CN113215340B

CN113215340B - Automatic drill rod mounting or dismounting method of tap hole opening machine

Info

Publication number: CN113215340B
Application number: CN202110493120.XA
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: 2023-03-28
Anticipated expiration: 2041-05-07
Also published as: CN113215340A

Abstract

The utility model provides an automatic drill rod mounting or dismounting method for a taphole drilling machine, which relates to the technical field of automatic drill rod replacement of the taphole drilling machine and can automatically replace the drill rod of the taphole drilling machine. The automatic installation method of the drill rod comprises the following steps: step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame; secondly, a rock drill mounting manipulator which is close to the stand of the drill to avoid the taphole drill is arranged on the drill frame; step three, lifting a new drill rod to a replacement height by the movable trolley; fourthly, 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rod sleeve by screw thread; and step six, finishing the installation of the new drill rod after the manipulator is withdrawn. The automatic drill pipe dismantling method is similar to the installation method. The novel drill rod and the waste drill rod are clamped by the manipulator, are in threaded connection with the drill rod sleeve, are installed and removed through forward rotation and backward rotation of the rock drill, and have the advantages of convenience in mounting and dismounting and automation in mounting and dismounting.

Description

Automatic drill rod mounting or dismounting method of tap hole opening machine

Technical Field

The invention relates to the technical field of automatic rod replacement of a tapping machine, in particular to an automatic drill rod mounting or dismounting method of the tapping machine.

Background

At present, due to the special environment in front of the furnace, the drill rod of the tapping 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 installation or removal method for drill rods of a tapping machine, so as to realize automatic replacement of drill rods of the tapping machine.

Disclosure of Invention

The invention provides an automatic installation or removal method of a drill rod of a tapping machine, which is characterized in that a mechanical arm is used for clamping a new drill rod and a waste drill rod, the new drill rod and the waste drill rod are in threaded connection with a drill rod sleeve, the new drill rod is installed and the waste drill rod is removed through forward rotation and backward rotation of a rock drill, and the automatic installation or removal method has the advantages of convenience and automation in installation and removal.

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

on one hand, the automatic installation method of the drill rod of the tapping machine comprises the following steps: step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame; secondly, a rock drill mounting manipulator which is close to a drill frame of the waiting position and avoids the tapping machine is arranged, and a drill rod sleeve of the rock drill is positioned beside the manipulator when the drill rod sleeve is positioned at the waiting position; lifting a new drill rod to a replacement height by the movable trolley, wherein the new drill rod at the replacement height is opposite to the drill rod sleeve and is positioned below the manipulator; step four, clamping a new drill rod by a mechanical arm, wherein the clamping of the new drill rod by the mechanical arm is specifically as follows: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates and displaces along with the action of the first oil cylinder; the first oil cylinder drives the first clamp unit to rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting until the first clamp unit is contacted with a new drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches to a new drill rod; when the second clamp unit is in contact with a new drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the new drill rod together; 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.

With reference to the first aspect, in a possible implementation manner, the step six specifically is: a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a cylinder body of the second oil cylinder rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and a second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted;

and (5) retracting the manipulator to the initial position of the second step, and avoiding the retracted manipulator from the rock drill of the taphole drilling machine.

With reference to the first aspect, in a possible implementation manner, in the fourth step and the sixth step, the first clamp unit is a rotating clamp plate, and the second clamp unit is a clamping plate; in the fourth step, when a hook formed by bending the free end of the clamping plate towards the free end of the rotating clamping plate is contacted with a new drill rod, the second oil cylinder stops acting, and the notch of the rotating clamping plate and the hook of the clamping plate clamp the new drill rod together; in the sixth step, the notch of the rotary clamping plate is separated from the new drill rod after the hook is separated from the new drill rod.

