill when advancing is obtained through the push pressure sensor of the rock drill, and the controller sets the advance push pressure threshold value as XA.

[0035] If X2>XA, the drill continues to advance, the extension drill rod and the rod feeding manipulator are pushed to slide forward, the drill head of the extension drill rod is fed into the tail of the previous drill rod, the rod feeding manipulator jaw is released, the rod feeding manipulator is bounced back to the original position, and the drill is rotated forward to rotate the extension drill rod with the previous drill rod;

[0036] Step 6: The controller resets the rod feeding manipulator through the hydraulic system, rotates the first rotary arm and resets the second rotary arm, the controller moves the drill and the slide rail through the hydraulic system, and feeds the combined drill rod into the hole according to La, and obtains the drill rod entering depth L1 through the drill displacement sensor. If L1<L, step 2 is executed;

[0037] If L1<L is not met, the equipment is temporarily stopped.

[0038] Further, a control method of an automatic drill rod rack of a drill jumbo includes an automatic drill rod splitting method, and the automatic drill rod splitting method includes:

[0039] Step 1: The controller controls the first cylinder through the hydraulic system to make the drill retreat with all the drill rods to the initial position, the drill advancing pressure sensor obtains the advancing pressure X3 when the drill retreats, and the controller sets the retreat advancing pressure set threshold value as XB;

[0040] If X3<XB is met, the front rod holder clamps the tail of the extension drill rod, the controller controls the rotation motor to rotate the first rotary arm and the second rotary arm through the hydraulic system, the jaw of the rod feeding manipulator contacts the extension drill rod, the rod feeding manipulator slightly moves upward to prevent the extension drill rod from falling, the controller controls the drill to move backward to pull the extension drill rod through the hydraulic system, and the controller controls the drill to reverse to make the extension drill rod be released from the tail of the drill rod;

[0041] If X3<XB is not met, the controller controls the hydraulic system and the drill to impact and retreat, and the controller controls the first cylinder to make the drill retreat with all the drill rods to the initial position through the hydraulic system;

[0042] Step 2: The drill advancing pressure sensor obtains the advancing pressure X4 when the drill retreats, and when X4 continuously decreases, the controller controls the rod feeding manipulator to clamp the extension drill rod through the hydraulic system;

[0043] When the advancing pressure X4 continuously remains unchanged, the controller controls the drill to impact and reverse to make the extension drill rod be released from the tail of the drill rod, the advancing pressure X4 when the drill retreats is obtained again, and X4 continuously decreases until X4 continuously decreases;

[0044] Step 3: The rock drill advancing pressure sensor obtains the advancing pressure X5 when the rock drill retreats, and when X5 continuously decreases, the drill rod and the rod feeding manipulator are returned, the controller controls the rotary motor through the hydraulic system to make the first rotary arm and the second rotary arm rotate reversely, the controller controls the rotary motor through the hydraulic system to make the extension rod library rotate reversely by one position, and the rod feeding manipulator feeds the extension drill rod into the optimal arc-shaped gap of the fixed plate in the movement process of the second rotary arm;

[0045] If the advancing pressure X5 continuously does not change, the rock drill pulls the extension drill rod backward, the impact and reverse rotation are started to make the extension drill rod tail loose, the advancing pressure X4 when the rock drill retreats is obtained again, and until X4 continuously decreases;

[0046] Step 4: The controller controls the rotary motor through the hydraulic system to reset the first rotary arm and the second rotary arm.

[0047] The controller obtains the number N2 of drill rods through the drill rod detection unit, and if N2=N is met, the controller controls the hydraulic system to reset, and the controller controls the rock drill to stop.

[0048] If N2=N is not met, steps 1-3 are repeated.

