A quick rod supplementing device for a drift drill and a control method thereof

Abstract

The application discloses a kind of quick rod supplementing device and control method for drift drill rig, including split type drill pipe box, buffer energy-absorbing box, right-angle displacement device, manipulator and combined guide plate;Split type drill pipe box includes drill pipe box left part and drill pipe box right part, buffer energy-absorbing box is located between drill pipe box left part and drill pipe box right part, right-angle displacement device can drive manipulator to move in X direction and Z direction, combined guide plate includes inner guide plate and outer guide plate;Through the mechanical hand of drill pipe, and under the action of inner guide plate and outer guide plate, it is quickly dropped to specified drill pipe bin, and the supplement of drill pipe is realized.The application can quickly complete the drill pipe supplement of entire drill pipe bin, save beat, reduce the impact of drill pipe falling by buffer energy-absorbing box, and reduce the Z direction movement distance of manipulator, shorten the rod adding cycle operation time.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine tunnel drilling equipment, and relates to a quick rod supplementing device for a tunnel drilling machine and a control method. BACKGROUND

[0002] In recent years, the automatic drilling rod supplementing technology of the coal mine tunnel drilling machine has been promoted to a certain extent, but the drilling rod storage capacity of the drilling machine is limited, and the drilling rod needs to be supplemented in time during the construction process. The application of the automatic rod supplementing technology reduces the labor intensity of the site operators to a certain extent, but the rod supplementing operation still needs to be manually performed, and the operators need to lift the drilling rod to the top of the drilling rod box during the operation process, which is not conducive to the operation of the operators. There are two ways to supplement the drilling rod, one is to supplement all the drilling rods at one time, and the other is to supplement only the first row of drilling rods. The former needs to be stopped for operation due to a large amount of work, and the latter does not affect the normal drilling operation, but the operators need to repeatedly climb the drilling rod box to place the drilling rods, which are not the best solutions. SUMMARY

[0003] In view of the problems in the prior art, the purpose of the present application is to provide a quick rod supplementing device for a tunnel drilling machine and a control method, to solve the problems that the whole process of the rod supplementing operation of the current intelligent automatic tunnel drilling machine is still completed by manpower, and the drilling rod box needs to be manually supplemented in a short time, which causes a large labor intensity of the workers. Most of the processes of the present application are mechanical operations, which reduces the labor intensity of the site operators to a certain extent, and the drilling and supplementing are in parallel relationship, which does not affect the continuous operation.

[0004] To solve the above technical problems, the present application adopts the following technical solutions:

[0005] A quick rod supplementing device for a tunnel drilling machine, comprising a split type drilling rod box, a buffer energy absorbing box, a right-angle displacement device, a mechanical hand and a combined guide plate.

[0006] The split type drilling rod box comprises a left drilling rod box and a right drilling rod box, and the left drilling rod box and the right drilling rod box are provided with a partition plate opposite to each other to separate the split type drilling rod box into multiple rows of drilling rod storage spaces.

[0007] The buffer energy absorbing box is arranged between the left drilling rod box and the right drilling rod box at the lower part, and comprises an upper seat, a lower seat at the lower part of the upper seat and a spring between the upper seat and the lower seat. A plurality of grooves are arranged on the upper seat, and each groove corresponds to each row of drilling rod storage spaces.

[0008] The right-angle displacement device comprises an X-direction lead screw module and a Z-direction lead screw module. The X-direction lead screw module is arranged on one side of the split type drilling rod box and can drive the connected Z-direction lead screw module to move in a direction perpendicular to the partition plate. The Z-direction lead screw module can drive the connected mechanical hand to move vertically.

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

[0010] The present application also comprises the following technical features:

[0011] Specifically, the left drill pipe box comprises a left back plate, and a plurality of vertical partition plates are vertically arranged on the inner wall of the left back plate at equal intervals; a maintenance door is arranged at the left back plate.

[0012] The right drill pipe box comprises a right back plate, and a plurality of vertical partition plates are vertically arranged on the inner wall of the right back plate at equal intervals; a plurality of fixed plates are arranged on the outer wall of the right back plate, and the width between two fixed plates is less than the interval between the partition plates; the left back plate and the right back plate are parallel to each other, and the partition plates on the two back plates are one-to-one corresponding.