With reference to the first aspect, in a possible implementation manner, in the fourth step, the first oil cylinder, which is perpendicular to the drill rig frame and disposed above the connection support, acts, and the first hinge point rotates without displacement;

in the fourth step, the first hinge point is located at one end, far away from the drill rig frame, of the connecting support, and the first hinge point rotates but does not displace when the first oil cylinder acts; in the fourth step, the third hinge joint rotates anticlockwise until the first oil cylinder stops acting when the opening of the first clamp unit is in contact with a new drill rod; in the fourth step, the free end of the second clamp unit is bent towards the direction close to the drill rig frame to form a hook, and the fifth hinge point moves anticlockwise along with the action of the second oil cylinder until the hook is close to a new drill rod; in the fourth step, the second oil cylinder with an included angle of 120-150 degrees with the first oil cylinder works, the fourth hinge point rotates but does not displace, and the fifth hinge point moves along with the action of the second oil cylinder.

With reference to the first aspect, in a possible implementation manner, the moving trolley in the third step lifts a new drill rod to a replacement height, and includes: (1) A bracket of the moving trolley supports a new drill rod, a trolley body of the moving trolley drives the bracket and the new drill rod to move from a first working position to a second working position, the first working position is close to the placement frame, the new drill rod is placed on the placement frame, and the second working position is located below a rod changing position of the rock drill; (2) The rotating device of the movable trolley rotates the new drill rod and the lifting device of the movable trolley from an initial position to a final position, wherein the initial position is the position of the new drill rod when the movable trolley moves to the second working position; the final position is that the center of the new drill rod is consistent with the center direction of the rod changing position; (3) The lifting device lifts the new drill rod from the final position to a replacement height for the new drill rod, aligning the new drill rod with the drill casing.

With reference to the first aspect, in a possible implementation manner, the new drill rod in the third step is placed on a bracket of the moving trolley through a selection device, and the method for placing the new drill rod by the selection device includes: (a) Controlling a traveling module of the selection device to move to a second station or a third station from other stations along a traveling rail beam of the selection device, wherein the other stations are positions except the first station to the third station on the traveling rail beam, the second station corresponds to the position right above a first shelf body of the rest shelf, and the third station corresponds to the position right above a second shelf body of the rest shelf; (b) The lifting module of the selection device drives the suction module of the selection device to fall down until a travel switch of the selection device is close to a new drill rod placed at the topmost end of the placement frame, the travel switch sends a signal to the control module, the control module controls the lifting module to stop falling down, and the travel switch is arranged below the suction module; (c) the suction module sucks a new topmost drill rod; (d) The lifting module drives the suction module and the new drill rod to ascend to the maximum height; (e) The walking module drives the lifting module, the suction module and the new drill rod to move to a first station, and the first station is positioned right above a first working position corresponding to the movable trolley; (f) The lifting module drives the suction module and the new drill rod to fall down until the new drill rod reaches the movable trolley and then stops falling down; (g) The suction module stops sucking the new drill rod after placing the new drill rod on the movable trolley; (h) The lifting module drives the suction module to rise to the maximum height.

On the other hand, the automatic drill rod dismantling method for the tap hole opening machine comprises the following steps: step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame; secondly, a rock drill mounting manipulator avoiding an iron notch drill is arranged on a drill frame close to the waiting position, a drill rod sleeve of the rock drill is positioned beside the manipulator when the rock drill is at the waiting position, and a waste drill rod of the rock drill is positioned below the manipulator; step three, clamping the waste drill rod by a mechanical arm, wherein the clamping of the waste drill rod by the mechanical arm is specifically as follows: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates and displaces along with the action of the first oil cylinder; the first oil cylinder drives the first clamp unit to rotate around a third hinge joint formed by the first clamp unit and the connecting support in a hinged mode until the first oil cylinder stops acting when the first clamp unit is in contact with the waste drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches to the waste drill rod; when the second clamp unit is in contact with the waste drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the waste drill rod together; 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.

With reference to the second aspect, in a possible implementation manner, the step five includes: clamping the waste drill rod by the mechanical arm and placing the waste drill rod in a drill rod recycling box through an iron notch opening machine; a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted; and (5) retracting the manipulator to the initial position of the second step, and avoiding the retracted manipulator from the rock drill of the taphole drilling machine.

With reference to the second aspect, in a possible implementation manner, the step five includes: lifting the bracket to the position of the waste drill rod by a lifting device of the movable trolley, and contacting the waste drill rod with the bracket; a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted; the manipulator retracts to the initial position of the second step, and the retracted manipulator avoids a rock drill of the taphole drilling machine; and the lifting device of the mobile trolley falls down and places the waste drill pipe in the drill pipe recycling box.

