Rapid rod supplementing device for underground drill rig and control method

Abstract

The invention discloses a rapid rod supplementing device for an underground drill rig and a control method. The rapid rod supplementing device comprises a split type drill rod box, a buffering energy absorption box, a right-angle displacement device, a mechanical arm and a combined type guide plate. The split type drill rod box comprises a drill rod box left portion and a drill rod box right portion, the buffering energy absorption box is located between the drill rod box left portion and the drill rod box right portion, the right-angle displacement device can drive the mechanical arm to move in the X direction and the Z direction, and the combined type guide plate comprises an inner guide plate and an outer guide plate. Drill rods are grabbed through the mechanical arm and rapidly fall to a designated drill rod bin under the action of the inner guide plate and the outer guide plate, and supplement of the drill rods is achieved. Drill rod supplement of the whole drill rod bin can be rapidly completed, the takt is saved, the impact of drill rod falling is reduced through the buffer energy absorption box, the Z-direction movement distance of the mechanical arm is reduced, and the rod adding cycle operation time is shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine tunnel drilling equipment and relates to a rapid rod-replenishing device for a tunnel drilling machine and a control method. Background Art

[0002] In recent years, the technology of automatic loading and unloading drill rods for underground tunnel drilling rigs in coal mines has been promoted to a certain extent, but the capacity of the drill rod bin equipped with such drilling rigs is limited, and drill rods need to be replenished in time during the construction process. The application of automatic loading and unloading rod technology has reduced the labor intensity of on-site operators to a certain extent, but the rod replenishment operation still needs to be performed manually, and during the operation, the operator needs to lift the drill rod to the top of the drill rod box and put it down. The lifting height is high, which is not conducive to personnel operation. There are two ways to replenish drill rods, one is to replenish them all at once, and the other is to only replenish the first row of drill rods. The former requires shutdown due to the large workload; although the latter does not affect normal drilling operations, it requires personnel to repeatedly climb up the drill rod box to place drill rods, neither of which is the best solution. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a rapid rod replenishing device and control method for a tunnel drilling rig, so as to solve the problem that the entire process of rod replenishing operation of the current intelligent automatic tunnel drilling rig still relies on manpower, and the drill rod box needs to be replenished manually in a short time, and the labor intensity of the workers is relatively high at this time. Most of the processes of the present invention adopt mechanical operations, which reduces the labor intensity of on-site workers to a certain extent, and is in parallel with drilling, and does not affect continuous operation.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0005] A quick rod-replacing device for a tunnel drilling rig comprises a split drill rod box, a buffer energy-absorbing box, a right-angle displacement device, a manipulator and a combined guide plate;

[0006] The split drill rod box comprises a left drill rod box and a right drill rod box, and the left drill rod box and the right drill rod box are provided with partitions facing each other to separate the split drill rod box into multiple rows of drill rod bins;

[0007] The buffer energy absorption box is arranged at the lower part between the left part and the right part of the drill rod box, and comprises an upper seat and a lower seat at the lower part thereof and a spring therebetween; a plurality of grooves are arranged on the upper seat, and each groove corresponds to each row of drill rod bins;

[0008] The right-angle displacement device includes an X-direction screw module and a Z-direction screw module; the X-direction screw module is arranged on one side of the split drill rod box, and can drive the Z-direction screw module connected thereto to move in a direction perpendicular to the partition; the Z-direction screw module can drive the manipulator connected thereto to move vertically;

[0009] The combined guide plate is arranged between the left part and the right part of the drill rod box, and comprises a frame, a rotating shaft, an outer guide plate, an outer cylinder, an inner guide plate and an inner cylinder; the frame is arranged vertically at the rear end of the split drill rod box, and the top of the frame is connected to the outer guide plate and the inner guide plate through a rotating shaft; the outer guide plate can be driven by the outer cylinder to rotate around the rotating shaft between the left part and the right part of the drill rod box; the inner guide plate can be driven by the inner cylinder to rotate around the rotating shaft between the left part and the right part of the drill rod box; the length of the outer guide plate is greater than that of the inner guide plate, and the drill rod grabbed by the manipulator can slide along the outer guide plate and the inner guide plate to the drill rod bin to realize rapid rod replenishment.

