Conveying manipulator for large-size directional drill rod and inclination angle positioning method

Abstract

The invention relates to a conveying manipulator for a large-specification directional drill rod and an inclination angle positioning method, and belongs to the technical field of coal mine directional drilling machines. The manipulator comprises an inclination angle adjusting mechanism, a horizontal displacement mechanism, a lifting joint, an overturning joint, a telescopic joint and a gripper joint, the inclination angle adjusting mechanism is of a double-rotation-pair structure, and stable tilting and swinging within a limited inclination angle range are achieved through a rigid swing arm and an inclination angle driving assembly, the tilt angle sensor assembly is composed of a trigger piece and a sensor which are installed on the swing arm and the drilling machine rack respectively. The inclination angle positioning method comprises the steps of driving the swing arm to tilt and monitor a sensor signal, and judging that an inclination angle is consistent with a drill hole axis when the trigger piece enters a sensing area. According to the scheme, vibration is restrained through a double-rotation-pair structure, precise axis alignment is achieved through an external sensor, the space is compressed through four-stage joint integrated design, dynamic response is optimized through a small-stroke dip angle oil cylinder, and the conveying stability, the positioning precision and the equipment adaptability of the large-specification drill rod are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the field of coal mine directional drilling machines and relates to a conveying manipulator for large-scale directional drill rods and an inclination positioning method. Background Art

[0002] In the field of intelligent underground drilling in coal mines, automated drill rod handling systems have become a key technical equipment for improving directional drilling efficiency and safety. Existing automated rotary drill rigs and low-power directional drill rigs generally use a dual-manipulator collaborative operation mode: the auxiliary manipulator extracts the drill rod from the drill rod box and transfers it to the transfer device. The main manipulator then grabs the drill rod from the transfer device and delivers it to the drilling axis. Although this system can improve transportation efficiency through parallel operation, it has three inherent drawbacks:

[0003] First, the system's structure is complex and space utilization is low. The four core components—the main and auxiliary manipulators, the transfer device, and the drill pipe box—must be installed separately, resulting in a bulky overall drilling rig. Especially in narrow tunnels, the excessive size of the equipment severely restricts the flexibility of the drilling rig's movement and positioning.

[0004] Second, the handling of large-scale drill pipe lacks stability. Existing main manipulators generally utilize a cantilevered tilt joint with single-side support to accommodate large-scale tilt adjustment requirements. When transporting large-scale directional drill pipe with a diameter of 113 mm, a length of 3 m, and a mass exceeding 150 kg, the cantilever structure vibrates violently due to the leverage effect, causing the end of the drill pipe to swing significantly. This continuous dynamic impact can easily lead to mechanical damage such as spalling of the inclination reducer teeth and cracking of the slewing arm welds.

[0005] Third, the drill rod box has poor adaptability. Currently, the drill rod box is fixed to the drilling rig's crawler platform. Replacing it requires removing dozens of bolts and using lifting equipment, which is time-consuming. This makes it difficult to quickly switch between drill rods of different specifications, severely limiting the equipment's adaptability to various operating conditions.

[0006] It's worth noting that high-power directional drills are primarily used for near-horizontal drilling, which doesn't require wide-range tilt adjustment for the manipulator. Instead, they urgently need to address the stability of conveying under heavy loads. While existing technologies have attempted to improve positioning accuracy using tilt sensors, these sensors are often installed inside the manipulator's kinematic joints and cannot directly detect the spatial deviation between the drill rod axis and the borehole axis, resulting in a high rate of connection failures. Summary of the Invention

[0007] In view of this, an object of the present invention is to provide a large-scale drill pipe conveying system with a compact structure, strong vibration resistance and precise inclination positioning capability.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A conveying manipulator for large-scale directional drilling rods, comprising:

[0010] Tilt adjustment mechanism:

[0011] Two spaced apart rotational connection points fixed to the mobile platform;

[0012] A rigid swing arm, both ends of which are hinged to the rotation connection point to form a double rotation pair structure;