[0049] Through the above technical scheme, the present application has the following beneficial effects:

[0050] (1) The present application can conveniently select the rod connecting and dismounting according to the requirements of the drill rig drilling operation, improve the working condition application range of the drill rig, and solve the problem that the movement of the drill rig is limited due to the increase of the fixed structure. The automatic rod connecting rod library assembly is provided, the automatic rod connecting rod library assembly comprises an extension rod library, a structure support, a first rotary arm, a second rotary arm, a rotary arm support and a rod feeding manipulator, a plurality of drill rods are arranged in the extension rod library, the extension rod library, the first rotary arm and the second rotary arm are provided with rotary motors, the rotary motors are connected with a hydraulic system, the hydraulic system is connected with a controller, the rotary motors are driven by the controller controlling the hydraulic system, the three rotary motors drive the extension rod library, the first rotary arm and the second rotary arm to rotate, respectively, the rod feeding manipulator feeds the drill rods to the front end of the rock drill or the extension rod library, the drill rod carrying of the rod connecting and dismounting operation is realized, and the rotary combination or dismounting of the plurality of drill rods is completed by controlling the rock drill and the hydraulic system. Through the rod feeding manipulator which can move along the rotary arm, the problem that the automatic dismounting of the drill rod is prone to be stuck and needs manual assistance is effectively solved, the number of the extension rods available for single drilling is greatly increased, and the operation difficulty of equipment maintenance is reduced.

[0051] (2) The rod manipulator of the present application can slide left and right on the second rotary arm, and the elastic mechanism is arranged to push the rod manipulator to automatically reset after the rod manipulator completes the operation, so as to solve the problem that the automatic dismounting of the drill rod is prone to be stuck and needs manual assistance, improve the automation degree of the drill rod dismounting and mounting operation, and make the dismounting and mounting effect smooth.

[0052] (3) The present application inputs the drilling depth through the automatic drill rod installation method and the automatic drill rod disassembly method, realizes the automatic rod connection operation, the drilling depth control and the rod disassembly operation after the drilling operation is completed, and thus improves the construction efficiency and quality and reduces the construction cost.

[0053] Reference signs

[0054] Figure 1 It is one of structure schematic views of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0055] Figure 2 It is the second structure schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0056] Figure 3 It is the third structure schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0057] Figure 4 It is the drill rod structure schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0058] Figure 5 It is one of operation schematic views of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0059] Figure 6 It is the second operation schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0060] Figure 7 It is the third operation schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0061] Figure 8 It is the fourth operation schematic view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application;

[0062] Figure 9 It is the controller operation principle view of the automatic rod connection rod storehouse and the control method of the rock drilling jumbo of the present application.

[0063] Drill boom assembly 1, push beam assembly 2, rock drill 3, automatic rod receiving rod magazine assembly 4, rod feeding manipulator 5, rotary motor 6, support 7, cross beam 8, rod magazine mounting frame 9, rock drill bit 10, front rod holder 11, front rod holder 12, push beam 201, first sliding block 2011, second sliding block 2012, sliding rail 2013, extension rod magazine 401, structural support 402, primary rotary arm 403, secondary rotary arm 404, rotary arm support 405, connecting plate 4011, fixing plate 4012, connecting shaft 4013, first support 4051, second support 4052, 13 is a first baffle, 14 is a second baffle, 15 is a spring. DETAILED DESCRIPTION

[0064] The application will be further described below in conjunction with the drawings and specific embodiments:

[0065] Example 1

[0066] As shown in Figures Figures 1-4 An automatic rod receiving rod magazine for a rock drilling rig, comprising a drill boom assembly 1, a push beam assembly 2, a rock drill 3 and a drill rod, the drill boom assembly 1 being detachably connected to the push beam assembly 2, the push beam assembly 2 comprising a push beam 201, the rock drill 3 being slidingly connected to the push beam 201, the rock drill 3 being detachably connected to the drill rod, the push beam 201 being detachably connected to an automatic rod receiving rod magazine assembly 4 on the side thereof, the automatic rod receiving rod magazine assembly 4 comprising an extension rod magazine 401, a structural support 402, a primary rotary arm 403, a secondary rotary arm 404, a rotary arm support 405 and a rod feeding manipulator 5, a plurality of drill rods being arranged on the inner circumference of the extension rod magazine 401, structural supports 402 being arranged at both ends of the extension rod magazine 401, the extension rod magazine 401 being rotatably connected to the structural supports 402, a primary rotary arm 403 being rotatably connected between the two structural supports 402, a rotary arm support 405 being arranged on the primary rotary arm 403, a secondary rotary arm 404 being rotatably connected to the rotary arm support 405, a rod feeding manipulator 5 being arranged on the secondary rotary arm 404, an elastic mechanism being arranged between the rod feeding manipulator 5 and the secondary rotary arm 404, the rod feeding manipulator 5 being slidingly connected to the secondary rotary arm 404 through the elastic mechanism;

