Automatic rod connecting magazine for rock drilling jumbo and control method therefor

Abstract

The present invention relates to an automatic rod-changing rod magazine for a rock drilling jumbo, and a control method therefor. The automatic rod-changing rod magazine comprises an automatic rod-changing rod magazine assembly. The automatic rod-changing rod magazine assembly comprises an extension rod magazine, structural supports, a first-stage rotating arm, a second-stage rotating arm, a rotating arm support and a rod feeding manipulator, wherein a plurality of drill rods are built in the extension rod magazine; the first-stage rotating arm is rotatably connected between two structural supports; the rotating arm support is arranged on the first-stage rotating arm; the second-stage rotating arm is rotatably connected to the rotating arm support; the rod feeding manipulator is provided on the second-stage rotating arm; each of the extension rod magazine, the first-stage rotating arm and the second-stage rotating arm is provided with a rotary motor; the rotary motor is connected to a hydraulic system; and the hydraulic system is connected to a controller. In the present invention, the automatic rod-changing rod magazine assembly is configured in combination with the rod feeding manipulator and the operation control of a feed beam assembly and a rock drill to complete automatic rod changing and rod removal on the basis of a set drilling depth. The work accuracy and work efficiency are thus improved.

Description

An automatic rod extension magazine for rock drilling rigs and its control method Technical Field

[0001] This invention relates to the field of rock drilling rig equipment technology, specifically to an automatic rod extension magazine for a rock drilling rig and its control method. Background Technology

[0002] As the core excavation equipment in tunnel boring and blasting (TBB) construction, the rock drilling rig is equipped with a high-powered rock drill, capable of drilling holes with diameters ranging from φ43mm to 140mm and depths exceeding 30m. Besides the main 3m-5m drilling and blasting holes, construction teams frequently use the rock drilling rig for pipe roof drilling (12m), anchor bolt drilling (16m), and advance drilling (30-50m), demonstrating a strong demand for multi-purpose functionality. However, due to the limitations of the rock drilling rig's propulsion beam structure, drilling depths exceeding 5m require manual rod extension, posing high safety risks and significant labor intensity.

[0003] Currently, automatic boom changing mechanisms and matching boom storage mechanisms are gradually emerging in the application technology of rock drilling rigs. For example, the automatic boom extension mechanism and rock drilling rig described in application number CN109488231A add a fixed automatic boom extension mechanism to a specially designed propulsion beam. However, such solutions have problems such as fixed structure, which affects the boom movement during blasting hole drilling; high requirements for control and manufacturing precision, resulting in high construction difficulty; and inability to effectively control the boom dismantling process.

[0004] Therefore, there is an urgent need for a fully automatic pole-connecting device with high operational precision. Summary of the Invention

[0005] To address the problems of high construction difficulty and inability to accurately dismantle and reconnect rods in existing automatic rod-changing equipment for rock drilling rigs, this invention proposes an automatic rod-connecting magazine for rock drilling rigs and its control method. An automatic rod-connecting magazine assembly is set up, combined with the operation control of the propulsion beam assembly and the rock drill, as well as a rod-feeding manipulator. Based on the set drilling depth, it automatically connects and dismantles rods, improving work accuracy and efficiency.

[0006] To achieve the above objectives, the first aspect of the present invention proposes an automatic rod extension magazine for a rock drilling rig, comprising a drill arm assembly, a propulsion beam assembly, a rock drill, and a drill rod. The drill arm assembly is detachably connected to the propulsion beam assembly, the propulsion beam assembly includes a propulsion beam, the rock drill and the propulsion beam are slidably connected, the rock drill and the drill rod are detachably connected, and an automatic rod extension magazine assembly is detachably connected to the side of the propulsion beam. The automatic rod extension magazine assembly includes an extension magazine, a structural support, a primary rotating arm, a secondary rotating arm, a rotating arm support, and a rod delivery manipulator. Multiple drill rods are arranged around the inner circumference of the extension magazine, and structural supports are provided at both ends of the extension magazine. The extension magazine is rotatably connected to the structural supports, and a primary rotating arm is rotatably connected between the two structural supports. A rotating arm support is provided on the primary rotating arm, and a secondary rotating arm is rotatably connected to the rotating arm support. A rod delivery manipulator is provided on the secondary rotating arm, and an elastic mechanism is provided between the rod delivery manipulator and the secondary rotating arm. The rod delivery manipulator is slidably connected to the secondary rotating arm through the elastic mechanism.

[0007] The extension rod magazine, the first-stage rotating arm, and the second-stage rotating arm are all equipped with rotary motors. The rotary motors are connected to a hydraulic system, which is connected to a controller. The controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill feed pressure sensor, and the rock drill.

[0008] The drill rod includes a male end and a female end, both of which are threaded, and two drill rods are connected end to end through the male end and the female end.

[0009] Furthermore, the extension rod library includes a connecting plate, a fixing plate, and a connecting shaft. There are multiple fixing plates, which are arranged in a straight line at equal intervals from the end to the tail of the connecting shaft. The fixing plates are circular plates, and multiple arc-shaped notches are equidistantly arranged on the circumference of the fixing plates. A chisel is placed in the arc-shaped notch.

[0010] Connecting plates are provided at both ends of the connecting shaft. The connecting plate is a cylindrical structure closed on one side. The connecting plate is rotatably connected to the connecting shaft. A square notch is provided on the side of the connecting plate.

[0011] The connecting plate is fixed to the structural support;

[0012] The connecting shaft is connected to the output end of the rotary motor via a ratchet drive.

[0013] Furthermore, the structural support is a teardrop-shaped plate, and the rotary motor is fixedly installed at both the wide end and the narrow end of the structural support. The extension rod is installed near the wide end of the structural support, and the first-stage rotating arm is installed near the narrow end of the structural support.

[0014] A support is provided on the arc segment at the narrow end of the structural support. The support and the structural support are an integrated structure. A crossbeam is provided between the two supports. A pole storage mounting frame is provided on the crossbeam. The horizontal section of the pole storage mounting frame is connected to the push beam.

[0015] Furthermore, the rotating arm support includes a first support and a second support. The first support is a sheet-like structure and is located at both ends of the primary rotating arm and the secondary rotating arm. In one of the first supports, the primary rotating arm is fixedly connected to the primary rotating arm and rotatably connected to the secondary rotating arm.

[0016] Another first bracket is fixed at one end to the first-stage rotating arm and at the other end to the rotating motor. The other end of the rotating motor is provided with a second bracket. The second bracket is a sheet-like structure. One side of the second bracket is rotatably connected to the second-stage rotating arm and the other side is fixedly connected to the first-stage rotating arm.

[0017] Both the primary and secondary rotating arms are cylindrical structures.