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

1. the novel drill rod and the waste drill rod are clamped by the manipulator, are in threaded connection with the drill rod sleeve, are installed and removed through forward rotation and backward rotation of the rock drill, and have the advantages of convenience in mounting and dismounting and automation in mounting and dismounting.

2. This first pin joint, second pin joint and third pin joint point of disclosure establish in the position of difference, and first hydro-cylinder can leave certain space when promoting first clamp unit and second clamp unit, accomplishes the action process more easily, and fourth pin joint, fifth pin joint and sixth pin joint establish in the position of difference, and fifth pin joint still rotates round sixth pin joint, and the position that the clamp was got is controlled more easily in the setting of a plurality of pin joints, realizes that the automation is got and presss from both sides.

3. According to the drill rod clamping device, a mechanical arm, a rock drill trolley and a drill rod are mounted on a drill frame of an iron notch drill together, the mechanical arm is close to the rock drill trolley, and the relative position of the mechanical arm and the drill rod center line of a clamping part is fixed, so that the one-time clamping success rate of the drill rod is increased; the linear displacement of the second oil cylinder is changed into the rotation of the rotary clamping plate by adopting a mode of combining the first oil cylinder with the rotary clamping plate with a specific shape, so that the moving track of the rock drill trolley is avoided.

4. The utility model discloses first clamp unit is the rotating clamp plate, the second clamp unit is the pinch-off blades, the mouth and the simultaneous movement of mutually supporting are got to the free end of rotating clamp plate and the clamp that the free end of pinch-off blades is constituteed, when the rotating clamp plate moves, the one side of rotating clamp plate's opening first contact drilling rod, the tight drilling rod in opening top when the rotating clamp plate, the opening is as the stress point with the drilling rod, can increase frictional force when getting the drilling rod, be convenient for press from both sides and get, and second cylinder drive pinch-off blades, make the crotch of pinch-off blades contact the drilling rod, the side below of pinch-off blades tight drilling rod again, utilize opening and pinch-off blades crotch to get the drilling rod jointly, it gets more accurate and press from both sides and gets the advantage that the reliability is high to have the clamp.

5. According to the rod taking and feeding device, the rod piece on the placement frame is selected by the selecting device and placed on the movable trolley, the movable trolley transports the rod piece to the position near the equipment to be changed along the rail and aligns the rod piece with the connecting sleeve of the equipment to be changed, and automation of the rod taking and feeding process is achieved.

Drawings

FIG. 1 is a flow chart of an automatic installation method of a drill rod of a taphole drilling machine according to the disclosure;

FIG. 2 is a schematic view of a drill stand structure in which a manipulator is 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 gripper 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 structural view of a lifting device of the mobile cart;

FIG. 15 is a first schematic view of a rotary 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 view of a selecting device;

FIG. 18 is a second schematic structural diagram of a selecting device;

FIG. 19 is a flow chart of an automatic drill pipe dismantling method of the taphole drilling machine according to the disclosure;

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-drill string casing.

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 provides an automatic installation method of a drill rod of a taphole drilling machine, and with reference to fig. 1, the method comprises the following steps: step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame. And step two, a rock drill mounting manipulator which is close to the waiting position and avoids the tapping machine is arranged on the drill frame, and a drill rod sleeve of the rock drill is positioned beside the manipulator when the drill rod sleeve is positioned at the waiting position. Referring to fig. 2, a manipulator 1 is mounted on a drill frame 7 of the taphole drilling machine, the manipulator 1 clamps a waste drill rod of the taphole drilling machine 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 taphole drilling machine through a drill rod sleeve, the drill rod sleeve is fixedly connected with the taphole drilling machine, the waste drill rod and the new drill rod are both movably connected with the drill rod sleeve, and the manipulator 1 clamps the waste drill rod or the new drill rod and the taphole drilling machine drives the drill rod sleeve to rotate forwards or backwards so as to disassemble the waste drill rod or install the new drill rod. And step three, lifting a new drill rod to a replacement height by the movable trolley, and enabling the new drill rod at the replacement height to be opposite to the drill rod sleeve and be located below the manipulator. Step four, clamping a new drill rod by a mechanical arm, wherein the clamping of the new drill rod by the mechanical arm is specifically as follows: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and a connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates and displaces along with the action of the first oil cylinder; the first oil cylinder drives the first clamp unit to rotate around a third hinge point formed by hinging the first clamp unit and the connecting support until the first oil cylinder stops acting when the first clamp unit is contacted with a new drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches a new drill rod; when the second clamp unit is contacted with a new drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the new drill rod together. And step five, the rock drill rotates forwards and advances to fix the new drill rod and the drill rod sleeve in a threaded manner. And step six, finishing the installation of the new drill rod after the manipulator is withdrawn.