[0013] The distance between the left drill pipe box and the right drill pipe box is adjustable to adapt to drill pipes of different lengths.

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

[0015] Specifically, the X-direction screw module comprises an X-direction screw assembly, an X-direction supporting plate, an X-direction driving motor and an X-direction hysteresis displacement sensor; the X-direction screw assembly is arranged on one side of the split drill pipe box and is perpendicular to the partition plate; the X-direction driving motor can drive the X-direction screw assembly to rotate to drive the X-direction supporting plate to move along a direction perpendicular to the partition plate, and the X-direction hysteresis displacement sensor is used to detect the movement position.

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

[0017] Specifically, the manipulator comprises a mechanical arm, a rotating oil cylinder and a gripper; the manipulator is installed on the Z-direction supporting plate, the rotating oil cylinder is connected to the mechanical arm, and the gripper is connected to the rotating oil cylinder to realize the grabbing of the drill pipe.

[0018] Specifically, the position of the frame top rotating shaft is higher than the split drill pipe box; the outer guide plate and the inner guide plate are parallel to the drill pipes in the drill pipe box; the outer guide plate can rotate to the top of the first row of drill pipe box partitions at the edge of the front end thereof; and the inner guide plate can rotate to the top of the middle drill pipe box partition at the edge of the front end thereof.

[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 part 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 part of the frame.

[0020] Specifically, the outer oil cylinder and the inner oil cylinder are internally provided with a magnetic hysteresis displacement sensor to position the turning angles of the inner guide plate and the outer guide plate.

[0021] The control method of the quick drill pipe supplementing device for the drift drilling machine comprises the following steps.

[0022] Step one: as the drilling progresses, the mechanical arm sequentially completes drill pipe grabbing from each row of drill pipe boxes for drill pipe supplementing;

[0023] Step two: when the last row of drill pipe grabbing is completed, the outer guide plate reaches the upper part of the first row of drill pipe boxes under the action of the outer oil cylinder, and under the driving of the right-angle displacement device, the mechanical arm grabs the drill pipe from the supplementing box position, moves to the upper part of the outer guide plate, and then drops the drill pipe, which slides to the first row of drill pipe boxes along the outer guide plate under the action of gravity, and the operation is repeated until the first row of drill pipe boxes is filled;

[0024] Step three: the outer guide plate is turned downward under the action of the outer oil cylinder, and the mechanical arm operation is repeated to slide the drill pipe to the included angle formed by the second row of drill pipe box partitions and the outer guide plate, the outer guide plate is retracted, the drill pipe slides to the second row of drill pipe boxes, and the drill pipe supplementing in the second row of drill pipe boxes is completed;

[0025] Step four: the inner guide plate reaches the upper part of the next row of drill pipe boxes under the action of the inner oil cylinder, and under the driving of the right-angle displacement device, the mechanical arm grabs the drill pipe from the supplementing box position, moves to the upper part of the inner guide plate, and then drops the drill pipe, which slides to the row of drill pipe boxes along the inner guide plate under the action of gravity, and the operation is repeated until the row of drill pipe boxes is filled;

[0026] Step five: the inner guide plate is turned downward under the action of the inner oil cylinder, and the mechanical arm operation is repeated to slide the drill pipe to the included angle formed by the next row of drill pipe box partitions and the inner guide plate, the inner guide plate is retracted, the drill pipe slides to the row of drill pipe boxes, and the drill pipe supplementing in the row of drill pipe boxes is completed;

[0027] Step six: the drill pipe supplementing in the remaining rows of drill pipe boxes at the rear is completed through the grabbing of the mechanical arm.

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

[0029] The present application can be grabbed by a mechanical hand at a fixed position, and quickly falls to a designated position under the action of inner and outer guide plates, so as to realize the supplement of the drill rod. Through the cooperation of the three, the entire drill rod bin 89.6% of the drill rod supplement can be quickly completed, and in the case of only considering horizontal displacement, one drill rod bin width is regarded as one beat, and originally 168 beats are needed to complete the drill rod supplement, and through the present application, 96 beats can be saved, and 57.1% is shortened.