[0018] Furthermore, the elastic mechanism is disposed at both ends of the secondary rotating arm. The elastic mechanism includes a first baffle, a second baffle, and a spring. The first baffle is an I-shaped wheel and is sleeved on the secondary rotating arm. One side of the first baffle is fixed to the second bracket, and the other side is fixed to the spring. The other side of the spring is fixed to the second baffle. The second baffle is an annular plate and is sleeved on the secondary rotating arm. Two rod-feeding manipulators are disposed between the two second baffles and are slidably connected to the secondary rotating arm.

[0019] Furthermore, the rod-feeding robot includes a hydraulic clamp, which includes a jaw with a curved inner surface and is connected to a hydraulic system.

[0020] Furthermore, the propulsion beam includes a first slider, a second slider, and a slide rail. The first slider is provided at the upper end of the slide rail and is slidably connected to the slide rail. The rock drill is fixedly provided at the upper part of the first slider. The second slider is provided at the bottom end of the slide rail and is fixed to the drill arm assembly and slidably connected to the slide rail.

[0021] The propulsion system includes a first hydraulic cylinder and a second hydraulic cylinder. The first hydraulic cylinder is disposed inside the slide rail, and the piston rod of the first hydraulic cylinder is fixed to the first slider. The second hydraulic cylinder is disposed at the end of the drill arm assembly, and the piston rod of the second hydraulic cylinder is fixed to the bottom surface of the slide rail.

[0022] The first and second cylinders are connected to the hydraulic system.

[0023] Furthermore, the rock drill is connected to a rock drill shank, and the rock drill shank is detachably connected to the drill rod;

[0024] A plurality of middle drill rod holders and front drill rod holders are sequentially arranged in front of the shank of the rock drill. The middle drill rod holders and the front drill rod holders are both slidably connected to the slide rail, and the centers of the shank of the rock drill, the middle drill rod holders and the front drill rod holders are located on the same straight line.

[0025] A second aspect of the present invention provides a control method for an automatic rod storage of a rock drilling jumbo, including an automatic drill rod installation method, and the automatic drill rod installation method includes:

[0026] Step 1: The controller obtains a drilling task, determines the drilling depth L, calculates the number N of drill rods required and the depth La of each drilling of the rock drill according to the drilling depth L, and drills the first connecting rod drill rod pre-arranged on the propulsion beam assembly into the hole at a depth of La.

[0027] Step 2: Obtain the drill rod penetration depth L1 through the displacement sensor of the rock drill. If L1 < L is satisfied, the front drill rod holder clamps the tail of the drill rod, the controller makes the rock drill reverse, and the propulsion pressure sensor of the rock drill obtains the propulsion pressure X1 when the rock drill retreats. The controller sets the reverse propulsion pressure setting threshold as X. If X1 < X is satisfied, the controller obtains the number N1 of drill rods through the drill rod detection unit.

[0028] If X1 < X is not satisfied, the controller makes the rock drill start to impact and reverse, loosens the shank of the rock drill from the previous connecting rod drill rod, and the rock drill retreats to the initial position.

[0029] If L1 < L is not satisfied, the drilling is completed and the equipment stops running.

[0030] Step 3: If N1 < N is satisfied, the automatic rod storage assembly pushes the connecting rod drill rod, performs self-check at the initial position, the extension rod storage returns to the initial position, the secondary rotating arm rotates, the primary rotating arm rotates, and the gripper of the rod feeding manipulator retracts to the bottom.

[0031] The extension rod storage rotates forward one step, sends an extension drill rod into the rod feeding manipulator, and the gripper of the rod feeding manipulator locks the extension drill rod.

[0032] If N1 < N is not satisfied, the equipment pauses.

[0033] Step 4: The controller controls the rotation motor through the hydraulic system to rotate the primary rotating arm and the secondary rotating arm. The secondary rotating arm drives the rod feeding manipulator to place the drill rod 2 in front of the shank of the rock drill. The controller makes the rock drill and the shank of the rock drill press against the drill rod 2 through the hydraulic system.

[0034] Step 5: The controller controls the rock drill to rotate forward, the extension drill rod is screwed together with the shank of the rock drill, the propulsion pressure sensor of the rock drill obtains the propulsion pressure X2 when the rock drill advances, and the controller sets the forward propulsion pressure setting threshold as XA.

[0035] If X2 > XA is satisfied, the rock drill continues to advance forward, the extension drill rod and the rod feeding manipulator are pushed forward and slide, the drill bit of the extension drill rod is sent into the drill rod tail of the previous drill rod, the jaws of the rod feeding manipulator are released, the rod feeding manipulator springs back to its original position, and at the same time the rock drill rotates forward to screw the extension drill rod and the previous drill rod together;

[0036] Step 6: The controller resets the rod feeding manipulator through the hydraulic system, rotates the first-stage rotating arm and resets the second-stage rotating arm. The controller moves the rock drill and the slide rail through the hydraulic system, drills the combined drill rods into the hole according to La, obtains the penetration depth L1 of the drill rods through the displacement sensor of the rock drill. If L1 < L is satisfied, execute Step 2;

[0037] If L1 < L is not satisfied, the equipment pauses operation.

[0038] Furthermore, a control method for an automatic rod connecting magazine of a rock drilling jumbo includes an automatic drill rod splitting method, and the automatic drill rod splitting method includes:

[0039] Step 1: The controller controls the first cylinder through the hydraulic system to make the rock drill drive all the drill rods to retreat to the initial position. The rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill retreats. The controller sets the retreat propulsion pressure setting threshold as XB;

[0040] If X3 < XB is satisfied, the front drill rod holder clamps the tail of the extension drill rod. The controller controls the rotary motor through the hydraulic system to rotate the first-stage rotating arm and the second-stage rotating arm. The jaws of the rod feeding manipulator contact the extension drill rod, and the rod feeding manipulator moves slightly upward to prevent the extension drill rod from falling. The controller controls the rock drill to move backward through the hydraulic system to pull the extension drill rod, and at the same time the controller controls the rock drill to rotate in reverse to loosen the extension drill rod from the drill rod tail;

[0041] If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill to impact and retreat, and the controller controls the first cylinder through the hydraulic system to make the rock drill drive all the drill rods to retreat to the initial position;

[0042] Step 2: The rock drill propulsion pressure sensor obtains the propulsion pressure X4 when the rock drill retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator through the hydraulic system to make the jaws clamp the extension drill rod;

[0043] When the propulsion pressure X4 remains unchanged continuously, the controller controls the rock drill to impact and rotate in reverse to loosen the extension drill rod from the drill rod tail, and obtains the propulsion pressure X4 when the rock drill retreats again until X4 continuously decreases;

[0044] Step 3: The rock drill advance pressure sensor obtains the advance pressure X5 when the rock drill is retracting. When X5 continues to decrease, the extension rod and the rod delivery robot spring back. The controller controls the rotary motor through the hydraulic system to make the first-stage rotary arm and the second-stage rotary arm rotate in opposite directions. The controller controls the rotary motor through the hydraulic system to make the extension rod magazine rotate in the opposite direction and retract. During the movement of the second-stage rotary arm, the rod delivery robot sends the extension rod into the arc-shaped notch of the fixed plate.