[0067] The extension rod magazine 401, the primary rotary arm 403 and the secondary rotary arm 404 are all provided with a rotary motor 6, the rotary motor 6 being connected to a hydraulic system, the hydraulic system being connected to a controller, the controller being electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill push pressure sensor and the rock drill 3.

[0068] The drill rod comprises a male head and a female head, the male head and the female head being provided with threads, two drill rods being connected end to end through the male head and the female head.

[0069] The extension rod library 401 comprises a connecting plate 4011, a plurality of fixed plates 4012, and a connecting shaft 4013. The fixed plates 4012 are linearly and equidistantly arranged from the end of the connecting shaft 4013 to the tail of the connecting shaft 4013. The fixed plates 4012 are circular plates, and a plurality of arc-shaped notches are equidistantly arranged on the circumference of the fixed plates 4012. The arc-shaped notches are provided with drill rods;

[0070] Both ends of the connecting shaft 4013 are provided with the connecting plates 4011. The connecting plates 4011 are cylindrical structures with one side closed. The connecting plates 4011 are rotationally connected with the connecting shaft 4013. The side surface of the connecting plate 4011 is provided with a square notch.

[0071] The connecting plate 4011 is fixed with the structural support 402.

[0072] The connecting shaft 4013 is in transmission connection with the output end of the rotary motor 6 through a ratchet.

[0073] The structural support 402 is a water-drop-shaped plate body. 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 arranged near the wide end of the structural support 402. The first-stage rotary arm 403 is arranged near the narrow end of the structural support 402.

[0074] The arc segment of the narrow end of the structural support 402 is provided with the supports 7. The supports 7 are integrated with the structural support 402. The two supports 7 are provided with the cross beam 8. The cross beam 8 is provided with the rod library mounting frame 9. The horizontal segment of the rod library mounting frame 9 is connected with the advancing beam 201.

[0075] The rotary arm support 405 comprises the first supports 4051 and the second supports 4052. The first supports 4051 are sheet-shaped structures. The first supports 4051 are arranged at the two ends of the first-stage rotary arm 403 and the second-stage rotary arm 404. One of the first supports 4051 is fixedly connected with the first-stage rotary arm 403 and rotationally connected with the second-stage rotary arm 404.

[0076] The other first support 4051 is fixed at one end of the first-stage rotary arm 403 and fixed at the other end of the rotary motor 6. The other end of the rotary motor 6 is provided with the second support 4052. The second support 4052 is a sheet-shaped structure. One side of the second support 4052 is rotationally connected with the second-stage rotary arm 404. The other side of the second support 4052 is fixedly connected with the first-stage rotary arm 403.

[0077] The first-stage rotary arm 403 and the second-stage rotary arm 404 are both cylindrical structures.

[0078] The elastic mechanism is arranged at both ends of the secondary rotary arm 404, and the elastic mechanism comprises a first baffle 13, a second baffle 14 and a spring 15. The first baffle 13 is a I-shaped wheel, the first baffle 13 is sleeved on the secondary rotary arm 404, one side of the first baffle 13 is fixed with the second support 4052, the other side of the first baffle 13 is fixed with the spring 15, the other side of the spring 15 is fixed with the second baffle 14, the second baffle 14 is a circular ring plate, the second baffle 14 is sleeved on the secondary rotary arm 404, two rod manipulators 5 are arranged between the two second baffles 14, and the rod manipulator 5 is in sliding connection with the secondary rotary arm 404.

[0079] The rod manipulator 5 comprises a hydraulic clamp, the hydraulic clamp comprises a clamping jaw, the inner side of the clamping jaw is a curved surface structure, and the clamping jaw is connected with a hydraulic system.

