Closed lifting automatic drill rod box for inhole drill and control method

Abstract

The application discloses a closed lifting automatic drill rod box for a drift drill and a control method, which comprises a drill rod box, a closed mechanical arm, a grab rod manipulator and a sliding base. The drill rod box is arranged above the sliding base and comprises a left drill rod box part, a right drill rod box part and a middle space between the left drill rod box part and the right drill rod box part. The closed mechanical arm comprises two symmetrical guide seats, two chain groups, an upper cross beam connected to outer top ends of the two chain groups, a lower cross beam connected to inner top ends of the two chain groups and a lifting oil cylinder. The lifting oil cylinder can drive the chain groups to vertically move the upper cross beam, the lower cross beam and the grab rod manipulator on the upper cross beam under the guidance of the guide seats. The guide seats, the closed mechanical arm and the grab rod manipulator can move forward and backward with the sliding base. The application avoids the cantilever structure of the manipulator, reduces the weight of structural parts, reduces the number of hydraulic sensors and driving elements, avoids the cumulative error of multiple sensors, improves the precision and reduces the cost.

Description

TECHNICAL FIELD

[0001] The present application 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 machine and a control method. BACKGROUND

[0002] In recent years, the automatic drill rod loading and unloading technology of the coal mine tunnel drilling machine has been promoted to a certain extent, and the mainstream technical solution is to complete the drill rod replenishment through the automatic drill rod box, that is, the automatic drill rod box takes out the drill rod and places it at a specified position, waiting for the rod loading manipulator to grab it. This process usually requires 4 hydraulic power elements to cooperate to realize the taking and placing of all the drill rods in the rod bin, and the control operation is relatively complex. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the present application is to provide a closed lifting automatic drill rod box for a tunnel drilling machine and a control method, to solve the following technical problems: the current automatic drill rod box needs to realize the vertical grabbing stroke of the drill rod through the composite action of 2 oil cylinders, and needs 2 position sensors to detect the vertical position of the grabbed drill rod, in the grabbing process, the 2 oil cylinders are controlled singly, and the required time is also relatively long, and the efficiency is not high; and most of such manipulators are cantilever beam structures, and the stress condition after grabbing the drill rod is even worse, so the structural stiffness is strengthened, resulting in a relatively heavy manipulator.

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

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

[0006] The drill rod box comprises a left drill rod box part and a right drill rod box part which are symmetrical to each other, and a middle space between the two; the left drill rod box part and the right drill rod box part are respectively arranged on the lower seat of the sliding base by the front and rear mounting seats; the left drill rod box part and the right drill rod box part are each divided into multiple columns of drill rod bins by a partition plate;

[0007] The closed mechanical arm comprises two guide seats which are symmetrically arranged, two chain groups which are respectively installed in cooperation with the two guide seats, an upper cross beam which is connected to the outer top ends of the two chain groups, a lower cross beam which is connected to the inner top ends of the two chain groups, and two lifting oil cylinders which can drive the two chain groups; the upper cross beam is located above the drill rod box, the lower cross beam is located in the middle space of the drill rod box, and the lifting oil cylinders can drive the two chain groups to drive the upper cross beam and the lower cross beam to move vertically; the two guide seats are installed on the upper seat of the sliding base and can move forward and backward on 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 seat and an upper seat above the lower seat, the upper seat being capable of moving forward and backward along the lower guide rail below the lower seat relative to the lower seat by the driving motor and the gear and rack, thereby driving the closed mechanical arm and the grab lever mechanical hand to move forward and backward.

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

[0011] Specifically, the left part of the drill pipe box comprises a vertical left back plate, a plurality of 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 partitions to support the drill pipe; one mounting seat is arranged on each of the front and rear sides of the left part of the drill pipe box, and the mounting seat is used to elevate and arrange the left part of the drill pipe box above the sliding base.

[0012] Specifically, the right part of the drill pipe box comprises a vertical right back plate, a plurality of vertical partitions are vertically arranged on the inner wall of the right back plate, and a horizontal plate is arranged at the bottom of the vertical partitions to support the drill pipe; one mounting seat is arranged on each of the front and rear sides of the right part of the drill pipe box, and the mounting seat is used to elevate and arrange the right part of the drill pipe box above the sliding base.

[0013] The left back plate and the right back plate are parallel to each other, and each partition on the inner wall of the left back plate is opposite to each partition on the inner wall of the right back plate, so as to divide the drill pipe box into a plurality of drill pipe compartments.

