CN113186365B

CN113186365B - Automatic rod changing machine of taphole drilling machine

Info

Publication number: CN113186365B
Application number: CN202110493045.7A
Authority: CN
Inventors: 惠展; 索婷; 冯卓; 刘敏
Original assignee: Sinosteel Xian Machinery Co Ltd
Current assignee: Sinosteel Xian Machinery Co Ltd
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2023-02-28
Anticipated expiration: 2041-05-07
Also published as: CN113186365A

Abstract

The utility model provides an automatic pole machine that trades of taphole drilling machine belongs to the automatic pole field of trading, can realize the automation pole of trading of taphole drilling machine. The method comprises the following steps: the device comprises a mechanical arm, a selection device and a movable trolley; the manipulator is arranged on a drill frame of the tap hole machine and clamps a waste drill rod of the tap hole machine or a new drill rod transported by a movable trolley; the selecting device is arranged close to the rest stand and places a new drill rod on the movable trolley; the movable trolley carries a new drill rod and moves from a first working position to a second working position, the first working position is arranged close to the rest stand, and the second working position is positioned below a rod changing position of the taphole drilling machine. The manipulator is used for disassembling the waste drill rod, the selecting device is used for selecting a new drill rod and placing the new drill rod on the moving trolley, the moving trolley is used for transporting the new drill rod to the position near the tapping machine and lifting the new drill rod to the position of the waste drill rod, the manipulator tightly grasps the new drill rod, the tapping machine is used for installing the new drill rod, and the automatic rod changing of the automatic rod changing machine is realized.

Description

Automatic rod changing machine of taphole drilling machine

Technical Field

The invention relates to the technical field of automatic rod changing, in particular to an automatic rod changing machine of a taphole drilling machine.

Background

At present, due to the special environment in front of the furnace, the drill rod of the taphole drilling machine needs to be replaced manually. The manual replacement has the defects of poor working environment and high labor intensity.

In order to realize the unmanned operation in front of the furnace, the rod replacing machine is required to replace the manual operation to replace the rod replacing operation of the taphole drilling machine. Therefore, there is a need to develop an automatic drill rod changing machine to realize automatic drill rod changing of the taphole drilling machine.

Disclosure of Invention

The invention provides an automatic rod changing machine of a taphole drilling machine, which comprises the steps of grasping waste drill rods by a manipulator, rotating the taphole drilling machine at a standby position and retreating to disassemble the waste drill rods, selecting a new drill rod on a rest rack by a selecting device and placing the new drill rod on a movable trolley, transporting the new drill rod to the position near the taphole drilling machine along a track by the movable trolley, lifting the new drill rod to the position of the waste drill rod by the movable trolley, grasping the new drill rod by the manipulator, rotating the taphole drilling machine and advancing, and installing the new drill rod on the taphole drilling machine. The automatic rod replacement of the automatic rod replacement machine is realized.

The technical scheme for realizing the purpose of the invention is as follows:

an automatic rod changing machine of a taphole drilling machine, comprising: the manipulator is used for clamping the waste drill rod or the new drill rod, the selecting device is used for selecting a new drill rod from the rest stand, and the moving trolley is used for transporting the new drill rod between the rest stand and the tapping machine; wherein: the manipulator is arranged on a drill frame of the tap hole machine, clamps waste drill rods of the tap hole machine or new drill rods transported by the moving trolley, the waste drill rods and the new drill rods are arranged on the tap hole machine through drill rod sleeves, the drill rod sleeves are fixedly connected with the tap hole machine, the waste drill rods and the new drill rods are movably connected with the drill rod sleeves, and the manipulator clamps the waste drill rods or the new drill rods and drives the drill rod sleeves to rotate forwards or reversely by the tap hole machine so as to disassemble the waste drill rods or install the new drill rods; the selecting device is arranged close to the rest stand, and places a new drill rod on the moving trolley; the movable trolley carries a new drill rod and moves from the first working position to the second working position, the movable trolley also moves from the second working position to the first working position, the first working position and the second working position are arranged on a track, the track is arranged on the ground, the first working position is close to the placement frame, and the second working position is located below a rod changing position of the taphole drilling machine.

In one possible implementation manner, the manipulator comprises a connecting support, a first oil cylinder, a second oil cylinder and a clamping mechanism; the clamping mechanism comprises a first clamping unit and a second clamping unit; the connecting support is arranged on the drilling machine frame; one end of the connecting support far away from the drilling rig frame is hinged with one end of the first oil cylinder to form a first hinge point; the first clamp unit is hinged with the other end of the first oil cylinder to form a second hinge point; one end of the connecting support close to the drill rig frame is hinged with the first clamp unit to form a third hinge point; one end of the second oil cylinder is hinged with the first clamp unit at a position close to the second hinge point to form a fourth hinge point; the other end of the second oil cylinder is hinged with one end, far away from the free end, of the second clamp unit to form a fifth hinge point; the second clamp unit and the first clamp unit are hinged to a sixth hinge point close to respective free ends; the first oil cylinder pushes the second hinge point to be far away from the first hinge point, and the first oil cylinder drives the first clamp unit to rotate around the third hinge point along the circumferential direction of the drill frame until the first oil cylinder stops acting when the free end of the first clamp unit is in contact with the circumferential walls of the waste drill rod and the new drill rod; the second oil cylinder pushes the fifth hinge point to be far away from the fourth hinge point, and the second oil cylinder drives the second clamp unit to rotate around the sixth hinge point until the second oil cylinder stops acting when the free end of the second clamp unit is in contact with the peripheral walls of the waste drill rod and the new drill rod.

In a possible implementation manner, the first oil cylinder is arranged parallel to the thickness direction of the drill rig frame and is located above the connecting support, the second oil cylinder is inclined downwards from the fourth hinge point, and an included angle larger than 120 degrees is formed between the first oil cylinder and the second oil cylinder; the second clamp unit is positioned on the outer side of the drill rig frame in the thickness direction, the second clamp unit is hinged to one end of the second oil cylinder, and the free end of the second clamp unit bends towards the drill rig frame; the first clamp unit rotates anticlockwise around the third hinge point, and the fifth hinge point on the second clamp unit rotates anticlockwise around the sixth hinge point.

In a possible implementation manner, the free end of the second clamp unit is bent towards the free end of the first clamp unit to form a hook, a notch is formed in the end face of the free end of the first clamp unit, and the notch and the hook are used for clamping the waste drill rod and/or the new drill rod.

In a possible implementation manner, the selecting device comprises a walking module, a walking rail beam, a lifting module and a suction module; the walking module is arranged on the walking rail beam, reciprocates between the rest stand and the movable trolley along the walking rail beam, and is arranged on the ground; the lifting module is arranged between the walking module and the suction module and drives the suction module to ascend or descend; and the suction module sucks a new drill rod and places the new drill rod on the movable trolley.