[0080] The advancing beam 201 comprises a first sliding block 2011, a second sliding block 2012 and a slide rail 2013, the upper end of the slide rail 2013 is provided with the first sliding block 2011, the first sliding block 2011 is in sliding connection with the slide rail 2013, the upper part of the first sliding block 2011 is fixedly provided with the rock drill 3, the second sliding block 2012 is arranged at the bottom end of the slide rail 2013, and the second sliding block 2012 is fixed with the drill arm assembly 1 and in sliding connection with the slide rail 2013.

[0081] The advancing system comprises a first oil cylinder and a second oil cylinder, the first oil cylinder is arranged in the slide rail 2013, the piston rod of the first oil cylinder is fixed with 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 with the bottom surface of the slide rail 2013.

[0082] The first oil cylinder and the second oil cylinder are connected with a hydraulic system.

[0083] The rock drill 3 is connected with a rock drill bit 10, and the rock drill bit 10 is detachably connected with a drill rod.

[0084] A plurality of middle drill rod holders 11 and front drill rod holders 12 are sequentially arranged in front of the rock drill bit 10, the middle drill rod holders 11 and the front drill rod holders 12 are in sliding connection with the slide rail 2013, and the centers of the rock drill bit 10, the middle drill rod holders 11 and the front drill rod holders 12 are located on the same straight line.

[0085] Embodiment 2

[0086] A control method of an automatic rod connecting rod store of a rock drilling jumbo, comprising an automatic drill rod installation method, the automatic drill rod installation method comprising:

[0087] Step 1: the controller obtains the drilling task, determines the drilling depth L, calculates the number of drill rods N and the drilling depth La of the rock drill 3 each time according to the drilling depth L, and drills the first extension rod drill rod into the hole with a depth of La;

[0088] Step 2: the drill rod penetration depth L1 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, the controller reverses the rock drill 3, the rock drill advancing pressure sensor obtains the advancing pressure X1 of the rock drill 3 when it retreats, and the controller sets the retreat advancing pressure set threshold value as X, if X1 < X is satisfied, the controller obtains the number of drill rods N1 through the drill rod detection unit;

[0089] If X1 < X is not satisfied, the controller makes the rock drill 3 start impact and reverse (the rock drill 3 is located at the B position of Figure 8 ), the rock drill tail of the rock drill 3 is loosened from the last extension rod drill rod, and the rock drill 3 retreats to the initial position;

[0090] If L1 < L is not satisfied, the drilling is completed, and the equipment stops running (the rock drill 3 is located at the A position of Figure 8 );

[0091] Step 3: if N1 < N is satisfied, the automatic extension rod magazine assembly pushes the extension rod drill rod, the initial position is self-checked, the extension rod magazine returns to the initial position (the rock drill 3 is located at the A position of Figure 8 ), the secondary rotary arm 404 rotates, the primary rotary arm 403 rotates, and the rod manipulator 5 claw retracts to the bottom (as shown in Figure 5 );

[0092] The extension rod magazine 401 rotates one bit, and sends an extension drill rod to the rod feeding manipulator 5, and the rod feeding manipulator 5 clamps the extension drill rod;

[0093] If N1 < N is not satisfied, the equipment stops running;

[0094] Step 4: the controller controls the rotary motor 6 through the hydraulic system to make the primary rotary arm 403 rotate and the secondary rotary arm 404 rotate (as shown in Figures 6-7 ), the secondary rotary arm 404 drives the rod feeding manipulator 5 to make the drill rod 2 be in front of the rock drill tail 10, and the controller makes the rock drill 3 and the rock drill tail 10 stop the drill rod 2 through the hydraulic system;

[0095] Step 5: the controller controls the rock drill 3 to rotate forward, the extension drill rod is screwed with the rock drill tail 10, the rock drill advancing pressure sensor obtains the advancing pressure X2 of the rock drill 3 when it advances, and the controller sets the advancing pressure set threshold value as XA;

