Closed lifting automatic drill pipe box for underground drill rig and control method

Abstract

The invention discloses a closed lifting automatic drill rod box for an underground drill rig and a control method. The closed lifting automatic drill rod box comprises a drill rod box body, a closed mechanical arm, a rod grabbing manipulator and a sliding base. The drill rod box is erected above the sliding base and comprises a drill rod box left part, a drill rod box right part and a middle space between the drill rod box left part and the drill rod box right part; the closed mechanical arm comprises two guide seats which are bilaterally symmetrical, two chain groups, an upper cross beam connected with the outer top ends of the two chain groups, a lower cross beam connected with the inner top ends of the two chain groups, and a lifting oil cylinder; the lifting oil cylinder can drive the chain set to drive the upper cross beam, the lower cross beam and the grabbing rod mechanical arm on the upper cross beam to vertically move under the guiding effect of the guiding base, and the guiding base, the closed mechanical arm and the grabbing rod mechanical arm can move front and back along with the sliding base. A cantilever structure of the manipulator is avoided, the weight of structural parts is reduced, the number of hydraulic sensors and driving elements is reduced, accumulated errors of multiple sensors are avoided, the precision can be improved, and the cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine tunnel drilling equipment and relates to a closed lifting automatic drill rod box for a tunnel drilling rig 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. The mainstream technical solution is to complete the replenishment of drill rods through an automatic drill rod box, that is, the automatic drill rod box takes out the drill rods and places them in a designated position, waiting for the upper rod manipulator to grab them. This process usually requires the cooperation of four hydraulic power components to realize the loading and unloading of all drill rods in the rod bin, and the control operation is relatively complicated. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a closed lifting automatic drill rod box and a control method for a tunnel drilling rig, so as to solve the following technical problems: At present, since the vertical grasping stroke of the drill rod is large in the automatic drill rod box, it is realized by the compound action of two cylinders, and two position sensors are required to detect the vertical position of the grasped drill rod. During the grasping process, the two cylinders are controlled single-acting, which takes a long time and is inefficient; and most of these manipulators are cantilever beam structures, and the stress condition is even worse after grasping the drill rod, so the rigidity of the structural parts is strengthened, resulting in a relatively bulky manipulator.

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

[0005] A closed lifting automatic drill rod box for a tunnel drilling rig, comprising a drill rod box, a closed mechanical arm, a rod grabbing mechanical arm and a sliding base;

[0006] The drill rod box comprises a left and right symmetrical drill rod box and a middle space therebetween. The left and right drill rod box are respectively mounted on the lower seat of the sliding base by mounting seats at the front and rear ends. The left and right drill rod box are divided into multiple rows of drill rod bins by partitions.

[0007] The closed mechanical arm comprises two guide seats arranged symmetrically on the left and right, two chain groups on the left and right respectively installed in cooperation with the two guide seats, an upper crossbeam connecting the outer top ends of the two chain groups, a lower crossbeam connecting the inner top ends of the two chain groups, and two lifting cylinders capable of driving the two chain groups respectively; the upper crossbeam is located above the drill rod box, the lower crossbeam is located in the middle space of the drill rod box, and the lifting cylinder can drive the two chain groups to drive the upper crossbeam and the lower crossbeam to move vertically; the two guide seats are installed on the upper seat of the sliding base and can move forward and backward with the upper seat at the bottom of the drill rod box;

[0008] The rod grabbing manipulator is arranged on the bottom surface of the upper cross beam and can move vertically with the upper cross beam and can take and place the drill rod from the middle space of the drill rod box;

[0009] The sliding base comprises a lower base and an upper base above the lower base. The upper base can translate forward and backward relative to the lower base along the guide rail below it through the action of a driving motor, a gear and a rack, thereby driving the closed mechanical arm and the grabbing rod mechanical hand to move forward and backward.