[0045] If the push pressure X5 remains unchanged, the rock drill pulls the extension rod backward, and the impact and reverse rotation are activated to loosen the end of the extension rod, and the push pressure X4 when the rock drill is retracted is obtained again, until X4 continues to decrease.

[0046] Step 4: The controller uses the hydraulic system to control the rotary motor to reset the primary and secondary rotary arms;

[0047] The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2=N, the controller controls the hydraulic system to reset and controls the rock drill to stop.

[0048] If N2=N is not satisfied, repeat steps 1 to 3.

[0049] The beneficial effects of the present invention through the above technical solution are as follows:

[0050] (1) This invention can conveniently select rod extension and disassembly according to the drilling operation requirements of the rock drilling rig, improve the applicable range of working conditions of the rock drilling rig, and improve the problem of limited rock drilling rig movement caused by the addition of fixed structures. An automatic rod extension library assembly is set up, which includes an extension library, a structural support, a primary rotating arm, a secondary rotating arm, a rotating arm support, and a rod delivery robot. Multiple drill rods are set in the extension library. The extension library, the primary rotating arm, and the secondary rotating arm are all equipped with rotary motors. The rotary motors are connected to a hydraulic system. The hydraulic system is connected to a controller. The controller controls the hydraulic system to drive the rotary motors. The three rotary motors drive the primary rotating arm and the secondary rotating arm of the extension library to rotate respectively. The rod delivery robot delivers the drill rod to the front end of the rock drill or into the extension library, realizing the drill rod handling for rod extension and disassembly operations. The engagement or disassembly of multiple drill rods is completed by controlling the rock drill and the hydraulic system. The rod-feeding robot that can move along the rotating arm can effectively solve the problem of jamming during automatic assembly and disassembly of drill rods, which requires manual assistance. It greatly increases the number of extension rods available for a single drilling operation and reduces the difficulty of operation during equipment maintenance.

[0051] (2) The rod feeding robot of the present invention can slide left and right on the secondary rotating arm. An elastic mechanism is set to push the rod feeding robot to complete the automatic reset after the rod feeding robot completes the operation, so as to solve the problem that the automatic disassembly and assembly of the drill rod is prone to jamming and requires manual assistance, thereby improving the automation level of the disassembly and assembly of the drill rod and the disassembly and assembly effect is smooth.

[0052] (3) The present invention inputs the drilling depth through an automatic drilling rod installation method and an automatic drilling rod dismantling method, thereby realizing automated rod connection operation and drilling depth control as well as rod dismantling operation after drilling is completed, thereby improving construction efficiency and quality and reducing construction costs. Attached icon number

[0053] Figure 1 is one of the structural schematic diagrams of an automatic rod extension library for a rock drilling rig according to the present invention;

[0054] Figure 2 is a second structural schematic diagram of an automatic rod extension library for a rock drilling rig according to the present invention.

[0055] Figure 3 is a third structural schematic diagram of an automatic rod extension library for a rock drilling rig according to the present invention;

[0056] Figure 4 is a schematic diagram of the drill rod structure of an automatic rod extension magazine for a rock drilling rig according to the present invention.

[0057] Figure 5 is one of the operational schematic diagrams of the automatic rod extension magazine for a rock drilling rig according to the present invention;

[0058] Figure 6 is a second schematic diagram of the operation of an automatic rod extension magazine for a rock drilling rig according to the present invention;

[0059] Figure 7 is a schematic diagram of the operation of an automatic rod extension magazine for a rock drilling rig according to the present invention (third one).

[0060] Figure 8 is the fourth schematic diagram of the operation of the automatic rod extension bar of the rock drilling rig of the present invention;

[0061] Figure 9 is a schematic diagram of the controller operation principle of the control method for the automatic rod extension magazine of a rock drilling rig according to the present invention;

[0062] Figure 10 is a fourth structural schematic diagram of an automatic rod extension library for a rock drilling rig according to the present invention.

[0063] Figure 11 is the fifth structural schematic diagram of an automatic rod extension library for a rock drilling rig according to the present invention;

[0064] Figure 12 is one of the structural schematic diagrams showing the secondary rotating arm and its upper components in Figure 11;

[0065] Figure 13 is a second structural schematic diagram showing the secondary rotating arm and its upper components in Figure 11;

[0066] Figure 14 is a third schematic diagram showing the structure of the secondary rotating arm and its upper components in Figure 11;

[0067] Figure 15 is a fourth structural schematic diagram showing the secondary rotating arm and its upper components in Figure 11;

[0068] Figure 16 is one of the cross-sectional views of the secondary rotating arm and its upper part;

[0069] Figure 17 is the second sectional view of the secondary rotating arm and its upper part;

[0070] Figure 18 is an enlarged view of the structure of the left part in Figure 17;

[0071] Figure 19 is an enlarged view of the structure of the right end of Figure 17.

[0072] Reference numerals: 1. Drill arm assembly; 2. Feed beam assembly; 3. Rock drill; 4. Automatic rod extension magazine assembly; 5. Rod feeding robot; 6. Rotary motor; 7. Support; 8. Crossbeam; 9. Rod magazine mounting frame; 10. Rock drill shank; 11. Center rod holder; 12. Front rod holder; 201. Feed beam; 2011. First slider; 2012. Second slider; 2013. Slide rail; 401. Extension rod magazine; 402. Structural support; 403. First rotating arm; 404. Second rotating arm; 405. Rotating arm support; 4011. Connecting plate; 4012. Fixing plate; 4013. Connecting shaft; 4051. First support; 4052. First baffle; 13. Second baffle; 14. Spring; 15. Intermediate sleeve; 4040. Connecting flange; 4041. Raised key; 4042. End section; 4043. Keyway; 4044. Rotating sleeve; 4045. Detailed Implementation

[0073] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0074] Example 1

[0075] As shown in Figures 1-4 and 9, an automatic rod extension magazine for a rock drilling rig includes a drill arm assembly 1, a propulsion beam assembly 2, a rock drill 3, and a drill rod. The drill arm assembly 1 is detachably connected to the propulsion beam assembly 2. The propulsion beam assembly 2 includes a propulsion beam 201. The rock drill 3 is slidably connected to the propulsion beam 201. The rock drill 3 is detachably connected to the drill rod. An automatic rod extension magazine assembly 4 is detachably connected to the side of the propulsion beam 201. The automatic rod extension magazine assembly 4 includes an extension magazine 401, a structural support 402, a primary rotating arm 403, a secondary rotating arm 404, a rotating arm support 405, and a rod delivery robot 5. Multiple chisels are arranged around the inner circumference of the extension rod magazine 401. Structural supports 402 are provided at both ends of the extension rod magazine 401. The extension rod magazine 401 is rotatably connected to the structural supports 402. A primary rotating arm 403 is rotatably connected between the two structural supports 402. A rotating arm support 405 is provided on the primary rotating arm 403. A secondary rotating arm 404 is rotatably connected to the rotating arm support 405. A rod-feeding robot 5 is provided on the secondary rotating arm 404. An elastic mechanism is provided between the rod-feeding robot 5 and the secondary rotating arm 404. The rod-feeding robot 5 is slidably connected to the secondary rotating arm 404 through the elastic mechanism.