[0013] The tilt drive assembly includes a connecting rod mechanism connecting the mobile platform and the swing arm, and is used to drive the swing arm to tilt within a limited tilt angle range;

[0014] Horizontal displacement mechanism, including:

[0015] a support frame fixed to the swing arm;

[0016] A linear guide assembly provided on the support frame;

[0017] A bearing seat slidably assembled through the linear guide assembly;

[0018] A linear drive assembly for driving the bearing seat to move horizontally;

[0019] The tilt sensor assembly, including a trigger and a sensor, is installed under the swing arm and the frame of the directional drill rig respectively;

[0020] A lifting joint, a fixed end of which is connected to the bearing seat;

[0021] The flip joint has a base connected to the output end of the lifting actuator;

[0022] a telescopic joint, a fixed end of which is connected to the output end of the flip actuator;

[0023] The hand claw joint is installed at the output end of the axial telescopic mechanism;

[0024] The sensor is configured to receive a trigger signal when the inclination angle of the swing arm is consistent with the drilling axis of the frame.

[0025] Optionally, the movement stroke of the inclination drive assembly is configured to provide a certain inclination adjustment range, which may be ±15° to 30°, and the absolute values ​​of the upper and lower inclination adjustment angles may be the same or different.

[0026] Optionally, the inclination adjustment mechanism is an inclination joint, comprising:

[0027] Two swing arm seats are spaced apart along the length of the drill pipe and fixed to the mobile platform;

[0028] The two ends of the swing arm are hinged to the two swing arm seats through pins to form a double rotation pair;

[0029] The cylinder barrel and piston rod end of the tilt cylinder are respectively hinged to the mobile platform and the swing arm through the tilt cylinder seat to form a four-bar drive mechanism.

[0030] Optionally, the horizontal displacement mechanism is a translation joint, comprising: a bracket, fixedly mounted on the swing arm; a track and a translation motor, provided on the bracket; a supporting seat, slidably connected to the track through a slider, and driven horizontally by the translation motor.

[0031] Optionally, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder, and the lifting outer cylinder is fixedly connected to the bearing seat.

[0032] Optionally, the flip joint includes a flip seat and a flip arm, and the flip seat is fixedly connected to the top end of the lifting inner cylinder.

[0033] Optionally, the telescopic joint includes an outer cylinder and an inner cylinder, and the outer cylinder is fixedly connected to the end of the flip arm.

[0034] Optionally, the gripper joint includes a clamping drive and a clamping claw, which are fixedly connected to the top end of the inner cylinder of the telescopic joint.

[0035] Optionally, both ends of the swing arm are hinged to the two swing arm seats through pins; the cylinder barrel and piston rod end of the tilt cylinder are hinged to the mobile platform and the swing arm through the tilt cylinder seats.

[0036] A method for positioning the inclination angle of a large-scale directional drill rod based on the above-mentioned manipulator comprises the following steps:

[0037] S1 drives the swing arm to tilt;

[0038] S2 detects the position change of the trigger in real time through the sensor;

[0039] S3 When the sensor detects that the trigger member enters the preset sensing area, it determines that the inclination angle of the swing arm is consistent with the drilling axis of the frame and stops the tilting of the swing arm.

[0040] The beneficial effects of the present invention are:

[0041] 1. Double rotating auxiliary tilt structure achieves vibration suppression and life span improvement

[0042] When conveying large drill pipe, traditional single-arm tilt joints create a leverage effect due to the single-point support, leading to high vibration amplitude at the end of the drill pipe. This solution utilizes dual swing arm mounts spaced along the length of the drill pipe, combined with a double-hinged pin structure at each end of the rectangular tubular swing arm to form a rigid triangular support frame. When the tilt cylinder drives the four-bar linkage, the load torque is evenly distributed across the two revolute pairs, completely eliminating cantilever bending moments.