In one possible implementation manner, the walking module comprises a walking trolley, a connecting shaft and a power mechanism; the walking trolley is arranged on the walking rail beam and is connected with the power mechanism, and the power mechanism drives the walking trolley to reciprocate along the walking rail beam; the connecting shaft is arranged at the bottom of the walking trolley and connected with the top end of the lifting module, and the bottom end of the lifting module is provided with the suction module; the lifting module comprises a lifting beam, a lifter and a driving mechanism; the lifting beam is suspended at the bottom of the walking module, the hoister is arranged on the lifting beam, and the hoister is also connected with the suction module; the driving mechanism is fixed on the lifting beam, and a driving part of the driving mechanism is connected with the lifting machine; the driving mechanism drives the hoister to ascend or descend along the lifting beam; the suction module comprises a connecting support and a plurality of electromagnetic chucks; the connecting support is fixedly connected with a hoisting machine of the hoisting module; the connecting support is provided with a plurality of connecting rods, and the length direction of the connecting support is consistent with that of the new drill rod; each electromagnetic chuck corresponds to one connecting rod, and the electromagnetic chucks are fixed at the bottom ends of the connecting rods; and the electromagnetic chucks suck different parts of the same new drill rod.

In a possible implementation manner, the rest stand comprises a first stand body and a second stand body, the first stand body and the second stand body are arranged in parallel, and a new drill rod is placed in the first stand body and/or the second stand body; the selecting device selects a new drill rod from the first frame body and/or the second frame body.

In one possible implementation manner, the moving trolley comprises a rotating device, a lifting device and a trolley body, the trolley body is mounted on the track, the rotating device and the lifting device are fixed inside the trolley body, the lifting device is located above the rotating device, the lifting device is connected with the rotating device, and the lifting device rotates along with the rotating device; the selection device places a new drill rod in the lifting device, the new drill rod is always higher than the trolley body when being placed in the movable trolley, and the drill rod is lifted along with the lifting device.

In one possible implementation, the lifting device includes: the bracket, the lifting platform and the connecting frame are connected in sequence, the connecting frame is connected with the rotating device, a new drill rod is placed on the bracket, and the bracket is higher than the trolley body; the rotating device comprises a rotating body, a bearing, a fixed body, a gland, a connecting rod and an electric push rod, wherein the rotating body is connected with the fixed body through the bearing, the fixed body is positioned in the rotating body, and the fixed body and the electric push rod are both arranged in the trolley body; the gland is arranged on the rotating body to compress the bearing, one end of the connecting rod is hinged with the rotating body, the other end of the connecting rod is hinged with the electric push rod, and the electric push rod drives the connecting rod to push and pull the rotating body to rotate around the fixed body when extending or retracting; the rotating body is connected with the connecting frame of the lifting device.

In one possible implementation manner, the method further includes: the automatic rod replacing machine comprises a control module for controlling the automatic operation of the automatic rod replacing machine, a first limiting module and a second limiting module, wherein the first limiting module and the second limiting module send signals to the control module; the control module controls the start and stop of the mobile trolley and the selection device; the first limiting module is arranged on a track and connected with the control module, the first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state; the second limiting module is installed on the selecting device and connected with the control module, the second limiting module detects the motion state of the selecting device in real time and sends the motion state of the selecting device to the control module, and the control module controls the selecting device to change the motion state.

In the present disclosure, at least the following technical effects or advantages are provided:

1. the method comprises the steps of grasping a waste drill rod by a manipulator, rotating a taphole drilling machine at a standby position, retreating to disassemble the waste drill rod, selecting a new drill rod on a rest frame by a selecting device, placing the new drill rod on a movable trolley, transporting the new drill rod to the position near the taphole drilling machine by the movable trolley along a track, lifting the new drill rod to the position of the waste drill rod by the movable trolley, grasping the new drill rod by the manipulator, rotating the taphole drilling machine and moving forward, and installing the new drill rod on the taphole drilling machine. The automatic rod replacement of the automatic rod replacement machine is realized.

2. According to the drill rod replacing device, the drill rod is prepared to be replaced when the iron notch machine returns to a standby position after the iron notch is opened, so that the next iron notch opening operation is prepared, and the automatic drill rod replacing machine starts to work at the moment.

Drawings

FIG. 1 is a schematic structural view of an automatic rod changer of a taphole drilling machine;

FIG. 2 is a schematic structural view of a drill frame with a manipulator mounted on a taphole drilling machine;

FIG. 3 is a view taken along line A of FIG. 2;

FIG. 4 is a second view taken along line A of FIG. 2;

FIG. 5 is a third schematic view taken along line A of FIG. 2;

FIG. 6 is a sectional view taken along line B of FIG. 5;

FIG. 7 is a cross-sectional view taken at point C of FIG. 5;

fig. 8 is a state view of the first clamp unit of the robot contacting the drill rod;

FIG. 9 is a view of the second clamping unit of the robot gripping the drill rod together when the second clamping unit contacts the drill rod;

FIG. 10 is a schematic view showing the positional relationship between the selection device, the moving carriage and the rail;

FIG. 11 is a schematic view of FIG. 10 taken along line A;

FIG. 12 is a view taken along line B of FIG. 10;

FIG. 13 is a schematic structural view of the mobile cart;

FIG. 14 is a schematic view of the lifting device of the mobile cart;

FIG. 15 is a first structural view of a rotating device of the mobile cart;

FIG. 16 is a second schematic structural view of a rotating device of the mobile cart;

FIG. 17 is a first schematic diagram of the structure of the selecting device;

FIG. 18 is a second schematic view of the selection device;

in the figure, 1-robot; 11-connecting the support; 12-a first cylinder 13-a second cylinder; 14-a clamping mechanism; 141-a first clamp unit; 142-a second clamp unit; 15-connecting a pin shaft; 16-axis; 17-a pin shaft; 18-self-lubricating copper bush; 101-a first hinge point; 102-a second hinge point; 103-a third hinge point; 104-a fourth hinge point; 105-a fifth hinge point; 106-sixth hinge point; 2-selecting a device; 21-a suction module; 211-a support; 212-electromagnetic chuck; 213-a connecting rod; 22-a lifting module; 221-a lifting beam; 222-a hoist; 223-a drive mechanism; 23-a walking module; 231-a walking trolley; 232-connecting shaft; 24-a walking rail beam; 3-a track; 4, moving the trolley; 41-rotating means; 411-a rotating body; 412-a bearing; 413-a stationary body; 414-a gland; 415-a link; 416-an electric push rod; 42-a lifting device; 421-a bracket; 422-a lifting platform; 423-connecting frame; 43-trolley body; 5-a drill rod; 6-a shelf; 61-a first frame; 62-a second frame body; 7-a drill stand; 8-a rock drill dolly; 9-connecting sleeve.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

In the description of the present embodiments, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.