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.

Referring to fig. 2, 3, 4 and 5, the manipulator 1 of the present embodiment includes 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 of the second clamp unit 142 far away from the free end 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 frame 7 until the first oil cylinder 12 stops acting when the free end of the first clamp unit 141 is contacted with the peripheral 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.

The automatic installation method of the drill rod uses an automatic rod replacing machine, and the automatic rod replacing machine comprises the following steps: the drilling machine comprises a manipulator for clamping waste drill rods or new drill rods, a selecting device for selecting a new drill rod from a rest stand, and a moving trolley for transporting the new drill rod between the rest stand and the tapping machine. The manipulator, the rock drill and the drill rod are mounted on the drill frame of the tap hole machine together, the manipulator is close to the rock drill, and the relative position of the manipulator and the drill rod center line of a clamping part is fixed, so that the one-time clamping success rate of the drill rod is increased; the linear displacement of the second oil cylinder is changed into the rotation of the rotary clamping plate by adopting a mode of combining the rotary oil cylinder with the rotary clamping plate with a specific shape, so that the moving track of the rock drilling machine is avoided.

The sixth step is specifically as follows: a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder retracts to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and a connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge joint formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted;

With continuing reference to fig. 2, 3, 4 and 5, the drill stand 7 is connected to the connecting support 11, one side of the connecting support 11 away from the drill stand 7 is connected to the first oil cylinder 12, one side of the connecting support 11 close to the drill stand 7 is connected to the clamping mechanism 14, one end of the connecting support 11 away from the first hinge point 101 is connected to the first oil cylinder 12, and one end of the connecting support 11 close to the third hinge point 103 is connected to the first clamping unit 141, so that a certain space is left when the clamping mechanism 14 is driven by the first oil cylinder 12, 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 close to the second hinge point 102 is a fourth hinge point 104, and the free end of the second clamping unit 142 and the first clamping unit 141 close 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 rig 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; a hinge point of the second clamp unit 142 to the first clamp unit 141 at a position close to the second hinge point 102 is a fourth hinge point 104, and the second clamp unit 142 is further hinged to a sixth hinge point 106 to the first clamp unit 141 at a position close to the free end; 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.

With reference to the first aspect, in a possible implementation manner, in the fourth step and the sixth step, the first clamp unit is a rotating clamp plate, and the second clamp unit is a clamping plate; in the fourth step, when a hook formed by bending the free end of the clamping plate towards the free end of the rotating clamping plate is contacted with a new drill rod, the second oil cylinder stops acting, and the opening of the rotating clamping plate and the hook of the clamping plate clamp the new drill rod together; and step six, the notch of the rotary clamping plate is separated from the new drill rod after the hook is separated from the new drill rod.

The clamping plate is hinged to a position, close to the free end, of the rotary clamping plate to form a sixth hinge point 106, a clamping opening formed by the free end of the rotary clamping plate and the free end of the clamping plate is matched with each other and moves synchronously, when the rotary clamping plate moves, the opening of the rotary clamping plate contacts one surface of a drill rod firstly, when the opening of the rotary clamping plate abuts against the drill rod, the opening and the drill rod serve as stress points, wherein the opening and the hook are respectively in thread or stripe shapes with the surface in direct contact with the drill rod, friction force can be increased when the drill rod is clamped, clamping is convenient, the second oil cylinder 13 extends to have a process, when the second oil cylinder 13 extends to the maximum, the second oil cylinder 13 drives the clamping plate, the hook of the clamping plate contacts with the drill rod, the opening of the rotary clamping plate accurately contacts with the upper side of the drill rod firstly, then the clamping plate clamps the lower side of the drill rod, the bottom of the opening is not in contact with the side face of the drill rod, the side face of the opening of the drill rod is in contact with the clamping plate, and the clamping reliability of the drill rod is higher.