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

[0011] Specifically, the left part of the drill rod box includes a vertical left back plate, a plurality of vertical partitions parallel to each other are vertically arranged on the inner wall of the left back plate, and a horizontal plate is arranged at the bottom of the vertical partition to support the drill rod; a mounting seat is respectively arranged on the front and rear sides of the left part of the drill rod box, and the mounting seat raises the left part of the drill rod box and sets it above the sliding base;

[0012] The right part of the drill rod box includes a vertical right back plate, and a plurality of vertical partitions parallel to each other are vertically arranged on the inner wall of the right back plate, and a horizontal plate is arranged at the bottom of the vertical partition to support the drill rod; a mounting seat is respectively arranged on the front and rear sides of the right part of the drill rod box, and the mounting seat raises the right part of the drill rod box and sets it above the sliding base;

[0013] The left back plate is parallel to the right back plate and opposite to each other, and the partitions on the inner wall of the left back plate are opposite to each other one by one, so as to divide the drill rod box into a plurality of drill rod bins.

[0014] Specifically, the distance between the left part of the drill rod box and the right part of the drill rod box is adjustable, and the distance between the left and right guide seats is adjustable.

[0015] Specifically, the guide seat is a box with an open top, and a relative U-shaped guide rail group is provided on the front and rear walls of the box. The two guide seats are respectively located below the left and right parts of the drill rod box. One end of the guide seat extends to the outside of the drill rod box, and the other end extends to the middle space of the drill rod box.

[0016] Specifically, the chain group is composed of chain links, one side of the chain links is rounded and the other side is a right angle; the chain links are connected by pins, and the chain group can bend toward the rounded side of the chain links; both ends of each pin of the chain group are arranged in the grooves of the opposite U-shaped guide rail group, and the chain group slides along the guide rail group through the guiding action of the guide seat, one end of the chain group is vertically arranged from the outside of the drill rod box and rigidly fixed to the upper crossbeam at its top, and the other end of the chain group is vertically arranged from the middle space of the drill rod box and rigidly fixed to the lower crossbeam at its top; the two chain groups are respectively connected to the two lifting cylinders.

[0017] Specifically, one end of the left and right lifting cylinders is connected to the left and right guide seats, and the other end is connected to the left and right chain groups; under the action of the lifting cylinders on both sides, the left and right chain groups slide along the guide rail groups in the left and right guide seats, so that the upper beam rises vertically while the lower beam falls vertically, or the upper beam falls vertically while the lower beam rises vertically.

[0018] Specifically, the length of the upper crossbeam is greater than the sum of the width of the drill rod box and twice the width of the chain group, and the length of the lower crossbeam is less than the width of the middle space of the drill rod box; displacement sensors are installed inside the left and right lifting cylinders to detect the absolute elongation of the cylinders.

[0019] Specifically, the grab rod manipulator includes a grab cylinder, a holding tile, a grab mounting seat and a proximity switch; one end of the grab cylinder is connected to the grab mounting seat, and the other end is connected to the holding tile. The proximity switch is installed inside the grab mounting seat and is used to detect whether there is a drill rod. Under the action of the grab cylinder, the holding tile can clamp the drill rod.

[0020] Specifically, the sliding base includes a driving motor, a gear, a rack, a guide rail, an upper seat, a lower seat and an encoder; the driving motor is installed on the upper seat by bolts, and the output shaft is connected and fixed to the gear; there is a guide rail on the left and right between the upper seat and the lower seat, and a rack is installed in the middle; the driving motor drives the gear to rotate, and under the action of the rack, the upper seat is driven to slide along the guide rail, thereby realizing the movement of the closed robotic arm and the grabbing rod robotic arm; the encoder is connected to the output shaft of the driving motor and is used to measure the sliding position of the upper seat.

[0021] The control method of the closed lifting automatic drill rod box for a tunnel drilling rig comprises the following steps:

[0022] Step 1: The lifting cylinder rises, the upper beam rises, the lower beam falls, the drive motor reverses, and the rod grabbing manipulator moves from the designated position to the working position, i.e., above the first row of drill rods in the drill rod bin;

[0023] Step 2, the lifting cylinder descends, the upper beam descends, the lower beam rises, the first row of drill rods is lifted as a whole, the proximity switch detects the approach of the drill rods, and the displacement sensor in the lifting cylinder detects that the distance between the upper beam and the lower beam reaches the requirement, and the first row of the drill rod in the first row of the drill rod bin is grabbed;

[0024] Step 3, the lifting cylinder rises, the upper beam rises, the lower beam falls, the remaining first row of drill rods are lowered as a whole and placed in the drill rod bin, and at the same time, the grabbing manipulator grabs the drill rods and, driven by the upper beam, rises to the highest point, and transports the drill rods to the designated position through the action of the lifting cylinder and the driving motor;