[0010] The present invention also includes the following technical features:

[0011] Specifically, the left part of the drill rod box includes a left back plate, a plurality of vertical partitions arranged in parallel at equal intervals are vertically arranged on the inner wall of the left back plate, and an inspection door is arranged at the left back plate;

[0012] The right part of the drill rod box includes a right back plate, the inner wall of which is vertically provided with a plurality of vertical partitions arranged in parallel with equal intervals; the outer wall of the right back plate is provided with a plurality of fixed plates, the width between two fixed plates is less than the partition spacing; the left back plate and the right back plate are parallel and opposite to each other, and the partitions on the two are opposite to each other one by one;

[0013] The distance between the left part of the drill rod box and the right part of the drill rod box is adjustable to accommodate drill rods of different lengths.

[0014] Specifically, the diameter of the groove of the upper seat is equal to the diameter ΦD of the drill rod; the spring is a rectangular spring and is installed in the lower seat, and the lower seat can be inserted into the upper seat.

[0015] Specifically, the X-direction screw module includes an X-direction screw assembly, an X-direction support plate, an X-direction drive motor and an X-direction hysteresis displacement sensor; the X-direction screw assembly is arranged on one side of the split drill rod box and is perpendicular to the partition, the X-direction drive motor can drive the X-direction screw assembly to rotate to drive the X-direction support plate to move in a direction perpendicular to the partition, and the movement position is detected by the X-direction hysteresis displacement sensor.

[0016] Specifically, the Z-direction screw module is installed on the X-direction pallet, and includes a Z-direction screw assembly, a Z-direction pallet, a Z-direction drive motor and a Z-direction hysteresis displacement sensor; the Z-direction drive motor can drive the Z-direction screw assembly to rotate to drive the Z-direction pallet to move vertically, and detect the movement position through the Z-direction hysteresis displacement sensor.

[0017] Specifically, the manipulator includes a mechanical arm, a rotating cylinder and a gripper; the manipulator is installed on a Z-axis support plate, the rotating cylinder is connected to the mechanical arm, and the gripper is connected to the rotating cylinder to achieve the gripping of the drill rod.

[0018] Specifically, the position of the rotating shaft at the top of the frame is higher than the split drill rod box; the outer guide plate and the inner guide plate are both parallel to the drill rods in the drill rod bin; the outer guide plate can be rotated until its front end edge reaches the top of the first row of drill rod bin partitions; the inner guide plate can be rotated until its front end edge reaches the top of the middle drill rod bin partition.

[0019] Specifically, one end of the outer oil cylinder is hinged to the outer guide plate, and the other end is connected to the middle of the frame; one end of the inner oil cylinder is hinged to the inner guide plate, and the other end is connected to the middle of the frame.

[0020] Specifically, hysteresis displacement sensors are installed inside the outer cylinder and the inner cylinder to locate the flipping angles of the inner guide plate and the outer guide plate.

[0021] The control method of the quick rod-repairing device for a tunnel drilling rig comprises the following steps:

[0022] Step 1: As drilling proceeds, the manipulator grabs drill rods from each row of drill rod bins in sequence to supplement the drilling rods;

[0023] Step 2: After the last row of drill rods is grabbed, the outer guide plate reaches the upper part of the first row of drill rod bins under the action of the outer cylinder. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, moves to the top of the outer guide plate, puts down the drill rod, and the drill rod slides along the outer guide plate to the first row of drill rod bins under the action of gravity. Repeat the operation until the first row of drill rod bins are full.