In the fourth step, the first oil cylinder which is perpendicular to the drill frame and arranged above the connecting support acts, and the first hinge point rotates but does not displace. In the fourth step, the first hinge point is located at the end, far away from the drill rig frame, of the connecting support, and the first hinge point rotates but does not displace when the first oil cylinder acts. In the fourth step, the third hinge joint rotates anticlockwise until the first oil cylinder stops acting when the notch of the first clamp unit is contacted with the new drill rod. In the fourth step, the free end of the second clamp unit is bent towards the direction close to the drill rig frame to form a hook, and the fifth hinge point moves anticlockwise along with the action of the second oil cylinder until the hook is close to a new drill rod. In the fourth step, the second oil cylinder with an included angle of 120-150 degrees with the first oil cylinder works, the fourth hinge point rotates but does not displace, and the fifth hinge point moves along with the action of the second oil cylinder.

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 at a fifth hinge point 105, and the clamping plate and the rotating clamping plate are hinged at 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 clamp plate is located inside the groove, the pin shaft connects the rotating clamp plate inside the groove in the thickness direction, the lubricating copper sleeve is sleeved on the periphery of the pin shaft, and the rotating clamp 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 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 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 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. The rock drill 8 of the tap hole machine is positioned on the drill frame 7, the drill rod is axially connected on the rock drill 8 through the drill rod sleeve 9, and the drill rod and the connecting support 11 are respectively positioned on two sides of the drill frame 7.

The third step of the moving trolley lifting a new drill rod to the replacement height comprises the following steps: (1) A bracket of the moving trolley supports a new drill rod, a trolley body of the moving trolley drives the bracket and the new drill rod to move from a first working position to a second working position, the first working position is close to the rest stand, the new drill rod is placed on the rest stand, and the second working position is positioned below a rod changing position of the rock drill; (2) The rotating device of the movable trolley rotates the new drill rod and the lifting device of the movable trolley from an initial position to a final position, wherein the initial position is the position of the new drill rod when the movable trolley moves to a second working position; the final position is that the center of the new drill rod is consistent with the center direction of the rod changing position; (3) The lifting device lifts the new drill rod from the final position to a replacement height for the new drill rod, aligning the new drill rod with the drill sleeve.

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 track 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 selection 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 along 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 moving 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 raised and lowered 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 drill rod casing 9 of the tap hole machine (rock drill).

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 a 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 with the drill rod from the initial position to the final position, 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 its center coincides with the center direction of the stand-by position of the taphole drilling machine. The lifting device 42 lifts the drill rod from the final position to a drill rod change height, so that the drill rod is aligned with the drill sleeve 9 of the tapping machine (tapping machine). When the electric quantity of the battery 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 is aligned with the drill rod sleeve 9, the rock drill is rotated forwards, and the drill rod is connected with the drill rod sleeve 9 through threads, so that a new drill rod can be connected when the rock drill rotates forwards and advances. After a new drill rod is connected, the manipulator 1 is retracted to a standby position, so that the replacement of the new drill rod is completed.

The new drill rod in the third step is placed on the bracket of the movable trolley through the selection device, and the method for placing the new drill rod through the selection device comprises the following steps: (a) Controlling the traveling module of the selection device to move to a second station or a third station from other stations along the traveling rail beam of the selection device, wherein the other stations are positions on the traveling rail beam except the first station to the third station, the second station corresponds to the position right above the first frame body of the rest frame, and the third station corresponds to the position right above the second frame body of the rest frame; (b) The lifting module of the selection device drives the suction module of the selection device to fall down until the travel switch of the selection device is close to a new drill rod placed at the topmost end of the placement frame, the travel switch sends a signal to the control module, the control module controls the lifting module to stop falling down, and the travel switch is arranged below the suction module; the suction module sucks a new drill rod at the topmost end; (d) The lifting module drives the suction module and the new drill rod to rise to the maximum height; (e) The traveling module drives the lifting module, the suction module and the new drill rod to move to a first station, and the first station is located right above the first working position corresponding to the moving trolley; (f) The lifting module drives the suction module and the new drill rod to fall until the new drill rod reaches the moving trolley and then stops falling; (g) The suction module stops sucking the new drill rod after placing the new drill rod on the movable trolley; (h) The lifting module drives the suction module to rise to the maximum height.