[0043] 2. External inclination sensor assembly solves the problem of axis alignment

[0044] Existing technologies integrate sensors into the joints, making it impossible to directly detect the drill pipe's actual position. This innovative solution utilizes a permanent magnet trigger bolted to the underside of the swing arm and a Hall effect sensor mounted on the underside of the frame. When the swing arm's inclination angle deviates from the drilling axis by more than a set threshold, the trigger element moves out of the sensor's sensing area. When the inclination cylinder is adjusted to align the two axes, the sensor immediately triggers a signal.

[0045] 3. Four-level joint integrated design compresses installation space

[0046] The tilt and translation joints are integrated into a single swing arm: a U-shaped bracket is bolted to the upper surface of the swing arm, and a translation motor drives the support base via a rack and pinion, replacing the traditional transfer mechanism. The lift joint flange is directly connected to the support base, and the top flange of the lift inner tube is connected to the flip joint, forming a four-stage tandem structure: tilt, translation, lift, and flip.

[0047] 4. Side-mounted bolt-type drill pipe box enables quick replacement

[0048] The drill rod box is locked to the side of the mobile platform via a bottom bracket latch. To replace a drill rod, simply pull out two sets of locating pins. Adjustable spacers are installed inside the box to accommodate Φ89mm / 113mm drill rods by replacing the spacers.

[0049] 5. Small stroke tilt cylinder optimizes power response

[0050] To meet the needs of near-horizontal drilling, the inclination cylinder stroke is limited. Compared with traditional large-stroke cylinders, this reduces the load on the hydraulic system and increases the speed of inclination adjustment. Combined with an external sensor, it achieves "drive-detect" closed-loop control, shortening the delivery cycle of a single drill rod.

[0051] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0053] Figure 1 It is the side view of the manipulator axis;

[0054] Figure 2 This is the front view of the robot;

[0055] Figure 3 This is a schematic diagram of a directional drilling rig;

[0056] Figure 4 It is the local view of the translation joint;

[0057] Figure 5 Schematic diagram of the tilt sensor assembly.

[0058] Figure 1: Manipulator 1, drill pipe box 2, mobile platform 3, anchoring system 4, frame 5, clamp 6, hydraulic system 7, control system 8, power head 9; tilt joint 101, translation joint 102, lifting joint 103, flip joint 104, telescopic joint 105, hand joint 106, tilt sensor assembly 107, swing arm base 10101, swing arm 10102, pin 10103, tilt cylinder 10104, tilt cylinder base 10105, bracket 10201 , track 10202, slider 10203, translation sensor 10204, translation motor 10205, bearing seat 10206, lifting cylinder 10301, lifting outer cylinder 10302, lifting inner cylinder 10303, flip seat 10401, flip arm 10402, flip axis 10403, flip driver 10404, telescopic cylinder 10501, telescopic sensor 10502, clamping drive 10601, trigger 10701, sensor 10702. DETAILED DESCRIPTION

[0059] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0060] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0061] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0062] See also Figures 1 to 4 ,like Figure 1 As shown, this solution is applicable to an automatic directional drilling rig, which includes a manipulator 1, a drill rod box 2, a mobile platform 3, an anchoring system 4, a frame 5, a clamp 6, a hydraulic system 7, a control system 8, and a power head 9.

[0063] Robot structure

[0064] 1. Dip Joints 101

[0065] The two swing arm seats 10101 are arranged at intervals along the length of the drill pipe and are fixed to the surface of the mobile platform 3 by bolts; the sockets at both ends of the rectangular tubular swing arm 10102 are hinged to the swing arm seat 10101 through the pin 10103 to form a double rotation pair; the cylinder end of the tilt cylinder 10104 is hinged to the mobile platform 3 through the tilt cylinder seat 10105, and the piston rod end is hinged to the middle part of the swing arm 10102 through the tilt cylinder seat 10105, forming a four-bar mechanism.

[0066] Swing arm seat 10101: The connecting part between the entire manipulator and the mobile platform 3, two of which are set along the length direction of the manipulator (i.e. the length direction of the drill pipe), and are connected to the two ends of the swing arm through pins to form two rotating pairs, so that the swing arm can be tilted up and down under the drive of the tilt cylinder to adjust the inclination angle of the manipulator.

