A tool changing mechanism, a tool changing control system

Abstract

The present application relates to a kind of drill changing mechanism, drill changing control system, wherein, drill changing mechanism includes advancing beam, rock drill, drill magazine, drill holder, drill changing assembly;Advancing beam is equipped with front end plate, advancing assembly, sliding plate sliding in front-back direction;Rock drill is arranged on sliding plate;Drill magazine is arranged in the side of advancing beam;Drill holder is arranged on front end plate, drill holder includes two drill holding cylinders, the drill holding sleeve being arranged in the drive end of drill holding cylinder, two drill holding sleeves form second through hole when closing, the inner wall of second through hole is equipped with circumferential step and divide inner wall into first inner wall and second inner wall, first inner wall is used to hold the connecting portion of drill rod, second inner wall is in clearance fit with drill rod body;Drill changing assembly is used to grab drill rod, and drill rod is handled between drill magazine and drill changing position.The present application realizes reliable clamping positioning, avoids that drill rod appears loose in drill changing process, can also support drill rod, avoids that drill rod appears large amplitude shake when working.

Description

Technical Field

[0001] This invention relates to the field of rock drill technology, and in particular to a drill bit changing mechanism and a drill bit changing control system. Background Technology

[0002] In tunnel construction, mining, and other underground engineering projects, rock drilling is a fundamental and crucial process. Rock drilling typically involves using a rock drill to drive a drill bit that impacts and rotates the rock to create a hole of the desired depth. When the drilling depth exceeds the length of a single drill bit, multiple drill bits need to be connected sequentially to achieve deep hole drilling. This involves continuously adding new drill bits during drilling and removing the connected drill bits one by one during retraction.

[0003] Currently, the replacement of drill rods mainly relies on manual labor. Operators need to manually connect and disassemble drill rods in dangerous areas close to the work surface, which results in high labor intensity, low replacement efficiency, and high safety risks, and makes it difficult to meet the requirements of automated construction.

[0004] Several automatic drill rod changing devices exist in the prior art. For example, Chinese patent CN112392521B discloses an automatic drill rod changing device for a tunnel anchor bolt trolley, which uses a drill rod chamber lifting mechanism to store and supply drill rods, and employs a gear and rack mechanism and an overrunning clutch to drive the rotation of the drill rod chamber. However, the lifting mechanism of this device is complex in structure and occupies a large space, and the rotational positioning accuracy of the drill rod chamber is limited by the ratchet and pawl mechanism, which is prone to positioning deviations in vibration environments.

[0005] Furthermore, during drill bit replacement, the drill bit clamp needs to reliably clamp and position the drill bit. The tail end of the drill bit has a larger diameter connecting section for threaded connection with the rock drill or other drill bits, while the drill bit body has a smaller diameter. Existing drill bit clamps have through holes of equal diameter, which can only clamp the tail end of the drill bit. After the drill bit replacement is completed, the drill bit clamp is in the open state. At this time, the overall length of the multiple drill bits connected together is relatively long, which is prone to shaking during operation.

[0006] Therefore, there is a need for a highly automated cutting rod mechanism and control system that can reliably clamp the cutting rod during the cutting rod replacement process and support and guide the cutting rod after the cutting rod replacement is completed, thereby reducing labor intensity. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention provides a rod changing mechanism and a rod changing control system.

[0008] The technical solution of this invention is as follows:

[0009] A rod changing mechanism, comprising: A propulsion beam is provided with a front end plate, a propulsion assembly, and a sliding plate that slides in a front-back direction. The sliding plate is driven by the propulsion assembly. The front end plate is provided with a first through hole for the drill rod to pass through. A rock drill, which is mounted on the sliding plate, is used to assemble with the connection part of the tail of the drill rod and drive the drill rod to rotate; A drill bit holder is located on the side of the feed beam and is used to store the drill bit. A drill bit clamping device is disposed on the front end plate. The drill bit clamping device includes two drill bit clamping cylinders horizontally and symmetrically disposed on the front end plate and a drill bit clamping sleeve disposed on the driving end of the drill bit clamping cylinder. When the two drill bit clamping sleeves are closed, a second through hole is formed. The inner wall of the second through hole is provided with a circumferential step and divides the inner wall into a first inner wall and a second inner wall. The first inner wall is close to the rock drill and the diameter of the first inner wall is larger than the diameter of the second inner wall. The first inner wall is used to clamp the connecting part of the drill rod, and the second inner wall is clearance-fitted with the drill body of the drill rod. A drill bit changing assembly is used to grab the drill bit and move the drill bit from the drill bit chamber to the drill bit changing position, or move the drill bit from the drill bit changing position to the drill bit chamber. The drill bit changing position is located on the axis between the rock drill and the first through hole.

[0010] As a further improvement of the present invention, the drill cartridge includes two drill cartridge seats disposed on the side of the propulsion beam, a second rotating shaft rotatably disposed between the two drill cartridge seats, and at least one drill clamping plate disposed on the second rotating shaft. The drill clamping plate is provided with a plurality of drill clamping grooves for placing the drill rod. The drill clamping grooves and the drill cartridge seats limit the position of the drill rod. The drill cartridge seat is provided with a drill outlet on the side near the propulsion beam. The drill cartridge seat is provided with a drill guard to block or avoid the drill outlet. A drill cartridge cylinder for driving the second rotating shaft to rotate is provided on one of the drill cartridge seats.

[0011] As a further improvement of the present invention, the drill bit protector includes a drill bit protector assembly disposed on the drill bit holder and a drill bit protector plate driven by the drill bit protector assembly. The drill bit protector plate has a blocking position for blocking the drill bit exit and a clearance position for avoiding the drill bit exit. The drill bit protector assembly includes a drill bit protector seat disposed on the drill bit holder, a third rotating shaft disposed on the drill bit protector seat, a drill bit protector cylinder rotating around the third rotating shaft, a fourth rotating shaft disposed on the drill bit holder, a connecting seat rotating around the fourth rotating shaft, and a fifth rotating shaft disposed on the connecting seat. The driving end of the drill bit protector cylinder is movably connected to the fifth rotating shaft, and the drill bit protector plate is disposed on the connecting seat.

[0012] A rod changing control system based on the rod changing mechanism described above is characterized in that the rod changing control system includes a rod gripping control module, a rod feeding control module, a rod rotating control module, a rod clamping device control module, an oil supply end, and an oil return end, wherein the oil supply end and the oil return end are both connected to the oil tank. The oil supply end supplies hydraulic oil to each module, and the hydraulic oil in each module flows back to the oil return end. The drill bit gripping control module includes a first solenoid valve and a second solenoid valve. The drill bit chamber has a drill bit outlet and a drill bit protection assembly. The first solenoid valve controls the drill bit changing assembly to grip and controls the drill bit protection assembly to avoid the drill bit outlet, or controls the drill bit changing assembly to release and controls the drill bit protection assembly to block the drill bit outlet. The second solenoid valve controls the drill bit changing assembly to grip hard or lightly. The drill bit feeding control module includes a third solenoid valve, which controls the drill bit changing assembly to rotate to the drill bit changing position or to rotate to the drill bit pick-up / placement position in the drill bit compartment. The drill bit control module includes a fourth solenoid valve, and the drill bit magazine includes a second rotating shaft. The fourth solenoid valve controls the drill bit located in the drill bit magazine to rotate clockwise or counterclockwise around the second rotating shaft. The pin catcher control module includes a fifth solenoid valve, which controls the pin catcher to close or open.

[0013] As a further improvement of the present invention, the rod gripping control module includes a first pressure reducing valve, a first one-way valve, and a second one-way valve. The first solenoid valve is a two-position four-way solenoid valve, and the second solenoid valve is a two-position four-way solenoid valve. The rod protection assembly includes a rod protection cylinder and a rod protection plate driven by the rod protection cylinder. The rod changing assembly includes a clamping cylinder and a gripper driven by the clamping cylinder. The oil inlet of the first solenoid valve is connected to the oil supply end, the oil return port of the first solenoid valve is connected to the oil return end, the first working port of the first solenoid valve is simultaneously connected to the oil inlet of the rod guard cylinder and the oil outlet of the clamping cylinder, and the second working port of the first solenoid valve is connected to the oil inlet of the second solenoid valve. The return port of the second solenoid valve is connected to the return end, the first working port of the second solenoid valve is connected to the inlet of the first check valve, the second working port of the second solenoid valve is connected to the inlet of the first pressure reducing valve, the outlet of the first pressure reducing valve is connected to the inlet of the second check valve, and the drain port of the first pressure reducing valve is connected to the return end. The outlet of the first check valve and the outlet of the second check valve converge and are simultaneously connected to the oil outlet of the rod guard cylinder and the oil inlet of the clamping cylinder. When the first working port of the first solenoid valve is connected to the oil inlet, the first check valve can be opened. When the second working port of the second solenoid valve is connected to the oil inlet, the second check valve can be opened; The oil inlet of the first solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. Hydraulic oil flows from the oil supply end to the oil inlet of the rod guard cylinder and the oil outlet of the clamping cylinder. The first check valve is opened, and hydraulic oil flows from the oil outlet of the rod guard cylinder and the oil inlet of the clamping cylinder to the oil return end. At the same time, the rod changing assembly is released and the rod guard assembly blocks the rod outlet. The oil inlet of the first solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The oil inlet of the second solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. Hydraulic oil flows from the oil supply end to the oil outlet of the rod protection cylinder and the oil inlet of the clamping cylinder through the first check valve. Hydraulic oil flows from the oil inlet of the rod protection cylinder and the oil outlet of the clamping cylinder to the oil return end. At the same time, the rod replacement assembly re-grips and the rod protection assembly avoids the rod outlet. The oil inlet of the first solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The oil inlet of the second solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The second check valve is opened, and hydraulic oil flows from the oil supply end through the first pressure reducing valve and the second check valve to the oil outlet of the rod protector cylinder and the oil inlet of the clamping cylinder. Hydraulic oil flows from the oil inlet of the rod protector cylinder and the oil outlet of the clamping cylinder to the oil return end. At the same time, the rod changing component gently grips the rod, and the rod protector avoids the rod tip.