[0025] Step 4: After placing the drill rod, the rod grabbing manipulator moves to the first row of the drill rod bin to wait, and after the drill rod at the designated position is taken away, it continues to grab the drill rod and place it at the designated position; repeat the operation until all the drill rods in the first row are taken away, enter the second row of drill rods, and complete the removal of all the drill rods in sequence;

[0026] Step 5, the drill rod is replenished. Under the action of the lifting cylinder and the driving motor, the drill rod at the replenishment position is grabbed and placed in the drill rod bin; the drill rod is played back. Under the action of the lifting cylinder and the driving motor, the drill rod at the designated position is grabbed and placed in the drill rod bin.

[0027] Compared with the prior art, the present invention has the following technical effects:

[0028] The present invention avoids the cantilever structure of the manipulator and reduces the weight of the structural parts. The number of hydraulic sensors and driving elements is reduced, the cumulative error of multiple sensors is avoided, the accuracy is improved and the cost is reduced. When the manipulator grabs the drill rod, the vertical stroke of the driving cylinder is greatly reduced, and the grabbing time is shortened. The shortening time T=M×N×(1+M) / 4, M is the number of rows of drill rods in the rod storage bin, and N is the number of columns of the rod storage bin. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of a closed lifting automatic drill rod box for a tunnel drilling rig.

[0030] Figure 2 A top view of the enclosed lifting automatic drill rod box for a tunnel drilling rig.

[0031] Figure 3 This is a schematic diagram of the guide seat structure.

[0032] Figure 4 This is a schematic diagram of the chain group structure.

[0033] Figure 5 This is a front view of a closed lifting automatic drill rod box for a tunnel drilling rig.

[0034] Figure 6 This is a front view of a closed lifting automatic drill rod box for a tunnel drilling rig.

[0035] Figure 7 This is a schematic diagram of the workstation for the closed lifting automatic drill rod box control method for a tunnel drilling rig.

[0036] The meaning of each number in the figure is:

[0037] 1. Drill rod box, 2. Closed robotic arm, 3. Rod grabbing manipulator, 4. Sliding base, 101. Drill rod bin, 102. Mounting seat, 201. Guide seat, 20101. Box, 20102. Guide rail group, 202. Chain group, 20201. Chain link, 20202. Pin, 203. Upper beam, 204. Lower beam, 205. Lifting cylinder, 301. Gripper cylinder, 302. Holding tile, 304. Proximity switch, 401. Drive motor, 402. Gear, 403. Rack, 404. Guide rail, 405. Upper seat, 406. Lower seat, 407. Encoder. DETAILED DESCRIPTION

[0038] 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.

[0039] Embodiment 1:

[0040] like Figures 1 to 6 As shown, this embodiment provides a closed lifting automatic drill rod box for a tunnel drilling rig, including a drill rod box 1, a closed mechanical arm 2, a grabbing rod mechanical arm 3 and a sliding base 4.

[0041] The drill rod box 1 includes a left and right symmetrical drill rod box part and a middle space therebetween. The left and right drill rod box parts are respectively mounted on the lower seat 406 of the sliding base 4 by mounting seats 102 at the front and rear ends; the left and right drill rod box parts are divided into multiple rows of drill rod bins 101 by partitions.

[0042] The closed robotic arm 2 includes two guide seats 201 arranged symmetrically on the left and right, two left and right chain groups 202 respectively installed in cooperation with the two guide seats 201, an upper crossbeam 203 connecting the outer top ends of the two chain groups 202, a lower crossbeam 204 connecting the inner top ends of the two chain groups 202, and two lifting cylinders 205 that can drive the two chain groups 202 respectively; the upper crossbeam 203 is located above the drill rod box 1, and the lower crossbeam 204 is located in the middle space of the drill rod box 1. The lifting cylinder 205 can drive the two chain groups 202 to drive the upper crossbeam 203 and the lower crossbeam 204 to move vertically; the two guide seats 201 are installed on the upper seat 405 of the sliding base 4 and can move back and forth at the bottom of the drill rod box 1 with the upper seat 405.

[0043] The rod grabbing manipulator 3 is arranged on the bottom surface of the upper cross beam 203 and can move vertically with the upper cross beam 203 and can take and place the drill rod from the middle space of the drill rod box 1.