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 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.

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 acting, then the suction module 21 sucks a 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 hoister 222 is installed on the lifting beam 221, and the hoister 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 hoist 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 the lifting machine is close to a drill rod (drill rod or ram), the travel switch operates, the lifting module 22 stops working, the electromagnet operates to suck the drill rod (drill rod or ram), after the suction work is completed, 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 the 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 to the position of the first target switch from the standby position, and simultaneously 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 striker, the first travel switch works, the lifting module 22 stops, the suction module 21 sucks the drill rod or the striker, the control module drives the lifting module 22 to lift back, and meanwhile, the control module continues to drive the walking module 23 to walk to the release position of the drill rod or the striker. 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, the fourth target switch or the fifth target switch and controls the walking module 23 to walk to the third target switch, 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.

The present embodiment further provides an automatic drill rod dismantling method for a taphole drilling machine, referring to fig. 19, including the following steps: step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame; secondly, installing a mechanical arm on the drill frame close to the waiting position to avoid the rock drill of the tap hole machine, wherein a drill rod sleeve of the rock drill is positioned beside the mechanical arm when the drill frame is at the waiting position, and a waste drill rod of the rock drill is positioned below the mechanical arm; step three, clamping the waste drill rod by a mechanical arm, wherein the clamping of the waste drill rod by the mechanical arm specifically comprises the following steps: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and a connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates and displaces along with the action of the first oil cylinder; the first oil cylinder drives the first clamp unit to rotate around a third hinge point formed by hinging the first clamp unit and the connecting support until the first oil cylinder stops acting when the first clamp unit is in contact with the waste drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches the waste drill rod; when the second clamp unit is contacted with the waste drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the waste drill rod together; 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.

As a first practical application, the fifth step includes: clamping the waste drill rod by a manipulator and placing the waste drill rod in a drill rod recycling box through an iron notch opening machine; a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder retracts to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and a connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge joint formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted; and (5) the manipulator is retracted to the initial position of the second step, and the retracted manipulator avoids the rock drill of the taphole drilling machine.

The fifth step comprises: lifting the bracket to the position of the waste drill rod by a lifting device of the movable trolley, and contacting the waste drill rod with the bracket; a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder retracts to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and a connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge joint formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted; the manipulator retracts to the initial position of the second step, and the retracted manipulator avoids a rock drill of the taphole drilling machine; and the lifting device of the mobile trolley falls down and places the waste drill pipe in the drill pipe recycling box.

The novel drill rod and the waste drill rod are clamped by the manipulator, the novel drill rod and the waste drill rod are in threaded connection with the drill rod sleeve, the novel drill rod is installed and the waste drill rod is dismantled by forward rotation and backward rotation of the rock drill, and the rock drill has the advantages of convenience in mounting and dismounting and automation in mounting and dismounting.

The above-listed detailed description is merely a detailed description of possible embodiments of the present invention, and it is not intended to limit the scope of the invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention are intended to be included within 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. An automatic drill rod installation method of a taphole drilling machine is characterized by comprising the following steps:

step one, the taphole drilling machine finishes working and returns to a standby position along the drilling machine frame;

secondly, a rock drill mounting manipulator which is close to a drill frame of the waiting position and avoids the tapping machine is arranged, and a drill rod sleeve of the rock drill is positioned beside the manipulator when the drill rod sleeve is positioned at the waiting position;

lifting a new drill rod to a replacement height by the movable trolley, wherein the new drill rod at the replacement height is opposite to the drill rod sleeve and is positioned below the manipulator; 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 drill frame; one end of the connecting support far away from the drill 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 hinged 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 near 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 free end of the first clamp unit is contacted with the circumferential walls of the waste drill rod and the new drill rod, and the first oil cylinder stops acting; 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 wall of the new drill rod;