[0014] As a further improvement of the present invention, the rod feeding control module includes a first bidirectional hydraulic lock, a second pressure reducing valve, a third solenoid valve is a three-position four-way solenoid valve, the third solenoid valve has a Y-shaped center position, and the rod changing assembly includes a rod changing cylinder. The oil inlet of the third solenoid valve is connected to the oil supply end, the oil return port of the third solenoid valve is connected to the oil return end, the first working port and the second working port of the third solenoid valve are respectively connected to the two working oil ports of the first bidirectional hydraulic lock, the first cylinder port of the first bidirectional hydraulic lock is connected to the oil inlet of the second pressure reducing valve, the oil outlet of the second pressure reducing valve is connected to the oil inlet of the rod changing cylinder, the oil drain port of the second pressure reducing valve is connected to the oil return end, and the second cylinder port of the first bidirectional hydraulic lock is connected to the oil outlet of the rod changing cylinder. The oil inlet of the third solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The first bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end through the second pressure reducing valve to the oil inlet of the rod changing cylinder. The hydraulic oil flows from the oil outlet of the rod changing cylinder to the oil return end, so that the rod changing assembly slowly rotates to the rod picking and placing position in the rod chamber. The first and second working ports of the third solenoid valve are both connected to the return oil port, the oil inlet is left empty, the first bidirectional hydraulic lock is closed, and the rod changing cylinder is disconnected from both the oil supply end and the oil return end, thereby maintaining the position of the rod changing assembly. The oil inlet of the third solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The first bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the oil outlet of the rod changing cylinder. Hydraulic oil flows from the oil inlet of the rod changing cylinder to the oil return end, so that the rod changing assembly can quickly rotate to the rod changing position.

[0015] As a further improvement of the present invention, the drill control module includes a second bidirectional hydraulic lock, the fourth solenoid valve is a three-position four-way solenoid valve with a Y-shaped center position, and the drill cartridge includes a drill cartridge cylinder for driving the second rotating shaft to rotate. The oil inlet of the fourth solenoid valve is connected to the oil supply end, the oil return port of the fourth solenoid valve is connected to the oil return end, the first working port and the second working port of the fourth solenoid valve are respectively connected to the two working ports of the second bidirectional hydraulic lock, the first cylinder port of the second bidirectional hydraulic lock is connected to the forward port of the drill cylinder, and the second cylinder port of the second bidirectional hydraulic lock is connected to the reverse port of the drill cylinder. The oil inlet of the fourth solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The second bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the forward oil port of the drill cylinder, and hydraulic oil flows from the reverse oil port of the drill cylinder to the oil return end, so that the drill rod in the drill cylinder rotates clockwise around the second rotating shaft. The first and second working ports of the fourth solenoid valve are connected to the return oil port, the oil inlet is left empty, the second bidirectional hydraulic lock is closed, and the drill cylinder is disconnected from both the oil supply end and the oil return end, thereby maintaining the position of the drill rod in the drill cylinder. The inlet of the fourth solenoid valve is connected to the second working port, and the return port is connected to the first working port. The second bidirectional hydraulic lock is opened, and hydraulic oil flows from the supply end to the reverse port of the drill cylinder. Hydraulic oil flows from the forward port of the drill cylinder to the return end, and the drill rod in the drill cylinder rotates counterclockwise around the second rotating shaft.

[0016] As a further improvement of the present invention, a throttle valve is provided between the first cylinder port of the second bidirectional hydraulic lock and the forward oil port of the drill cylinder, and between the second cylinder port of the second bidirectional hydraulic lock and the reverse oil port of the drill cylinder.

[0017] As a further improvement of the present invention, the brazing tool control module includes a third bidirectional hydraulic lock, a third pressure reducing valve, a fifth solenoid valve is a three-position four-way solenoid valve, the fifth solenoid valve has a Y-shaped center position, and the brazing tool includes two brazing cylinders arranged opposite to each other and a brazing sleeve disposed at the driving end of the brazing cylinders. The oil inlet of the fifth solenoid valve is connected to the oil supply end, the oil return port of the fifth solenoid valve is connected to the oil return end, the first working port and the second working port of the fifth solenoid valve are respectively connected to the two working oil ports of the third bidirectional hydraulic lock, the first cylinder port of the third bidirectional hydraulic lock is connected to the oil inlet of the third pressure reducing valve, the oil outlet of the third pressure reducing valve is connected to the oil inlet of the clamping cylinder, the oil drain port of the third pressure reducing valve is connected to the oil return end, and the second cylinder port of the third bidirectional hydraulic lock is connected to the oil outlet of the clamping cylinder. The oil inlet of the fifth solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The third bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end through the third pressure reducing valve to the oil inlet of the clamping cylinder. The hydraulic oil flows from the oil outlet of the clamping cylinder to the oil return end, thereby realizing the slow closing of the clamping device. The first and second working ports of the fifth solenoid valve are connected to the return oil port, the oil inlet is left empty, the third bidirectional hydraulic lock is closed, and the chuck cylinder is disconnected from both the oil supply end and the oil return end, thereby maintaining the position of the chuck. The oil inlet of the fifth solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The third bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the oil outlet of the clamping cylinder. Hydraulic oil flows from the oil inlet of the clamping cylinder to the oil return end, thereby realizing the rapid opening of the clamping device.

[0018] As a further improvement of the present invention, the oil return end includes a leakage oil return end and a normal oil return end, the leakage oil return end is directly connected to the oil tank, and the normal oil return end is provided with an oil return filter between it and the oil tank.

[0019] According to the above-described solution, the beneficial effects of this invention are as follows: 1. This invention divides the inner wall of the second through hole of the drill bit holder into a first inner wall and a second inner wall with different diameters by setting a step. The first inner wall is used to clamp the connecting part of the drill rod, and the second inner wall is fitted with the drill body of the drill rod with a clearance. This allows the drill bit holder to adapt to parts of the drill rod with different diameters at the same time, achieve reliable clamping and positioning, effectively prevent the drill rod from loosening or slipping during the drill rod replacement process, improve the stability and reliability of the drill rod replacement process, and support the drill rod after the drill rod replacement is completed to prevent the drill rod from shaking significantly during operation. 2. The drill rod changing assembly of the present invention can automatically complete the transfer of the drill rod between the drill cylinder and the drill rod changing position, realize the automatic replacement of the drill rod, effectively improve the replacement efficiency, reduce the labor intensity of operators, and improve construction safety; 3. The drill bit magazine of the present invention achieves the feeding of drill rods one by one through the rotation of the second rotating shaft and the drill bit clamping plate. With the help of the drill bit protector to block or avoid the drill bit outlet, it can effectively prevent the drill rod from accidentally falling out of the drill bit magazine when not changing the drill bit, thereby improving the safety and reliability of the drill bit magazine storing the drill rod. 4. The rod changing control system provided by the present invention has a rod gripping control module that, through the coordinated control of the first solenoid valve and the second solenoid valve, and in conjunction with the first pressure reducing valve, the first check valve and the second check valve, realizes three gripping modes of the rod changing assembly: release, heavy gripping and light gripping, and simultaneously controls the shielding and avoidance of the rod protection assembly, which simplifies the hydraulic circuit and realizes the linkage control of rod gripping and rod protection. 5. The drill bit changing control system provided by the present invention adopts a dual-loop design with a leakage return oil end and a normal return oil end. The leakage return oil end is directly connected to the oil tank to collect the leakage oil from each pressure reducing valve, and the normal return oil end is connected to the oil tank through a return oil filter to collect the return oil from each working circuit. The dual-loop design can avoid return oil contamination and back pressure interference, and improve the cleanliness and reliability of the system. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the pin catcher of the present invention; Figure 3 This is a schematic diagram of the structure of the locking sleeve of the present invention; Figure 4 This is a schematic diagram of the structure of the drill rod of the present invention; Figure 5 This is a schematic diagram of the structure of the solder replacement assembly of the present invention; Figure 6 This is a schematic diagram of the first angle of the drill bit of the present invention; Figure 7 yes Figure 6 A magnified view of a section at point A in the middle; Figure 8 This is a schematic diagram of the first angle of the drill bit magazine of the present invention without the drill bit installed; Figure 9 This is a schematic diagram of the second angle of the drill bit of the present invention; Figure 10 This is a schematic diagram of the propulsion component of the present invention; Figure 11 This is a schematic diagram of the structure of the pin catcher and protective sleeve of the present invention; Figure 12 This is a schematic diagram of the structure of the drill bit changing control system of the present invention.

[0021] In the diagram: 1. Propulsion beam; 2. Front end plate; 3. Sliding plate; 4. Drill rod; 41. Connecting part; 42. Drill body; 5. Rock drill; 6. Drill chamber; 61. Drill chamber seat; 62. Second rotating shaft; 63. Drill clamping plate; 631. Drill clamping groove; 64. Drill outlet; 65. Drill guard; 651. Drill guard plate; 652. Drill guard seat; 653. Third rotating shaft; 654. Drill guard cylinder; 655. Fourth rotating shaft; 656. Connecting seat; 657. Fifth rotating shaft; 66. Drill chamber cylinder; 67. Reinforcing beam; 68. Sensor mounting bracket; 69. Position 7. Sensor; 8. Pin clamp; 91. Pin clamp cylinder; 72. Pin clamp sleeve; 73. Second through hole; 74. Step; 75. First inner wall; 76. Second inner wall; 77. Protective sleeve; 78. Third through hole; 8. Pin changing assembly; 81. First rotating shaft; 82. Pin changing cylinder; 83. Clamping mounting base; 84. Clamping cylinder; 85. Gripper; 91. Fixing block; 92. First fixed pulley; 93. Second fixed pulley; 94. Push cylinder; 95. First movable pulley; 96. Second movable pulley; 97. First steel cable; 98. Second steel cable. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] See Figures 1-4 The present invention provides a drill bit changing mechanism, including a propulsion beam 1, a rock drill 5, a drill bit chamber 6, a drill bit clamping device 7, and a drill bit changing assembly 8.

[0026] The propulsion beam 1 serves as the basic support structure for the drill bit changing mechanism. The propulsion beam 1 has a front end and a rear end, and is equipped with a front end plate 2, a propulsion assembly, and a sliding plate 3 that slides along the front-to-back direction. The front end plate 2 is fixedly mounted at the front end of the propulsion beam 1, and has a first through hole through which the drill bit 4 passes. The axis of the first through hole extends along the front-to-back direction, allowing the drill bit 4 to pass through the front end plate 2 for rock drilling operations. The sliding plate 3 is driven by the propulsion assembly and can slide along the front-to-back direction on the propulsion beam 1. The propulsion assembly provides power for the movement of the sliding plate 3; by controlling the forward or reverse drive of the propulsion assembly, the sliding plate 3 can move forward or backward.