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

[0015] Specifically, the guide seat is an open-top box body, and opposite U-shaped guide rail groups are arranged on the front and rear walls of the box body; the two guide seats are respectively located below the left part of the drill pipe box and the right part of the drill pipe box, one end of the guide seat extends to the outside of the drill pipe box, and the other end extends to the middle space of the drill pipe box.

[0016] Specifically, the chain group is composed of chain links, one side of the chain link is rounded, and the other side is a right angle; the chain links are connected by pins, and the chain group can bend to the rounded side of the chain link; the pins of the chain group are arranged in the grooves of the opposite U-shaped guide rail groups, the chain group slides along the guide rail group under the guidance of the guide seat, one end of the chain group is vertically arranged outside the drill pipe box and is rigidly fixed to the upper cross beam at the top end, and the other end of the chain group is vertically arranged in the middle space of the drill pipe box and is rigidly fixed to the lower cross beam at the top end; the two chain groups are connected with the two lifting oil cylinders respectively.

[0017] Specifically, one end of the left and right lifting oil 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 left and right lifting oil cylinders, the left and right chain groups slide along the guide rail group in the left and right guide seats, so as to realize the vertical lifting of the upper cross beam and the vertical lowering of the lower cross beam, or the vertical lowering of the upper cross beam and the vertical lifting of the lower cross beam.

[0018] Specifically, the upper crossbeam length is greater than the sum of the width of the drill pipe box and twice the width of the chain group, and the lower crossbeam length is less than the width of the middle space of the drill pipe box; the left and right lifting oil cylinders are internally provided with displacement sensors for detecting the absolute elongation of the oil cylinders.

[0019] Specifically, the grab lever manipulator comprises a grab hand oil cylinder, a grabber, a grab hand mounting seat and a proximity switch; one end of the grab hand oil cylinder is connected to the grab hand mounting seat, the other end is connected to the grabber, and the proximity switch is installed inside the grab hand mounting seat for detecting whether there is a drill pipe; under the action of the grab hand oil cylinder, the grabber can clamp the drill pipe.

[0020] Specifically, the sliding base comprises 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 with the gear; there is one 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 mechanical arm and the grab lever manipulator; the encoder is connected with the output shaft of the driving motor for measuring the sliding position of the upper seat.

[0021] The control method of the closed lifting automatic drill pipe box for the drift drill rig comprises the following steps:

[0022] Step 1, the lifting oil cylinder rises, at this time the upper crossbeam rises, the lower crossbeam descends, the driving motor reverses, and the grab lever manipulator moves from the specified position to the working position, i.e. above the first column of drill pipes in the drill pipe bin;

[0023] Step 2, the lifting oil cylinder descends, at this time the upper crossbeam descends, the lower crossbeam rises, the first column of drill pipes is lifted as a whole, the proximity switch detects that the drill pipe is close, and at the same time the displacement sensor in the lifting oil cylinder detects that the distance between the upper crossbeam and the lower crossbeam reaches the requirement, thereby completing the grabbing of the first column and the first row of drill pipes in the drill pipe bin;

[0024] Step 3, the lifting oil cylinder rises, at this time the upper crossbeam rises, the lower crossbeam descends, the remaining first column of drill pipes is lowered as a whole and placed in the drill pipe bin, and at the same time the grab lever manipulator clamps the drill pipe and rises to the highest point under the action of the upper crossbeam, thereby transporting the drill pipe to the specified position through the action of the lifting oil cylinder and the driving motor;

[0025] Step 4, after placing the drill pipe, the grab lever manipulator moves to the first column of the drill pipe bin to wait, and after the drill pipe at the specified position is taken away, the grabbing of the drill pipe is continued to place it at the specified position; the operation is repeated until the first column of drill pipes is completely taken away, and then the second column of drill pipes is entered, and the taking out of all the drill pipes is completed in turn;

[0026] Step 5, the rod of the drill pipe is supplemented, the drill pipe is placed in the drill pipe bin under the action of the lifting cylinder and the driving motor; the drill pipe is played back, the drill pipe is placed in the drill pipe bin at the designated position under the action of the lifting cylinder and the driving motor.

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

[0028] The present application avoids the cantilever structure of the mechanical hand, reduces the weight of the structural member, reduces the number of hydraulic sensors and driving elements, avoids the cumulative error of multiple sensors, improves the precision and reduces the cost. When the mechanical hand grabs the drill pipe, the vertical stroke of the driving cylinder is greatly reduced, the grabbing time is shortened, and the time T is shortened = M x N x (1 + M) / 4, M is the number of rows of drill pipes in the drill pipe bin, and N is the number of columns of drill pipes in the drill pipe bin. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic view of a closed lifting automatic drill pipe bin for a drift drill.