[0067] Swing arm 10102: The main support component of the manipulator. The swing arm is constructed of a rectangular or circular tube. Sockets are located at the front and rear ends of the swing arm for connecting to the swing arm base. These sockets have holes for the pins to pass through (in addition to the holes, the other two holes are weight-reducing holes). An inclination sensor mounting hole is located on the bottom or side of the swing arm. The translation joint 102 is fixed to the swing arm with bolts.

[0068] Tilt cylinder 10104: This element drives the manipulator's tilt adjustment. The cylinder barrel and piston are connected to the swing arm and mobile platform 3, respectively, via the tilt cylinder mount 10105, forming a four-bar linkage driven by a sliding pair. The cylinder's stroke and the mounting position of the tilt cylinder mount are adjusted based on the drilling rig's tilt adjustment range. Since large directional drilling rigs typically operate in near-horizontal conditions, there's no need for a cylinder to drive the manipulator's wide range of tilt adjustment.

[0069] 2. Translation joint 102

[0070] The U-shaped bracket 10201 is bolted to the upper surface of the swing arm 10102; the double track 10202 is bolted to the inner side of the bracket 10201; the supporting seat 10206 is embedded in the double track 10202 through the slider 10203; the translation motor 10205 drives the supporting seat 10206 to move horizontally through the gear rack pair, and the translation sensor 10204 detects the displacement in real time.

[0071] Bracket 10201 supports the lifting joint and also provides a mounting location for the track. One end of the bracket is a connecting seat used to secure the bracket to the swing arm 10102. The main body of the bracket is a crossbeam structure, with a slide rail provided on the side facing the drill rod box (or on the side away from the drill rod box; the specific structure is slightly different). Slide rails are provided on the upper and lower sides of the track (either simultaneously or on one side), and the slide rails cooperate with the slider to form a moving pair; a rack is provided in the middle, which mates with the gear of the translation motor to form a rack and pinion pair. A certain amount of space is left between the bracket and the drill rod box to accommodate the lifting joint.

[0072] The slider is embedded in this guide rail, with one side fixedly connected to the support base 10206. Therefore, the translation motor, through a rack and pinion pair, drives the support base, which in turn drives the lifting joint horizontally. The support base connects the translation joint to the lifting joint. Translation sensor 10204 measures the displacement change during the lifting joint's translation.

[0073] 3. Lifting joint 103

[0074] The lifting outer cylinder 10302 is flange-connected to the bearing seat 10206; the lifting inner cylinder 10303 slides with the lifting outer cylinder 10302 through the inner slide rail; the cylinder of the lifting cylinder 10301 is fixed to the bottom of the lifting outer cylinder 10302, and the piston rod is connected to the lifting inner cylinder 10303.

[0075] The lifting outer cylinder 10302 is connected to the bearing seat of the translation joint. A removable inner slide rail is provided inside the lifting outer cylinder to guide the movement of the lifting inner cylinder. The cylinder barrel of the lifting oil cylinder is connected to the bottom of the lifting outer cylinder, and the piston rod is fixedly connected to the lifting inner cylinder or the flip joint. The piston rod is extended and retracted to drive the inner cylinder and flip joint to move up and down. The lifting inner cylinder is a movable component for lifting. The lower end is provided with a slider that matches the inner slide rail of the lifting outer cylinder. It is inserted into the interior of the lifting outer cylinder and is guided by a guide rail to reduce deviation during the lifting process. The upper end is fixedly connected to the flip joint to transmit the lifting motion to the flip joint.

[0076] 4. Flip joint 104

[0077] The flip seat 10401 is flange-connected to the top of the lifting inner cylinder 10303; the flip shaft 10403 is installed on the flip seat 10401 through a bearing; one end of the flip arm 10402 is key-connected to the flip shaft 10403, and the other end is flange-connected to the telescopic joint 105; the flip driver 10404 (hydraulic motor) drives the flip shaft 10403 to rotate.

[0078] The left side of the flip seat is provided with a mounting flange for the flip driver, and the left side is provided with an end cover connected with a flange, and the inner cavity is provided with a mounting hole for mounting the flip shaft. After the end cover is fixedly mounted on the flip seat, the axial position of the flip shaft can be limited.