[0027] The rock drill 5 is mounted on the sliding plate 3 and moves synchronously with it. The rock drill 5 is used to assemble with the connecting part 41 at the tail of the drill rod 4 and drive the drill rod 4 to rotate. Specifically, the output end of the rock drill 5 is threadedly connected to the connecting part 41 at the tail of the drill rod 4. Driven by the propulsion assembly, the rock drill 5 moves the drill rod 4 forward to perform rock drilling operations. Simultaneously, the rock drill 5 drives the drill rod 4 to rotate, achieving a combined impact and rotational rock drilling action. When it is necessary to add a new drill rod 4, the rock drill 5 retracts to the drill rod replacement position, threadedly connects with the connecting part 41 of the new drill rod 4, and then pushes the new drill rod 4 to connect with the already installed drill rod 4, thus extending the drill rod 4.

[0028] The drill bit magazine 6 is located on the side of the feed beam 1 and is used to store the drill rods 4. The drill bit magazine 6 can store multiple drill rods 4 and supply them one by one during the drill bit changing process, which meets the need for continuous extension of multiple drill rods 4 during deep hole drilling.

[0029] The drill bit changing assembly 8 is used to grab the drill bit 4 and move it from the drill bit chamber 6 to the changing position, or move the drill bit 4 from the changing position to the drill bit chamber 6. The changing position is located on the axis between the rock drill 5 and the first through hole. The changing position is located on the central axis of the propulsion beam 1, that is, the position where the drill bit 4 is assembled and disassembled from the rock drill 5. When it is necessary to add a drill bit 4, the drill bit changing assembly 8 grabs a drill bit 4 from the drill bit chamber 6 and moves it to the changing position so that the rock drill 5 can be assembled with the drill bit 4; when it is necessary to remove the drill bit 4, the drill bit changing assembly 8 moves the drill bit 4 back from the changing position to the drill bit chamber 6.

[0030] The drill bit holder 7, mounted on the front end plate 2, is one of the core components of this invention. The drill bit holder 7 includes two horizontally symmetrically arranged drill bit cylinders 71 on the front end plate 2, and drill bit sleeves 72 disposed at the drive ends of the drill bit cylinders 71; that is, each drill bit cylinder 71 has a drill bit sleeve 72 at its drive end. The two drill bit cylinders 71 are arranged horizontally symmetrically. When both drill bit cylinders 71 extend simultaneously, the two drill bit sleeves 72 close together, forming a second through hole 73. The second through hole 73 is coaxially arranged with the first through hole, allowing the drill rod 4 to pass through.

[0031] The inner wall of the second through hole 73 is provided with a circumferential step 74, which divides the inner wall of the second through hole 73 into a first inner wall 75 and a second inner wall 76. The first inner wall 75 is closer to the rock drill 5, and its diameter is larger than that of the second inner wall 76. This diameter difference design is based on the structural characteristics of the drill rod 4: the tail of the drill rod 4 has a larger diameter connecting part 41 for threaded connection with the rock drill 5 or other drill rods 4, while the drill body 42 of the drill rod 4 has a smaller diameter. The first inner wall 75 is used to hold the connecting part 41 of the drill rod 4, and the second inner wall 76 is clearance-fitted with the drill body 42 of the drill rod 4. Optionally, the step 74 is provided with a transition chamfer or a conical guide surface.

[0032] When the drill bit clamp 7 is working, the two drill bit clamp sleeves 72 close together. The first inner wall 75 contacts and clamps the outer wall of the connecting part 41 of the drill rod 4, achieving radial clamping and positioning of the connecting part 41. The second inner wall 76 is in clearance fit with the drill body 42 of the drill rod 4, that is, the diameter of the second inner wall 76 is slightly larger than the diameter of the drill body 42, allowing the drill body 42 to pass smoothly through the second inner wall 76 without being clamped. This design allows the drill bit clamp 7 to adapt to different diameter parts of the drill rod 4 simultaneously, clamping the connecting part 41 without affecting the passage of the drill body 42, achieving reliable clamping and positioning. In addition, when the drill bit is changed and rock drilling work is carried out, the drill body 42 of the drill rod 4 is located in the second through hole 73. At this time, the second inner wall 76 can support and guide the drill rod 4, preventing the drill rod 4 from shaking significantly during rock drilling and improving the rock drilling quality.

[0033] During the drill bit replacement process, the working process of the drill bit clamp 7 is as follows: When it is necessary to disassemble the drill bit 4, the two drill bit clamping cylinders 71 of the drill bit clamp 7 extend, and the drill bit clamping sleeve 72 closes to hold the connecting part 41 of the drill bit 4. At this time, the rock drill 5 reverses and moves backward, separating from the connecting part 41 of the drill bit 4, thus completing the drill bit removal; When it is necessary to install a new drill bit 4, the drill bit replacement assembly 8 transports the new drill bit 4 to the drill bit replacement position, the rock drill 5 rotates forward and moves forward, and connects with the connecting part 41 of the new drill bit 4 by thread. After the connection is completed, the drill bit clamp 7 is released, thus completing the drill bit connection.

[0034] See Figure 5 As an embodiment of the present invention, the rod changing assembly 8 includes a first rotating shaft 81 disposed on the side of the push beam 1, at least one robot arm disposed on the first rotating shaft 81, and a rod changing cylinder 82 disposed on the push beam 1, wherein the rod changing cylinder 82 drives the first rotating shaft 81 to rotate.

[0035] The first rotating shaft 81 is horizontally positioned on the side of the push beam 1, with both ends of the first rotating shaft 81 mounted on the side of the push beam 1 via bearing seats. A robotic arm is fixedly mounted on the first rotating shaft 81 and swings as the first rotating shaft 81 rotates. The cylinder body of the rod changing cylinder 82 is hinged to the push beam 1, and the piston rod of the rod changing cylinder 82 is connected to the first rotating shaft 81. When the rod changing cylinder 82 extends or retracts, it drives the first rotating shaft 81 to rotate around its axis, thereby causing the robotic arm to swing between the rod holder 6 and the rod changing position. Optionally, one or more robotic arms can be mounted on the first rotating shaft 81. When multiple robotic arms are mounted, they are arranged at intervals along the axial direction of the first rotating shaft 81, enabling simultaneous gripping of multiple parts of the rod 4 and improving gripping stability.

[0036] In one embodiment of the present invention, the robotic arm includes a clamping mounting base 83 disposed on a first rotating shaft 81, a clamping cylinder 84 disposed on the clamping mounting base 83, and a gripper 85 driven by the clamping cylinder 84. The clamping mounting base 83 is fixed on the first rotating shaft 81, the clamping cylinder 84 is mounted on the clamping mounting base 83, and the gripper 85 is disposed on the driving end of the clamping cylinder 84. When the clamping cylinder 84 extends, the gripper 85 closes to clamp the chisel 4; when the clamping cylinder 84 retracts, the gripper 85 opens to release the chisel 4.

[0037] The working process of the drill bit changing assembly 8 is as follows: When it is necessary to remove the drill bit 4 from the drill bit chamber 6, the drill bit changing cylinder 82 drives the first rotating shaft 81 to rotate, causing the robot arm to swing to the drill bit exit position of the drill bit chamber 6. The clamping cylinder 84 drives the gripper 85 to close and clamp the drill bit 4. Then, the drill bit changing cylinder 82 drives in the opposite direction, causing the robot arm to swing to the drill bit changing position (i.e., the central axis position of the push beam 1). The gripper 85 remains clamped, so that the drill bit 4 is in the drill bit changing position and waiting to be assembled with the rock drill 5, thus completing the removal of the drill bit 4. When it is necessary to put the drill bit 4 back into the drill bit chamber 6, the drill bit changing assembly 8 performs the opposite action. The robot arm grips the drill bit 4 at the drill bit changing position, swings to the drill bit exit position of the drill bit chamber 6, and the gripper 85 opens to release the drill bit 4 into the drill bit chamber 6.

[0038] Specifically, the gripper 85 has two gripping states for the drill rod 4 depending on the hydraulic oil pressure applied to the drill rod cylinder 82. When the hydraulic oil pressure of the drill rod cylinder 82 is high, the gripper 85 grips the drill rod 4 tightly, and the drill rod 4 cannot move or rotate. When the hydraulic oil pressure of the drill rod cylinder 82 is low, the gripper 85 grips the drill rod 4 lightly, and the gripper 85 supports the drill rod 4, allowing the drill rod 4 to slide axially and rotate circumferentially within the gripper 85.

[0039] The rod changing assembly 8 drives the first rotating shaft 81 to rotate via the rod changing cylinder 82, causing the robot arm to swing between the rod chamber 6 and the rod changing position. The structure is simple and compact, the motion trajectory is clear, and the motion reliability is high. The robot arm adopts a structure in which the clamping cylinder 84 drives the gripper 85, which has a large clamping force and stable clamping, and can effectively reduce the execution time of the rod changing action and improve the rod changing efficiency. At the same time, the rotational motion of the first rotating shaft 81 makes the robot arm have a large range of motion, which can adapt to the needs of handling rods 4 in different positions.

[0040] See Figures 6-9 As an embodiment of the present invention, the drill cartridge 6 includes two drill cartridge seats 61 disposed on the side of the propulsion beam 1, a second rotating shaft 62 rotatably disposed between the two drill cartridge seats 61, and at least one drill clamping plate 63 disposed on the second rotating shaft 62.

[0041] Two drill bit holders 61 are arranged parallel to each other on the sides of the propulsion beam 1. The two ends of the second rotating shaft 62 are rotatably supported on the two drill bit holders 61, and the axis of the second rotating shaft 62 extends horizontally. A drill bit clamping plate 63 is fixedly mounted on the second rotating shaft 62 and rotates synchronously with it. The drill bit clamping plate 63 has several drill bit clamping slots 631 for placing drill bits 4. The drill bit clamping slots 631 are evenly distributed along the circumference of the drill bit clamping plate 63, and each drill bit clamping slot 631 can hold one drill bit 4. The opening of the drill bit clamping slot 631 faces away from the axis of the second rotating shaft 62, and when the drill bit 4 is placed in the drill bit clamping slot 631, the axis of the drill bit 4 is approximately parallel to the axis of the second rotating shaft 62.