The embodiment of the present disclosure provides an automatic rod changing machine of a taphole drilling machine, please refer to fig. 1, the automatic rod changing machine includes: the drilling machine comprises a manipulator 1 for clamping waste drill rods or new drill rods, a selecting device 2 for selecting a new drill rod from a rest stand 6, and a moving trolley 4 for transporting the new drill rod between the rest stand 6 and a tapping machine; wherein: referring to fig. 2, a manipulator 1 is mounted on a drill frame 7 of an iron notch drill, the manipulator 1 clamps a waste drill rod of the iron notch drill or a new drill rod transported by a travelling car 4, the waste drill rod and the new drill rod are both mounted on the iron notch drill through a drill rod sleeve, the drill rod sleeve is fixedly connected with the iron notch drill, the waste drill rod and the new drill rod are both movably connected with the drill rod sleeve, the manipulator 1 clamps the waste drill rod or the new drill rod and the iron notch drill drives the drill rod sleeve to rotate forwards or backwards so as to disassemble the waste drill rod or mount the new drill rod; referring to fig. 10, the selecting device 2 is installed near the rest stand 6, and the selecting device 2 places a new drill rod on the moving trolley 4; the movable trolley 4 carries a new drill rod and moves from the first working position to the second working position, the movable trolley 4 also moves from the second working position to the first working position, the first working position and the second working position are arranged on the track 3, the track 3 is installed on the ground, the first working position is arranged close to the rest frame 6, and the second working position is arranged below the rod changing position of the taphole drilling machine.

The working process of the automatic rod replacing machine is as follows: (1) the process of dismantling the waste drill pipe: the tapping machine returns to a standby position along the drill frame after finishing the work; a rock drill mounting manipulator which is close to a waiting position and avoids an iron notch opening machine is arranged on a drill frame, when the drill frame is at the waiting position, a drill rod sleeve of the rock drill is positioned beside the manipulator, and a waste drill rod of the rock drill is positioned below the manipulator; clamping the waste drill rod by the manipulator; fourthly, reversing the rock drill and retreating to disassemble the waste drill rod from the drill rod sleeve; and fifthly, placing the waste drill rod, and then withdrawing the manipulator to finish the removal of the waste drill rod. (2) installing a new drill rod: the tapping machine returns to a standby position along the drill frame after finishing the work; a rock drill mounting manipulator which is close to the waiting position and avoids the tap hole machine is arranged on the drill frame, and a drill rod sleeve of the rock drill is positioned beside the manipulator when the drill frame is at the waiting position; the movable trolley lifts a new drill rod to a replacement height, and the new drill rod at the replacement height is opposite to the drill rod sleeve and is positioned below the manipulator; clamping a new drill rod by the manipulator; fifthly, the rock drill rotates forwards and advances to fix the new drill rod and the drill rod sleeve by screw thread; and step six, finishing the installation of the new drill rod after the manipulator is withdrawn.

In principle, the manipulator 1 of the present embodiment may be of any construction, as long as it is capable of gripping old and/or new drill rods in real time. In order to facilitate the operation of the manipulator 1 and to firmly and reliably clamp the waste drill rod of the taphole drilling machine or the new drill rod transported by the movable trolley 4, referring to fig. 2, 3, 4 and 5, the manipulator 1 of the present embodiment preferably comprises a connecting support 11, a first oil cylinder 12, a second oil cylinder 13 and a clamping mechanism 14; the clamp mechanism 14 includes a first clamp unit 141 and a second clamp unit 142; the connecting support 11 is arranged on the drill frame 7; one end of the connecting support 11, which is far away from the drill rig frame 7, is hinged with one end of the first oil cylinder 12 to form a first hinge point 101; the first clamp unit 141 is hinged with the other end of the first oil cylinder 12 to form a second hinge point 102; one end of the connecting support 11 close to the drill rig frame 7 is hinged with the first clamp unit 141 to form a third hinged point 103; one end of the second cylinder 13 is hinged to the first clamp unit 141 near the second hinge point 102 to form a fourth hinge point 104; the other end of the second oil cylinder 13 is hinged with one end, far away from the free end, of the second clamp unit 142 to form a fifth hinge point 105; the second clamp unit 142 and the first clamp unit 141 are hinged to the sixth hinge point 106 near the respective free ends; the first oil cylinder 12 pushes the second hinge point 102 to be far away from the first hinge point 101, and the first oil cylinder 12 drives the first clamp unit 141 to rotate around the third hinge point 103 along the circumferential direction of the drill stand 7 until the first oil cylinder 12 stops acting when the free end of the first clamp unit 141 is in contact with the circumferential walls of the waste drill rod and the new drill rod; the second oil cylinder 13 pushes the fifth hinge point 105 away from the fourth hinge point 104, and the second oil cylinder 13 drives the second clamp unit 142 to rotate around the sixth hinge point 106 until the second oil cylinder 13 stops acting when the free end of the second clamp unit 142 contacts with the peripheral walls of the used drill rod and the new drill rod.

In the embodiment of the invention, the mechanical arm 1, the rock drill trolley 8 and the drill rod are arranged on the drill frame 7 of the taphole drilling machine together, the mechanical arm 1 is close to the rock drill trolley 8, and the relative position of the mechanical arm 1 and the drill rod center line of the clamping part is fixed, so that the one-time clamping success rate of the drill rod is increased; the linear displacement of the second cylinder 13 is changed into rotation of the rotating clamp plate by combining the rotating cylinder with the rotating clamp plate with a specific shape, so that the movement track of the rock drill trolley 8 is avoided.

In the embodiment of the invention, the connecting support 11 is connected to the drill rig frame 7, one side of the connecting support 11, which is far away from the drill rig frame 7, is connected with the first oil cylinder 12, one side of the connecting support 11, which is close to the drill rig frame 7, is connected with the clamping mechanism 14, one end, which is far away from the connecting support 11, is connected with the first oil cylinder 12 at the first hinge point 101, and one end, which is close to the connecting support 11, is connected with the first clamping unit 141 at the third hinge point 103, so that a certain space is left when the first oil cylinder 12 drives the clamping mechanism 14, the movement of the clamping mechanism 14 is easier to drive, the hinge point between the second clamping unit 142 and the first clamping unit 141, which is close to the second hinge point 102, is the fourth hinge point 104, and the second clamping unit 142 and the free end, which is close to the first clamping unit 141, are also hinged to the sixth hinge point 106; when the first oil cylinder 12 moves, the first clamp unit 141 rotates around the third hinge point 103, the second clamp unit 142 rotates around the sixth hinge point 106 when extending, and drives the first clamp unit 141 to rotate to the clamping position, so that the drill rod can be clamped more conveniently and more efficiently, the manual repetitive high-strength operation is avoided, and the safety effect of the stokehold operator is improved.