step four, clamping a new drill rod by a mechanical arm, wherein the clamping of the new drill rod by the mechanical arm is specifically as follows: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates and displaces along with the action of the first oil cylinder; the first oil cylinder drives the first clamp unit to rotate around a third hinge joint formed by the first clamp unit and the connecting support in a hinged mode until the first oil cylinder stops acting when the first clamp unit is in contact with a new drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches to a new drill rod; when the second clamp unit is in contact with a new drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the new drill rod together;

fifthly, the rock drill rotates forwards and advances to fix the new drill rod and the drill rod sleeve by screw thread;

sixthly, finishing the installation of a new drill rod after the manipulator is withdrawn;

in the fourth step and the sixth step, the first clamp unit is a rotary clamping plate, and the second clamp unit is a clamping plate; in the fourth step, when the hook formed by bending the free end of the clamping plate towards the free end of the rotating clamping plate is contacted with a new drill rod, the second oil cylinder stops acting, and the notch of the rotating clamping plate and the hook of the clamping plate clamp the new drill rod together.

2. The automatic drill rod installation method according to claim 1, wherein the sixth step is specifically:

a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a cylinder body of the second oil cylinder rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and a second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted;

a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted;

3. The automatic drill pipe installation method according to claim 2,

in the sixth step, the notch of the rotary clamping plate is separated from the new drill rod after the hook is separated from the new drill rod.

4. The automatic installation method of the drill rod as claimed in claim 1, wherein in the fourth step, the first oil cylinder which is perpendicular to the drill frame and arranged above the connecting support acts, and the first hinge point rotates but does not displace;

in the fourth step, the first hinge point is located at one end, far away from the drill rig frame, of the connecting support, and the first hinge point rotates but does not displace when the first oil cylinder acts;

in the fourth step, the third hinge joint rotates anticlockwise until the first oil cylinder stops acting when the opening of the first clamp unit is in contact with a new drill rod;

in the fourth step, the free end of the second clamp unit is bent towards the direction close to the drill rig frame to form a hook, and the fifth hinge point moves anticlockwise along with the action of the second oil cylinder until the hook is close to a new drill rod;

in the fourth step, the second oil cylinder with an included angle of 120-150 degrees with the first oil cylinder works, the fourth hinge point rotates but does not displace, and the fifth hinge point moves along with the action of the second oil cylinder.

5. The automatic drill pipe installation method according to claim 1, wherein the moving trolley of the third step lifts a new drill pipe to a replacement height, and comprises:

(1) A bracket of the moving trolley supports a new drill rod, a trolley body of the moving trolley drives the bracket and the new drill rod to move from a first working position to a second working position, the first working position is close to the placement frame, the new drill rod is placed on the placement frame, and the second working position is located below a rod changing position of the rock drill;

(2) The rotating device of the movable trolley rotates the new drill rod and the lifting device of the movable trolley from an initial position to a final position, wherein the initial position is the position of the new drill rod when the movable trolley moves to the second working position; the final position is that the center of the new drill rod is consistent with the center direction of the rod changing position;

(3) The lifting device lifts the new drill rod from the final position to a replacement height for the new drill rod, aligning the new drill rod with the drill casing.

6. The automatic installation method of the drill rod as claimed in claim 5, wherein the new drill rod of the third step is placed on the carriage of the moving trolley through a selection device, and the method for placing the new drill rod by the selection device comprises the following steps:

(a) Controlling a traveling module of the selection device to move to a second station or a third station from other stations along a traveling rail beam of the selection device, wherein the other stations are positions except the first station to the third station on the traveling rail beam, the second station corresponds to a position right above a first shelf body of the shelf, and the third station corresponds to a position right above a second shelf body of the shelf;

(b) The lifting module of the selection device drives the suction module of the selection device to fall down until a travel switch of the selection device is close to a new drill rod placed at the topmost end of the rest, the travel switch sends a signal to the control module, the control module controls the lifting module to stop falling down, and the travel switch is arranged below the suction module;

(c) The suction module sucks a new topmost drill rod;

(d) The lifting module drives the suction module and the new drill rod to ascend to the maximum height;

(e) The walking module drives the lifting module, the suction module and the new drill rod to move to a first station, and the first station is positioned right above a first working position corresponding to the movable trolley;

(f) The lifting module drives the suction module and the new drill rod to fall down until the new drill rod reaches the movable trolley and then stops falling down;

(g) The suction module stops sucking the new drill rod after placing the new drill rod on the movable trolley;

(h) The lifting module drives the suction module to rise to the maximum height.