[0042] The locking slot 631 and the drill cartridge seat 61 limit the movement of the drill rod 4. Specifically, the two ends of the drill rod 4 are axially and radially limited by the two drill cartridge seats 61, respectively, while the middle of the drill rod 4 is supported by the locking slot 631 and radially limited, preventing accidental movement of the drill rod 4 in the radial and axial directions. The drill cartridge seat 61 has a drill outlet 64 on the side near the push beam 1. The drill outlet 64 is an opening corresponding to the locking slot 631. When the locking plate 63 rotates to align a locking slot 631 with the drill outlet 64, the drill rod 4 within that locking slot 631 can be grasped by the robotic arm of the drill changing assembly 8 through the drill outlet 64.

[0043] A cylinder 66 is mounted on one of the drill bit holders 61 to drive the second rotating shaft 62. The cylinder body of the cylinder 66 is fixed to the drill bit holder 61, and the piston rod is connected to the second rotating shaft 62 through a gear and rack mechanism, a crank-connecting rod mechanism, or other mechanisms, driving the second rotating shaft 62 to rotate intermittently, each rotation covering the spacing of one drill bit slot 631, thus feeding the drill bit 4 one by one. When the next drill bit 4 needs to be fed, the cylinder 66 actuates, driving the second rotating shaft 62 to rotate by the angle of one drill bit slot 631, aligning the next drill bit slot 631 with the drill bit outlet 64, completing the preparation for feeding the drill bit 4.

[0044] The drill bit holder 61 is equipped with a drill bit protector 65, which blocks or avoids the drill bit exit 64. In the non-drill bit changing state, the drill bit protector 65 blocks the drill bit exit 64 to prevent the drill rod 4 from accidentally coming out of the drill bit exit 64; in the drill bit changing state, the drill bit protector 65 avoids the drill bit exit 64, allowing the drill rod 4 to enter and exit the drill bit holder 6 through the drill bit exit 64.

[0045] In one embodiment of the present invention, the drill bit protector 65 includes a drill bit protector assembly disposed on the drill bit holder 61 and a drill bit protector plate 651 driven by the drill bit protector assembly. The drill bit protector plate 651 has a blocking position that blocks the drill bit exit 64 and a clearance position that avoids the drill bit exit 64. When the drill bit protector plate 651 is in the blocking position, the drill bit protector plate 651 covers the drill bit exit 64, preventing the drill rod 4 from coming out of the drill bit exit 64; when the drill bit protector plate 651 is in the clearance position, the drill bit protector plate 651 is away from the drill bit exit 64, allowing the drill rod 4 to pass through the drill bit exit 64.

[0046] As an embodiment of the present invention, the rod guard assembly includes a rod guard seat 652 disposed on the rod magazine seat 61, a third rotating shaft 653 disposed on the rod guard seat 652, a rod guard cylinder 654 rotating around the third rotating shaft 653, a fourth rotating shaft 655 disposed on the rod magazine seat 61, a connecting seat 656 rotating around the fourth rotating shaft 655, and a fifth rotating shaft 657 disposed on the connecting seat 656.

[0047] The drill bit holder 652 is fixed to the drill bit cartridge holder 61, and the third rotating shaft 653 is mounted on the drill bit holder 652. The cylinder end of the drill bit holder cylinder 654 rotates around the third rotating shaft 653, and the drill bit holder cylinder 654 can swing around the third rotating shaft 653. The fourth rotating shaft 655 is mounted on the drill bit cartridge holder 61, and the connecting seat 656 rotates around the fourth rotating shaft 655. The fifth rotating shaft 657 is mounted on the connecting seat 656, and the drive end of the drill bit holder cylinder 654 is movably connected to the fifth rotating shaft 657. The drill bit guard plate 651 is mounted on the connecting seat 656 and moves with the rotation of the connecting seat 656.

[0048] The working principle of the drill bit protector assembly is as follows: When it is necessary to block the drill bit exit 64, the drill bit protector cylinder 654 extends, pushing the connecting seat 656 to rotate around the fourth rotating shaft 655, causing the drill bit protector plate 651 to rotate to the blocking position, covering the drill bit exit 64; when it is necessary to avoid the drill bit exit 64, the drill bit protector cylinder 654 retracts, pulling the connecting seat 656 to rotate in the opposite direction around the fourth rotating shaft 655, causing the drill bit protector plate 651 to rotate to the avoidance position, away from the drill bit exit 64. The oscillation of the drill bit protector cylinder 654 around the third rotating shaft 653 can compensate for changes in the relative position between the drive end of the drill bit protector cylinder 654 and the connecting seat 656, ensuring smooth movement of the mechanism. The fifth rotating shaft 657 enables a movable connection between the drive end of the drill bit protector cylinder 654 and the connecting seat 656, avoiding motion interference.

[0049] The drill bit magazine 6 of this invention achieves the sequential supply of drill rods 4 through the rotation of the second rotating shaft 62 and the drill bit clamping plate 63. Combined with the drill bit outlet 64 on the drill bit magazine seat 61, the structure is simple and the supply is accurate. The drill bit protector 65 drives the drill bit protector plate 651 to switch between the blocking position and the avoidance position through the drill bit protector assembly. In the non-drill bit changing state, it blocks the drill bit outlet 64, effectively preventing the drill rod 4 from accidentally falling out of the drill bit magazine 6, and improving the safety and reliability of the drill rod 4 stored in the drill bit magazine 6. The drill bit protector assembly adopts a multi-link mechanism to achieve smooth movement of the drill bit protector plate 651. The structure is compact, occupies little space, and moves flexibly and reliably.

[0050] In one embodiment of the present invention, the drill cartridge 6 further includes a plurality of reinforcing beams 67 for connecting the two drill cartridge seats 61. The reinforcing beams 67 are disposed on the outer side of the drill cartridge seats 61. Both ends of the reinforcing beams 67 are fixedly connected to the two drill cartridge seats 61 respectively, connecting the two drill cartridge seats 61 into an integral frame structure, thereby improving the overall structural strength and rigidity of the drill cartridge 6. The reinforcing beams 67 are disposed on the outer side of the drill cartridge seats 61 to avoid interference with the rotation of the drill bit clamping plate 63 and the storage of the drill rod 4. Optionally, the number of reinforcing beams 67 is two or more, distributed along the circumference of the drill cartridge seats 61 to form a stable frame structure.

[0051] A sensor mounting bracket 68 is provided between at least one pair of adjacent reinforcing beams 67. At least one position sensor 69 is mounted on the sensor mounting bracket 68, and the position sensor 69 cooperates with the drill bit plate 63. The sensor mounting bracket 68 is fixed between two adjacent reinforcing beams 67, providing a mounting base for the position sensor 69. The position sensor 69 is used to detect the rotational position of the drill bit plate 63. When the drill bit plate 63 rotates to a position where a certain drill bit slot 631 aligns with the drill bit outlet 64, the position sensor 69 detects a positioning signal of the drill bit plate 63. The control system controls the drill bit cylinder 66 to stop operating based on this signal, ensuring accurate supply of the drill bit 4. The position sensor 69 can be a sensor type conventional in the art, such as a proximity switch, photoelectric sensor, or magnetic switch.

[0052] The present invention connects two drill bit holders 61 with a reinforcing beam 67, which improves the overall structural strength and rigidity of the drill bit 6 and ensures the stability of the drill bit 6 under vibration and impact environments. The sensor mounting bracket 68 and the position sensor 69 can detect the position of the drill bit clamping plate 63 in real time, ensuring that the drill bit clamping groove 631 is accurately aligned with the drill bit outlet 64, improving the accuracy and reliability of the drill bit supply, and avoiding drill bit replacement failure due to position deviation.

[0053] See Figure 10 As an embodiment of the present invention, the propulsion assembly includes a fixed block 91 disposed at the front end of the propulsion beam 1, a first fixed pulley 92 disposed at the front end of the propulsion beam 1, a second fixed pulley 93 disposed at the rear end of the propulsion beam 1, a propulsion cylinder 94 disposed on the propulsion beam 1, and a first movable pulley 95, a second movable pulley 96, a first steel cable 97, and a second steel cable 98.

[0054] A fixing block 91 is fixedly installed at the front end of the propulsion beam 1, serving as the fixed end of the first steel cable 97. A first fixed pulley 92 is installed at the front end of the propulsion beam 1, used to change the transmission direction of the first steel cable 97. A second fixed pulley 93 is installed at the rear end of the propulsion beam 1, used to change the transmission direction of the second steel cable 98. A propulsion cylinder 94 is installed on the propulsion beam 1, serving as the power source for the propulsion assembly. The cylinder body of the propulsion cylinder 94 is fixed to the propulsion beam 1, and the piston rod extends and retracts in the front-to-back direction.

[0055] The first movable pulley 95 and the second movable pulley 96 are both movably mounted on the drive end of the propulsion cylinder 94 and move with the extension and retraction of the piston rod of the propulsion cylinder 94. The first movable pulley 95 and the second movable pulley 96 are arranged at intervals in the front-rear direction, with the first movable pulley 95 near the front end of the propulsion beam 1 and the second movable pulley 96 near the rear end of the propulsion beam 1.

[0056] One end of the first steel cable 97 is fixed to the front end of the sliding plate 3. The first steel cable 97 passes sequentially around the first fixed pulley 92 and the first movable pulley 95, and the other end of the first steel cable 97 is fixed to the fixed block 91. When the piston rod of the push cylinder 94 retracts, the first movable pulley 95 moves backward, pulling the sliding plate 3 forward through the first steel cable 97. Due to the force-saving principle of the movable pulley, the moving distance of the sliding plate 3 is twice the stroke of the piston rod of the push cylinder 94, thus achieving a large stroke forward movement of the sliding plate 3 even with the limited stroke of the push cylinder 94.

[0057] One end of the second steel cable 98 is fixed to the rear end of the sliding plate 3. The second steel cable 98 passes sequentially around the second fixed pulley 93 and the second movable pulley 96. The other end of the second steel cable 98 is fixed to the cylinder body of the propulsion cylinder 94. When the piston rod of the propulsion cylinder 94 extends, the second movable pulley 96 moves forward, pulling the sliding plate 3 backward through the second steel cable 98. Similarly, the backward movement distance of the sliding plate 3 is twice the stroke of the piston rod of the propulsion cylinder 94, realizing the large-stroke backward movement of the sliding plate 3.

[0058] Through the above structure, the extension and retraction of the propulsion cylinder 94 drive the sliding plate 3 forward and backward, respectively, achieving bidirectional propulsion. The arrangement of the movable pulley block makes the travel of the sliding plate 3 twice that of the propulsion cylinder 94, effectively reducing the installation size of the propulsion cylinder 94 and making the overall structure more compact. At the same time, the steel cable drive has a certain degree of flexibility, which can buffer the impact load during rock drilling and protect the propulsion cylinder 94 and other transmission components.