With reference to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the manipulator 1 includes a connecting support 11, a first cylinder 12, a second cylinder 13 and a clamping mechanism 14; a connecting support 11 is fixed on the drill frame 7; one end of the connecting support 11, which is far away from the drill rig frame 7, is provided with a first hinge point 101, and one end of the connecting support, which is close to the drill rig frame 7, is provided with a third hinge point 103; one end of the first oil cylinder 12 is connected to the first hinge point 101, and the other end of the first oil cylinder 12 is hinged to the clamping mechanism 14; the clamping mechanism 14 comprises a first clamping unit 141 and a second clamping unit 142, a hinge point of the first clamping unit 141 and the first oil cylinder 12 is a second hinge point 102, and the first clamping unit 141 is further hinged at a third hinge point 103; the hinge point of the second clamp unit 142 and the first clamp unit 141 near the second hinge point 102 is a fourth hinge point 104, and the second clamp unit 142 and the first clamp unit 141 near the free end are also hinged to a sixth hinge point 106; when the drilling rig is used, the first oil cylinder 12 is driven, the first oil cylinder 12 pushes the second hinge point 102 to be far away from the first hinge point 101, and then the first clamp unit 141 is driven to rotate around the drilling rig frame 7 around the third hinge point 103; when the second gripper unit 142 continues to be driven, the second gripper unit 142 extends and simultaneously rotates around the sixth hinge point 106, and drives the first gripper unit 141 to synchronously rotate to reach the gripping position.

Referring to fig. 2, the first oil cylinder 12 is arranged parallel to the thickness direction of the drill rig frame 7 and above the connecting support 11, the second oil cylinder 13 is inclined downwards from the fourth hinge point 104, and an included angle larger than 120 ° is formed between the first oil cylinder 12 and the second oil cylinder 13; the second clamp unit 142 is positioned on the outer side of the drill frame 7 in the thickness direction, the second clamp unit 142 is hinged to one end of the second oil cylinder 13, and the free end of the second clamp unit 142 bends towards the drill frame 7; the first clamp unit 141 rotates counterclockwise about the third hinge point 103, and the fifth hinge point 105 on the second clamp unit 142 rotates counterclockwise about the sixth hinge point 106.

Referring to fig. 3, 4, 5, 8 and 9, the free end of the second clamping unit 142 is bent toward the free end of the first clamping unit 141 to form a hook, and the free end of the first clamping unit 141 is provided with a notch, and the notch and the hook are used for clamping the waste drill rod and/or the new drill rod.

In practical applications, the first clamp unit 141 is a rotating clamp plate, the second clamp unit 142 is a clamping plate, the first cylinder 12 is a rotating cylinder, and a head end of the rotating cylinder is hinged to the first hinge point 101 of the connecting support 11. The rotary clamping plate and the rotary oil cylinder are hinged at a second hinge point 102, the rotary clamping plate and the second oil cylinder 13 are hinged at a fourth hinge point 104, and meanwhile, the rotary clamping plate and the connecting support 11 are hinged at a third hinge point 103; the second oil cylinder 13 and the clamping plate are hinged to a fifth hinge point 105, and the clamping plate and the rotating clamping plate are hinged to a sixth hinge point 106 close to the free end; when the device is used, the rotating oil cylinder is driven, the rotating oil cylinder drives the rotating clamping plate to rotate around the third hinge point 103, and the rotating oil cylinder pushes the second hinge point 102 to be far away from the first hinge point 101 until the rotating oil cylinder stops moving; the second cylinder 13 is driven continuously, the fourth hinge point 104 stops moving, the second cylinder 13 pushes the fifth hinge point 105 away from the fourth hinge point 104, and the fifth hinge point 105, at which the second cylinder 13 is connected to the clamping plate, rotates about the sixth hinge point 106. The free end of the clamping plate is bent towards the free end of the rotating clamping plate to form a hook, the end part of the free end of the rotating clamping plate is provided with a notch, and the notch and the hook are used for clamping a drill rod. Referring to fig. 6 and 7, the rotating clamp plate intersects the connecting support 11 at a third hinge point 103 through a pin and a lubricating copper bush; the connecting support 11 is provided with a groove at the third hinge point 103, the thickness direction of the rotating clamping plate is located in the groove, the rotating clamping plate is connected in the groove in the thickness direction through the pin shaft, the lubricating copper sleeve is sleeved on the periphery of the pin shaft, and the rotating clamping plate rotates around the pin shaft and the lubricating copper sleeve during use. Referring to fig. 6 and 7, the clamping plate and the rotating clamp plate are connected to the sixth hinge point 106 through a pin and a lubricated copper bush, and the connection manner of the sixth hinge point 106 is the same as that of the third hinge point 103. The rotary oil cylinder is vertical to the drill rig frame 7 and is arranged above the connecting support 11, the second oil cylinder 13 inclines outwards from a fourth hinge point 104 towards the direction close to the drill rig frame 7, the clamping plate is connected with one end of the second oil cylinder 13, and the free end of the clamping plate bends towards the direction close to the drill rig frame 7; in use, the rotating jaw rotates counterclockwise about the third hinge point 103, and the fifth hinge point 105 on the jaw rotates counterclockwise about the sixth hinge point 106. The rotary clamping plate is positioned between the second oil cylinder 13 and the connecting support 11, the free end of the rotary clamping plate is bent towards the direction close to the drill stand 7, and when the rotary clamping plate is used, a clamping opening formed by the free end of the rotary clamping plate and the free end of the clamping plate are matched with each other and move synchronously. The included angle between the rotary oil cylinder and the second oil cylinder 13 is 120-150 degrees. A rock drill trolley 8 of the tap hole machine is positioned on a drill frame 7, a drill rod is axially connected to the rock drill trolley 8 through a connecting sleeve 9, and the drill rod and a connecting support 11 are respectively positioned on two sides of the drill frame 7.

According to the embodiment of the invention, the clamping plate is hinged with the rotating clamping plate at a position close to the free end to form a sixth hinge point 106, the clamping opening formed by the free end of the rotating clamping plate and the free end of the clamping plate is matched with each other and moves synchronously, when the rotating clamping plate moves, the opening of the rotating clamping plate contacts one surface of a drill rod firstly, when the opening of the rotating clamping plate abuts against the drill rod, the opening and the drill rod are used as stress points, wherein the surface of the opening, which is in direct contact with the drill rod, of the opening and the hook is respectively in a thread shape or a stripe shape, so that when the drill rod is clamped, friction force can be increased, clamping is convenient, a process is provided for extending the second oil cylinder 13, when the second oil cylinder 13 just begins to extend, the process that the opening of the rotating clamping plate approaches the drill rod and contacts the drill rod, when the second oil cylinder 13 extends to the longest, the second oil cylinder 13 drives the clamping plate, the hook of the clamping plate is in contact with the drill rod, the opening of the clamping plate is in contact with the upper side of the drill rod accurately, then the clamping plate is clamped with the lower side of the clamping plate, the bottom of the drill rod is not in contact with the opening, the side of the clamping plate, the side of the drill rod is increased, and the clamping plate, the clamping plate is more accurately, the clamping plate, and the clamping reliability is added.