[0076] The extension rod magazine 401, the first-stage rotating arm 403 and the second-stage rotating arm 404 are all equipped with a rotary motor 6. The rotary motor 6 is connected to a hydraulic system. The hydraulic system is connected to a controller. The controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill push pressure sensor and a rock drill 3.

[0077] The drill rod includes a male end and a female end, both of which are threaded, and two drill rods are connected end to end through the male end and the female end.

[0078] The extension rod magazine 401 includes a connecting plate 4011, a fixing plate 4012, and a connecting shaft 4013. There are multiple fixing plates 4012, which are arranged in a straight line at equal intervals from the end of the connecting shaft 4013 to the tail of the connecting shaft 4013. The fixing plates 4012 are circular plates, and multiple arc-shaped notches are provided at equal intervals around the circumference of the fixing plates 4012. A chisel is placed in the arc-shaped notch.

[0079] The connecting shaft 4013 has connecting plates 4011 at both ends. The connecting plate 4011 is a cylindrical structure closed on one side. The connecting plate 4011 is rotatably connected to the connecting shaft 4013. A square notch is opened on the side of the connecting plate 4011.

[0080] The connecting plate 4011 is fixed to the structural support 402;

[0081] The connecting shaft 4013 is connected to the output end of the rotary motor 6 via a ratchet drive.

[0082] The structural support 402 is a teardrop-shaped plate. The rotary motor 6 is fixedly installed at both the wide end and the narrow end of the structural support 402. The extension rod magazine 401 is installed near the wide end of the structural support 402, and the first-stage rotating arm 403 is installed near the narrow end of the structural support 402.

[0083] A support 7 is provided on the arc segment at the narrow end of the structural support 402. The support 7 and the structural support 402 are an integrated structure. A crossbeam 8 is provided between the two supports 7. A pole storage mounting frame 9 is provided on the crossbeam 8. The horizontal section of the pole storage mounting frame 9 is connected to the push beam 201.

[0084] The rotating arm support 405 includes a first support 4051 and a second support 4052. The first support 4051 is a sheet-like structure. The first support 4051 is disposed at both ends of the first-stage rotating arm 403 and the second-stage rotating arm 404. In one case, the first support 4051 is fixedly connected to the first-stage rotating arm 403 and rotatably connected to the second-stage rotating arm 404.

[0085] Another first bracket 4051 is fixed at one end to the first-stage rotating arm 403 and at the other end to the rotating motor 6. The other end of the rotating motor 6 is provided with a second bracket 4052. The second bracket 4052 is a sheet-like structure. One side of the second bracket 4052 is rotatably connected to the second-stage rotating arm 404 and the other side is fixedly connected to the first-stage rotating arm 403.

[0086] Both the primary rotating arm 403 and the secondary rotating arm 404 are cylindrical structures.

[0087] The elastic mechanism is located at both ends of the secondary rotating arm 404. The elastic mechanism includes a first baffle 13, a second baffle 14, and a spring 15. The first baffle 13 is an I-shaped wheel and is sleeved on the secondary rotating arm 404. One side of the first baffle 13 is fixed to the second bracket 4052, and the other side is fixed to the spring 15. The other side of the spring 15 is fixed to the second baffle 14. The second baffle 14 is an annular plate and is sleeved on the secondary rotating arm 404. Two rod-feeding manipulators 5 are arranged between the two second baffles 14 and are slidably connected to the secondary rotating arm 404.

[0088] In one embodiment, as shown in Figures 10-19, the secondary rotating arm 404 has a segmented structure, including two end segments 4043. One end segment 4043 has a connecting flange 4041 at its end, which is fixedly connected to the rotation output end of the rotary motor 6 through the connecting flange 4041 and is fixed in the axial direction. The other end segment 4043 is rotatably assembled with the first bracket 4051 and is fixed in the axial direction.

[0089] The elastic mechanism includes an intermediate sleeve 4040 located between two end segments 4043 and elastic components respectively disposed between the two end segments 4043 and the intermediate sleeve 4040. The intermediate sleeve 4040 is a tubular structure with both ends axially slidable and inserted into the outer side of the corresponding end segments 4043. The two ends of the intermediate sleeve 4040 are respectively circumferentially anti-rotatingly assembled with the corresponding end segments 4043. For example, the intermediate sleeve 4040 is a circular tube structure, and the end segments 4043 are cylindrical structures. One or more axially extending keyways 4044 are provided on the inner wall surface of the intermediate sleeve 4040, and a protruding key 4042 adapted to the keyway 4044 is provided on the outer circumferential surface of the end segment 4043. The circumferential anti-rotation assembly of the intermediate sleeve 4040 and the end segments 4043 is achieved through the cooperation of the protruding key 4042 and the keyway 4044. For example, the intermediate sleeve 4040 is a polygonal tube with a polygonal cross-section, and the end section 4043 is a polygonal prism structure with a cross-sectional shape that matches the inner hole cross-sectional shape of the intermediate sleeve 4040. The intermediate sleeve 4040 and the end section 4043 achieve circumferential anti-rotation through the mating surface.

[0090] When the rotary motor 6 outputs a rotational motion, it can drive one end segment 4043 connected to it to rotate, which in turn drives the intermediate sleeve 4040 to rotate, and then drives the other end segment 4043 to rotate through the intermediate sleeve 4040. The two rod-feeding robots 5 are fixedly mounted on the intermediate sleeve 4040, so they swing with the rotation of the intermediate sleeve 4040.

[0091] In another embodiment, the secondary rotating arm 404 is a rod-shaped structure, with one end fixedly connected to the rotational output end of the rotary motor 6, and the other end rotatably assembled to the first bracket 4051. The elastic mechanism includes an intermediate sleeve 4040 fitted outside the secondary rotating arm 404 and elastic components respectively disposed at both ends of the intermediate sleeve 4040. The intermediate sleeve 4040 and the secondary rotating arm 404 can slide relative to each other in the axial direction and are anti-rotationally assembled in the circumferential direction.