[0059] See Figure 11 As an embodiment of the present invention, the driving ends of the two chuck cylinders 71 are provided with protective sleeves 77, and the protective sleeves 77 are provided with third through holes 78 for the chuck rod 4 to pass through.

[0060] The protective sleeve 77 is fixedly installed at the drive end of the locating cylinder 71, i.e., on the outside of the locating sleeve 72. The protective sleeve 77 can be made of wear-resistant rubber or engineering plastics, and has a certain degree of elasticity and wear resistance. The diameter of the third through hole 78 is larger than the overall diameter of the drill rod 4, allowing the drill rod 4 to pass through smoothly. The function of the protective sleeve 77 is to prevent debris such as gravel, mud, and dust from entering the connection between the locating cylinder 71 and the locating sleeve 72 and the surface of the piston rod of the locating cylinder 71 when the locating device 7 is working, thereby reducing wear and corrosion and extending the service life of the locating device 7.

[0061] The overall workflow is as follows: Drilling process: At this time, the rock drill 5 is connected to the A drill rod, the drill clamp 7 is closed, the second inner wall 76 supports the A drill rod, the propulsion component drives the rock drill 5 and the drill rod group forward, when the connection part 41 of the A drill rod approaches the drill clamp 7, the rock drill 5 stops moving forward and the drill clamp 7 is opened; The drill bit connection process: The push assembly drives the rock drill 5 forward, causing the connecting part 41 of drill bit A to enter the second through hole 73, closing the drill bit clamp 7. The first inner wall 75 clamps the connecting part 41. The push assembly drives the rock drill 5 backward, and at the same time, the rock drill 5 reverses, separating the rock drill 5 from drill bit A. The rock drill 5 retracts to the bottom, and the drill bit changing assembly 8 rotates to the drill bit chamber 6 and reaches the drill bit pick-up / drop position. The drill bit chamber cylinder 66 drives the second rotating shaft 62 to rotate clockwise, making drill bit B ready to be picked up. Subsequently, the clamping cylinder 84 drives the gripper 85 to grab drill bit B again, the drill bit guard 65 opens, and the drill bit changing assembly... 8. The steering propulsion beam 1 is moved to the drill bit replacement position. The rock drill 5 rotates forward. The propulsion assembly drives the rock drill 5 forward to connect with drill bit B. After the connection is completed, the clamping cylinder 84 drives the gripper 85 to lightly grip drill bit B and support drill bit B. The propulsion assembly drives the rock drill 5 and drill bit B forward to complete the connection between drill bit B and drill bit A. After the connection is completed, the clamping cylinder 84 drives the gripper 85 to open, the drill bit protector 65 closes, the drill bit replacement assembly 8 retracts, the drill bit clamp 7 opens, the connecting part 41 of drill bit A passes through the second through hole 73, the drill bit clamp 7 closes, and the second inner wall 76 supports drill bit B. Unloading process: Assuming that rock drill 5, drill rod B, and drill rod A are connected in sequence, the drill clamp 7 is opened, and the push assembly drives rock drill 5 to retreat, allowing the connecting part 41 of drill rod A to enter the second through hole 73. The drill clamp 7 is closed, and the first inner wall 75 clamps the connecting part 41 of drill rod A. The drill changing assembly 8 rotates to the push beam 1 and reaches the drill changing position. The clamping cylinder 84 drives the jaws 85 to lightly grab drill rod B. The drill guard 65 is opened, the push assembly retreats, and rock drill 5 reverses, separating drill rod B from drill rod A. Cylinder 84 drives gripper 85 to grip drill rod B, clamping drill rod B. The push assembly drives rock drill 5 to retreat and reverse, separating rock drill 5 from drill rod B. Drill rod changing assembly 8 rotates to drill chamber 6 and reaches the drill rod pick-up / placement position. Drill rod guard 65 closes. Gripping cylinder 84 drives gripper 85 to open. Drill chamber cylinder 66 drives second rotating shaft 62 to rotate counterclockwise. The push assembly drives rock drill 5 to move forward and rotates forward, connecting with drill rod A. Drill rod A is then returned to drill chamber 6 following the above steps.

[0062] See Figure 12 The present invention provides a rod changing control system, including a rod gripping control module, a rod feeding control module, a rod rotating control module, a rod clamping device control module, an oil supply end P, and an oil return end.

[0063] Both the oil supply end P and the oil return end are connected to the oil tank. The oil supply end P supplies hydraulic oil to each module, and the hydraulic oil in each module flows back to the oil return end. The oil supply end P is connected to the output end of the hydraulic pump to provide pressurized oil for the entire system; the oil return end is connected to the oil tank to collect the hydraulic oil returning from each module.

[0064] The drill bit gripping control module includes a first solenoid valve V1 and a second solenoid valve V2. The drill bit chamber 6 has a drill bit outlet 64 and a drill bit guard assembly. The first solenoid valve V1 controls the drill bit changing assembly 8 to grip and controls the drill bit guard assembly to avoid the drill bit outlet 64, or controls the drill bit changing assembly 8 to release and controls the drill bit guard assembly to block the drill bit outlet 64. The second solenoid valve V2 controls the drill bit changing assembly 8 to grip hard or lightly.

[0065] The drill bit feeding control module includes a third solenoid valve V3, which controls the drill bit changing assembly 8 to rotate to the drill bit changing position or to the drill bit picking and placing position in the drill bit chamber 6.

[0066] The drill bit control module includes a fourth solenoid valve V4, and the drill bit chamber 6 includes a second rotating shaft 62. The fourth solenoid valve V4 controls the drill bit 4 located in the drill bit chamber 6 to rotate clockwise or counterclockwise around the second rotating shaft 62.

[0067] The pin catcher control module includes a fifth solenoid valve V5, which controls the pin catcher 7 to close or open.

[0068] In the complete drill bit replacement process, each module works in concert: First, the drill bit clamping control module controls the drill bit clamping device 7 to close and hold the drill bit 4; the drill bit rotation control module controls the drill bit chamber 6 to rotate and send the target drill bit to the pick-up and drop-off position; the drill bit gripping control module controls the drill bit replacement assembly 8 to grip the drill bit 4 and make the drill bit guard 65 avoid the drill bit opening 64; the drill bit feeding control module controls the drill bit replacement assembly 8 to rotate to the drill bit replacement position; after the rock drill 5 is threadedly connected to the drill bit 4, the drill bit gripping control module controls the drill bit replacement assembly 8 to release and make the drill bit guard 65 block the drill bit opening 64; the drill bit feeding control module controls the drill bit replacement assembly 8 to return to its original position.

[0069] In one embodiment of the present invention, the rod gripping control module includes a first pressure reducing valve PRV1, a first one-way valve CV1, and a second one-way valve CV2. The first solenoid valve V1 is a two-position four-way solenoid valve, and the second solenoid valve V2 is a two-position four-way solenoid valve. The rod protection assembly includes a rod protection cylinder 654 and a rod protection plate 651 driven by the rod protection cylinder 654. The rod changing assembly 8 includes a clamping cylinder 84 and a gripper 85 driven by the clamping cylinder 84.

[0070] The oil inlet V1-1 of the first solenoid valve V1 is connected to the oil supply end P, and the oil return port V1-2 of the first solenoid valve V1 is connected to the oil return end. The first working port V1-3 of the first solenoid valve V1 is simultaneously connected to the oil inlet of the rod guard cylinder 654 and the oil outlet of the clamping cylinder 84, i.e., port B in the figure. The second working port V1-4 of the first solenoid valve V1 is connected to the oil inlet V2-1 of the second solenoid valve V2.

[0071] The return port V2-2 of the second solenoid valve V2 is connected to the return oil end. The first working port V2-3 of the second solenoid valve V2 is connected to the inlet CV1-1 of the first check valve CV1, and the second working port V2-4 of the second solenoid valve V2 is connected to the inlet PRV1-1 of the first pressure reducing valve PRV1. The outlet port PRV1-2 of the first pressure reducing valve PRV1 is connected to the inlet CV2-1 of the second check valve CV2, and the drain port PRV1-3 of the first pressure reducing valve PRV1 is connected to the return oil end.

[0072] The outlet CV1-2 of the first check valve CV1 and the outlet CV2-2 of the second check valve CV2 converge and simultaneously connect to the oil outlet of the rod guard cylinder 654 and the oil inlet of the clamping cylinder 84, i.e., port A in the figure.

[0073] When the first working port V1-3 of the first solenoid valve V1 is connected to the oil inlet port V1-1, the first check valve CV1 can be opened. That is, hydraulic oil enters the control port CV1-3 of the first check valve CV1 and forces the first check valve CV1 to open, so that the hydraulic oil at port A can flow to the return end through the first check valve CV1. When the second working port V2-3 of the second solenoid valve V2 is connected to the oil inlet port V2-1, the second check valve CV2 can be opened. That is, hydraulic oil enters the control port CV2-3 of the second check valve CV2 and forces the second check valve CV2 to open. This plays a role in opening the second check valve CV2 first, avoiding insufficient hydraulic oil pressure after passing through the first pressure reducing valve PRV1, which would prevent the second check valve CV2 from opening smoothly, thus improving the stability and reliability of the operation.

[0074] The first operating mode is open + blocked: the oil inlet V1-1 of the first solenoid valve V1 is connected to the first working port V1-3, and the oil return port V1-2 is connected to the second working port V1-4. Hydraulic oil flows from the supply end P to the oil inlet of the rod guard cylinder 654 and the oil outlet of the clamping cylinder 84, and the first one-way valve CV1 is opened. Hydraulic oil flows from the oil outlet of the rod guard cylinder 654 and the oil inlet of the clamping cylinder 84 to the return end. At this time, the jaws 85 of the rod changing assembly 8 are released, and the rod guard plate 651 blocks the rod outlet 64.

[0075] The second working mode involves a combination of gripping and avoidance: The inlet V1-1 of the first solenoid valve V1 is connected to the second working port V1-4, and the return port V1-2 is connected to the first working port V1-3. Similarly, the inlet V2-1 of the second solenoid valve V2 is connected to the first working port V2-3, and the return port V2-2 is connected to the second working port V2-4. Hydraulic oil flows from the supply end P through the first check valve CV1 to the outlet of the drill bit protector cylinder 654 and the inlet of the clamping cylinder 84. Hydraulic oil also flows from the inlet of the drill bit protector cylinder 654 and the outlet of the clamping cylinder 84 to the return end. At this time, the gripper 85 of the drill bit changing assembly 8 grips the drill rod with full system pressure, while the drill bit protector plate 651 avoids the drill bit opening 64.