[0079] The basic structure of the tilt shaft is a cylindrical shaft with a flange on the right end that mates with the tilt arm and a connection structure, such as a spline or key, on the left end that mates with the tilt actuator. The tilt arm is a long rod or tubular component that connects the tilt shaft to the telescopic joint. A hollow tubular shape is preferred for ease of processing and weight control.

[0080] 5. Telescopic joint 105

[0081] The outer tube flange is connected to the end of the flip arm 10402; the inner tube slides with the outer tube through a guide rail; the cylinder of the telescopic cylinder 10501 is fixed to the top of the outer tube, and the piston rod is connected to the inner tube; the telescopic sensor 10502 detects the displacement of the inner tube.

[0082] The telescopic joint is an inner-outer sleeve structure similar to a lifting joint. A telescopic cylinder 10501 is mounted on its top. The cylinder barrel is connected to the top of the outer barrel, and the piston rod is fixedly connected to the inner barrel or the grip joint. The piston rod's extension and retraction drives the grip joint up and down. A telescopic sensor 10502 is installed on the telescopic joint to measure the change in telescopic displacement.

[0083] 6. Hand joint 106

[0084] The base bolts are fixed to the top of the inner tube of the telescopic joint 105; the clamping actuator 10601 (hydraulic cylinder) drives the jaws to open and close. The claw joint can be a variety of clamping mechanisms, and the clamping actuator 10601 can be a variety of linear or rotary elements (such as a cylinder, motor, etc.). The clamping actuator drives the jaws to clamp and release, thereby clamping and releasing the drill pipe. In this application, the clamping actuator is preferably a linear cylinder.

[0085] 7. Tilt sensor assembly 107

[0086] The drilling rig's inclination angle is the angle between the drilling axis and the plane of the mobile platform. When the manipulator transports the drill rod, its own inclination angle must be roughly consistent with the drilling inclination angle to ensure smooth delivery of the drill rod to the drilling axis. The function of the inclination sensor is to ensure that the manipulator angle is consistent with the drilling inclination angle of the frame.

[0087] The tilt sensor assembly consists of a trigger 10701 and a sensor 10702, mounted below the swing arm and frame, respectively. The sensor can be a proximity-triggered or distance-measuring sensor, such as a Hall effect sensor, photoelectric sensor, or laser rangefinder.

[0088] Workflow

[0089] Initial state: the manipulator 1 is in the non-interference position, and the gripper joint 106 is released;

[0090] Select the column: the control system 8 selects the column with drill rods in the drill rod box 2;

[0091] Lowering: The lifting cylinder 10301 and the telescopic cylinder 10501 cooperate to drive the claw joint 106 to the grasping position;

[0092] Grasping: The clamping drive 10601 closes the jaws to grab the drill rod;

[0093] Lifting: the lifting joint 103 and the telescopic joint 105 lift the drill rod out of the drill rod box 2;

[0094] Translation: The translation motor 10205 drives the bearing seat 10206 to move outward, so that the drill rod moves out of the drill rod box 2 area;

[0095] Tilt: The tilt cylinder 10104 drives the swing arm 10102 until the tilt sensor 10702 is triggered (the tilt angle matches the drilling axis of the frame 5);

[0096] Flip: The flip driver 10404 drives the drill rod to rotate 90° to the drilling axis direction;

[0097] Telescopic: Telescopic cylinder 10501 pushes the drill rod to the drilling axis of frame 5;