[0044] The sliding base 4 includes a lower seat 406 and an upper seat 405 above it. The upper seat 405 can move forward and backward relative to the lower seat 406 along the guide rail 404 below it through the action of the driving motor 401, the gear 402 and the rack 403, thereby driving the closed robot arm 2 and the grabbing rod robot 3 to move forward and backward.

[0045] The left part of the drill rod box includes a vertical left back plate, and a plurality of vertical partitions parallel to each other are vertically arranged on the inner wall of the left back plate, and a horizontal plate is arranged at the bottom of the vertical partition to support the drill rod; a mounting seat 102 is respectively arranged on the front and rear sides of the left part of the drill rod box, and the mounting seat 102 lifts the left part of the drill rod box and sets it above the sliding base 4.

[0046] The right part of the drill rod box includes a vertical right back plate, and a plurality of vertical partitions parallel to each other are vertically arranged on the inner wall of the right back plate, and a horizontal plate is arranged at the bottom of the vertical partition to support the drill rod; a mounting seat 102 is respectively arranged on the front and rear sides of the right part of the drill rod box, and the mounting seat 102 lifts the right part of the drill rod box and sets it above the sliding base 4.

[0047] The left back plate is parallel to the right back plate and each partition plate on the inner wall of the left back plate is opposite to each partition plate on the inner wall of the right back plate, thereby dividing the drill rod box 1 into a plurality of drill rod bins 101 .

[0048] Specifically, the drill rod bin 101 is divided into N rows by partitions for placing drill rods. The width of the drill rod bin 101 is N*(ΦD+10) mm. There are mounting seats 102 on the front and rear sides of the drill rod bin 101 to raise the drill rod box 1 by 120 mm. The distance between the mounting seats 102 is sufficient to place (N+2) rows of drill rods, and the width is (N+2)*(ΦD+10) mm. That is, the drill rods in the drill rod bin 101 can be taken out and placed at the designated position Sz, or the drill rods at the supplementary position can be placed in the drill rod bin 101 Sb. The drill rod box 1 is fixed to the lower seat 406 of the sliding base 4 by bolts.

[0049] The distance between the left part of the drill rod box and the right part of the drill rod box is adjustable, and the distance between the left and right guide seats 201 is adjustable to accommodate drill rods of different lengths.

[0050] The guide seat 201 is a box body 20101 with an opening at the top, and opposite U-shaped guide rail groups 20102 are arranged on the front and rear walls of the box body 20101. The two guide seats 201 are respectively located at the left part of the drill rod box and the lower part of the right part of the drill rod box. One end of the guide seat 201 extends to the outside of the drill rod box 1, and the other end extends to the middle space of the drill rod box 1. Specifically, the guide rail group 20102 is bolted or welded to the front and rear walls of the box body 20101. The U-shaped guide rail group 20102 is a groove with a width of 15 mm formed by 1 / 4 of the circumference and tangents at both ends, wherein the outer circumference radius of the inner guide rail 404A of the groove is R-7.5 (R≥100), the inner circumference radius of the outer guide rail 404B of the groove is R+7.5, and the tangent length is L. The right side is consistent with the left side, and the structure is symmetrical. The left and right guide seats 201 are symmetrically installed in pairs on the upper seat 405 of the sliding base 4, and can be adjusted by the position of the bolt holes to adapt to drill rods of different lengths.

[0051] The chain set 202 is composed of chain links 20201, which have rounded corners on one side and right angles on the other side. The chain links 20201 are connected by pins 20202 with a diameter of Φ15. The chain set 202 can be bent toward the rounded corner side of the chain link 20201, but cannot be bent toward the right angle side. The two ends of each pin 20202 of the chain set 202 are arranged in the grooves of the opposite U-shaped guide rail set 20102, and the guide seat 201 is connected to the chain set 20201 by the pins 20202 of the guide seat 201. The chain group 202 slides along the guide rail group 20102 for guiding. One end of the chain group 202 is arranged vertically from the outside of the drill rod box 1 and is rigidly fixed to the upper crossbeam 203 at its top. The other end of the chain group 202 is arranged vertically from the middle space of the drill rod box 1 and is rigidly fixed to the lower crossbeam 204 at its top. The two chain groups 202 are respectively connected to the two lifting cylinders 205, specifically connected to the left and right lifting cylinders 205 through pins.