[0092] The elastic components include a first baffle 13, a second baffle 14, and a spring 15. Both the first baffle 13 and the second baffle 14 are annular structures. The first baffle 13 is mounted on the end section 4043 (i.e., the secondary rotating arm 404), and the second baffle 14 is axially fixedly mounted near the end of the intermediate sleeve 4040. The spring 15 is sleeved on the outside of the end section 4043, with its two ends pressing against the first baffle 13 and the second baffle 14 respectively. The spring 15 is a compression spring. The two springs 15 of the two elastic components apply elastic pressure to the intermediate sleeve 4040 from both ends towards the middle position, thereby ensuring that the intermediate sleeve 4040 is in the middle region of the secondary rotating arm formed by the two end sections and the intermediate sleeve in its natural state through elastic force balance. Furthermore, the intermediate sleeve 4040 can slide axially in the secondary rotating arm when subjected to axial force, and after the axial force is removed, it can return to its natural position under the action of the two elastic components.

[0093] As shown in Figures 16-19, the first baffle 13 also includes a sleeve portion, the end of which is connected to a radially outward protruding ring, which is used to stop the end of the spring 15. The first baffle 13 is fitted onto the outside of the end section 4043 through the sleeve portion. The end section 4043 has a shoulder on the side of the first baffle 13 facing away from the spring 15, which stops the first baffle 13 and prevents it from being pushed back by the spring 15. The second baffle 14 is fixedly mounted on the intermediate sleeve 4040, for example, by welding, or as an integral structure formed by machining.

[0094] In the above embodiments, the elastic component includes a first baffle 13, a second baffle 14, and a spring 15. In another embodiment, the elastic component includes a first baffle 13 and a spring 15, while omitting the second baffle 14. The structure and assembly method of the first baffle 13 are the same as in the above embodiments. One end of the spring 15 presses against the first baffle 13, and the other end presses directly against the rod-feeding robot 5 fixedly installed on the intermediate sleeve 4040, thereby applying an elastic force to the intermediate sleeve 4040.

[0095] The end of the end section 4043, which is rotatably assembled with the first bracket 4051, is fitted with a rotating sleeve 4045. The rotating sleeve 4045 is blocked by the shoulder on the end section 4043 and cannot move toward the side where the intermediate sleeve 4040 is located. The first bracket 4051 is fitted onto the rotating sleeve 4045 through a rotating mounting hole provided thereon. One end of the rotating sleeve 4045 is provided with an outwardly protruding flange. The end of the end section 4043 is provided with a screw hole. The end of the end section 4043 is fixed with a pressure cap by a clamping screw screwed into the screw hole. The pressure cap presses the rotating sleeve 4045 against the shoulder. The pressure cap and the outwardly protruding flange cooperate to clamp the first bracket 4051 between the two.

[0096] The rod-feeding robot 5 includes a hydraulic clamp, which includes a jaw. The inner surface of the jaw is curved, and the jaw is connected to a hydraulic system.

[0097] The propulsion beam 201 includes a first slider 2011, a second slider 2012, and a slide rail 2013. The first slider 2011 is provided at the upper end of the slide rail 2013 and is slidably connected to the slide rail 2013. The rock drill 3 is fixedly provided at the upper part of the first slider 2011. The second slider 2012 is provided at the bottom end of the slide rail 2013 and is fixed to the drill arm assembly 1 and slidably connected to the slide rail 2013.

[0098] The propulsion system includes a first hydraulic cylinder and a second hydraulic cylinder. The first hydraulic cylinder is disposed inside the slide rail 2013, and the piston rod of the first hydraulic cylinder is fixed to the first slider 2011. The second hydraulic cylinder is disposed at the end of the drill arm assembly 1, and the piston rod of the second hydraulic cylinder is fixed to the bottom surface of the slide rail 2013.

[0099] The first and second cylinders are connected to the hydraulic system.

[0100] The rock drill 3 is connected to a rock drill tail 10, and the rock drill tail 10 is detachably connected to the drill rod;

[0101] Multiple middle support devices 11 and front support devices 12 are sequentially arranged in front of the rock drill tail 10. The middle support devices 11 and front support devices 12 are slidably connected to the slide rail 2013. The centers of the rock drill tail 10, the middle support devices 11 and the front support devices 12 are located on the same straight line.

[0102] Embodiment 2

[0103] A control method for the automatic rod magazine of a rock drilling jumbo, including the method for automatically installing drill rods. The method for automatically installing drill rods includes:

[0104] Step 1: The controller obtains the drilling task, determines the drilling depth L, calculates the number N of drill rods required and the depth La of each drilling of the rock drill 3 according to the drilling depth L, and drills the first connecting rod drill rod pre - placed on the propulsion beam assembly 2 into the hole at a depth of La.

[0105] Step 2:

[0106] 2.1, Obtain the penetration depth L1 of the drill rod through the rock drill displacement sensor. If L1 < L is satisfied, the front drill rod holder 12 clamps the tail of the drill rod, and the controller makes the rock drill 3 reverse to loosen the rock drill gripping sleeve and the previous connecting rod drill rod, and the rock drill retreats to the initial position.

[0107] 2.2, The rock drill propulsion pressure sensor obtains the propulsion pressure X1 when the rock drill 3 retreats. The controller sets the reverse propulsion pressure setting threshold as X.

[0108] If X1 < X is satisfied, the controller obtains the number N1 of drill rods through the drill rod detection unit.

[0109] If X1 < X is not satisfied, the controller makes the rock drill 3 start to impact and reverse (the rock drill 3 is at position B in Figure 8), loosens the shank of the rock drill 3 from the previous connecting rod drill rod, and the rock drill 3 retreats to the initial position, and repeats 2.2.

[0110] If L1 < L is not satisfied, the drilling is completed and the equipment stops running (the rock drill 3 is at position A in Figure 8).

[0111] Step 3: If N1 < N is satisfied, the automatic rod magazine assembly pushes the connecting rod drill rod, performs self - inspection at the initial position, the extension rod magazine returns to the initial position (the rock drill 3 is at position A in Figure 8), the secondary rotating arm 404 rotates, the primary rotating arm 403 rotates, and the jaws of the rod feeding manipulator 5 retract to the bottom (as shown in Figure 5).

[0112] The extension rod magazine 401 rotates forward one step, sends a root extension drill rod into the rod feeding manipulator 5, and the jaws of the rod feeding manipulator 5 lock the extension drill rod.

[0113] If N1 < N is not satisfied, the equipment pauses operation.

[0114] Step 4: The controller controls the rotary motor 6 through the hydraulic system to rotate the primary rotary arm 403 and the secondary rotary arm 404 (as shown in FIGS. 6-7). The secondary rotary arm 404 drives the rod feeding manipulator 5 to position the drill rod 2 in front of the drill tail 10 of the rock drill. The controller uses the hydraulic system to make the rock drill 3 and the drill tail 10 of the rock drill press against the drill rod 2.