[0030] Figure 2 It is a top view of a closed lifting automatic drill pipe bin for a drift drill.

[0031] Figure 3 It is a schematic view of a guide seat structure.

[0032] Figure 4 It is a schematic view of a chain group structure.

[0033] Figure 5 It is a front view of a closed lifting automatic drill pipe bin for a drift drill.

[0034] Figure 6 It is a front view of a closed lifting automatic drill pipe bin for a drift drill.

[0035] Figure 7 It is a schematic view of a control method station of a closed lifting automatic drill pipe bin for a drift drill.

[0036] The meanings of the various reference numerals in the drawings are as follows:

[0037] 1. Drill pipe bin, 2. Closed mechanical arm, 3. Rod grabbing mechanical hand, 4. Sliding base, 101. Drill pipe bin, 102. Mounting seat, 201. Guide seat, 20101. Box body, 20102. Guide rail group, 202. Chain group, 20201. Chain link, 20202. Pin, 203. Upper cross beam, 204. Lower cross beam, 205. Lifting cylinder, 301. Grabbing cylinder, 302. Wafer, 304. Proximity switch, 401. Driving motor, 402. Gear, 403. Rack, 404. Guide rail, 405. Upper seat, 406. Lower seat, 407. Encoder. DETAILED DESCRIPTION

[0038] The following gives specific embodiments of the present application, it is to be noted that the present application is not limited to the following specific embodiments, any equivalent transformation made on the basis of the technical solutions of the present application falls within the protection scope of the present application.

[0039] Embodiment 1:

[0040] As shown in the drawings, the present embodiment provides a closed lifting automatic drill rod box for a drift drill, which comprises a drill rod box 1, a closed mechanical arm 2, a grab rod manipulator 3 and a sliding base 4. Figures 1 to 6

[0041] The drill rod box 1 comprises a left drill rod box part and a right drill rod box part which are symmetrical to each other and a middle space between the two, and the left drill rod box part and the right drill rod box part are each erected on the lower seat 406 of the sliding base 4 by the mounting seats 102 at the front and rear ends; the left drill rod box part and the right drill rod box part are each divided into multiple columns of drill rod compartments 101 by partitions.

[0042] The closed mechanical arm 2 comprises two guide seats 201 which are symmetrically arranged, two chain groups 202 which are respectively installed in cooperation with the two guide seats 201, an upper cross beam 203 which is connected to the outer top ends of the two chain groups 202, a lower cross beam 204 which is connected to the inner top ends of the two chain groups 202, and two lifting oil cylinders 205 which can respectively drive the two chain groups 202; the upper cross beam 203 is located above the drill rod box 1, the lower cross beam 204 is located in the middle space of the drill rod box 1, and the lifting oil cylinders 205 can drive the two chain groups 202 to move the upper cross beam 203 and the lower cross beam 204 vertically; the two guide seats 201 are installed on the upper seat 405 of the sliding base 4 and can move forward and backward with the upper seat 405 at the bottom of the drill rod box 1.

[0043] The grab rod 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 drill rods from the middle space of the drill rod box 1.

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

[0045] The left drill rod box part comprises a vertical left back plate, a plurality of vertical partitions which are parallel to each other are vertically arranged on the inner wall of the left back plate, and horizontal plates are arranged at the bottom of the vertical partitions to support the drill rods; one mounting seat 102 is arranged on each of the front and rear sides of the left drill rod box part, and the mounting seat 102 elevates the left drill rod box part to be erected above the sliding base 4.

[0046] ​The right part of the drill pipe box comprises a vertical right back plate, a plurality of vertical partitions are vertically arranged on the inner wall of the right back plate, and a horizontal plate is arranged at the bottom of the vertical partitions to support the drill pipe; a mounting seat 102 is arranged on each of the front and rear sides of the right part of the drill pipe box, and the mounting seat 102 is arranged above the sliding base 4.

[0047] The left back plate is parallel to the right back plate, and each partition of the inner wall of the left back plate is opposite to each partition of the inner wall of the right back plate, so that the drill pipe box 1 is divided into a plurality of drill pipe compartments 101.