[0052] One end of the left and right lifting cylinders 205 is connected to the left and right guide seats 201, and the other end is connected to the left and right chain groups 202; under the action of the left and right lifting cylinders 205, the left and right chain groups 202 slide along the guide rail groups 20102 in the left and right guide seats 201, so that the upper beam 203 rises vertically while the lower beam 204 falls vertically, or the upper beam 203 falls vertically while the lower beam 204 rises vertically.

[0053] The length of the upper crossbeam 203 is greater than the sum of the width of the drill rod box 1 and twice the width of the chain group 202, and the length of the lower crossbeam 204 is less than the width of the middle space of the drill rod box 1; the left and right lifting cylinders 205 are internally installed with displacement sensors for detecting the absolute elongation △L of the cylinders, and then obtaining the distance H=MΦD+Lmechanical arm-2△L between the upper crossbeam 203 and the lower crossbeam 204, and Hmin=Lmechanical arm, Hmax=MΦD+Lmechanical arm, that is, the maximum stroke of the cylinder=nΦD / 2, M is the number of drill rod rows in the rod replenishment bin.

[0054] The grab rod manipulator 3 includes a grab cylinder 301, a holding shoe 302, a grab mounting seat and a proximity switch 304; one end of the grab cylinder 301 is connected to the grab mounting seat, and the other end is connected to the holding shoe 302. The proximity switch 304 is installed inside the grab mounting seat and is used to detect whether there is a drill rod. Under the action of the grab cylinder 301, the holding shoe 302 can clamp the drill rod.

[0055] The sliding base 4 includes a driving motor 401, a gear 402, a rack 403, a guide rail 404, an upper seat 405, a lower seat 406 and an encoder 407; the driving motor 401 is installed on the mounting seat of the upper seat 405 by bolts, and the output shaft is connected and fixed to the gear 402; there is a guide rail 404 on the left and right between the upper seat 405 and the lower seat 406, and a rack 403 is installed in the middle; the driving motor 401 drives the gear 402 to rotate, and under the action of the rack 403, the upper seat 405 is driven to slide along the guide rail 404, thereby realizing the movement of the closed robot arm 2 and the grabbing rod robot 3; the encoder 407 is connected to the output shaft of the driving motor 401, and is used to measure the sliding position of the upper seat 405.

[0056] The present invention also provides a control method for a closed lifting automatic drill rod box for a tunnel drilling rig, such as Figure 7 , including the following steps:

[0057] Step 1, the lifting cylinder rises, the upper beam rises, the lower beam falls, the drive motor reverses, and the rod grabbing manipulator moves from the specified position Sz to the working position S1, that is, above the first row of drill rods in the drill rod bin;

[0058] Step 2, the lifting cylinder descends, the upper beam descends, the lower beam rises, the first row of drill rods is lifted as a whole, the proximity switch detects the approach of the drill rods, and the displacement sensor in the lifting cylinder detects that the distance between the upper beam and the lower beam reaches the requirement, and the first row of the drill rod in the first row of the drill rod bin is grabbed;

[0059] Step 3, the lifting cylinder rises, the upper beam rises, the lower beam falls, the remaining first row of drill rods are lowered as a whole and placed in the drill rod bin, and at the same time, the grabbing manipulator grabs the drill rods and, driven by the upper beam, lifts them to the highest point, and transports the drill rods to the designated position Sz in front of the drill rod box through the action of the lifting cylinder and the driving motor;

[0060] Step 4: After placing the drill rod, the rod grabbing manipulator moves to the first row S1 of the drill rod bin to wait, and after the drill rod at the designated position Sz is taken away, it continues to grab the drill rod and place it at the designated position Sz; repeat the operation until all the drill rods in the first row are taken away, and enter the second row drill rod position S2, and complete the removal of all the drill rods in sequence;