[0096] If X2>XA, the rock drill 3 continues to advance, the extension drill rod and the feed rod manipulator are pushed to slide forward, the drill head of the extension drill rod is fed into the tail of the previous drill rod, the feed rod manipulator jaw is released, the feed rod manipulator is bounced back to the original position, and the rock drill is rotated in the positive direction to rotate the extension drill rod with the previous drill rod;

[0097] Step 6: The controller resets the feed rod manipulator 5 through the hydraulic system, the first rotary arm 403 is rotated, and the second rotary arm 404 is reset (as shown in Figure 5 ), the controller moves the rock drill 3 and the slide rail 2013 through the hydraulic system, and the combined drill rod is drilled into the hole according to La, the drill rod penetration depth L1 is obtained through the rock drill displacement sensor, and if L1<L, step 2 is performed;

[0098] If L1<L is not met, the equipment is temporarily suspended.

[0099] Example 3

[0100] A control method of an automatic rod connection rod magazine of a rock drilling jumbo, comprising an automatic split drill rod method, the automatic split drill rod method comprising:

[0101] Step 1: The controller controls the first cylinder through the hydraulic system to make the rock drill 3 drive all the drill rods to retreat to the initial position (the rock drill 3 is located at the A position of Figure 8 ), the rock drill advance pressure sensor obtains the advance pressure X3 of the rock drill 3 when retreating, and the controller sets the retreat advance pressure set threshold value as XB;

[0102] If X3<XB, the front rod holder 12 clamps the tail of the extension drill rod, the controller controls the rotary motor 6 to rotate the first rotary arm 403 and the second rotary arm 404 through the hydraulic system, the jaw of the feed rod manipulator 5 contacts the extension drill rod (as shown in Figure 7 ), the feed rod 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 the controller controls the rock drill 3 to reverse to make the extension drill rod disengage from the tail of the drill rod;

[0103] If X3<XB is not met, 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 make the rock drill 3 drive all the drill rods to retreat to the initial position;

[0104] The rock drill advance pressure sensor obtains the advance pressure X4 of the rock drill 3 when retreating, and when X4 continuously decreases, the controller controls the feed rod manipulator 5 to clamp the extension drill rod through the hydraulic system;

[0105] When the pushing pressure X4 keeps constant, the controller controls the rock drill 3 to impact and reverse to make the extension drill rod loose from the drill rod tail, and again obtains the pushing pressure X4 when the rock drill 3 retreats, until X4 keeps decreasing;

[0106] Step 3: The rock drill pushing pressure sensor obtains the pushing pressure X5 when the rock drill 3 retreats, and when X5 keeps decreasing, the extension drill rod and the drill rod feeding manipulator 5 rebound, the controller controls the rotary motor 6 through the hydraulic system to make the first rotary arm 403 and the second rotary arm 404 reverse rotation, and the controller controls the rotary motor 6 through the hydraulic system to make the extension rod library 401 reverse rotation by one retreat position, and the drill rod feeding manipulator 5 feeds the extension drill rod into the arc-shaped gap of the fixed plate 4012 in the movement process of the second rotary arm 404;

[0107] If the pushing pressure X5 keeps constant, the rock drill 3 pulls the extension drill rod backward, and starts to impact and reverse to make the extension drill rod tail loose, and again obtains the pushing pressure X4 when the rock drill 3 retreats, until X4 keeps decreasing;

[0108] Step 4: The controller controls the rotary motor 6 through the hydraulic system to reset the first rotary arm 403 and the second rotary arm 404 (as shown in Figure 7

[0109] The controller obtains the number N2 of the drill rod through the drill rod detection unit, and if N2=N is met, the controller controls the hydraulic system to reset, and the controller controls the rock drill 3 to stop;

[0110] If N2=N is not met, steps 1-3 are repeated.