[0098] Connection: The power head 9 cooperates with the clamp 6 to complete the threaded connection of the drill pipe.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A conveying manipulator for large-scale directional drilling rods, characterized in that: include: Tilt adjustment mechanism: Two rotation connection points fixed to the mobile platform (3) at intervals; A rigid swing arm (10102), both ends of which are respectively hinged to the rotation connection point to form a double rotation pair structure; A tilt drive assembly comprising a connecting rod mechanism connecting the mobile platform (3) and the swing arm (10102), and configured to drive the swing arm to tilt within a limited tilt angle range; Horizontal displacement mechanism, including: A support frame (10201) fixed to the swing arm (10102); A linear guide assembly provided on the support frame (10201); A bearing seat (10206) slidably assembled through the linear guide assembly; A linear drive assembly for driving the support seat (10206) to move horizontally; The tilt sensor (107) assembly includes a trigger (10701) and a sensor (10702), which are respectively installed below the swing arm (10102) and the frame (5) of the directional drilling machine; A lifting joint (103), a fixed end of which is connected to the bearing seat (10206); A flip joint (104), the base of which is connected to the output end of the lifting actuator (103); a telescopic joint (105), a fixed end of which is connected to the output end of the flip actuator (104); A hand claw joint (106) is mounted on the output end of the axial telescopic mechanism (105); The sensor (10702) is configured to receive a signal from the trigger member (10701) when the inclination angle of the swing arm (10102) is consistent with the drilling axis of the frame (5).

2. The large-scale directional drill pipe conveying manipulator according to claim 1 is characterized in that: The movement stroke of the inclination drive assembly is configured to provide only a certain inclination adjustment range.

3. The large-scale directional drill pipe conveying manipulator according to claim 1 is characterized in that: The tilt adjustment mechanism is a tilt joint (101), comprising: Two swing arm seats (10101) are spaced apart along the length of the drill pipe and fixed to the mobile platform (3); The two ends of the swing arm (10102) are respectively hinged to the two swing arm seats (10101) through the pin shaft (10103) to form a double rotation pair; The cylinder barrel and piston rod end of the tilt cylinder (10104) are respectively hinged to the mobile platform (3) and the swing arm (10102) through the tilt cylinder seat (10105), forming a four-bar drive mechanism.

4. The large-scale directional drill pipe conveying manipulator according to claim 1 is characterized in that: The horizontal displacement mechanism is a translation joint (102), comprising: A bracket (10201) is fixedly mounted on the swing arm (10102); The track (10202) and the translation motor (10205) are arranged on the bracket (10201); The supporting seat (10206) is slidably connected to the track (10202) via the slider (10203) and is driven by the translation motor (10205) to move horizontally.

5. The large-scale directional drilling rod conveying manipulator according to claim 4 is characterized in that: The lifting joint (103) comprises a lifting outer cylinder (10302) and a lifting inner cylinder (10303), wherein the lifting outer cylinder (10302) is fixedly connected to the bearing seat (10206).

6. The large-scale directional drill pipe conveying manipulator according to claim 5 is characterized in that: The flip joint (104) comprises a flip seat (10401) and a flip arm (10402), wherein the flip seat (10401) is fixedly connected to the top end of the lifting inner cylinder (10303).

7. The large-scale directional drill pipe conveying manipulator according to claim 6 is characterized in that: The telescopic joint (105) comprises an outer cylinder and an inner cylinder, wherein the outer cylinder is fixedly connected to the end of the flip arm (10402).

8. The large-scale directional drill pipe conveying manipulator according to claim 1 is characterized in that: The hand claw joint (106) comprises a clamping drive member (10601) and a clamping claw, which is fixedly connected to the top end of the inner cylinder of the telescopic joint (105).

9. The large-scale directional drill pipe conveying robot according to claim 1 is characterized in that: The two ends of the swing arm (10102) are respectively hinged to the two swing arm seats (10101) through the pin shaft (10103); the cylinder barrel and piston rod end of the tilt cylinder (10104) are respectively hinged to the mobile platform (3) and the swing arm (10102) through the tilt cylinder seat (10105).

10. A method for positioning the inclination angle of a large-scale directional drill rod manipulator according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1 drives the swing arm (10102) to tilt; S2 detects the position change of the triggering member (10701) in real time through the sensor (10702); S3 When the sensor (10702) detects that the trigger member (10701) enters the preset sensing area, it determines that the inclination angle of the swing arm (10102) is consistent with the drilling axis of the frame (5), and stops the tilting of the swing arm (10102).

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