[0030] The present application reduces the impact of the drill rod falling through the setting of the buffer energy absorption box, and can reduce the Z direction movement distance of the mechanical hand and the rod adding period operation time.

[0031] Compared with the existing rod supplement device, the present application reduces one moving element and realizes the Z axis long-stroke drill rod grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a structure schematic diagram of the quick rod supplement device for the drift drill.

[0033] Figure 2 It is a structure schematic diagram of the quick rod supplement device for the drift drill.

[0034] Figure 3 It is a structure schematic diagram of the quick rod supplement device for the drift drill.

[0035] Figure 4 It is a structure schematic diagram of the quick rod supplement device for the drift drill.

[0036] Figure 5 It is a structure schematic diagram of the quick rod supplement device for the drift drill.

[0037] The meanings of various reference numerals in the drawings are as follows:

[0038] 1. Split drill rod bin, 2. Buffer energy absorption box, 3. Right angle displacement device, 4. Mechanical hand, 5. Combined guide plate, 101. Left part of drill rod bin, 102. Right part of drill rod bin, 10201. Fixed plate, 103. Partition plate, 201. Upper seat, 203. Lower seat, 301. X direction screw module, 302. Z direction screw module, 30101. X direction screw assembly, 30102. X direction supporting plate, 30103. X direction driving motor, 30104. X direction hysteresis displacement sensor, 30201. Z direction screw assembly, 30202. Z direction supporting plate, 30203. Z direction driving motor, 30204. Z direction hysteresis displacement sensor, 401. Mechanical arm, 402. Rotary oil cylinder, 403. Gripper, 501. Frame, 502. Rotation shaft, 503. Outer guide plate, 504. Outer oil cylinder, 505. Inner guide plate, 506. Inner oil cylinder. DETAILED DESCRIPTION

[0039] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0040] Example 1:

[0041] like Figures 1 to 5 As shown, this embodiment provides a quick rod replenishment device for tunnel drilling rigs, including a split drill rod box 1, a buffer energy absorption box 2, a right-angle displacement device 3, a robotic arm 4, and a combined guide plate 5.

[0042] The split-type drill pipe box 1 includes a left part 101 and a right part 102. The left part 101 and the right part 102 are provided with opposing partitions 103 to divide the split-type drill pipe box 1 into multiple rows of drill pipe compartments.

[0043] The buffer energy absorption box 2 is located in the lower part between the left side 101 and the right side 102 of the drill pipe box, including the upper seat 201 and the lower seat 203 below it, as well as the spring between the two; the upper seat 201 is provided with multiple grooves, each groove corresponding to each row of drill pipe chambers.

[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 located on one side of the split drill rod box 1 and can drive the Z-direction screw module 302 connected to it to move in a direction perpendicular to the partition 103; the Z-direction screw module 302 can drive the robot arm 4 connected to it to move vertically.

[0045] The combined guide plate 5 is located between the left part 101 and the right part 102 of the drill pipe box, and includes a frame 501, a rotating shaft 502, an outer guide plate 503, an outer hydraulic cylinder 504, an inner guide plate 505, and an inner hydraulic cylinder 506. The frame 501 is vertically located at the rear end of the split drill pipe box 1. 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 hydraulic cylinder 504 to rotate around the rotating shaft 502 between the left part 101 and the right part 102 of the drill pipe box. The inner guide plate 505 can be driven by the inner hydraulic cylinder 506 to rotate around the rotating shaft 502 between the left part 101 and the right part 102 of the drill pipe box. The length of the outer guide plate 503 is greater than that of the inner guide plate 505. The drill pipe grasped by the robot arm 4 can slide down along the outer guide plate 503 and the inner guide plate 505 to the drill pipe chamber to achieve rapid drill pipe replenishment.