[0111] The above-described embodiments are only the preferred embodiments of the present application, and are not intended to limit the implementation scope of the present application, so that equivalent changes or modifications made according to the structure, features and principles described in the patent scope of the present application should be included in the patent scope of the present application.​

Claims

1. An automatic rod holder for a rock drilling rig, comprising a drill arm assembly (1), a feed beam assembly (2), a rock drill (3), and a drill rod, wherein the drill arm assembly (1) is detachably connected to the feed beam assembly (2), the feed beam assembly (2) includes a feed beam (201), the rock drill (3) and the feed beam (201) are slidably connected, and the rock drill (3) is detachably connected to the drill rod, characterized in that, The automatic rod connecting rod library assembly (4) is detachably connected to the side of the advancing beam (201), and comprises an extension rod library (401), a structure support (402), a first rotary arm (403), a second rotary arm (404), a rotary arm support (405) and a rod feeding manipulator (5). A plurality of drill rods are arranged on the inner circumference of the extension rod library (401). Structure supports (402) are arranged at both ends of the extension rod library (401). The extension rod library (401) is rotatably connected with the structure supports (402). The first rotary arm (403) is rotatably connected between the two structure supports (402). The rotary arm support (405) is arranged on the first rotary arm (403). The second rotary arm (404) is rotatably connected to the rotary arm support (405). The rod feeding manipulator (5) is arranged on the second rotary arm (404). An elastic mechanism is arranged between the rod feeding manipulator (5) and the second rotary arm (404). The rod feeding manipulator (5) is slidably connected with the second rotary arm (404) through the elastic mechanism. The extension rod library (401), the first rotary arm (403) and the second rotary arm (404) are provided with rotary motors (6). The rotary motors (6) are connected with a hydraulic system. The hydraulic system is connected with a controller. The controller is electrically connected with a rock drill displacement sensor, a drill rod detection unit, a rock drill advancing 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. Two drill rods are connected end to end through the male head and the female head. The structure support (402) is a water drop-shaped plate body. The wide end and the narrow end of the structure support (402) are fixedly provided with the rotary motors (6). The extension rod library (401) is arranged near the wide end of the structure support (402). The first rotary arm (403) is arranged near the narrow end of the structure support (402). A support (7) is arranged on the arc segment of the narrow end of the structure support (402). The support (7) and the structure support (402) are an integrated structure. A cross beam (8) is arranged between the two supports (7). A rod library mounting rack (9) is arranged on the cross beam (8). The horizontal segment of the rod library mounting rack (9) is connected with the advancing beam (201).

2. A drill rig automatic rod coupling magazine according to claim 1, characterized in that, The extension rod library (401) comprises a connecting plate (4011), a fixed plate (4012) and a connecting shaft (4013). The number of the fixed plates (4012) is multiple. The multiple fixed plates (4012) are linearly and equidistantly arranged from the end of the connecting shaft (4013) to the tail of the connecting shaft (4013). The fixed plate (4012) is a circular plate. A plurality of optimal arc-shaped notches are equidistantly arranged on the circumference of the fixed plate (4012). Drill rods are arranged in the optimal arc-shaped notches. Connecting plates (4011) are arranged 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 with the connecting shaft (4013). A square notch is formed in the side surface of the connecting plate (4011). The connecting plate (4011) is fixed with the structural support (402); The connecting shaft (4013) is connected with the output end of the rotating motor (6) through a ratchet drive.

3. A drill rig automatic rod coupling magazine according to claim 2, characterised in that, The rotating arm support (405) comprises a first support (4051) and a second support (4052), the first support (4051) is a sheet structure, and the first support (4051) is arranged at two ends of the primary rotating arm (403) and the secondary rotating arm (404); one of the first supports (4051) is fixedly connected with the primary rotating arm (403) and rotatably connected with the secondary rotating arm (404); The other first support (4051) is fixed at one end of the primary rotating arm (403) and at the other end of the rotating motor (6), and the rotating motor (6) is provided with the second support (4052) at the other end; the second support (4052) is a sheet structure, one side of the second support (4052) is rotatably connected with the secondary rotating arm (404), and the other side is fixedly connected with the primary rotating arm (403); The primary rotating arm (403) and the secondary rotating arm (404) are both cylindrical structures.