[0024] Step 3: The outer guide plate rotates downward under the action of the outer cylinder, and the manipulator operation is repeated to slide the drill rod to the angle formed by the second row of drill rod bin partitions and the outer guide plate, and the outer guide plate is retracted, and the drill rod slides to the second row of drill rod bins, completing the replenishment of the drill rods in the second row of drill rod bins;

[0025] Step 4: Under the action of the inner oil cylinder, the inner guide plate reaches the upper part of the next row of drill rod bins. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, moves it to the top of the inner guide plate, and puts down the drill rod. Under the action of gravity, the drill rod slides along the inner guide baffle to the row of drill rod bins. Repeat the operation until the row of drill rod bins is full.

[0026] Step 5: The inner guide plate rotates downward under the action of the inner cylinder, and the manipulator operation is repeated to slide the drill rod to the angle formed by the next row of drill rod bin partitions and the inner guide plate, and the inner guide plate is retracted, and the drill rod slides to the row of drill rod bins, completing the replenishment of the drill rods in the row of drill rod bins;

[0027] Step six, complete the replenishment of the remaining drill rods in the rear drill rod bin by grabbing with the robot.

[0028] Compared with the prior art, the present invention has the following technical effects:

[0029] The present invention can grab the fixed position through the manipulator, and under the action of the inner and outer guide plates, quickly drop to the designated position to achieve the replenishment of the drill rod. Through the cooperation of the three, 89.6% of the drill rod replenishment of the entire drill rod bin can be quickly completed. When only the horizontal displacement is considered, the width of a drill rod bin is regarded as one beat. It originally takes 168 beats to complete the replenishment of the drill rod. Through this solution, 96 beats can be saved, shortening 57.1%.

[0030] The present invention reduces the impact of the drill rod falling by setting the buffer energy absorption box, reduces the movement distance of the manipulator in the Z direction, and reduces the operation time of the rod adding cycle.

[0031] Compared with the existing rod-replacing device, the present invention reduces one moving element and realizes the grabbing of drill rods with a large Z-axis stroke. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of a rapid rod-repairing device for a tunnel drilling rig.

[0033] Figure 2 This is a schematic diagram of the structure of a rapid rod-repairing device for a tunnel drilling rig.

[0034] Figure 3 This is a schematic diagram of the structure of a rapid rod-repairing device for a tunnel drilling rig.

[0035] Figure 4 This is a schematic diagram of the structure of a rapid rod-repairing device for a tunnel drilling rig.

[0036] Figure 5 This is a schematic diagram of the rod replenishing process of the rapid rod replenishing device for the tunnel drilling rig.

[0037] The meaning of each number in the figure is:

[0038] 1. Split drill box, 2. Buffer energy absorption box, 3. Right-angle displacement device, 4. Manipulator, 5. Combined guide plate, 101. Left part of drill box, 102. Right part of drill box, 10201. Fixed plate, 103. Partition, 201. Upper seat, 203. Lower seat, 301. X-direction screw module, 302. Z-direction screw module, 30101. X-direction screw assembly, 30102. X-direction support plate, 30103. X 30104. X-axis hysteresis displacement sensor, 30201. Z-axis screw assembly, 30202. Z-axis support plate, 30203. Z-axis drive motor, 30204. Z-axis hysteresis displacement sensor, 401. robotic arm, 402. rotating cylinder, 403. gripper, 501. frame, 502. rotating shaft, 503. outer guide plate, 504. outer cylinder, 505. inner guide plate, 506. inner cylinder. DETAILED DESCRIPTION

[0039] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0040] Embodiment 1:

[0041] like Figures 1 to 5 As shown, this embodiment provides a rapid rod-replacing device for a tunnel drilling rig, comprising a split drill rod box 1, a buffer energy-absorbing box 2, a right-angle displacement device 3, a manipulator 4 and a combined guide plate 5.

[0042] The split drill rod box 1 comprises a left drill rod box 101 and a right drill rod box 102. The left drill rod box 101 and the right drill rod box 102 are provided with partitions 103 facing each other to separate the split drill rod box 1 into multiple rows of drill rod bins.