[0115] Step 5: The controller controls the rock drill 3 to rotate forward to screw the extension drill rod with the drill tail 10 of the rock drill. The rock drill propulsion pressure sensor obtains the propulsion pressure X2 when the rock drill 3 advances. The controller sets the forward propulsion pressure setting threshold as XA.

[0116] If X2 > XA is satisfied, the rock drill 3 continues to advance forward. The extension drill rod and the rod feeding manipulator are pushed forward and slide, sending the bit of the extension drill rod into the drill tail of the previous drill rod. The clamping jaw of the rod feeding manipulator is released, and the rod feeding manipulator springs back to its original position. At the same time, the rock drill rotates forward to screw the extension drill rod with the previous drill rod.

[0117] Step 6: The controller uses the hydraulic system to reset the rod feeding manipulator 5, and the primary rotary arm 403 and the secondary rotary arm 404 are reset (as shown in FIG. 5). The controller uses the hydraulic system to move the rock drill 3 and the slide rail 2013, and drills the combined drill rod into the hole according to La. The drill rod penetration depth L1 is obtained through the rock drill displacement sensor. If L1 < L is satisfied, execute Step 2.

[0118] If L1 < L is not satisfied, the equipment pauses operation.

[0119] Embodiment 3

[0120] A control method for the rod magazine of a rock drilling jumbo, including an automatic drill rod splitting method. The automatic drill rod splitting method includes:

[0121] Step 1: The controller controls the first cylinder through the hydraulic system to make the rock drill 3 retreat all the drill rods to the initial position (the rock drill 3 is at position A in FIG. 8). The rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill 3 retreats. The controller sets the backward propulsion pressure setting threshold as XB.

[0122] If X3 < XB is satisfied, the front drill rod holder 12 clamps the tail of the extension drill rod. The controller controls the rotary motor 6 through the hydraulic system to rotate the primary rotary arm 403 and the secondary rotary arm 404. The clamping jaw of the rod feeding manipulator 5 contacts the extension drill rod (as shown in FIG. 7). The rod feeding manipulator 5 moves slightly upward to prevent the extension drill rod from falling. The controller controls the rock drill 3 to move backward to pull the extension drill rod, making the gripping sleeve of the rock drill lock the drill tail of the extension drill rod. At the same time, the controller controls the rock drill 3 to rotate backward to loosen the extension drill rod from the drill tail of the drill rod.

[0123] If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill 3 to impact and retreat, and the controller controls the first cylinder through the hydraulic system to make the rock drill 3 drive all the drill rods to retreat to the initial position;

[0124] The rock drill feed pressure sensor obtains the feed pressure X4 when the rock drill 3 retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator 5 through the hydraulic system to make the jaws clamp the extension drill rod;

[0125] When the feed pressure X4 remains unchanged continuously, the controller controls the rock drill 3 to impact and reverse to make the extension drill rod loose from the shank end of the drill rod, and obtains the feed pressure X4 when the rock drill 3 retreats again until X4 continuously decreases;

[0126] The bit loosens, the jaws of the rod feeding manipulator rotate inwards, lock the connecting drill rod, the rock drill 3 pushes forward, the drill rod and the rod feeding manipulator are pushed forward to abut against the tail of the previous drill rod, the holding sleeve of the rock drill unlocks the shank end of the drill rod, and the rock drill 3 pulls back the drill rod and reverses to loosen the shank end of the drill rod and the holding sleeve of the rock drill;

[0127] Step 3: The rock drill feed pressure sensor obtains the feed pressure X5 when the rock drill 3 retreats. When X5 continuously decreases, the extension drill rod and the rod feeding manipulator 5 bounce back, the controller controls the rotary motor 6 through the hydraulic system to make the first-stage rotary arm 403 and the second-stage rotary arm 404 rotate in the reverse direction, the controller controls the rotary motor 6 through the hydraulic system to make the extension rod magazine 401 reverse-rotate one position, and the rod feeding manipulator 5 feeds the extension drill rod into the U-shaped notch of the fixed plate 4012 during the movement of the second-stage rotary arm 404;

[0128] If the feed pressure X5 remains unchanged continuously, the rock drill 3 pulls the extension drill rod backward, starts to impact and reverse to make the shank end of the extension drill rod loose, and obtains the feed pressure X5 when the rock drill 3 retreats again until X5 continuously decreases;

[0129] Step 4: The controller controls the rotary motor 6 through the hydraulic system to reset the first-stage rotary arm 403 and the second-stage rotary arm 404 (as shown in Figure 7);

[0130] The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2 = N is satisfied, the controller controls the hydraulic system to reset, and the controller controls the rock drill 3 to stop;

[0131] If N2 = N is not satisfied, repeat steps 1 to 3.

[0132] The above embodiments are only the preferred embodiments of the present invention, and do not limit the scope of implementation of the present invention. Therefore, all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present invention patent should be included in the scope of the present invention's patent application.

Claims

1. An automatic rod holder for a rock drilling rig, comprising a drill arm assembly (1), a feed beam assembly (2), a rock drill (3), and a drill rod, wherein the drill arm assembly (1) is detachably connected to the feed beam assembly (2), the feed beam assembly (2) includes a feed beam (201), the rock drill (3) and the feed beam (201) are slidably connected, and the rock drill (3) is detachably connected to the drill rod, characterized in that, The side of the propulsion beam (201) is detachably connected to an automatic rod extension assembly (4). The automatic rod extension assembly (4) includes an extension rod magazine (401), a structural support (402), a primary rotating arm (403), a secondary rotating arm (404), a rotating arm support (405), and a rod delivery robot (5). The extension rod magazine (401) has multiple chisels arranged around its inner circumference. Structural supports (402) are provided at both ends of the extension rod magazine (401). The extension rod magazine (401) is rotatably connected to the structural supports (402). The first-stage rotating arm (403) is rotatably connected between the two structural supports (402). The rotating arm support (405) is provided on the first-stage rotating arm (403). The second-stage rotating arm (404) is rotatably connected on the rotating arm support (405). The rod-feeding robot (5) is provided on the second-stage rotating arm (404). An elastic mechanism is provided between the rod-feeding robot (5) and the second-stage rotating arm (404). The rod-feeding robot (5) is slidably connected to the second-stage rotating arm (404) through the elastic mechanism. The extension rod magazine (401), the first-stage rotating arm (403) and the second-stage rotating arm (404) are all equipped with a rotary motor (6). The rotary motor (6) is connected to a hydraulic system. The hydraulic system is connected to a controller. The controller is electrically connected to a rock drill displacement sensor, a drill rod detection unit, a rock drill propulsion pressure sensor and the rock drill (3). The drill rod includes a male end and a female end, both of which are threaded, and two drill rods are connected end to end through the male end and the female end.