[0048] Specifically, the drill pipe compartments 101 are divided into N columns by the partitions, and are used for placing drill pipes; the width of the drill pipe compartments 101 is N*(ΦD+10)mm; the mounting seats 102 on the front and rear sides of the drill pipe compartments 101 are used to lift the drill pipe box 1 by 120mm; the distance between the mounting seats 102 satisfies the placement of (N+2) columns of drill pipes, and the width is (N+2)*(ΦD+10)mm. That is, the drill pipes in the drill pipe compartments 101 can be taken out and placed at a specified position Sz, or the drill pipes at a replacement position can be placed in the drill pipe compartments 101 Sb. The drill pipe 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 pipe box and the right part of the drill pipe box is adjustable, and the distance between the left and right guide seats 201 is adjustable to adapt to drill pipes of different lengths.

[0050] The guide seat 201 is a box body 20101 with an open top, and opposite U-shaped guide rail groups 20102 are arranged on the front and rear walls in the box body 20101. The two guide seats 201 are respectively located below the left part of the drill pipe box and the right part of the drill pipe box, one end of the guide seat 201 extends to the outside of the drill pipe box 1, and the other end extends to the middle space of the drill pipe box 1. Specifically, the guide rail groups 20102 are bolted or welded on the front and rear walls in the box body 20101, the U-shaped guide rail group 20102 is a groove with a width of 15mm, which is composed of 1 / 4 of a circle and two tangent lines, the inner side of the groove is a radius of R-7.5(R≥100), the outer side of the groove is a radius of R+7.5, and the length of the tangent line is L. The right side is the same as the left side, and the structure is symmetrical. The left and right guide seats 201 are symmetrically installed on the upper seat 405 of the sliding base 4 and can be adjusted through the bolt hole position to adapt to drill pipes of different lengths.

[0051] The chain group 202 is formed by chain links 20201, the chain links 20201 are single-side rounded corners and the other side is a right angle; the chain links 20201 are connected by a diameter Φ15 pin 20202, the chain group 202 can be bent to the rounded corner side of the chain link 20201, and the right angle side cannot be bent; the two ends of each pin 20202 of the chain group 202 are arranged in the grooves of the opposite U-shaped guide rail group 20102, and the chain group 202 slides along the guide rail group 20102 through the guiding action of the guide seat 201; one end of the chain group 202 is arranged vertically outside the drill pipe box 1 and is rigidly fixed to the top end of the upper cross beam 203, and the other end of the chain group 202 is arranged vertically in the middle space of the drill pipe box 1 and is rigidly fixed to the top end of the lower cross beam 204; the two chain groups 202 are connected with the two lifting oil cylinders 205 respectively, and are connected with the left and right lifting oil cylinders 205 through pins.

[0052] The left and right lifting oil cylinders 205 are connected to the left and right guide seats 201 at one end and connected to the left and right chain groups 202 at the other end; under the action of the left and right lifting oil cylinders 205, the left and right chain groups 202 slide in the left and right guide seats 201 along the guide rail group 20102, realizing the vertical lifting of the upper cross beam 203 while the vertical lowering of the lower cross beam 204, or the vertical lowering of the upper cross beam 203 while the vertical lifting of the lower cross beam 204.

[0053] The length of the upper cross beam 203 is greater than the sum of the width of the drill pipe box 1 and twice the width of the chain group 202, and the length of the lower cross beam 204 is less than the width of the middle space of the drill pipe box 1; the displacement sensor is installed inside the left and right lifting oil cylinders 205, which is used to detect the absolute elongation ΔL of the oil cylinder, and then the distance H between the upper cross beam 203 and the lower cross beam 204 is obtained, H = MΦD + L mechanical arm - 2ΔL, and Hmin = L mechanical arm, Hmax = MΦD + L mechanical arm, that is, the maximum stroke of the oil cylinder = nΦD / 2, and M is the number of drill pipes in the supplementary rod bin.

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

[0055] The sliding base 4 comprises a driving motor 401, a gear 402, a rack 403, guide rails 404, an upper base 405, a lower base 406 and an encoder 407; the driving motor 401 is mounted on the mounting seat of the upper base 405 by bolts, and the output shaft is connected and fixed with the gear 402; there is one guide rail 404 on the left and right between the upper base 405 and the lower base 406, and the middle part is provided with the rack 403; the driving motor 401 drives the gear 402 to rotate, and under the action of the rack 403, the upper base 405 is driven to slide along the guide rail 404, so that the movement of the closed mechanical arm 2 and the grab lever manipulator 3 is realized; the encoder 407 is connected with the output shaft of the driving motor 401, and is used for measuring the sliding position of the upper base 405.