[0043] The buffer energy absorbing box 2 is arranged at the lower part between the left part 101 and the right part 102 of the drill rod box, and includes an upper seat 201 and a lower seat 203 below it and a spring therebetween; a plurality of grooves are arranged on the upper seat 201, and each groove corresponds to each row of drill rod bins.

[0044] The right-angle displacement device 3 includes an X-direction screw module 301 and a Z-direction screw module 302; the X-direction screw module 301 is arranged on one side of the split drill rod box 1, and can drive the Z-direction screw module 302 connected thereto to move in a direction perpendicular to the partition 103; the Z-direction screw module 302 can drive the connected manipulator 4 to move vertically.

[0045] The combined guide plate 5 is arranged between the left part 101 of the drill rod box and the right part 102 of the drill rod box, and includes a frame 501, a rotating shaft 502, an outer guide plate 503, an outer cylinder 504, an inner guide plate 505 and an inner cylinder 506; the frame 501 is vertically arranged at the rear end of the split drill rod box 1, and the top of the frame 501 is connected to the outer guide plate 503 and the inner guide plate 505 through the rotating shaft 502; the outer guide plate 503 can be driven by the outer cylinder 504 to rotate around the rotating shaft 502 between the left part 101 of the drill rod box and the right part 102 of the drill rod box; the inner guide plate 505 can be driven by the inner cylinder 506 to rotate around the rotating shaft 502 between the left part 101 of the drill rod box and the right part 102 of the drill rod box; the length of the outer guide plate 503 is greater than that of the inner guide plate 505, and the drill rod grabbed by the manipulator 4 can slide along the outer guide plate 503 and the inner guide plate 505 to the drill rod bin to realize rapid rod replenishment.

[0046] The left part 101 of the drill rod box includes a left back plate, and a plurality of vertical partitions 103 arranged in parallel at equal intervals are vertically arranged on the inner wall of the left back plate, and an inspection door is provided at the left back plate; the right part 102 of the drill rod box includes a right back plate, and a plurality of vertical partitions 103 arranged in parallel at equal intervals are vertically arranged on the inner wall of the right back plate; a plurality of fixed plates 10201 are provided on the outer wall of the right back plate, and the width between two fixed plates 10201 is less than the spacing between the partitions 103; the left back plate and the right back plate are parallel to each other, and the partitions 103 on the two are opposite to each other one by one; the distance between the left part 101 of the drill rod box and the right part 102 of the drill rod box is adjustable to accommodate drill rods of different lengths.

[0047] Specifically, the partition 103 divides the drill rod box into 6 columns, and the width of each column = ΦD+2*ε+1, where ΦD is the diameter of the drill rod, and ε is the position error of the right-angle displacement device 3. The left and right sides of the drill rod box 101 and the right and left sides of the drill rod box 102 are flush and fixed. The minimum width between the two fixed plates 10201 is ΦD-6, and the fixed plates 10201 are connected to the partition 103 by bolts. The distance between the installation holes of the left and right parts of the drill rod box 101 and the right and left parts of the drill rod box 102 can be adjusted according to the length of the drill rod.

[0048] The diameter of the groove of the upper seat 201 is equal to the diameter of the drill rod ΦD; the spring is a rectangular spring and is installed in the lower seat 203, and the lower seat 203 can be inserted into the upper seat 201; the stiffness of the rectangular spring is k=G / dλ, where G is the weight of the drill rod, and dλ=ΦD / 8. More specifically, the upper seat 201 and the lower seat 203 connected thereto are arranged on a mounting plate, and the mounting plate is located between the left part 101 of the drill rod box and the right part 102 of the drill rod box. There are two groups of upper seats 201 and lower seats 203, which are spaced apart from each other, and the grooves on them correspond to each other, so as to more stably buffer and absorb energy.

[0049] The X-direction lead screw module 301 includes an X-direction lead screw assembly 30101, an X-direction support plate 30102, an X-direction drive motor 30103 and an X-direction hysteresis displacement sensor 30104; the X-direction lead screw assembly 30101 is arranged on one side of the split drill rod box 1 and is perpendicular to the partition 103. The X-direction drive motor 30103 can drive the X-direction lead screw assembly 30101 to rotate to drive the X-direction support plate 30102 to move in a direction perpendicular to the partition 103, and detect the movement position through the X-direction hysteresis displacement sensor 30104.