[0076] The third working mode is a light grip + avoidance: The inlet V1-1 of the first solenoid valve V1 is connected to the second working port V1-4, and the return port V1-2 is connected to the first working port V1-3. The inlet V2-1 of the second solenoid valve V2 is connected to the second working port V2-4, and the return port V2-2 is connected to the first working port V2-3. The second check valve CV2 is opened, and hydraulic oil flows from the supply end P through the first pressure reducing valve PRV1 and the second check valve CV2 to the outlet of the drill bit protector cylinder 654 and the inlet of the clamping cylinder 84. Due to the action of the first pressure reducing valve PRV1, the hydraulic oil pressure decreases, and the hydraulic oil flows from the inlet of the drill bit protector cylinder 654 and the outlet of the clamping cylinder 84 to the return end. At this time, the gripper 85 of the drill bit changing assembly 8 lightly grips the drill rod with the reduced pressure, and the drill bit protector plate 651 avoids the drill bit opening 64.

[0077] In actual drill bit replacement, the heavy grip mode is used to firmly clamp the drill bit for transport, while the light grip mode is used to support the drill bit during threaded connection to avoid excessive clamping force that could damage the drill bit threads.

[0078] The rod changing control system provided by this invention uses a rod gripping control module that, through the coordinated control of a first solenoid valve V1 and a second solenoid valve V2, along with a first pressure reducing valve PRV1, a first check valve CV1, and a second check valve CV2, enables three gripping modes for the rod changing assembly: release, heavy gripping, and light gripping. It also synchronously controls the shielding and avoidance of the rod protection assembly, simplifying the hydraulic circuit and achieving linkage control between rod gripping and rod protection.

[0079] In one embodiment of the present invention, the rod feeding control module includes a first bidirectional hydraulic lock DPCV1 and a second pressure reducing valve PRV2. The third solenoid valve V3 is a three-position four-way solenoid valve with a Y-shaped neutral position. The rod changing assembly 8 includes a rod changing cylinder 82.

[0080] The oil inlet V3-1 of the third solenoid valve V3 is connected to the oil supply end P, and the oil return port V3-2 of the third solenoid valve V3 is connected to the oil return end. The first working port V3-3 and the second working port V3-4 of the third solenoid valve V3 are respectively connected to the two working ports DPCV1-1 and DPCV1-2 of the first bidirectional hydraulic lock DPCV1.

[0081] The first cylinder port DPCV1-3 of the first bidirectional hydraulic lock DPCV1 is connected to the inlet port PRV2-1 of the second pressure reducing valve PRV2. The outlet port PRV2-2 of the second pressure reducing valve PRV2 is connected to the inlet port A1 of the rod changing cylinder 82. The drain port PRV2-3 of the second pressure reducing valve PRV2 is connected to the return port. The second cylinder port DPCV1-4 of the first bidirectional hydraulic lock DPCV1 is connected to the outlet port B1 of the rod changing cylinder 82.

[0082] The first working state involves slow rod feeding: the inlet V3-1 of the third solenoid valve V3 is connected to the first working port V3-3, and the return port V3-2 is connected to the second working port V3-4. The first bidirectional hydraulic lock DPCV1 is opened, and hydraulic oil flows from the supply end P through the second pressure reducing valve PRV2 to the inlet A1 of the rod changing cylinder 82, and from the outlet B1 of the rod changing cylinder 82 to the return end. Due to the pressure reducing effect of the second pressure reducing valve PRV2, the rod changing cylinder 82 rotates slowly at a low speed, so that the rod changing assembly 8 rotates slowly to the rod pick-up / placement position in the rod holder 6, avoiding impact caused by excessive speed.

[0083] The second working state position holding: The first working port V3-3 and the second working port V3-4 of the control third solenoid valve V3 are both connected to the return port V3-2, while the inlet port V3-1 is empty, i.e., in the Y-type neutral position. The first bidirectional hydraulic lock DPCV1 is closed, and both chambers of the rod changing cylinder 82 are disconnected from the oil supply end P and the oil return end, thereby holding the position of the rod changing assembly 8 and preventing the rod changing assembly 8 from moving accidentally when not in operation.

[0084] The third operating state involves rapid return: the inlet V3-1 of the third solenoid valve V3 is connected to the second working port V3-4, and the return port V3-2 is connected to the first working port V3-3. The first bidirectional hydraulic lock DPCV1 is opened, and hydraulic oil flows directly from the supply end P to the outlet B1 of the rod changing cylinder 82 without passing through the pressure reducing valve. The hydraulic oil then flows from the inlet A1 of the rod changing cylinder 82 to the return end. Because the hydraulic oil does not pass through the pressure reducing valve, the rod changing cylinder 82 rotates rapidly at full system pressure, enabling the rod changing assembly 8 to quickly rotate to the rod changing position.

[0085] The rod changing control system provided by this invention has a rod feeding control module that, through the cooperation of a third solenoid valve V3 with a Y-shaped center position, a first bidirectional hydraulic lock DPCV1, and a second pressure reducing valve PRV2, realizes three working states of the rod changing assembly: slow rod feeding, position holding, and rapid return. It has high positioning accuracy and stable operation.

[0086] As an embodiment of the present invention, throttle valves are provided between the oil outlet PRV2-2 of the second pressure reducing valve PRV2 and the oil inlet A1 of the rod changing cylinder 82, and between the second cylinder port DPCV1-4 of the first bidirectional hydraulic lock DPCV1 and the oil outlet B1 of the rod changing cylinder 82.

[0087] The throttle valve is installed in the oil inlet and return lines of the rod changing cylinder 82. By adjusting the opening area of ​​the throttle valve, the flow rate of hydraulic oil into and out of the rod changing cylinder 82 can be controlled, thereby adjusting the movement speed of the rod changing cylinder 82 and controlling the swing speed of the rod changing assembly 8, so that the rod changing assembly 8 swings smoothly at an appropriate speed, avoiding unnecessary effects caused by excessive swing speed.

[0088] In one embodiment of the present invention, the drill bit control module includes a second bidirectional hydraulic lock DPCV2. The fourth solenoid valve V4 is a three-position four-way solenoid valve with a Y-shaped neutral position. The drill bit magazine 6 includes a drill bit magazine cylinder 66 that drives the second rotating shaft 62 to rotate.

[0089] The inlet port V4-1 of the fourth solenoid valve V4 is connected to the oil supply end P, and the return port V4-2 of the fourth solenoid valve V4 is connected to the return end. The first working port V4-3 and the second working port V4-4 of the fourth solenoid valve V4 are respectively connected to the two working ports DPCV2-1 and DPCV2-2 of the second bidirectional hydraulic lock DPCV2.

[0090] The first cylinder port DPCV2-3 of the second bidirectional hydraulic lock DPCV2 is connected to the forward port A2 of the drill cylinder 66, and the second cylinder port DPCV2-4 of the second bidirectional hydraulic lock DPCV2 is connected to the reverse port B2 of the drill cylinder 66.

[0091] In the first working state, rotating clockwise: the inlet V4-1 of the fourth solenoid valve V4 is connected to the first working port V4-3, and the return port V4-2 is connected to the second working port V4-4. The second bidirectional hydraulic lock DPCV2 opens, and hydraulic oil flows from the supply end P to the forward port A2 of the drill cylinder 66, and from the reverse port B2 of the drill cylinder 66 to the return end. The drill cylinder 66 drives the second rotating shaft 62 to rotate clockwise, causing the drill clamping plate 63 to rotate clockwise, rotating the next drill rod 4 to the drill outlet 64 position.

[0092] The second working state is position holding: the first working port V4-3 and the second working port V4-4 of the fourth solenoid valve V4 are both connected to the return port V4-2, while the inlet port V4-1 is left empty, i.e., in the Y-shaped neutral position. The second bidirectional hydraulic lock DPCV2 is closed, and both chambers of the drill cylinder 66 are disconnected from the oil supply end P and the oil return end, thus maintaining the position of the drill rod 4 inside the drill cylinder 6 and preventing accidental rotation of the drill cylinder.

[0093] The third working state involves counterclockwise rotation: the inlet V4-1 of the fourth solenoid valve V4 is connected to the second working port V4-4, and the return port V4-2 is connected to the first working port V4-3. The second bidirectional hydraulic lock DPCV2 opens, and hydraulic oil flows from the supply end P to the reverse port B2 of the drill cylinder 66, and from the forward port A2 of the drill cylinder 66 to the return end. The drill cylinder 66 drives the second rotating shaft 62 to rotate in the reverse direction, causing the drill clamping plate 63 to rotate counterclockwise, which is used to rotate the empty drill clamping slot 631 to the drill outlet 64 position when unloading the drill.

[0094] The drill bit changing control system provided by this invention uses a drill bit rotation control module that, through the cooperation of a fourth solenoid valve V4 with a Y-shaped center position and a second bidirectional hydraulic lock DPCV2, controls the forward and reverse movement of the drill bit cylinder, thereby realizing the clockwise and counterclockwise rotation of the drill bit in the drill bit chamber and maintaining its position. The rotation control is flexible and reliable.

[0095] As an embodiment of the present invention, throttle valves are provided between the first cylinder port DPCV2-3 of the second bidirectional hydraulic lock DPCV2 and the forward port A2 of the drill cylinder 66, and between the second cylinder port DPCV2-4 of the second bidirectional hydraulic lock DPCV2 and the reverse port B2 of the drill cylinder 66.

[0096] The throttle valve is installed in the oil inlet and return lines of the drill bit cylinder 66. By adjusting the opening area of ​​the throttle valve, the flow rate of hydraulic oil into and out of the drill bit cylinder 66 can be controlled, thereby adjusting the movement speed of the drill bit cylinder 66 and thus controlling the rotation speed of the drill bit 6.

[0097] During the drill bit changing process, the drill bit 4 on the locking plate 63 rotates as the drill bit chamber 6 rotates. If the rotation speed is too fast, the drill bit 4 may come out of the locking groove 631 due to centrifugal force or inertia, or collide with the drill bit changing assembly 8 when it stops. By setting a throttle valve, the drill bit chamber 6 can rotate smoothly at an appropriate speed, avoiding the impact between the drill bit 4 and the drill bit changing assembly 8.