[0056] The application also provides a control method of the closed lifting automatic drill rod box for a drift drill rig, which comprises the following steps: Figure 7

[0057] Step 1, the lifting oil cylinder rises, at this time, the upper cross beam rises, the lower cross beam descends, the driving motor reverses, and the grab lever manipulator moves from the specified position Sz to the working position S1, that is, above the first column of drill rods in the drill rod bin;

[0058] Step 2, the lifting oil cylinder descends, at this time, the upper cross beam descends, the lower cross beam rises, the first column of drill rods is lifted as a whole, the proximity switch detects that the drill rod is close, and after the lifting oil cylinder detects that the distance between the upper cross beam and the lower cross beam reaches the requirement, the first column of drill rods in the first row in the drill rod bin is completed;

[0059] Step 3, the lifting oil cylinder rises, at this time, the upper cross beam rises, the lower cross beam descends, the remaining first column of drill rods is lowered as a whole and placed in the drill rod bin, and at the same time, the grab lever manipulator tightly holds the drill rod and rises to the highest point under the drive of the upper cross beam, and the drill rod is transported to the specified position Sz in front of the drill rod box through the action of the lifting oil cylinder and the driving motor;

[0060] Step 4, after the drill rod is placed, the grab lever manipulator moves to the first column S1 of the drill rod bin to wait, and after the drill rod at the specified position Sz is taken away, the drill rod is continuously taken and placed at the specified position Sz; the operation is repeated until the first column of drill rods is completely taken away, the second column of drill rods is entered into the position S2, and the taking out of all the drill rods is sequentially completed;

[0061] Step 5, the drill rod is supplemented, the drill rod at the supplement position Sb behind the drill rod box is taken and placed in the drill rod bin under the action of the lifting oil cylinder and the driving motor; the drill rod is played back, the drill rod at the specified position Sz in front of the drill rod box is taken and placed in the drill rod bin under the action of the lifting oil cylinder and the driving motor.

[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 of the above-described embodiments. 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 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 idea of the present application, and it should also be considered as disclosed by the present application.

Claims

1. A closed-loop lifting automatic drill rod box for a tunnel drilling rig, characterized in that, It includes a drill rod box (1), a closed robotic arm (2), a gripping robotic arm (3), and a sliding base (4); The drill pipe box (1) includes a left and a right symmetrical drill pipe box and a central space between them. The left and right drill pipe boxes 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 pipe boxes are divided into multiple rows of drill pipe compartments (101) by partitions. The enclosed robotic arm (2) includes two guide seats (201) symmetrically arranged on the left and right, two chain groups (202) installed in cooperation with the two guide seats (201), an upper crossbeam (203) connecting the outer top of the two chain groups (202), a lower crossbeam (204) connecting the inner top 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 pipe box (1), the lower crossbeam (204) is located in the middle space of the drill pipe box (1), and the lifting cylinders (205) can drive the two chain groups (202) to move the upper crossbeam (203) and the lower crossbeam (204) 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 pipe box (1) with the upper seat (405); The gripper (3) is located on the bottom surface of the upper crossbeam (203) and can move vertically with the upper crossbeam (203) and can pick up and put down the drill rod from the middle space of the drill rod box (1); The sliding base (4) includes a lower base (406) and an upper base (405) above it. The upper base (405) can move back and forth relative to the lower base (406) along the guide rail (404) below it through the action of the drive motor (401), gear (402) and rack (403), thereby driving the closed robotic arm (2) and the gripper robotic hand (3) to move back and forth.

2. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The left side of the drill rod box includes a vertical left back plate. The inner wall of the left back plate is provided with multiple parallel vertical partitions. The bottom of the vertical partitions is provided with a horizontal plate to support the drill rod. A mounting seat (102) is provided on each of the front and rear sides of the left side of the drill rod box. The mounting seat (102) raises the left side of the drill rod box and mounts it above the sliding base (4). The right side of the drill rod box includes a vertical right back plate. The inner wall of the right back plate is provided with multiple parallel vertical partitions. The bottom of the vertical partitions is provided with a horizontal plate to support the drill rod. A mounting seat (102) is provided on each of the front and rear sides of the right side of the drill rod box. The mounting seat (102) raises the right side of the drill rod box and mounts it above the sliding base (4). The left backplate and the right backplate are parallel to each other, and the partitions on the inner wall of the left backplate are in line with the partitions on the inner wall of the right backplate, thereby dividing the drill pipe box (1) into multiple drill pipe compartments (101).

3. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The distance between the left and right sides of the drill pipe box is adjustable, and the distance between the two guide seats (201) is also adjustable.

4. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The guide seat (201) is a box (20101) with an open top. The front and rear walls of the box (20101) are provided with opposing U-shaped guide rail groups (20102). The two guide seats (201) are located on the left side and the lower right side of the drill pipe box, respectively. One end of the guide seat (201) extends to the outside of the drill pipe box (1), and the other end extends to the middle space of the drill pipe box (1).

5. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 4, characterized in that, The chain assembly (202) is composed of chain links (20201) strung together. One side of each chain link (20201) has a rounded corner, while the other side is a right angle. The chain links (20201) are connected by pins (20202), and the chain assembly (202) can be bent towards the rounded corner of the chain link (20201). The pins (20202) of the chain assembly (202) have their ends located in grooves of opposing U-shaped guide rail assemblies (20102), and are guided by guide seats (…). The chain assembly (202) slides along the guide rail assembly (20102) under the guiding function of 201. One end of the chain assembly (202) is vertically arranged from the outside of the drill pipe box (1) and rigidly fixed to the upper crossbeam (203) at its top. The other end of the chain assembly (202) is vertically arranged from the middle space of the drill pipe box (1) and rigidly fixed to the lower crossbeam (204) at its top. The two chain assemblies (202) are respectively connected to the two lifting cylinders (205).

6. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in 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 group (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 enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The length of the upper crossbeam (203) is greater than the sum of the width of the drill pipe 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 space in the middle of the drill pipe box (1); the left and right lifting cylinders (205) are equipped with displacement sensors to detect the absolute elongation of the cylinders.

8. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The gripper (3) includes a gripper cylinder (301), a bearing (302), a gripper mounting base, and a proximity switch (304). One end of the gripper cylinder (301) is connected to the gripper mounting base, and the other end is connected to the bearing (302). The proximity switch (304) is installed inside the gripper mounting base and is used to detect whether there is a drill rod. Under the action of the gripper cylinder (301), the bearing (302) can clamp the drill rod.

9. The enclosed lifting automatic drill rod box for tunnel drilling rigs as described in claim 1, characterized in that, The sliding base (4) includes a drive 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 drive motor (401) is bolted to the upper seat (405), and its output shaft is connected and fixed to the gear (402). There is a guide rail (404) on each side between the upper seat (405) and the lower seat (406), and a rack (403) is installed in the middle. The drive motor (401) drives the gear (402) to rotate, and under the action of the rack (403), it drives the upper seat (405) to slide along the guide rail (404), thereby realizing the movement of the closed robotic arm (2) and the gripper robotic hand (3). The encoder (407) is connected to the output shaft of the drive motor (401) and is used to measure the sliding position of the upper seat (405).

10. The control method for the enclosed lifting automatic drill rod box of the tunnel drilling rig according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: The lifting cylinder rises, at which point the upper crossbeam rises and the lower crossbeam falls. The drive motor reverses, and the gripping manipulator moves from the designated position to the working position, which is above the first row of drill pipes in the drill pipe chamber. Step 2: The lifting cylinder descends, the upper crossbeam descends and the lower crossbeam rises, the first row of drill rods is lifted as a whole, the proximity switch detects the approach of the drill rods, and at the same time the displacement sensor in the lifting cylinder detects that the distance between the upper and lower crossbeams has reached the requirement, and the first row of the first row of drill rods in the drill rod chamber is grabbed. Step 3: The lifting cylinder rises, the upper crossbeam rises, the lower crossbeam falls, and the remaining first row of drill rods is lowered as a whole and placed in the drill rod chamber. At the same time, the gripping manipulator grips the drill rods and, driven by the upper crossbeam, raises them to the highest point. Through the action of the lifting cylinder and the drive motor, the drill rods are transported to the designated position. Step 4: After placing the drill rod, the gripping robot moves to the first column of the drill rod compartment and waits. Once the drill rod in the designated position is removed, it continues to grip and place the drill rod in the designated position. Repeat the operation until all the drill rods in the first column are removed, then move to the second column of drill rods, and so on, until all the drill rods are removed. Step 5: Drill rod replenishment. Under the action of the lifting cylinder and drive motor, the drill rod at the replenishment position is grabbed and placed in the drill rod chamber; Drill rod return. Under the action of the lifting cylinder and drive motor, the drill rod at the designated position is grabbed and placed in the drill rod chamber.

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