[0050] The Z-direction lead screw module 302 is installed on the X-direction support plate 30102, and includes a Z-direction lead screw assembly 30201, a Z-direction support plate 30202, a Z-direction drive motor 30203 and a Z-direction hysteresis displacement sensor 30204; the Z-direction drive motor 30203 can drive the Z-direction lead screw assembly 30201 to rotate to drive the Z-direction support plate 30202 to move vertically, and detect the movement position through the Z-direction hysteresis displacement sensor 30204.

[0051] The manipulator 4 includes a manipulator arm 401, a rotating cylinder 402 and a gripper 403; the manipulator 4 is installed on the Z-axis support plate 30202, the rotating cylinder 402 is connected to the manipulator arm 401, and the gripper 403 is connected to the rotating cylinder 402 to achieve the gripping of the drill rod; the manipulator 4 can move downward and grab the drill rod under the drive of the right-angle displacement device 3.

[0052] The position of the rotating shaft 502 at the top of the frame 501 is higher than the split drill rod box 1; the outer guide plate 503 and the inner guide plate 505 are both parallel to the drill rods in the drill rod bin; the outer guide plate 503 can rotate until its front end edge reaches the top of the first row of drill rod bin partitions 103; the inner guide plate 505 can rotate until its front end edge reaches the top of the middle drill rod bin partition 103.

[0053] One end of the outer cylinder 504 is hinged to the outer guide plate 503 , and the other end is connected to the middle of the frame 501 ; one end of the inner cylinder 506 is hinged to the inner guide plate 505 , and the other end is connected to the middle of the frame 501 .

[0054] Hysteresis displacement sensors are installed inside the outer cylinder 504 and the inner cylinder 506 to locate the flipping angles of the inner guide plate 505 and the outer guide plate 503 .

[0055] The present invention also provides a control method for a quick rod-repairing device for a tunnel drilling machine, comprising the following steps:

[0056] Step 1: As drilling proceeds, the manipulator grabs drill rods from each row of drill rod bins in sequence to supplement the drilling rods;

[0057] Step 2: After the last row and the sixth row of drill rods are grabbed, the outer guide plate, under the action of the outer cylinder, reaches the upper part of the first row of drill rod bin at position 1. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, and then moves to the top of the outer guide plate and puts down the drill rod. Under the action of gravity, the drill rod slides along the outer guide plate to the first row of drill rod bin, and the operation is repeated until the first row of drill rod bin is full.

[0058] Step 3: Under the action of the outer cylinder, the outer guide plate rotates downward to position 2, and the manipulator operation is repeated to slide the drill rod to the angle formed by the second row of drill rod bin partitions and the outer guide plate. The outer guide plate is retracted, and the drill rod slides to the second row of drill rod bins, completing the replenishment of N-3 drill rods in the second row of drill rod bins.

[0059] Step 4: Under the action of the inner oil cylinder, the inner guide plate reaches the upper part of the drill rod bin in the next row at position 3. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, and then moves to the top of the inner guide plate and puts down the drill rod. Under the action of gravity, the drill rod slides along the inner guide baffle to the drill rod bin in the third row of the row. Repeat the operation until the drill rod bin in the third row of the row is full, and retract the outer guide plate.

[0060] Step 5: The inner guide plate rotates downward under the action of the inner cylinder to position 4, and the manipulator operation is repeated to slide the drill rod to the angle formed by the partition plate of the fourth drill rod bin in the next row and the inner guide plate. The inner guide plate is retracted, and the drill rod slides to the fourth drill rod bin in the row, completing the replenishment of N-2 drill rods in the fourth drill rod bin in the row;

[0061] Step six, by grabbing with the manipulator, complete the replenishment of the remaining drill rods in the fifth and sixth rows of the drill rod bin.