Referring to fig. 10, 11, 12, 17 and 18, the selecting device 2 includes a walking module 23, a walking rail beam 24, a lifting module 22 and a suction module 21; the walking module 23 is arranged on the walking rail beam 24, the walking module 23 reciprocates between the rest stand 6 and the movable trolley 4 along the walking rail beam 24, and the walking rail beam 24 is arranged on the ground; the lifting module 22 is arranged between the walking module 23 and the suction module 21, and the lifting module 22 drives the suction module 21 to ascend or descend; the suction module 21 sucks a new drill rod and places it on the travelling car 4.

The traveling rail beam 24 is at least provided with a first station, a second station and a third station, the first station is positioned right above the first working position corresponding to the movable trolley 4, the second station is positioned right above the first frame body 61 of the rest frame 6 corresponding to the second working position, and the third station is positioned right above the second frame body 62 of the rest frame 6 corresponding to the third working position; the walking module 23 reciprocates between stations along the walking rail beam 24, and the walking rail beam 24 is arranged on the ground; the lifting module 22 is arranged between the walking module 23 and the suction module 21, and the suction module 21 is provided with a travel switch; when the walking module 23 is located at the second station or the third station, the lifting module 22 drives the suction module 21 to fall until the suction module stops falling after the travel switch acts, then the suction module 21 sucks one drill rod, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the walking module 23 moves to the first station; when the walking module 23 is located at the first working position, the lifting module 22 drives the suction module 21 to fall until the suction module stops falling after reaching the movable trolley 4, then the suction module 21 stops sucking the drill rod and places the drill rod on the movable trolley 4, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the movable trolley 4 moves to the second working position.

The suction module 21 is provided with a travel switch, (1) when the walking module 23 is positioned at the second station or the third station, the lifting module 22 drives the suction module 21 to fall until the travel switch stops falling after the travel switch acts, then the suction module 21 sucks one drill rod, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the walking module 23 moves to the first station; (2) When the traveling module 23 is located at the first station, the lifting module 22 drives the suction module 21 to fall until the traveling trolley 4 is reached, and then the suction module 21 stops sucking the drill rod, and places the drill rod on the traveling trolley 4, then the lifting module 22 drives the suction module 21 to rise to the maximum height, and finally the traveling trolley 4 moves to the second working station.

With reference to fig. 17 and fig. 18, the walking module 23 includes a walking trolley 231, a connecting shaft 232 and a power mechanism; the traveling trolley 231 is mounted on the traveling rail beam 24, the traveling trolley 231 is connected with the power mechanism, and the power mechanism drives the traveling trolley 231 to reciprocate along the traveling rail beam 24; the connecting shaft 232 is arranged at the bottom of the walking trolley 231, the connecting shaft 232 is connected with the top end of the lifting module 22, and the bottom end of the lifting module 22 is provided with the suction module 21; with continued reference to fig. 17 and 18, the lifting module 22 includes a lifting beam 221, a lifter 222, and a driving mechanism 223; the lifting beam 221 is suspended at the bottom of the walking module 23, the lifter 222 is mounted on the lifting beam 221, and the lifter 222 is also connected with the suction module 21; the driving mechanism 223 is fixed on the lifting beam 221, and a driving part of the driving mechanism 223 is connected with the lifter 222; the driving mechanism 223 drives the elevator 222 to ascend or descend along the lifting beam 221; with continued reference to fig. 17 and 18, the suction module 21 includes a support 211 and a plurality of electromagnetic chucks 212; the support 211 is fixedly connected with a lifter 222 of the lifting module 22; the support 211 is provided with a plurality of connecting rods 213, and the length direction of the support 211 is consistent with that of the new drill rod; each electromagnetic chuck 212 corresponds to one connecting rod 213, and the electromagnetic chucks 212 are fixed at the bottom ends of the connecting rods 213; the plurality of electromagnetic chucks 212 suck different portions of the same new drill pipe.

The power mechanism drives the traveling trolley 231 to travel from the standby position to the picking position indicated by the travel switch, and since the lifting module 22 is connected with the traveling trolley 231 through the connecting shaft 232, the lifting module 22 also travels with the traveling trolley 231 from the standby position to the picking position indicated by the travel switch.

After the lifting module 22 starts to work, the lifting machine 222 in the lifting module 22 operates corresponding to a motor, the T-shaped nut of the driving mechanism 223 moves downwards to drive the walking trolley 231 to move downwards to drive the suction module 21 to move downwards, when a drill rod (a drill rod or a striker) is close to, the travel switch operates, the lifting module 22 stops working, the electromagnet operates to suck the drill rod (the drill rod or the striker), after the suction work is finished, the lifting machine 222 operates corresponding to the motor, the T-shaped nut moves upwards to drive the walking trolley 231 to move upwards to drive the suction module 21 to move upwards, and after the T-shaped nut reaches a standby position, the lifting machine 222 stops operating corresponding to the motor.

According to the walking module 23, the picking position is used for walking to the working position indicated by the travel switch, the hoister 222 in the hoisting module 22 runs corresponding to the motor, the T-shaped nut moves downwards to drive the walking trolley 231 to move downwards to drive the suction module 21 to move downwards, when the hoisting module of the moving trolley 4 is reached, the hoisting module 22 stops working, the electromagnet stops sucking work, and a drill rod or a ram is placed. After the placement work is completed, the elevator 222 runs corresponding to the motor, the T-shaped nut moves upwards to drive the walking trolley 231 to move upwards to drive the suction module 21 to move upwards, and after the T-shaped nut reaches the standby position, the elevator 222 stops running corresponding to the motor. The walking module 23 walks from the working position to the standby position indicated by the travel switch, and the automatic selection module finishes the work and waits for the next command. Buffer module plays cushioning effect when walking dolly 231 moves standby position and operating position, and bearing roller module plays the unbalance loading effect of preventing at walking dolly 231 operation in-process. A first travel switch is arranged on the suction module 21 and controls the position of the lifting module 22 to move up and down; and a second travel switch is arranged on the traveling rail beam 24 and indicates the picking position and the releasing position of the drill rod or the impact rod.

In practical application, the rail-guided mobile automatic rod changer is controlled by the control module, the control module gives an instruction to the walking module 23, and the walking module 23 walks to a second station or a third station (a picking position indicated by a second travel switch) from a standby position; the control module gives a downward movement instruction to the lifting module 22, and the lifting module 22 drives the suction module 21 to move downwards; when the suction module 21 is close to a drill rod (drill rod or ram), the control module controls the first travel switch to work, the lifting module 22 stops working, and the suction module 21 sucks the drill rod (drill rod or ram); the control module gives an instruction of upward movement of the lifting module 22, and the lifting module 22 drives the suction module 21 to move upwards; the control module gives an instruction to the walking module 23, the walking module 23 is controlled to walk from the picking position to the releasing position indicated by the second travel switch, the control module gives an instruction to the lifting module 22 to move downwards, and the lifting module 22 drives the suction module 21 to move downwards; when the suction module 21 reaches the upper part of the mobile trolley 4, the suction module 21 stops working and a drill rod or a ram is placed.