[0098] In one embodiment of the present invention, the pin catcher control module includes a third bidirectional hydraulic lock DPCV3 and a third pressure reducing valve PRV3. The fifth solenoid valve V5 is a three-position four-way solenoid valve with a Y-shaped neutral position. The pin catcher 7 includes two opposing pin catcher cylinders 71 and a pin catcher sleeve 72 disposed at the drive end of the pin catcher cylinders 71.

[0099] The inlet port V5-1 of the fifth solenoid valve V5 is connected to the oil supply end P, and the return port V5-2 of the fifth solenoid valve V5 is connected to the return end. The first working port V5-3 and the second working port V5-4 of the fifth solenoid valve V5 are respectively connected to the two working ports DPCV3-1 and DPCV3-2 of the third bidirectional hydraulic lock DPCV3.

[0100] The first cylinder port DPCV3-3 of the third bidirectional hydraulic lock DPCV3 is connected to the inlet port PRV3-1 of the third pressure reducing valve PRV3. The outlet port PRV3-2 of the third pressure reducing valve PRV3 is connected to the inlet port A3 of the clamping cylinder 71. The drain port PRV3-3 of the third pressure reducing valve PRV3 is connected to the return port. The second cylinder port DPCV3-4 of the third bidirectional hydraulic lock DPCV3 is connected to the outlet port B3 of the clamping cylinder 71.

[0101] The first operating state involves slow closure: the inlet V5-1 of the fifth solenoid valve V5 is connected to the first working port V5-3, and the return port V5-2 is connected to the second working port V5-4. The third bidirectional hydraulic lock DPCV3 opens, and hydraulic oil flows from the supply end P through the third pressure reducing valve PRV3 to the inlet A3 of the clamping cylinder 71, and from the outlet B3 of the clamping cylinder 71 to the return end. Due to the pressure reducing effect of the third pressure reducing valve PRV3, the clamping cylinder 71 closes slowly at a lower pressure, and the two clamping sleeves 72 slowly close to clamp the drill rod 4, avoiding impact damage to the drill rod caused by excessively fast closing speed.

[0102] The second working state position holding: The first working port V5-3 and the second working port V5-4 of the fifth solenoid valve V5 are both connected to the return port V5-2, while the inlet port V5-1 is left empty, i.e., in the Y-type neutral position. The third bidirectional hydraulic lock DPCV3 is closed, and both chambers of the chuck cylinder 71 are disconnected from the oil supply end P and the oil return end, thus achieving the position holding of the chuck 7 and reliably maintaining the closed state of the chuck 7 during rock drilling.

[0103] The third operating state involves rapid opening: the inlet V5-1 of the fifth solenoid valve V5 is connected to the second working port V5-4, and the return port V5-2 is connected to the first working port V5-3. The third bidirectional hydraulic lock DPCV3 opens, and hydraulic oil flows directly from the supply end P to the outlet B3 of the clamping cylinder 71 without passing through the pressure reducing valve. The hydraulic oil then flows from the inlet A3 of the clamping cylinder 71 to the return end. Because the hydraulic oil does not pass through the pressure reducing valve, the clamping cylinder 71 opens rapidly at full system pressure, and the two clamping sleeves 72 quickly separate, releasing the chisel 4 and improving chisel replacement efficiency.

[0104] The drill bit changing control system provided by this invention uses a drill bit clamping control module that, through the cooperation of a fifth solenoid valve V5 with a Y-shaped center position, a third bidirectional hydraulic lock DPCV3, and a third pressure reducing valve PRV3, to achieve three working states of the drill bit clamp: slow closing, position holding, and rapid opening. The closing process is smooth, avoids impact, and can reliably support the drill bit.

[0105] In one embodiment of the present invention, the oil return end includes a leakage oil return end D and a normal oil return end T. The leakage oil return end D is directly connected to the oil tank to collect the leakage oil from each pressure reducing valve. The normal oil return end T is connected to the oil tank through the oil return filter to collect the return oil from each working circuit.

[0106] Each pressure reducing valve, including the first pressure reducing valve PRV1, the second pressure reducing valve PRV2, and the third pressure reducing valve PRV3, has its drain port connected to the leakage return end D. During operation, the pressure reducing valve continuously drains oil to maintain a stable output pressure. The drained oil does not contain impurities but may contain trace amounts of gas; direct return to the oil tank avoids back pressure interfering with the valve's performance.

[0107] The return ports of each solenoid valve and the return oil of each working circuit are all connected to the ordinary return oil terminal T. The ordinary return oil terminal T is filtered by the return oil filter before flowing back to the oil tank, ensuring that impurities in the return oil are filtered out and maintaining the cleanliness of the hydraulic oil.

[0108] By separating the leakage return oil and the normal return oil, the leakage return oil end D flows directly back to the oil tank without being affected by the resistance of the return oil filter, ensuring the stable operation of the pressure reducing valve; the normal return oil end T returns to the oil tank after filtration, ensuring the cleanliness of the system hydraulic oil. The dual-circuit design effectively avoids the impact of pressure reducing valve leakage back pressure fluctuations on system operation, and also avoids the problem of air bubbles generated when trace amounts of gas in the leakage oil pass through the return oil filter.

[0109] In summary, this invention provides a drill bit changing mechanism and a drill bit changing control system. By setting a step 74 on the inner wall of the second through hole 73 of the drill bit clamp 7, the inner wall is divided into a first inner wall 75 and a second inner wall 76 with different diameters. The first inner wall 75 is used to clamp the connecting part 41 of the drill rod 4, and the second inner wall 76 is clearance-fitted with the drill body 42 of the drill rod 4. This allows the drill bit clamp 7 to simultaneously adapt to different diameter parts of the drill rod 4, achieving reliable clamping and positioning. This effectively prevents the drill rod 4 from loosening or slipping during the drill bit changing process, improving the stability and reliability of the drill bit changing process. It also supports the drill rod 4 after the drill bit changing is completed, preventing the drill rod 4 from shaking significantly during operation. The drill bit changing assembly 8 drives the first rotating shaft 81 to rotate through the drill bit changing cylinder 82, causing the robot arm to swing between the drill bin 6 and the drill bit changing position. The structure is simple and compact, the motion trajectory is clear, and the motion reliability is high. The hand employs a gripping cylinder 84 driving the gripper 85, providing strong gripping force and stable clamping, effectively reducing the execution time of the drill bit changing action and improving the efficiency of drill bit changing. Simultaneously, the rotational motion of the first rotating shaft 81 allows the robotic arm to have a wide range of motion, adapting to the needs of handling drill bits 4 in different positions. The drill bit magazine 6 supplies drill bits 4 one by one through the rotation of the second rotating shaft 62 and the drill bit clamping plate 63. Combined with the drill bit outlet 64 on the drill bit magazine seat 61, the structure is simple and the supply is accurate. The drill bit protector 65 drives the drill bit protector plate 651 to switch between a blocking position and a clearance position through the drill bit protector assembly. In the non-drill bit changing state, it blocks the drill bit outlet 64, effectively preventing the drill bit 4 from accidentally falling out of the drill bit magazine 6, improving the safety and reliability of the drill bit 4 stored in the drill bit magazine 6. The drill bit protector assembly adopts a multi-link mechanism to achieve smooth movement of the drill bit protector plate 651, with a compact structure, small footprint, and flexible and reliable movement.

[0110] It should be emphasized that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A drill bit changing mechanism, characterized in that, include: The propulsion beam (1) is provided with a front end plate (2), a propulsion assembly, and a sliding plate (3) that slides in the front-back direction. The sliding plate (3) is driven by the propulsion assembly. The front end plate (2) is provided with a first through hole through which the drill rod (4) passes. A rock drill (5) is mounted on the sliding plate (3). The rock drill (5) is used to assemble with the connecting part (41) at the tail of the drill rod (4) and drive the drill rod (4) to rotate. A drill bit (6) is located on the side of the push beam (1) and is used to store the drill bit (4). A drill bit clamp (7) is provided on the front end plate (2). The drill bit clamp (7) includes two drill bit clamp cylinders (71) arranged horizontally and symmetrically on the front end plate (2) and a drill bit clamp sleeve (72) provided on the driving end of the drill bit clamp cylinders (71). When the two drill bit clamp sleeves (72) are closed, a second through hole (73) is formed. The inner wall of the second through hole (73) is provided with a step (74) along the circumferential direction and divides the inner wall into a first inner wall (75) and a second inner wall (76). The first inner wall (75) is close to the rock drill (5). The diameter of the first inner wall (75) is larger than the diameter of the second inner wall (76). The first inner wall (75) is used to clamp the connecting part (41) of the drill rod (4). The second inner wall (76) is in clearance fit with the drill body (42) of the drill rod (4). The drill bit changing assembly (8) is used to grab the drill bit (4) and move the drill bit (4) in the drill bin (6) to the drill bit changing position, or move the drill bit (4) from the drill bit changing position to the drill bin (6). The drill bit changing position is located on the axis between the rock drill (5) and the first through hole.

2. The drill bit changing mechanism according to claim 1, characterized in that, The drill cartridge (6) includes two drill cartridge seats (61) disposed on the side of the push beam (1), a second rotating shaft (62) rotatably disposed between the two drill cartridge seats (61), and at least one drill clamping plate (63) disposed on the second rotating shaft (62). The drill clamping plate (63) is provided with a plurality of drill clamping grooves (631) for placing the drill rod (4). The drill clamping grooves (631) and the drill cartridge seats (61) limit the drill rod (4). The drill cartridge seat (61) is provided with a drill outlet (64) on the side near the push beam (1). The drill cartridge seat (61) is provided with a drill guard (65) which blocks or avoids the drill outlet (64). A drill cartridge cylinder (66) for driving the second rotating shaft (62) to rotate is provided on one of the drill cartridge seats (61).

3. The drill bit changing mechanism according to claim 2, characterized in that, The drill bit protector (65) includes a drill bit protector assembly disposed on the drill bit holder (61) and a drill bit protector plate (651) driven by the drill bit protector assembly. The drill bit protector plate (651) has a blocking position for blocking the drill bit outlet (64) and a clearance position for avoiding the drill bit outlet (64). The drill bit protector assembly includes a drill bit protector seat (652) disposed on the drill bit holder (61), a third rotating shaft (653) disposed on the drill bit protector seat (652), a drill bit protector cylinder (654) rotating around the third rotating shaft (653), a fourth rotating shaft (655) disposed on the drill bit holder (61), a connecting seat (656) rotating around the fourth rotating shaft (655), and a fifth rotating shaft (657) disposed on the connecting seat (656). The driving end of the drill bit protector cylinder (654) is movably connected to the fifth rotating shaft (657), and the drill bit protector plate (651) is disposed on the connecting seat (656).