[0061] Step 5, drill rod replenishment, under the action of the lifting cylinder and the driving motor, grab the drill rod at the replenishment position Sb behind the drill rod box and place it in the drill rod bin; drill rod replay, under the action of the lifting cylinder and the driving motor, grab the drill rod at the designated position Sz in front of the drill rod box and place it in 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 closed lifting automatic drill rod box for a tunnel drilling rig, characterized in that: It comprises a drill rod box (1), a closed mechanical arm (2), a rod grabbing mechanical arm (3) and a sliding base (4); The drill rod box (1) comprises a left and right symmetrical drill rod box portion and a middle space therebetween, the left and right drill rod box portions are respectively mounted on a lower seat (406) of a sliding base (4) via mounting seats (102) at the front and rear ends; the left and right drill rod box portions are divided into a plurality of rows of drill rod bins (101) by partitions; The closed mechanical arm (2) comprises two guide seats (201) arranged symmetrically on the left and right, two left and right chain groups (202) respectively mounted in cooperation with the two guide seats (201), an upper crossbeam (203) connecting the outer top ends of the two chain groups (202), a lower crossbeam (204) connecting the inner top ends of the two chain groups (202), and two lifting cylinders (205) capable of driving the two chain groups (202) respectively; the upper crossbeam (203) is located above the drill rod box (1), the lower crossbeam (204) is located in the middle space of the drill rod box (1), and the lifting cylinder (205) can drive the two chain groups (202) to move vertically with the upper crossbeam (203) and the lower crossbeam (204); the two guide seats (201) are mounted on the upper seat (405) of the sliding base (4) and can move forward and backward at the bottom of the drill rod box (1) along with the upper seat (405); The rod grabbing manipulator (3) is arranged on the bottom surface of the upper cross beam (203) and can move vertically with the upper cross beam (203) and can take and place the drill rod from the middle space of the drill rod box (1); The sliding base (4) comprises a lower base (406) and an upper base (405) above the lower base. The upper base (405) can move forward and backward relative to the lower base (406) along the guide rail (404) below it through the action of a driving motor (401), a gear (402) and a rack (403), thereby driving the closed mechanical arm (2) and the grabbing rod mechanical arm (3) to move forward and backward.

2. The closed lifting automatic drill pipe box for tunnel drilling rig according to claim 1, characterized in that: The left part of the drill rod box comprises a vertical left back plate, a plurality of mutually parallel vertical partitions are vertically arranged on the inner wall of the left back plate, and a horizontal plate is arranged at the bottom of the vertical partition to support the drill rod; a mounting seat (102) is respectively arranged on the front and rear sides of the left part of the drill rod box, and the mounting seat (102) lifts the left part of the drill rod box and sets it above the sliding base (4); The right part of the drill rod box comprises a vertical right back plate, the inner wall of which is vertically provided with a plurality of mutually parallel vertical partitions, and the bottom of the vertical partitions is provided with a horizontal plate to support the drill rod; a mounting seat (102) is respectively provided on the front and rear sides of the right part of the drill rod box, and the mounting seat (102) raises the right part of the drill rod box and sets it above the sliding base (4); The left back plate is parallel to the right back plate and faces each other, and each partition plate on the inner wall of the left back plate faces each other one by one, thereby dividing the drill rod box (1) into a plurality of drill rod bins (101).

3. The closed lifting automatic drill pipe box for tunnel drilling rig according to claim 1, characterized in that: The distance between the left part of the drill rod box and the right part of the drill rod box is adjustable, and the distance between the left and right guide seats (201) is adjustable.

4. The closed lifting automatic drill pipe box for a tunnel drilling rig according to claim 1, characterized in that: The guide seat (201) is a box body (20101) with an opening at the top, and opposite U-shaped guide rail groups (20102) are arranged on the front and rear walls of the box body (20101). The two guide seats (201) are respectively located below the left part and the right part of the drill rod box. One end of the guide seat (201) extends to the outside of the drill rod box (1), and the other end extends to the middle space of the drill rod box (1).

5. The closed lifting automatic drill pipe box for tunnel drilling rig according to claim 4, characterized in that: The chain group (202) is composed of chain links (20201) strung together, with one side of the chain links (20201) being rounded and the other side being a right angle; the chain links (20201) are connected by pins (20202), and the chain group (202) can be bent toward the rounded side of the chain links (20201); both ends of each pin (20202) of the chain group (202) are arranged in grooves of the opposite U-shaped guide rail group (20102), and are connected by a guide seat ( The chain group (202) slides along the guide rail group (20102) under the guiding effect of the drill rod box (1), one end of the chain group (202) is arranged vertically from the outside of the drill rod box (1) and is rigidly fixed to the upper crossbeam (203) at its top, and the other end of the chain group (202) is arranged vertically from the middle space of the drill rod box (1) and is rigidly fixed to the lower crossbeam (204) at its top; the two chain groups (202) are respectively connected to the two lifting cylinders (205).