Preferably, a plurality of second travel switches are arranged in the horizontal direction of the traveling rail beam 24, each second travel switch is connected with the control module, and the plurality of second travel switches comprise a standby switch, a first target switch and a second target switch; the standby switch corresponds to the standby position of the walking module 23, the first target switch is close to the standby switch and is positioned above the rest stand 6, and the second target switch is the release position of a drill rod or a ram and is positioned right above the movable trolley 4; the control module controls the walking module 23 to move from the standby position to the position of the first target switch, and controls the lifting module 22 to move downwards, when the suction module 21 at the bottom of the lifting module 22 is close to the drill rod or the impact rod, the first travel switch works, the lifting module 22 stops, the suction module 21 sucks the drill rod or the impact rod, the control module drives the lifting module 22 to ascend backwards, and meanwhile, the control module continues to drive the walking module 23 to walk to the release position of the drill rod or the impact rod. Preferably, the selecting device 2 further comprises a detection module, wherein the detection module detects whether the suction module 21 sucks the drill rod (drill rod or ram rod); a third target switch, a fourth target switch and a fifth target switch are also arranged between the first target switch and the second target switch; the third target switch is close to the first target switch, the fifth target switch is close to the second target switch, and the third target switch, the fourth target switch and the fifth target switch are all provided with a rest stand 6 below; if the detection module detects that the suction module 21 sucks a drill rod (a drill rod or a collision rod), the detection module gives an instruction to the control module, and the control module continues to control the walking module 23 to walk to a release position; if the detection module detects that the suction module 21 does not suck the drill rod (drill rod or impact rod), the detection module triggers an instruction to the control module, the control module triggers the third target switch or the fourth target switch or the fifth target switch and controls the walking module 23 to walk to the third target switch or the fourth target switch or the fifth target switch, the control module controls the lifting module 22 to move downwards, when the suction module 21 at the bottom of the lifting module 22 is close to the drill rod or the impact rod, the first stroke switch works, the lifting module 22 stops, and after the suction module 21 sucks the drill rod or the impact rod, the control module drives the lifting module 22 to automatically lift back.

According to the automatic drill rod picking device, the walking module 23 is fixed on the walking rail beam 24, the bottom of the walking module 23 is connected with the lifting module 22, the bottom of the lifting module 22 is fixed with the sucking module 21, the sucking module 21 is used for sucking a drill rod (a drill rod or a ram), the walking module 23 continuously walks on the walking rail beam 24, the standby position is the position when the walking module 23 does not work, the picking position of the drill rod or the ram refers to the position when the walking module 23 walks to the position above the placing frame 6 for placing the drill rod or the ram, meanwhile, the first travel switch controls the lifting module 22 to move downwards to the position when the sucking module 21 is close to the drill rod or the ram, the drill rod or the ram is picked up, after the picking up is completed, the walking module 23 drives the lifting module 22 and the sucking module 21 to ascend, the walking module continues to walk on the walking rail beam 24 under the control of the second travel switch, when the walking module travels to the release position, the release position refers to the position for picking up the taken drill rod or the ram down, the sucking module 21 continues to ascend after the drill rod is put down, then the walking module 23 moves to the lifting module 22 and the sucking module 21 to the standby position together, the standby position, the standby module is automatically selected, the next time, the manual work control module can be replaced, the whole drill rod picking up and the automatic drill rod picking up control module can be replaced, the automatic drill rod picking up and the automatic drill rod picking up control module can be replaced, the whole work can be replaced, the automatic drill rod picking up and the automatic drill rod picking up control module, the automatic drill rod picking up control module can be replaced by the working module, the manual work control module, the automatic drill rod picking up and the automatic drill rod picking up process can be replaced. According to the method, the control module gives an instruction to the walking module 23, so that the walking module 23 determines that the lifting module 22 moves downwards according to the determined picking position of the second travel switch, the position of the lifting module 22, which descends, is determined through the work of the first travel switch, the lifting module 22 stops at the moment, the suction module 21 connected to the bottom of the lifting module 22 sucks the drill rod, after the suction is completed, the control module controls the lifting module 22 to ascend, repeated operation is performed in such a way, the rod taking speed is high, when the rod is placed, the control module gives an instruction of the lifting module 22 to move downwards, and the lifting module 22 drives the suction module 21 to move downwards; when the suction module 21 reaches the upper part of the mobile trolley 4, the control module gives a signal to the suction module 21, the suction module 21 stops working, and a drill rod or a collision rod is placed.

With reference to fig. 17, the rack 6 includes a first rack 61 and a second rack 62, the first rack 61 and the second rack 62 are arranged in parallel, and a new drill rod is placed in the first rack 61 and/or the second rack 62; the picking device 2 picks a new drill rod from the first rack 61 and/or the second rack 62.

Referring to fig. 13, 14, 15 and 16, the mobile cart 4 includes a rotating device 41, a lifting device 42 and a cart body 43, the cart body 43 is mounted on the rail 3, the rotating device 41 and the lifting device 42 are fixed inside the cart body 43, the lifting device 42 is located above the rotating device 41, the lifting device 42 is connected to the rotating device 41, and the lifting device 42 rotates with the rotating device 41; the selecting device 2 places a new drill rod on the lifting device 42, the new drill rod is always higher than the trolley body 43 when being placed on the movable trolley 4, and the drill rod is lifted together with the lifting device 42.

The rotating device 41 rotates the drill rod from an initial position to a final position, wherein the initial position is the position of the drill rod when the movable trolley 4 moves to the second working position; the final position is that the center of the drill rod is consistent with the center direction of the rod changing position; the drill rod is lifted together with the lifting device 42, and the lifting device 42 lifts the drill rod from the final position to the drill rod replacement height, so that the drill rod is aligned with the connecting sleeve 9 of the tap hole drilling machine (rock drilling machine).

With continued reference to fig. 13, 14, 15, and 16, the lifting device 42 includes: the bracket 421, the lifting platform 422 and the connecting frame 423 are connected in sequence, the connecting frame 423 is connected with the rotating device 41, a new drill rod is placed on the bracket 421, and the bracket 421 is higher than the trolley body 43; with reference to fig. 13, 15 and 16, the rotating device 41 includes a rotating body 411, a bearing 412, a fixed body 413, a pressing cover 414, a connecting rod 415 and an electric push rod 416, the rotating body 411 is connected to the fixed body 413 through the bearing 412, the fixed body 413 is located inside the rotating body 411, and both the fixed body 413 and the electric push rod 416 are installed inside the cart body 43; the pressing cover 414 is installed on the rotating body 411 to press the bearing 412, one end of the connecting rod 415 is hinged with the rotating body 411, the other end of the connecting rod 415 is hinged with the electric push rod 416, and the electric push rod drives the connecting rod 415 to push and pull the rotating body 411 to rotate around the fixed body 413 when extending or retracting; the rotating body 411 is coupled to a coupling frame 423 of the lifting device 42.