4. A rod changing control system based on the rod changing mechanism as described in any one of claims 1-3, characterized in that, The rod changing control system includes a rod gripping control module, a rod feeding control module, a rod rotating control module, a rod clamping device control module, an oil supply end, and an oil return end. Both the oil supply end and the oil return end are connected to the oil tank. The oil supply end supplies hydraulic oil to each module, and the hydraulic oil in each module flows back to the oil return end. The drill bit gripping control module includes a first solenoid valve and a second solenoid valve. The drill bit chamber (6) has a drill bit outlet (64) and a drill bit protection assembly. The first solenoid valve controls the drill bit changing assembly (8) to grip and controls the drill bit protection assembly to avoid the drill bit outlet (64), or controls the drill bit changing assembly (8) to release and controls the drill bit protection assembly to block the drill bit outlet (64). The second solenoid valve controls the drill bit changing assembly (8) to grip hard or lightly. The rod feeding control module includes a third solenoid valve, which controls the rod changing assembly (8) to rotate to the rod changing position or to the rod picking and placing position in the rod magazine (6); The drill control module includes a fourth solenoid valve, the drill housing (6) includes a second rotating shaft (62), and the fourth solenoid valve controls the drill rod (4) located in the drill housing (6) to rotate clockwise or counterclockwise around the second rotating shaft (62); The pin catcher control module includes a fifth solenoid valve, which controls the pin catcher (7) to close or open.

5. The drill bit changing control system according to claim 4, characterized in that, The rod gripping control module includes a first pressure reducing valve, a first check valve, and a second check valve. The first solenoid valve is a two-position four-way solenoid valve, and the second solenoid valve is a two-position four-way solenoid valve. The rod protection assembly includes a rod protection cylinder (654) and a rod protection plate (651) driven by the rod protection cylinder (654). The rod changing assembly (8) includes a clamping cylinder (84) and a gripper (85) driven by the clamping cylinder (84). The oil inlet of the first solenoid valve is connected to the oil supply end, the oil return port of the first solenoid valve is connected to the oil return end, the first working port of the first solenoid valve is simultaneously connected to the oil inlet of the rod guard cylinder (654) and the oil outlet of the clamping cylinder (84), and the second working port of the first solenoid valve is connected to the oil inlet of the second solenoid valve. The return port of the second solenoid valve is connected to the return end, the first working port of the second solenoid valve is connected to the inlet of the first check valve, the second working port of the second solenoid valve is connected to the inlet of the first pressure reducing valve, the outlet of the first pressure reducing valve is connected to the inlet of the second check valve, and the drain port of the first pressure reducing valve is connected to the return end. The outlet of the first check valve and the outlet of the second check valve converge and are simultaneously connected to the oil outlet of the rod guard cylinder (654) and the oil inlet of the clamping cylinder (84); When the first working port of the first solenoid valve is connected to the oil inlet, the first check valve can be opened. When the second working port of the second solenoid valve is connected to the oil inlet, the second check valve can be opened; The oil inlet of the first solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. Hydraulic oil flows from the oil supply end to the oil inlet of the rod guard cylinder (654) and the oil outlet of the clamping cylinder (84). The first check valve is opened, and hydraulic oil flows from the oil outlet of the rod guard cylinder (654) and the oil inlet of the clamping cylinder (84) to the oil return end. At the same time, the rod changing assembly is released and the rod guard assembly blocks the rod outlet. The oil inlet of the first solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The oil inlet of the second solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The hydraulic oil flows from the oil supply end through the first check valve to the oil outlet of the rod protection cylinder (654) and the oil inlet of the clamping cylinder (84). The hydraulic oil flows from the oil inlet of the rod protection cylinder (654) and the oil outlet of the clamping cylinder (84) to the oil return end. At the same time, the rod replacement assembly is re-gripped and the rod protection assembly avoids the rod outlet. The oil inlet of the first solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The oil inlet of the second solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The second check valve is opened, and the hydraulic oil flows from the oil supply end through the first pressure reducing valve and the second check valve to the oil outlet of the rod protection cylinder (654) and the oil inlet of the clamping cylinder (84). The hydraulic oil flows from the oil inlet of the rod protection cylinder (654) and the oil outlet of the clamping cylinder (84) to the oil return end. At the same time, the rod changing component lightly grips and the rod protection component avoids the rod opening.

6. The drill bit changing control system according to claim 4, characterized in that, The rod feeding control module includes a first bidirectional hydraulic lock and a second pressure reducing valve. The third solenoid valve is a three-position four-way solenoid valve with a Y-shaped center position. The rod changing assembly (8) includes a rod changing cylinder (82). The oil inlet of the third solenoid valve is connected to the oil supply end, the oil return port of the third solenoid valve is connected to the oil return end, the first working port and the second working port of the third solenoid valve are respectively connected to the two working oil ports of the first bidirectional hydraulic lock, the first cylinder port of the first bidirectional hydraulic lock is connected to the oil inlet of the second pressure reducing valve, the oil outlet of the second pressure reducing valve is connected to the oil inlet of the rod changing cylinder (82), the oil drain port of the second pressure reducing valve is connected to the oil return end, and the second cylinder port of the first bidirectional hydraulic lock is connected to the oil outlet of the rod changing cylinder (82). The oil inlet of the third solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The first bidirectional hydraulic lock is opened, and the hydraulic oil flows from the oil supply end through the second pressure reducing valve to the oil inlet of the rod changing cylinder (82). The hydraulic oil flows from the oil outlet of the rod changing cylinder (82) to the oil return end, so that the rod changing assembly (8) slowly rotates to the rod picking and placing position in the rod chamber (6). The first working port and the second working port of the third solenoid valve are connected to the return port, the inlet port is left empty, the first bidirectional hydraulic lock is closed, the rod changing cylinder (82) is disconnected from the oil supply end and the oil return end, so as to maintain the position of the rod changing assembly (8); The oil inlet of the third solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The first bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the oil outlet of the rod changing cylinder (82). Hydraulic oil flows from the oil inlet of the rod changing cylinder (82) to the oil return end, so that the rod changing assembly (8) can quickly rotate to the rod changing position.

7. The drill bit changing control system according to claim 4, characterized in that, The drill bit control module includes a second bidirectional hydraulic lock, the fourth solenoid valve is a three-position four-way solenoid valve, the fourth solenoid valve has a Y-shaped center position, and the drill bit (6) includes a drill bit cylinder (66) that drives the second rotating shaft (62) to rotate. The oil inlet of the fourth solenoid valve is connected to the oil supply end, the oil return port of the fourth solenoid valve is connected to the oil return end, the first working port and the second working port of the fourth solenoid valve are respectively connected to the two working oil ports of the second bidirectional hydraulic lock, the first cylinder port of the second bidirectional hydraulic lock is connected to the forward oil port of the drill cylinder (66), and the second cylinder port of the second bidirectional hydraulic lock is connected to the reverse oil port of the drill cylinder (66). The oil inlet of the fourth solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The second bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the forward oil port of the drill cylinder (66). Hydraulic oil flows from the reverse oil port of the drill cylinder (66) to the oil return end, so that the drill rod (4) in the drill cylinder (6) rotates clockwise around the second rotating shaft (62). The first and second working ports of the fourth solenoid valve are connected to the return port, the inlet port is left empty, the second bidirectional hydraulic lock is closed, and the drill cylinder (66) is disconnected from the oil supply end and the oil return end, so as to maintain the position of the drill rod (4) in the drill cylinder (6). The oil inlet of the fourth solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The second bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the reverse oil port of the drill cylinder (66). Hydraulic oil flows from the forward oil port of the drill cylinder (66) to the oil return end. The drill rod (4) in the drill cylinder (6) rotates counterclockwise around the second rotating shaft (62).

8. The drill bit changing control system according to claim 7, characterized in that, A throttle valve is provided between the first cylinder port of the second bidirectional hydraulic lock and the forward port of the drill cylinder (66), and between the second cylinder port of the second bidirectional hydraulic lock and the reverse port of the drill cylinder (66).

9. The drill bit changing control system according to claim 4, characterized in that, The control module for the grappling device includes a third bidirectional hydraulic lock and a third pressure reducing valve. The fifth solenoid valve is a three-position four-way solenoid valve with a Y-shaped center position. The grappling device (7) includes two grappling cylinders (71) arranged opposite to each other and a grappling sleeve (72) arranged at the drive end of the grappling cylinders (71). The oil inlet of the fifth solenoid valve is connected to the oil supply end, the oil return port of the fifth solenoid valve is connected to the oil return end, the first working port and the second working port of the fifth solenoid valve are respectively connected to the two working oil ports of the third bidirectional hydraulic lock, the first cylinder port of the third bidirectional hydraulic lock is connected to the oil inlet of the third pressure reducing valve, the oil outlet of the third pressure reducing valve is connected to the oil inlet of the clamping cylinder (71), the oil drain port of the third pressure reducing valve is connected to the oil return end, and the second cylinder port of the third bidirectional hydraulic lock is connected to the oil outlet of the clamping cylinder (71). The oil inlet of the fifth solenoid valve is connected to the first working port, and the oil return port is connected to the second working port. The third bidirectional hydraulic lock is opened, and the hydraulic oil flows from the oil supply end through the third pressure reducing valve to the oil inlet of the locating cylinder (71). The hydraulic oil flows from the oil outlet of the locating cylinder (71) to the oil return end, so that the locating device (7) is slowly closed. The first and second working ports of the fifth solenoid valve are connected to the return port, the inlet port is left empty, the third bidirectional hydraulic lock is closed, and the chuck cylinder (71) is disconnected from the oil supply end and the oil return end, so as to maintain the position of the chuck (7). The oil inlet of the fifth solenoid valve is connected to the second working port, and the oil return port is connected to the first working port. The third bidirectional hydraulic lock is opened, and hydraulic oil flows from the oil supply end to the oil outlet of the locating cylinder (71). Hydraulic oil flows from the oil inlet of the locating cylinder (71) to the oil return end, thereby realizing the rapid opening of the locating device (7).

10. The drill bit changing control system according to claim 4, characterized in that, The oil return end includes a leakage oil return end and a normal oil return end. The leakage oil return end is directly connected to the oil tank, and the normal oil return end is provided with an oil return filter between itself and the oil tank.

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