2. A drill rig automatic rod coupling magazine according to claim 1, characterized in that, The extension rod holder (401) includes a connecting plate (4011), a fixing plate (4012), and a connecting shaft (4013). There are multiple fixing plates (4012), which are arranged in a straight line at equal intervals from the end of the connecting shaft (4013) to the tail of the connecting shaft (4013). The fixing plates (4012) are circular plates, and multiple arc-shaped notches are provided at equal intervals around the circumference of the fixing plates (4012). A chisel is placed in the arc-shaped notch. The connecting shaft (4013) is provided with connecting plates (4011) at both ends. The connecting plate (4011) is a cylindrical structure closed on one side. The connecting plate (4011) is rotatably connected to the connecting shaft (4013). A square notch is provided on the side of the connecting plate (4011). The connecting plate (4011) is fixed to the structural support (402); The connecting shaft (4013) is connected to the output end of the rotary motor (6) via a ratchet drive.

3. An automatic drill rod handling magazine for a drill jumbo according to claim 1, characterized in that, The structural support (402) is a teardrop-shaped plate. The rotary motor (6) is fixedly installed at both the wide end and the narrow end of the structural support (402). The extension rod magazine (401) is installed near the wide end of the structural support (402), and the first-stage rotating arm (403) is installed near the narrow end of the structural support (402). A support (7) is provided on the arc segment at the narrow end of the structural support (402). The support (7) and the structural support (402) are an integrated structure. A crossbeam (8) is provided between the two supports (7). A pole storage mounting frame (9) is provided on the crossbeam (8). The horizontal section of the pole storage mounting frame (9) is connected to the push beam (201).

4. An automatic drill rod coupling magazine for a drill jumbo according to claim 1, characterized in that The rotating arm support (405) includes a first support (4051) and a second support (4052). The first support (4051) is a sheet structure. The first support (4051) is located at both ends of the first-stage rotating arm (403) and the second-stage rotating arm (404). One of the first supports (4051) is fixedly connected to the first-stage rotating arm (403) and rotatably connected to the second-stage rotating arm (404). Another first bracket (4051) is fixed at one end to the first-stage rotating arm (403) and at the other end to the rotating motor (6). The other end of the rotating motor (6) is provided with a second bracket (4052). The second bracket (4052) is a sheet structure. One side of the second bracket (4052) is rotatably connected to the second-stage rotating arm (404), and the other side is fixedly connected to the first-stage rotating arm (403). Both the primary rotating arm (403) and the secondary rotating arm (404) are cylindrical structures.

5. A drill rig automatic rod coupling magazine according to claim 4, characterised in that, The elastic mechanism is located at both ends of the secondary rotating arm (404). The elastic mechanism includes a first baffle (13), a second baffle (14), and a spring (15). The first baffle (13) is an I-shaped wheel. The first baffle (13) is sleeved on the secondary rotating arm (404). One side of the first baffle (13) is fixed to the second bracket (4052), and the other side is fixed to the spring (15). The other side of the spring (15) is fixed to the second baffle (14). The second baffle (14) is an annular plate. The second baffle (14) is sleeved on the secondary rotating arm (404). Two rod-feeding manipulators (5) are arranged between the two second baffles (14). The rod-feeding manipulators (5) are slidably connected to the secondary rotating arm (404).

6. An automatic drill rod coupling magazine for a drill jumbo according to claim 5, characterized in that, The rod-feeding robot (5) includes a hydraulic clamp, which includes a jaw. The inner surface of the jaw is curved, and the jaw is connected to a hydraulic system.

7. An automatic drill rod handling magazine for a drill jumbo according to claim 1, characterized in that, The propulsion beam (201) includes a first slider (2011), a second slider (2012), and a slide rail (2013). The first slider (2011) is provided at the upper end of the slide rail (2013). The first slider (2011) is slidably connected to the slide rail (2013). The rock drill (3) is fixedly provided on the upper part of the first slider (2011). The second slider (2012) is provided at the bottom end of the slide rail (2013). The second slider (2012) is fixed to the drill arm assembly (1) and slidably connected to the slide rail (2013). The propulsion system includes a first cylinder and a second cylinder. The first cylinder is located inside the slide rail (2013), and the piston rod of the first cylinder is fixed to the first slider (2011). The second cylinder is located at the end of the drill arm assembly (1), and the piston rod of the second cylinder is fixed to the bottom surface of the slide rail (2013). The first and second cylinders are connected to the hydraulic system.

8. An automatic rod coupling magazine for a rock drilling rig according to claim 7, characterized in that, The rock drill (3) is connected to a rock drill tail (10), and the rock drill tail (10) is detachably connected to the drill rod; Multiple middle support rods (11) and front support rods (12) are arranged in sequence in front of the rock drill tail (10). The middle support rods (11) and front support rods (12) are slidably connected to the slide rail (2013). The centers of the rock drill tail (10), the middle support rods (11) and the front support rods (12) are located on the same straight line.

9. An automatic drill rod handling magazine for a drill jumbo according to claim 1, characterized in that, The rotating arm support (405) includes a first support (4051) and a second support (4052). The first support (4051) is located at both ends of the first-stage rotating arm (403) and the second-stage rotating arm (404). One of the first supports (4051) is fixedly connected to the first-stage rotating arm (403) and rotatably connected to the second-stage rotating arm (404). The other first support (4051) is fixed at one end to the first-stage rotating arm (403) and fixedly connected at the other end to one end of the rotary motor (6). The other end of the rotary motor (6) is connected to the second support (4052). One end of the second support (4052) is rotatably connected to the second-stage rotating arm (404) and fixedly connected at the other end to the first-stage rotating arm (403). The rotary motor (6) is connected to the second-stage rotating arm (404).

10. An automatic rod magazine for a drill jumbo according to claim 9, characterized in that, The elastic mechanism includes an intermediate sleeve (4043) and elastic components disposed at both ends of the intermediate sleeve. The intermediate sleeve (4043) is axially slidably mounted on the secondary rotating arm (404) and is circumferentially anti-rotationally assembled with the secondary rotating arm (404). The two elastic components apply elastic top pressure to the intermediate sleeve (4040) from both ends toward the middle so that the intermediate sleeve (4043) is kept in the middle area of ​​the secondary rotating arm (404). The rod delivery robot (5) is fixedly installed on the intermediate sleeve (4040).

11. An automatic rod magazine for a jumbo according to claim 10, characterised in that, The secondary rotating arm (404) is a segmented structure, including two end segments (4043). One end segment (4043) is connected to the output end of the rotary motor (6), and the other end segment (4043) is rotatably assembled with the first bracket (4051). The two ends of the intermediate sleeve (4040) are respectively axially slidably fitted on the corresponding end segments (4043) and are circumferentially anti-rotation assembled with the corresponding end segments (4043).