4. A drill rig automatic rod coupling magazine according to claim 3, characterised in that, The elastic mechanism is arranged at two 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 a H-shaped wheel, the first baffle (13) is sleeved on the secondary rotating arm (404), one side of the first baffle (13) is fixed with the second support (4052), and the other side is fixed with the spring (15); the other side of the spring (15) is fixed with the second baffle (14); the second baffle (14) is a circular ring plate, the second baffle (14) is sleeved on the secondary rotating arm (404), and two second baffles (14) are arranged between the two second baffles (14) to form two rod feeding manipulators (5); the rod feeding manipulator (5) is slidably connected with the secondary rotating arm (404).

5. A drill rig automatic rod coupling magazine according to claim 4, characterised in that, The rod feeding manipulator (5) comprises a hydraulic clamp, the inner side of the clamp is a curved surface structure, and the clamp is connected with a hydraulic system.

6. An automatic drill rod coupling magazine for a drill jumbo according to claim 5, characterized in that, The advancing beam (201) comprises a first sliding block (2011), a second sliding block (2012) and a slide rail (2013); the upper end of the slide rail (2013) is provided with the first sliding block (2011), the first sliding block (2011) is slidably connected with the slide rail (2013), the upper part of the first sliding block (2011) is fixedly provided with the rock drill (3), and the second sliding block (2012) is arranged at the bottom end of the slide rail (2013); the second sliding block (2012) is fixed with the drill arm assembly (1) and slidably connected with the slide rail (2013); An advancing system is further arranged, the advancing system comprises a first oil cylinder and a second oil cylinder; the first oil cylinder is arranged in the slide rail (2013), the piston rod of the first oil cylinder is fixed with 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 with the bottom surface of the slide rail (2013); The first oil cylinder and the second oil cylinder are connected with a hydraulic system.

7. A drill rig automatic rod coupling magazine according to claim 6, characterised in that, The rock drill (3) is connected with a rock drill bit (10), and the rock drill bit (10) is detachably connected with a drill rod; A plurality of middle drill rod holders (11) and front drill rod holders (12) are sequentially arranged in front of the rock drill bit (10), and the middle drill rod holders (11) and the front drill rod holders (12) are slidably connected with the slide rail (2013), and the centers of the rock drill bit (10), the middle drill rod holders (11) and the front drill rod holders (12) are located on the same straight line.

8. A control method for an automatic rod magazine of a jumbo according to claim 7, characterized in that, The automatic drill rod installation method comprises: Step 1: the controller obtains a drilling task, determines a drilling depth L, calculates a required number of drill rods N and a drilling depth La of the rock drill (3) each time according to the drilling depth L, and drills the first preset joint rod drill rod on the push beam assembly (2) into a hole at the depth La; Step 2: the drill rod entering depth L1 is obtained through a rock drill displacement sensor, if L1 < L is met, the front drill rod holder (12) clamps the tail of the drill rod, the controller reverses the rock drill (3), the rock drill push pressure sensor obtains the push pressure X1 of the rock drill (3) when retreating, the controller sets the retreat push pressure setting threshold value as X, if X1 < X is met, the controller obtains the number of drill rods N1 through the drill rod detection unit; If X1 < X is not met, the controller starts to impact and reverse the rock drill (3), the rock drill bit of the rock drill (3) is loosened from the last joint rod drill rod, and the rock drill (3) retreats to the initial position; If L1 < L is not met, the drilling is completed, and the equipment stops running; Step 3: if N1 < N is met, the automatic joint rod rod library assembly pushes the joint rod drill rod, the initial position is self-checked, the extension rod library (401) returns to the initial position, the secondary rotary arm (404) and the primary rotary arm (403) rotate, and the rod feeding mechanical hand claw is retracted to the bottom; The extension rod library (401) rotates one bit, and an extension drill rod is sent to the rod feeding mechanical hand (5), and the rod feeding mechanical hand claw locks the extension drill rod; If N1 < N is not met, the equipment is temporarily stopped running; Step 4: the controller controls the rotary motor (6) through the hydraulic system to rotate the primary rotary arm (403) and the secondary rotary arm (404), the secondary rotary arm (404) drives the rod feeding mechanical hand (5) to make the drill rod be in the front position of the rock drill bit (10), and the controller makes the rock drill (3) and the rock drill bit (10) press against the drill rod through the hydraulic system; Step 5: the controller controls the rock drill (3) to rotate forward, the extension drill rod is screwed with the rock drill bit (10), the rock drill push pressure sensor obtains the push pressure X2 of the rock drill (3) when advancing, and the controller sets the advance push pressure setting threshold value as XA; If X2 > XA is met, the rock drill (3) continuously advances forward, the extension drill rod and the rod feeding mechanical hand (5) are pushed to slide forward, the drill head of the extension drill rod is sent into the tail of the last drill rod, the rod feeding mechanical hand claw is loosened, the rod feeding mechanical hand (5) is bounced back to the original position, and the rock drill rotates forward, so that the extension drill rod is screwed with the last drill rod. Step 6: The controller resets the rod feeding manipulator (5) through the hydraulic system, rotates the first rotary arm (403) and resets the second rotary arm (404), and moves the rock drill (3) and the slide rail (2013) through the hydraulic system. The combined drill rod is drilled into the hole according to the depth La, and the drill rod entering depth L1 is obtained through the rock drill displacement sensor. If L1 < L is satisfied, step 2 is executed; If L1 < L is not satisfied, the device is suspended.

