Abstract: Truck-mounted drilling rig is the core equipment of ground drilling rescue in mine accidents, and it has played an important role in all the successful rescues at home and abroad. However, the feed system, as the main actuator of the truck-mounted drilling rig, exposes the problems of restricted passability of the whole machine due to the long working stroke, difficult maintenance of the positioning wheel train, poor movement synchronization of the double cylinder, guide rail wearing caused by the partial load of power head, and the delay of pulling force displayed by the hydraulic gauge during its service. ZMK5550TZJF50/120 rescue truck-mounted drilling rig was developed with a telescopic mast type structure based on cylinder-wire rope double speed transmission mechanism, realizing the long working stroke and short transport size. The quick-change wheel system and anti-torsion tension system of wire rope were designed, to solve the problem of safety protection and hard maintenance of the auxiliary positioning system of the first and second feeding bodies. The synchronous compensation and pilot control technology of oil circuit in feed system was used to solve the synchronization problem of double oil cylinders in feed device. Besides, the drawer type leveling body and force measuring pin shaft structure were developed to realize self-balancing adjustment and pull force monitoring during the drilling of power head. According to the static, modal analysis, strain test and field industrial applications, the feed system has the maximum pulling force up to 1 205 kN, and thus it can effectively deal with hole accidents, such as sticking and burial of drilling tools in the construction process of large-diameter relief wells, as well as function for rapid tripping by cooperating with the power head and the loading/unloading system of drill pipe, thus greatly improving the efficiency of drill pipe alternating, with the tripping efficiency less than 3 min/rig. The research results show that the telescopic mast feed device of rescue truck-mounted drilling rig has the characteristics of short transport size, strong maneuverability of the drilling rig, and good road passability. In the field test, multiple hidden risks of sticking and burial accidents of drilling tools were solved, which shows the high stability and reliability, good maintainability, accurate pulling force monitoring, and high efficiency of drill pipe alternating, capable of satisfying the construction needs of 600 m deep relief wells. Generally, the light weighting of feed device and the optimization of response matching among the execution system, transmission system and power system are the key directions in the future.