12. A drill rig automatic rod coupling magazine according to claim 10 or 11, characterized in that, The elastic component includes a first baffle (13), a second baffle (14) and a spring (15). The first baffle (13) is mounted on the secondary rotating arm (404). The second baffle (14) is axially fixed at the position near the end of the intermediate sleeve (4040). The spring (15) is sleeved on the secondary rotating arm (404) and its two ends press against the first baffle (13) and the second baffle (14) respectively.

13. A method of controlling an automatic rod magazine of a jumbo according to any one of claims 1 to 12, characterized in that, The method includes an automatic drill rod installation method, which includes: Step 1: The controller acquires the drilling task, determines the drilling depth L, calculates the number of drill rods N required based on the drilling depth L and the drilling depth La of the rock drill (3) each time, and drills the first connecting rod drill rod pre-set on the propulsion beam assembly (2) into the hole at a depth of La. Step 2: Obtain the penetration depth L1 of the drill rod through the displacement sensor of the rock drill. If L1 < L is satisfied, the front drill rod holder (12) clamps the tail of the drill rod, and the controller reverses the rock drill (3). The rock drill propulsion pressure sensor obtains the propulsion pressure X1 when the rock drill (3) retreats. The controller sets the threshold value of the retreat propulsion pressure as X. If X1 < X is satisfied, the controller obtains the number of drill rods N1 through the drill rod detection unit; If X1 < X is not satisfied, the controller makes the rock drill (3) start to impact and reverse, disengages the shank end of the rock drill (3) from the previous connected drill rod, and the rock drill (3) retreats to the initial position; If L1 < L is not satisfied, the drilling is completed and the equipment stops running; Step 3: If N1 < N is satisfied, the automatic rod connection magazine assembly pushes the connected drill rod, performs self-check at the initial position, the extension rod magazine returns to the initial position, the secondary rotating arm (404) rotates, the primary rotating arm (403) rotates, and the rod feeding manipulator (5) claws retract to the bottom; The extension rod magazine (401) rotates forward one increment, sends a single extension drill rod into the rod feeding manipulator (5), and the claws of the rod feeding manipulator (5) lock the extension drill rod; If N1 < N is not satisfied, the equipment pauses; Step 4: The controller controls the rotation motor (6) through the hydraulic system to rotate the primary rotating arm (403) and the secondary rotating arm (404). The secondary rotating arm (404) drives the rod feeding manipulator (5) to position the drill rod 2 in front of the shank end (10) of the rock drill. The controller uses the hydraulic system to make the rock drill (3) and the shank end (10) of the rock drill press against the drill rod 2; Step 5: The controller controls the rock drill (3) to rotate forward, and the extension drill rod is screwed together with the shank end (10) of the rock drill. The rock drill propulsion pressure sensor obtains the propulsion pressure X2 when the rock drill (3) advances. The controller sets the threshold value of the forward propulsion pressure as XA; If X2 > XA is satisfied, the rock drill (3) continuously advances forward, the extension drill rod and the rod feeding manipulator are pushed forward and slide, the bit of the extension drill rod is inserted into the shank end of the previous drill rod, the claws of the rod feeding manipulator are released, the rod feeding manipulator springs back to the original position, and at the same time the rock drill rotates forward to screw the extension drill rod together with the previous drill rod; Step 6: The controller uses the hydraulic system to reset the rod feeding manipulator (5), the primary rotating arm (403) rotates and the secondary rotating arm (404) resets. The controller uses the hydraulic system to move the rock drill (3) and the slide rail (2013), and drills the combined drill rod into the hole according to La. Obtain the penetration depth L1 of the drill rod through the displacement sensor of the rock drill. If L1 < L is satisfied, execute Step 2; If L1 < L is not satisfied, the equipment pauses; 14. A method of controlling an automatic rod magazine of a jumbo according to any one of claims 1 to 12, characterized in that, Including an automatic splitting method for drill rods, the automatic splitting method for drill rods includes: Step 1: The controller controls the first cylinder through the hydraulic system to make the rock drill (3) drive all drill rods to retreat to the initial position. The rock drill propulsion pressure sensor obtains the propulsion pressure X3 when the rock drill (3) retreats. The controller sets the threshold value of the retreat propulsion pressure as XB; If X3 < XB is satisfied, the front drill rod holder (12) clamps the tail of the extension drill rod. The controller controls the rotary motor (6) through the hydraulic system to rotate the first-stage rotary arm (403) and the second-stage rotary arm (404). The jaws of the rod feeding manipulator (5) contact the extension drill rod, and the rod feeding manipulator (5) moves slightly upward to prevent the extension drill rod from falling. The controller controls the hydraulic system to move the rock drill (3) backward to pull the extension drill rod, and at the same time, the controller controls the rock drill (3) to reverse to release the extension drill rod from the tool joint of the drill rod; If X3 < XB is not satisfied, the controller controls the hydraulic system and the rock drill (3) to impact and retreat, and the controller controls the first cylinder through the hydraulic system to move the rock drill (3) backward with all the drill rods to the initial position; Step 2: The rock drill feed pressure sensor obtains the feed pressure X4 when the rock drill (3) retreats. When X4 continuously decreases, the controller controls the rod feeding manipulator (5) through the hydraulic system to make the jaws clamp the extension drill rod; When the feed pressure X4 remains constant, the controller controls the rock drill (3) to impact and reverse to release the extension drill rod from the tool joint of the drill rod, and obtains the feed pressure X4 when the rock drill (3) retreats again until X4 continuously decreases; Step 3: The rock drill feed pressure sensor obtains the feed pressure X5 when the rock drill (3) retreats. When X5 continuously decreases, the extension drill rod and the rod feeding manipulator (5) bounce back. The controller controls the rotary motor (6) through the hydraulic system to rotate the first-stage rotary arm (403) and the second-stage rotary arm (404) in the reverse direction. The controller controls the rotary motor (6) through the hydraulic system to reverse the extension rod magazine (401) by one position. The rod feeding manipulator (5) feeds the extension drill rod into the U-shaped notch of the fixed plate (4012) during the movement of the second-stage rotary arm (404); If the feed pressure X5 remains constant, the rock drill (3) pulls the extension drill rod backward, starts to impact and reverse to release the tool joint of the extension drill rod, and obtains the feed pressure X4 when the rock drill (3) retreats again until X4 continuously decreases; Step 4: The controller controls the rotary motor (6) through the hydraulic system to reset the first-stage rotary arm (403) and the second-stage rotary arm (404); The controller obtains the number of drill rods N2 through the drill rod detection unit. If N2 = N is satisfied, the controller controls the hydraulic system to reset, and the controller controls the rock drill (3) to stop; If N2 = N is not satisfied, repeat Steps 1 to 3.