9. A control method for an automatic rod magazine of a jumbo according to claim 7, characterized in that, The automatic rod splitting method comprises: Step 1: The controller controls the first oil cylinder through the hydraulic system to control the rock drill (3) to retreat to the initial position with all the drill rods, and the rock drill advancing pressure sensor obtains the advancing pressure X3 when the rock drill (3) retreats. The controller sets the retreat advancing pressure set threshold value as XB; If the advancing pressure X3 < XB is satisfied, the front rod holder (12) clamps the tail of the extended drill rod, the controller controls the rotary motor (6) to rotate the first rotary arm (403) and the second rotary arm (404) through the hydraulic system, the jaw of the rod feeding manipulator (5) contacts the extended drill rod, the rod feeding manipulator (5) moves slightly upward to prevent the extended drill rod from falling, and the controller controls the rock drill (3) to move backward to pull the extended drill rod through the hydraulic system, and the controller controls the rock drill (3) to reverse to make the extended drill rod loose from the drill tail of the drill rod; If the advancing pressure 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 oil cylinder through the hydraulic system to control the rock drill (3) to retreat to the initial position with all the drill rods. Step 2: The rock drill advancing pressure sensor obtains the advancing pressure X4 when the rock drill (3) retreats. When the advancing pressure X4 continuously decreases, the controller controls the rod feeding manipulator (5) to clamp the extended drill rod through the hydraulic system. When the advancing pressure X4 does not change continuously, the controller controls the rock drill (3) to impact and reverse to make the extended drill rod loose from the drill tail of the drill rod, and the advancing pressure X4 when the rock drill (3) retreats is obtained again until the advancing pressure X4 continuously decreases. Step 3: The rock drill advancing pressure sensor obtains the advancing pressure X5 when the rock drill (3) retreats. When the advancing pressure X5 continuously decreases, the extended drill rod and the rod feeding manipulator (5) rebound, the controller controls the rotary motor (6) to rotate the first rotary arm (403) and the second rotary arm (404) in the reverse direction through the hydraulic system, the controller controls the rotary motor (6) to rotate the extended rod library (401) in the reverse direction by one retreat position through the hydraulic system, and the rod feeding manipulator (5) feeds the extended drill rod into the arc-shaped notch of the fixed plate (4012) during the movement of the second rotary arm (404); If the advancing pressure X5 does not change continuously, the rock drill (3) pulls the extended drill rod backward, starts impact and reverse to make the extended drill rod loose from the drill tail, and the advancing pressure X5 when the rock drill (3) retreats is obtained again until the advancing pressure X5 continuously decreases. Step 4: The controller controls the rotary motor (6) to reset the first rotary arm (403) and the second rotary arm (404) through the hydraulic system. The controller acquires the drill rod quantity N2 through the drill rod detection unit, if N2=N is satisfied, the controller controls the hydraulic system to reset, the controller controls the rock drill (3) to stop, N is the drill rod quantity calculated according to the drilling depth L, if N2=N is not satisfied, steps 1~3 are repeated.

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