6. The closed lifting automatic drill pipe box for a tunnel drilling rig according to claim 4, characterized in that: One end of the left and right lifting cylinders (205) is connected to the left and right guide seats (201), and the other end is connected to the left and right chain groups (202); under the action of the left and right lifting cylinders (205), the left and right chain groups (202) slide along the guide rail groups (20102) in the left and right guide seats (201), so that the upper crossbeam (203) rises vertically while the lower crossbeam (204) falls vertically, or the upper crossbeam (203) falls vertically while the lower crossbeam (204) rises vertically.

7. The closed lifting automatic drill pipe box for tunnel drilling rig according to claim 1, characterized in that: The length of the upper crossbeam (203) is greater than the sum of the width of the drill rod box (1) and twice the width of the chain group (202), and the length of the lower crossbeam (204) is less than the width of the middle space of the drill rod box (1); and displacement sensors are installed inside the left and right lifting cylinders (205) for detecting the absolute elongation of the cylinders.

8. The closed lifting automatic drill pipe box for tunnel drilling rig according to claim 1, characterized in that: The gripping rod manipulator (3) comprises a gripping cylinder (301), a holding shoe (302), a gripping mounting seat and a proximity switch (304); one end of the gripping cylinder (301) is connected to the gripping mounting seat, and the other end is connected to the holding shoe (302); the proximity switch (304) is installed inside the gripping mounting seat and is used to detect whether a drill rod is present; under the action of the gripping cylinder (301), the holding shoe (302) can clamp the drill rod.

9. The closed lifting automatic drill pipe box for a tunnel drilling rig according to claim 1, characterized in that: The sliding base (4) comprises a driving motor (401), a gear (402), a rack (403), a guide rail (404), an upper seat (405), a lower seat (406) and an encoder (407); the driving motor (401) is mounted on the upper seat (405) by means of bolts, and the output shaft is connected and fixed to the gear (402); there is a guide rail (404) on the left and right sides between the upper seat (405) and the lower seat (406), and a rack (403) is installed in the middle; the driving motor (401) drives the gear (402) to rotate, and under the action of the rack (403), the upper seat (405) is driven to slide along the guide rail (404), thereby realizing the movement of the closed mechanical arm (2) and the grabbing rod mechanical hand (3); the encoder (407) is connected to the output shaft of the driving motor (401) and is used to measure the sliding position of the upper seat (405).

10. The control method of the closed lifting automatic drill pipe box for a tunnel drilling rig according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: The lifting cylinder rises, the upper beam rises, the lower beam falls, the drive motor reverses, and the rod grabbing manipulator moves from the designated position to the working position, i.e., above the first row of drill rods in the drill rod bin; Step 2, the lifting cylinder descends, the upper beam descends, the lower beam rises, the first row of drill rods is lifted as a whole, the proximity switch detects the approach of the drill rods, and the displacement sensor in the lifting cylinder detects that the distance between the upper beam and the lower beam reaches the requirement, and the first row of the drill rod in the first row of the drill rod bin is grabbed; Step 3, the lifting cylinder rises, the upper beam rises, the lower beam falls, the remaining first row of drill rods are lowered as a whole and placed in the drill rod bin, and at the same time, the grabbing manipulator grabs the drill rods and, driven by the upper beam, rises to the highest point, and transports the drill rods to the designated position through the action of the lifting cylinder and the driving motor; Step 4: After placing the drill rod, the rod grabbing manipulator moves to the first row of the drill rod bin to wait, and after the drill rod at the designated position is taken away, it continues to grab the drill rod and place it at the designated position; repeat the operation until all the drill rods in the first row are taken away, enter the second row of drill rods, and complete the removal of all the drill rods in sequence; Step 5, the drill rod is replenished. Under the action of the lifting cylinder and the driving motor, the drill rod at the replenishment position is grabbed and placed in the drill rod bin; the drill rod is played back. Under the action of the lifting cylinder and the driving motor, the drill rod at the designated position is grabbed and placed in the drill rod bin.

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