7. An automatic drill rod dismantling method of a taphole drilling machine is characterized by comprising the following steps:

step one, the taphole drilling machine returns to a standby position along the drill frame after finishing the work;

secondly, a rock drill mounting manipulator avoiding an iron notch drill is arranged on a drill frame close to the waiting position, a drill rod sleeve of the rock drill is positioned beside the manipulator when the rock drill is at the waiting position, and a waste drill rod of the rock drill is positioned below the manipulator; 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 drill frame; one end of the connecting support far away from the drilling machine 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 free end of the first clamp unit is contacted with the circumferential walls of the waste drill rod and the new drill rod, and the first oil cylinder stops acting; 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 wall of the waste drill rod;

step three, clamping the waste drill rod by a mechanical arm, wherein the clamping of the waste drill rod by the mechanical arm specifically comprises the following steps: a first oil cylinder of the manipulator acts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point rotates along with the action of the first oil cylinder and displaces; the first oil cylinder drives the first clamp unit to rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting until the first clamp unit is in contact with the waste drill rod; a second oil cylinder of the manipulator acts, a fourth hinge point formed by hinging the first clamp unit and the second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit rotates along with the action of the second oil cylinder and displaces, and a sixth hinge point formed by hinging the first clamp unit and the second clamp unit is driven to rotate until the second clamp unit approaches to the waste drill rod; when the second clamp unit is in contact with the waste drill rod, the second oil cylinder stops acting, and the first clamp unit and the second clamp unit clamp the waste drill rod together;

fourthly, reversing the rock drill and retreating to disassemble the waste drill rod from the drill rod sleeve;

and step five, placing the waste drill rod, and then withdrawing the manipulator to finish the dismantling of the waste drill rod.

8. The automatic drill pipe dismantling method of claim 7, wherein said step five includes:

clamping the waste drill rod by the mechanical arm and placing the waste drill rod in a drill rod recycling box through an iron notch opening machine;

a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to further drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted;

9. The automatic drill pipe dismantling method of claim 7, wherein said step five includes:

lifting the bracket to the position of the waste drill rod by a lifting device of the movable trolley, and contacting the waste drill rod with the bracket;

a second oil cylinder of the manipulator retracts, a fourth hinge point formed by hinging the first clamp unit and a second oil cylinder body rotates but does not displace, a fifth hinge point formed by hinging a piston rod of the second oil cylinder and the second clamp unit reversely rotates along with the retraction of the second oil cylinder and displaces, and the second clamp unit is separated from a new drill rod; the piston rod of the second oil cylinder is retracted to drive a sixth hinge point formed by hinging the first clamp unit and the second clamp unit to rotate reversely, and the second oil cylinder stops acting when the piston rod of the second oil cylinder is fully retracted; a first oil cylinder of the manipulator retracts, a first hinge point formed by hinging a first oil cylinder body and the connecting support rotates but does not displace, a second hinge point formed by hinging a first oil cylinder piston rod and a first clamp unit of the manipulator is far away from the first hinge point, and the second hinge point reversely rotates and displaces along with the retraction of the first oil cylinder; the first oil cylinder drives the first clamp unit to reversely rotate around a third hinge point formed by hinging the first clamp unit and the connecting support, and the first oil cylinder stops acting when the first clamp unit is separated from a new drill rod and a piston rod of the first oil cylinder is completely retracted; the manipulator retracts to the initial position of the second step, and the retracted manipulator avoids a rock drill of the taphole drilling machine;

and the lifting device of the mobile trolley falls down and places the waste drill pipe in the drill pipe recycling box.