[0046] The left part 101 of the drill pipe box comprises a left back plate, the inner wall of which is vertically provided with a plurality of vertical partitions 103 arranged in parallel at equal intervals, and a maintenance door is arranged at the left back plate; the right part 102 of the drill pipe box comprises a right back plate, the inner wall of which is vertically provided with a plurality of vertical partitions 103 arranged in parallel at equal intervals; a plurality of fixed plates 10201 are arranged on the outer wall of the right back plate, and the width between two fixed plates 10201 is less than the interval 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 back plates are opposite to each other; the distance between the left part 101 of the drill pipe box and the right part 102 of the drill pipe box is adjustable to adapt to drill pipes of different lengths.

[0047] Specifically, the partitions 103 divide the drill pipe box into 6 columns, and the width of each column is equal to ΦD+2*ε+1, where ΦD is the diameter of the drill pipe, and ε is the position error of the right-angle displacement device 3. The left part 101 of the drill pipe box and the right part 102 of the drill pipe box are flushingly and fixedly installed on the left and right sides. The minimum width between the two fixed plates 10201 is equal to ΦD-6, and the fixed plates 10201 are connected to the partitions 103 by bolts. The distance between the mounting holes of the left part 101 of the drill pipe box and the right part 102 of the drill pipe box can be adjusted according to the length of the drill pipe.

[0048] The groove diameter of the upper seat 201 is equal to the diameter ΦD of the drill pipe; the spring is a rectangular spring and is installed in the lower seat 203, and the lower seat 203 can be sleeved into the upper seat 201; the stiffness of the rectangular spring is k=G / dλ, where G is the weight of the drill pipe, and dλ=ΦD / 8. More specifically, the upper seat 201 and the lower seat 203 connected thereto are arranged on the mounting plate, the mounting plate is located between the left part 101 of the drill pipe box and the right part 102 of the drill pipe box, the upper seat 201 and the lower seat 203 have two groups and are distributed at intervals, and the grooves thereon correspond to each other one by one, so that the energy can be more stably buffered and absorbed.

[0049] The X-direction screw module 301 comprises an X-direction screw assembly 30101, an X-direction supporting plate 30102, an X-direction driving motor 30103 and an X-direction magnetic hysteresis displacement sensor 30104; the X-direction screw assembly 30101 is arranged on one side of the split drill pipe box 1 and is perpendicular to the partitions 103, the X-direction driving motor 30103 can drive the X-direction screw assembly 30101 to rotate to drive the X-direction supporting plate 30102 to move in a direction perpendicular to the partitions 103, and the movement position is detected by the X-direction magnetic hysteresis displacement sensor 30104.

[0050] The Z-direction screw module 302 is installed on the X-direction supporting plate 30102 and comprises a Z-direction screw assembly 30201, a Z-direction supporting plate 30202, a Z-direction driving motor 30203 and a Z-direction magnetic hysteresis displacement sensor 30204; the Z-direction driving motor 30203 can drive the Z-direction screw assembly 30201 to rotate to drive the Z-direction supporting plate 30202 to move vertically, and the movement position is detected by the Z-direction magnetic hysteresis displacement sensor 30204.

[0051] The mechanical arm 4 comprises a mechanical arm 401, a rotary oil cylinder 402 and a gripper 403; the mechanical arm 4 is installed on the Z-direction supporting plate 30202, the rotary oil cylinder 402 is connected to the mechanical arm 401, and the gripper 403 is connected to the rotary oil cylinder 402, so that the drill pipe is gripped; the mechanical arm 4 is driven by the right-angle displacement device 3 and can move downward to grip the drill pipe.

[0052] The position of the top rotating shaft 502 of the frame 501 is higher than the split drill pipe box 1; the outer guide plate 503 and the inner guide plate 505 are parallel to the drill pipes in the drill pipe box; the outer guide plate 503 can be rotated to the top of the first-row drill pipe box partition plate 103 at the front end edge thereof; and the inner guide plate 505 can be rotated to the top of the middle drill pipe box partition plate 103 at the front end edge thereof.

[0053] 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 part 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 part of the frame 501.

[0054] The outer oil cylinder 504 and the inner oil cylinder 506 are internally provided with a magnetic hysteresis displacement sensor to position the rotation angle of the inner guide plate 505 and the outer guide plate 503.

[0055] The application further provides a control method of the rapid drill pipe supplementing device for the drift drilling machine.