[0062] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0063] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0064] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A quick rod-repairing device for a tunnel drilling rig, characterized in that: It comprises a split drill pipe box (1), a buffer energy absorption box (2), a right-angle displacement device (3), a manipulator (4) and a combined guide plate (5); The split drill rod box (1) comprises a left drill rod box portion (101) and a right drill rod box portion (102), and the left drill rod box portion (101) and the right drill rod box portion (102) are provided with partitions (103) facing each other to separate the split drill rod box (1) into a plurality of rows of drill rod bins; The buffer energy absorbing box (2) is arranged at the lower part between the left part (101) and the right part (102) of the drill rod box, and comprises an upper seat (201) and a lower seat (203) below the upper seat and a spring therebetween; a plurality of grooves are arranged on the upper seat (201), and each groove corresponds to each row of drill rod bins; The right-angle displacement device (3) comprises an X-direction lead screw module (301) and a Z-direction lead screw module (302); the X-direction lead screw module (301) is arranged on one side of the split drill rod box (1) and can drive the Z-direction lead screw module (302) connected thereto to move in a direction perpendicular to the partition (103); the Z-direction lead screw module (302) can drive the manipulator (4) connected thereto to move in a vertical direction; The combined guide plate (5) is arranged between the left part (101) and the right part (102) of the drill rod box, and comprises a frame (501), a rotating shaft (502), an outer guide plate (503), an outer oil cylinder (504), an inner guide plate (505) and an inner oil cylinder (506); the frame (501) is arranged vertically at the rear end of the split drill rod box (1), and the top of the frame (501) is connected to the outer guide plate (503) and the inner guide plate (505) through the rotating shaft (502); the outer guide plate (503) can be moved by the outer oil cylinder (504) The oil cylinder (504) drives the rotating shaft (502) to rotate between the left part (101) and the right part (102) of the drill rod box; the inner guide plate (505) can drive the rotating shaft (502) to rotate between the left part (101) and the right part (102) of the drill rod box through the inner oil cylinder (506); the outer guide plate (503) is longer than the inner guide plate (505), and the drill rod grabbed by the manipulator (4) can slide along the outer guide plate (503) and the inner guide plate (505) to the drill rod bin to realize rapid rod replenishment.

2. The rapid rod-repairing device for a tunnel drilling rig according to claim 1, characterized in that: The left part (101) of the drill rod box comprises a left back plate, a plurality of vertical partitions (103) arranged in parallel and at equal intervals are vertically arranged on the inner wall of the left back plate, and an inspection door is arranged at the left back plate; The right part (102) of the drill rod box includes a right back plate, the inner wall of which is vertically provided with a plurality of vertical partitions (103) arranged in parallel and at equal intervals; the outer wall of the right back plate is provided with a plurality of fixed plates (10201), and the width between two fixed plates (10201) is smaller than the spacing between the partitions (103); the left back plate and the right back plate are parallel to each other, and the partitions (103) on the two are opposite to each other one by one; The distance between the left part (101) of the drill rod box and the right part (102) of the drill rod box is adjustable to accommodate drill rods of different lengths.

3. The rapid rod-repairing device for a tunnel drilling rig according to claim 1, characterized in that: The diameter of the groove of the upper seat (201) is equal to the diameter ΦD of the drill rod; the spring is a rectangular spring and is installed in the lower seat (203), and the lower seat (203) can be inserted into the upper seat (201).

4. The rapid rod-repairing device for a tunnel drilling rig according to claim 1, characterized in that: The X-direction lead screw module (301) comprises an X-direction lead screw assembly (30101), an X-direction support plate (30102), an X-direction drive motor (30103) and an X-direction hysteresis displacement sensor (30104); the X-direction lead screw assembly (30101) is arranged on one side of the split drill rod box (1) and is perpendicular to the partition plate (103); the X-direction drive motor (30103) can drive the X-direction lead screw assembly (30101) to rotate so as to drive the X-direction support plate (30102) to move in a direction perpendicular to the partition plate (103), and the movement position is detected by the X-direction hysteresis displacement sensor (30104).