This disclosure needs to be higher than dolly body 43 with bracket 421, mainly considers that drilling rod length is greater than dolly body 43 length, in order to reduce dolly body 43 length, reduces dolly body 43 manufacturing cost, this disclosure is higher than dolly body 43 with bracket 421, and the drilling rod is higher than dolly body 43 all the time when dolly body 43 carries the drilling rod. The lifting platform 422 of the present disclosure is preferably a scissor fork lifting platform 422, and the scissor fork lifting platform 422 is fixedly connected to the bracket 421, and can drive the bracket 421 and the drill rod placed thereon to vertically lift. The scissor lift 422 is fixedly connected with the connecting frame 423, and the connecting frame 423 is connected with the rotating device 41 through a connecting bolt.

The fixed body 413 of the present disclosure is fixed on the bottom plate of the carriage body 43, the rotating body 411 is connected to the fixed body 413 through a bearing 412, and the rotating body 411 can rotate around the fixed body 413. The gland 414 presses the bearing 412 to secure it. The electric push rod 416 is fixedly connected with the bottom plate of the trolley body 43, one end of the connecting rod 415 is hinged with the rotating body 411, and the other end of the connecting rod 415 is hinged with the electric push rod 416. When the electric push rod is extended or retracted, the connecting rod 415 is driven to push and pull the rotating body 411 to rotate around the fixed body 413. The travelling car 4 moves from the initial position to the final position with the drill rod, and then the rotating device 41 rotates the drill rod from the initial position to the final position, i.e. rotates the drill rod so that the center thereof coincides with the center direction of the standby position of the taphole drilling machine. The lifting device 42 lifts the drill rod from the final position to a drill rod replacement height, so that the drill rod is aligned with the connecting sleeve 9 of the taphole drilling machine (taphole drilling machine). When the battery capacity of the movable trolley 4 is insufficient, the movable trolley 4 moves from the initial position to the charging position, and the charging pile is automatically connected to start automatic charging. The trolley body 43 comprises a trolley, a trolley driving motor, a battery and trolley wheels. The trolley is a steel structure welding part, the trolley driving motor is powered by a battery arranged on the trolley, and the trolley can move forwards and backwards under the driving of the trolley driving motor.

After the drill rod of the present disclosure is aligned with the connecting sleeve 9 of the tap hole machine (rock drill), the tap hole machine (rock drill) is rotated forward, and as the drill rod is connected with the connecting sleeve 9 by threads, a new drill rod can be connected when the tap hole machine (rock drill) rotates forward and advances. After a new drill rod is connected, the automatic rod dismounting and mounting device (the mechanical arm 1) of the tap hole machine is retracted to the standby position, so that the replacement of the new drill rod is completed.

Further, the automatic rod changing machine of the taphole drilling machine of the embodiment comprises a control module for controlling the automatic operation of the automatic rod changing machine, a first limiting module and a second limiting module for sending signals to the control module, besides the manipulator 1 for clamping the waste drill rod or the new drill rod, the selecting device 2 for selecting a new drill rod from the rest stand 6, and the moving trolley 4 for transporting the new drill rod between the rest stand 6 and the taphole drilling machine; the control module controls the start and stop of the movable trolley 4 and the selection device 2; the first limiting module is arranged on the track 3 and is connected with the control module, the first limiting module sends a moving trolley 4 approaching signal to the control module, and the control module controls the moving trolley 4 to change the motion state; the second limiting module is installed on the selecting device 2 and connected with the control module, the second limiting module detects the motion state of the selecting device 2 in real time and sends the motion state to the control module, and the control module controls the selecting device 2 to change the motion state.

The first limit module comprises a first limit switch and a second limit switch, the first limit switch corresponds to a first working position of the track 3, and the second limit switch corresponds to a second working position of the track 3. The first limit module sends a moving trolley 4 approaching signal to the control module, and the control module controls the moving trolley 4 to change the motion state, which can be specifically understood as follows: when the moving trolley 4 moves from the second working position to the first working position, the moving trolley 4 triggers the first limit switch to act along with the gradual approach of the moving trolley 4 to the first limit switch, the first limit switch sends a signal that the moving trolley 4 reaches the first working position to the control module, and the control module controls the moving trolley 4 to stop moving. When the movable trolley 4 moves from the first working position to the second working position after loading the rod piece, the movable trolley 4 triggers the second limit switch to act along with the gradual approach of the movable trolley 4 to the second limit switch, the second limit switch sends a signal that the movable trolley 4 reaches the second working position to the control module, and the control module controls the movable trolley 4 to stop moving.

According to the embodiment of the invention, the manipulator 1 is used for gripping the waste drill rod, the taphole drilling machine at the standby position rotates and retreats to disassemble the waste drill rod, the selecting device 2 is used for selecting a new drill rod on the rest frame 6 and placing the new drill rod on the movable trolley 4, the movable trolley 4 is used for transporting the new drill rod to the position near the taphole drilling machine along the track 3, then the movable trolley 4 is used for lifting the new drill rod to the position of the waste drill rod, and finally the manipulator 1 is used for gripping the new drill rod, and the taphole drilling machine can be installed on the taphole drilling machine when rotating and advancing. The automatic rod replacement of the automatic rod replacement machine is realized.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an automatic pole machine that trades of taphole drill which characterized in that includes: the manipulator is used for clamping the waste drill rod or the new drill rod, the selecting device is used for selecting a new drill rod from the rest stand, and the moving trolley is used for transporting the new drill rod between the rest stand and the tapping machine; wherein:

the manipulator is arranged on a drill frame of the tap hole machine, clamps waste drill rods of the tap hole machine or new drill rods transported by the movable trolley, is arranged on the tap hole machine through a drill rod sleeve, is fixedly connected with the tap hole machine, is movably connected with the drill rod sleeve, clamps the waste drill rods or the new drill rods, and drives the drill rod sleeve to rotate forwards or backwards so as to disassemble the waste drill rods or install the new drill rods;

the manipulator comprises a clamping mechanism, the clamping mechanism comprises a first clamping unit and a second clamping unit, the free end of the second clamping unit bends towards the free end of the first clamping unit to form a hook, the end face of the free end of the first clamping unit is provided with a notch, and the notch and the hook are used for clamping the drill rod; the first clamp unit is a rotary clamping plate, the second clamp unit is a clamping plate, when the rotary clamping plate moves, an opening of the rotary clamping plate contacts one surface of the drill rod firstly, when the opening of the rotary clamping plate tightly supports the drill rod, the opening and the drill rod are used as stress points, and the surface of the opening and the surface of the hook, which are in direct contact with the drill rod, are respectively designed into threads or stripes;

the selecting device is arranged close to the rest stand, and places a new drill rod on the moving trolley;

the movable trolley carries a new drill rod and moves from a first working position to a second working position, the movable trolley also moves from the second working position to the first working position, the first working position and the second working position are arranged on a track, the track is arranged on the ground, the first working position is arranged close to the placement frame, and the second working position is positioned below a rod changing position of the taphole drilling machine;