[0056] Step one: with the drilling process, the mechanical arm sequentially completes the drill pipe gripping from the drill pipe boxes to supplement the drill pipe for the drilling;

[0057] Step two: after the gripping of the drill pipe in the sixth row is completed, the outer guide plate reaches the upper part of the first-row drill pipe box at position 1 under the action of the outer oil cylinder; the mechanical arm grips the drill pipe from the supplementing box position under the driving of the right-angle displacement device, then moves to the upper part of the outer guide plate, and then releases the drill pipe; the drill pipe slides to the first-row drill pipe box along the outer guide plate under the action of gravity, and the operation is repeated until the first-row drill pipe box is filled;

[0058] Step three: the outer guide plate rotates downward to position 2 under the action of the outer oil cylinder; the mechanical arm operation is repeated to slide the drill pipe to the included angle between the second-row drill pipe box partition plate and the outer guide plate; the outer guide plate is retracted, and the drill pipe slides to the second-row drill pipe box to complete the supplement of N-3 drill pipes in the second-row drill pipe box;

[0059] Step four: the inner guide plate reaches the upper part of the next-row drill pipe box at position 3 under the action of the inner oil cylinder; the mechanical arm grips the drill pipe from the supplementing box position under the driving of the right-angle displacement device, then moves to the upper part of the inner guide plate, and then releases the drill pipe; the drill pipe slides to the third-row drill pipe box along the inner guide plate under the action of gravity, and the operation is repeated until the third-row drill pipe box is filled; and the outer guide plate is retracted;

[0060] Step five, the inner guide plate is turned down under the action of the inner oil cylinder, reaches position 4, the mechanical arm is operated repeatedly, the drill pipe is slid to the included angle formed by the fourth column drill pipe bin partition plate and the inner guide plate, the inner guide plate is retracted, the drill pipe is slid to the fourth column drill pipe bin, and the supplement of N-2 drill pipes in the fourth column drill pipe bin is completed;

[0061] Step six, the supplement of the drill pipes in the rear remaining fifth and sixth column drill pipe bins is completed through the grabbing of the mechanical arm.

[0062] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the specific details in the above-described embodiments, and various simple modifications can be made to the technical solutions of the present application within the technical concept of the present application, and these simple modifications all belong to the protection scope of the present application.

[0063] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present application.

[0064] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the technical concept of the present application, and it should be considered as disclosed by the present application.

Claims

1. A quick rod-addition device for tunnel drilling rigs, characterized in that, It includes a split drill rod box (1), a buffer energy absorption box (2), a right-angle displacement device (3), a robot (4), and a combined guide plate (5); The split drill pipe box (1) includes a left part (101) and a right part (102) of the drill pipe box. The left part (101) and the right part (102) of the drill pipe box are provided with opposing partitions (103) to divide the split drill pipe box (1) into multiple rows of drill pipe compartments. The buffer energy-absorbing box (2) is located in the lower part between the left (101) and right (102) of the drill pipe box, including an upper seat (201) and a lower seat (203) below it, as well as a spring between the two; the upper seat (201) is provided with a plurality of grooves, each groove corresponding to each row of drill pipe compartments; 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 located on one side of the split drill rod box (1) and can drive the Z-direction screw module (302) connected to it to move in a direction perpendicular to the partition (103); the Z-direction screw module (302) can drive the robot arm (4) connected to it to move vertically; The combined guide plate (5) is located between the left (101) and right (102) parts of the drill pipe box, and includes a frame (501), a rotating shaft (502), an outer guide plate (503), an outer hydraulic cylinder (504), an inner guide plate (505), and an inner hydraulic cylinder (506); the frame (501) is vertically located at the rear end of the split drill pipe 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 pass through the outer... The hydraulic cylinder (504) drives the rotating shaft (502) to rotate between the left (101) and right (102) of the drill pipe box; the inner guide plate (505) can be driven by the inner hydraulic cylinder (506) to rotate between the left (101) and right (102) of the drill pipe box; the outer guide plate (503) is longer than the inner guide plate (505), and the drill pipe grasped by the robot (4) can slide down along the outer guide plate (503) and the inner guide plate (505) to the drill pipe chamber to achieve rapid rod replenishment.

2. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, The left side (101) of the drill pipe box includes a left back plate, and the inner wall of the left back plate is provided with a plurality of vertically arranged parallel vertical partitions (103) at equal intervals. An inspection door is provided at the left back plate. The right side (102) of the drill pipe box includes a right back plate, and the inner wall of the right back plate is provided with a plurality of vertically arranged partitions (103) at equal intervals; the outer wall of the right back plate is provided with a plurality of fixing plates (10201), and the width between two fixing 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 them are opposite to each other; The distance between the left (101) and right (102) parts of the drill pipe box is adjustable to accommodate drill pipes of different lengths.

3. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, The groove diameter of the upper seat (201) is equal to the drill rod diameter ΦD; the spring is a rectangular spring and is installed in the lower seat (203), and the lower seat (203) can be fitted into the upper seat (201).

4. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, 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 located 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 quick rod-replacing device for tunnel drilling rigs as described in claim 4, characterized in that, The Z-direction lead screw module (302) is mounted 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 so as to drive the Z-direction support plate (30202) to move vertically, and the Z-direction hysteresis displacement sensor (30204) can detect the movement position.

6. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, The robotic arm (4) includes a robotic arm (401), a rotary cylinder (402), and a gripper (403). The robotic arm (4) is mounted on a Z-axis support plate (30202), the rotary cylinder (402) is connected to the robotic arm (401), and the gripper (403) is connected to the rotary cylinder (402) to grasp the drill rod.

7. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, The top pivot (502) of the frame (501) is positioned higher than the split drill pipe box (1); the outer guide plate (503) and the inner guide plate (505) are both parallel to the drill pipe in the drill pipe chamber; the outer guide plate (503) can rotate until its front edge reaches the top of the first row of drill pipe chamber partitions (103); the inner guide plate (505) can rotate until its front edge reaches the top of the middle drill pipe chamber partition (103).

8. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, 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).

9. The quick rod-replacing device for tunnel drilling rigs as described in claim 1, characterized in that, The outer cylinder (504) and the inner cylinder (506) are equipped with hysteresis displacement sensors to locate the flip angle of the inner guide plate (505) and the outer guide plate (503).

10. The control method for the rapid rod replenishment device for tunnel drilling rigs according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: As drilling progresses, the robotic arm sequentially retrieves drill rods from each drill rod magazine to replenish the drilling feed. Step 2: After the last row of drill rods is picked up, the outer guide plate, under the action of the outer hydraulic cylinder, reaches the upper part of the first row of drill rods. Driven by the right-angle displacement device, the robot arm picks up the drill rod from the replenishment position, moves it above the outer guide plate, and puts down the drill rod. Under the action of gravity, the drill rod slides down the outer guide plate to the first row of drill rods. The operation is repeated until the first row of drill rods is full. Step 3: Under the action of the outer hydraulic cylinder, the outer guide plate rotates downwards and repeats the operation of the robot arm to slide the drill rod down to the angle formed by the second row of drill rod chamber partition and the outer guide plate. The outer guide plate is then retracted and the drill rod slides down into the second row of drill rod chamber, completing the replenishment of drill rods in the second row of drill rod chamber. Step 4: Under the action of the inner cylinder, the inner guide plate reaches the upper part of the next row of drill pipe bins. Driven by the right-angle displacement device, the robot grabs the drill pipe from the replenishment position, moves it above the inner guide plate, and puts it down. Under the action of gravity, the drill pipe slides down along the inner guide baffle to the row of drill pipe bins. The operation is repeated until the row of drill pipe bins is full. Step 5: Under the action of the inner cylinder, the inner guide plate rotates downwards and repeats the operation of the robot arm to slide the drill rod to the angle formed by the partition of the next row of drill rod chambers and the inner guide plate. The inner guide plate is then retracted and the drill rod slides into the drill rod chamber of that row, completing the replenishment of the drill rod in that row of drill rod chambers. Step six: The remaining drill rods in the rear drill rod chamber are replenished by the gripper.

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