5. The rapid rod-repairing device for a tunnel drilling machine according to claim 4, characterized in that: The Z-direction lead screw module (302) is installed on the X-direction support plate (30102), and comprises a Z-direction lead screw assembly (30201), a Z-direction support plate (30202), a Z-direction drive motor (30203) and a Z-direction hysteresis displacement sensor (30204); the Z-direction drive motor (30203) can drive the Z-direction lead screw assembly (30201) to rotate so as to drive the Z-direction support plate (30202) to move vertically, and detect the movement position through the Z-direction hysteresis displacement sensor (30204).

6. The rapid rod-repairing device for a tunnel drilling machine according to claim 1, characterized in that: The manipulator (4) comprises a manipulator arm (401), a rotating oil cylinder (402) and a gripper (403); the manipulator (4) is mounted on a Z-axis support plate (30202), the rotating oil cylinder (402) is connected to the manipulator arm (401), and the gripper (403) is connected to the rotating oil cylinder (402), so as to grasp the drill rod.

7. The rapid rod-repairing device for a tunnel drilling machine according to claim 1, characterized in that: The position of the top rotating shaft (502) of the frame (501) is higher than the split drill rod box (1); the outer guide plate (503) and the inner guide plate (505) are both parallel to the drill rods in the drill rod bin; the outer guide plate (503) can rotate until its front end edge reaches the top of the first row of drill rod bin partitions (103); and the inner guide plate (505) can rotate until its front end edge reaches the top of the middle drill rod bin partition (103).

8. The rapid rod-repairing device for a tunnel drilling machine according to claim 1, characterized in that: One end of the outer oil cylinder (504) is hinged to the outer guide plate (503), and the other end is connected to the middle of the frame (501); one end of the inner oil cylinder (506) is hinged to the inner guide plate (505), and the other end is connected to the middle of the frame (501).

9. The rapid rod-repairing device for a tunnel drilling machine according to claim 1, characterized in that: Hysteresis displacement sensors are installed inside the outer oil cylinder (504) and the inner oil cylinder (506) to locate the flipping angles of the inner guide plate (505) and the outer guide plate (503).

10. The control method of the rapid rod-replacing device for a tunnel drilling machine according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: As drilling proceeds, the manipulator grabs drill rods from each row of drill rod bins in sequence to supplement the drilling rods; Step 2: After the last row of drill rods is grabbed, the outer guide plate reaches the upper part of the first row of drill rod bins under the action of the outer cylinder. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, moves to the top of the outer guide plate, puts down the drill rod, and the drill rod slides along the outer guide plate to the first row of drill rod bins under the action of gravity. Repeat the operation until the first row of drill rod bins are full. Step 3: The outer guide plate rotates downward under the action of the outer cylinder, and the manipulator operation is repeated to slide the drill rod to the angle formed by the second row of drill rod bin partitions and the outer guide plate, and the outer guide plate is retracted, and the drill rod slides to the second row of drill rod bins, completing the replenishment of the drill rods in the second row of drill rod bins; Step 4: Under the action of the inner oil cylinder, the inner guide plate reaches the upper part of the next row of drill rod bins. Driven by the right-angle displacement device, the manipulator grabs the drill rod from the replenishment position, moves it to the top of the inner guide plate, and puts down the drill rod. Under the action of gravity, the drill rod slides along the inner guide baffle to the row of drill rod bins. Repeat the operation until the row of drill rod bins is full. Step 5: The inner guide plate rotates downward under the action of the inner cylinder, and the manipulator operation is repeated to slide the drill rod to the angle formed by the next row of drill rod bin partitions and the inner guide plate, and the inner guide plate is retracted, and the drill rod slides to the row of drill rod bins, completing the replenishment of the drill rods in the row of drill rod bins; Step six, complete the replenishment of the remaining drill rods in the rear drill rod bin by grabbing with the robot.

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