the movable trolley comprises a rotating device, a lifting device and a trolley body, the rotating device and the lifting device are fixed in the trolley body, the lifting device is located above the rotating device, the lifting device is connected with the rotating device, the rotating device rotates the drill rod from an initial position to a final position, and the initial position is the position of the drill rod when the movable trolley moves to a second working position; the final position is that the center of the drill rod is consistent with the center direction of the rod changing position; the drill rod is lifted along with the lifting device, and the lifting device lifts the drill rod from the final position to the drill rod replacement height, so that the drill rod is aligned to the connecting sleeve of the taphole drilling machine;

the manipulator still includes the second hydro-cylinder, the extension of second hydro-cylinder has a process, it is the process that the opening of rotating clamp plate is close to the drilling rod and contacts the drilling rod just to begin to extend when the second hydro-cylinder, when the second hydro-cylinder continues to extend to the longest, second hydro-cylinder drive clamp plate, make the crotch of clamp plate contact the drilling rod, the first accurate side top of contacting the drilling rod of opening of rotating clamp plate, then the clamp plate presss from both sides the side below of tight drilling rod again, the bottommost of opening does not contact the drilling rod, the side contact drilling rod of opening, the stress point increases, including the effect of clamp plate crotch, the drilling rod is got to the clamp jointly, it is more accurate to get the clamp, the reliability of getting is high.

2. The automatic rod changing machine according to claim 1, wherein the robot further comprises a connecting support and a first cylinder;

the connecting support is arranged on the drill frame; one end of the connecting support far away from the drilling rig frame is hinged with one end of the first oil cylinder to form a first hinge point;

the first clamp unit is hinged with the other end of the first oil cylinder to form a second hinge point;

one end of the connecting support close to the drill rig frame is hinged with the first clamp unit to form a third hinge point;

one end of the second oil cylinder is hinged with the first clamp unit at a position close to the second hinge point to form a fourth hinge point;

the other end of the second oil cylinder is hinged with one end, far away from the free end, of the second clamp unit to form a fifth hinge point;

the second clamp unit and the first clamp unit are hinged to a sixth hinge point close to respective free ends;

the first oil cylinder pushes the second hinge point to be far away from the first hinge point, and the first oil cylinder drives the first clamp unit to rotate around the third hinge point along the circumferential direction of the drill frame until the first oil cylinder stops acting when the free end of the first clamp unit is in contact with the circumferential walls of the waste drill rod and the new drill rod;

and the second oil cylinder pushes the fifth hinge point to be far away from the fourth hinge point, and the second oil cylinder drives the second clamp unit to rotate around the sixth hinge point until the second oil cylinder stops acting when the free end of the second clamp unit is contacted with the peripheral walls of the waste drill rod and the new drill rod.

3. The automatic rod changing machine according to claim 2, wherein the first oil cylinder is arranged parallel to the thickness direction of the drill rig frame and above the connecting support, the second oil cylinder is inclined downwards from the fourth hinge point, and an included angle larger than 120 degrees is formed between the first oil cylinder and the second oil cylinder;

the second clamp unit is positioned on the outer side of the drill rig frame in the thickness direction, the second clamp unit is hinged to one end of the second oil cylinder, and the free end of the second clamp unit bends towards the drill rig frame;

the first clamp unit rotates anticlockwise around the third hinge point, and the fifth hinge point on the second clamp unit rotates anticlockwise around the sixth hinge point.

4. The automatic pole changing machine of claim 1, wherein the selection device comprises a walking module, a walking rail beam, a lifting module and a suction module;

the walking module is arranged on the walking rail beam, reciprocates between the rest stand and the movable trolley along the walking rail beam, and is arranged on the ground;

the lifting module is arranged between the walking module and the suction module and drives the suction module to ascend or descend;

and the suction module sucks a new drill rod and places the new drill rod on the movable trolley.

5. The automatic rod changing machine according to claim 4, wherein the walking module comprises a walking trolley, a connecting shaft and a power mechanism; the walking trolley is arranged on the walking rail beam and is connected with the power mechanism, and the power mechanism drives the walking trolley to reciprocate along the walking rail beam; the connecting shaft is arranged at the bottom of the walking trolley and connected with the top end of the lifting module, and the bottom end of the lifting module is provided with the suction module;

the lifting module comprises a lifting beam, a lifter and a driving mechanism; the lifting beam is suspended at the bottom of the walking module, the hoister is arranged on the lifting beam, and the hoister is also connected with the suction module; the driving mechanism is fixed on the lifting beam, and a driving part of the driving mechanism is connected with the lifting machine; the driving mechanism drives the hoister to ascend or descend along the lifting beam;

the suction module comprises a connecting support and a plurality of electromagnetic chucks; the connecting support is fixedly connected with a hoisting machine of the hoisting module; the connecting support is provided with a plurality of connecting rods, and the length direction of the connecting support is consistent with that of the new drill rod; each electromagnetic chuck corresponds to one connecting rod, and the electromagnetic chucks are fixed at the bottom ends of the connecting rods; and the electromagnetic chucks suck different parts of the same new drill rod.

6. The automatic rod changing machine according to claim 1, wherein the rest comprises a first frame body and a second frame body, the first frame body and the second frame body are arranged in parallel, and a new drill rod is placed on the first frame body and/or the second frame body;

the selecting device selects a new drill rod from the first frame body and/or the second frame body.

7. The automatic rod changing machine according to claim 1, wherein the lifting device comprises: the bracket, the lifting table and the connecting frame are sequentially connected, the connecting frame is connected with the rotating device, a new drill rod is placed on the bracket, and the bracket is higher than the trolley body;

the rotating device comprises a rotating body, a bearing, a fixed body, a gland, a connecting rod and an electric push rod, wherein the rotating body is connected with the fixed body through the bearing, the fixed body is positioned in the rotating body, and the fixed body and the electric push rod are both arranged in the trolley body; the gland is arranged on the rotating body to compress the bearing, one end of the connecting rod is hinged with the rotating body, the other end of the connecting rod is hinged with the electric push rod, and the electric push rod drives the connecting rod to push and pull the rotating body to rotate around the fixed body when extending or retracting; the rotating body is connected with the connecting frame of the lifting device.

8. The automatic rod changing machine according to any one of claims 1 to 7, further comprising: the automatic rod replacing machine comprises a control module for controlling the automatic operation of the automatic rod replacing machine, a first limiting module and a second limiting module, wherein the first limiting module and the second limiting module send signals to the control module;

the control module controls the start and stop of the mobile trolley and the selection device;

the first limiting module is arranged on a track and connected with the control module, the first limiting module sends a moving trolley approaching signal to the control module, and the control module controls the moving trolley to change the motion state;

the second limiting module is installed on the selecting device and connected with the control module, the second limiting module detects the motion state of the selecting device in real time and sends the motion state of the selecting device to the control module, and the control module controls the selecting device to change the motion state.