Dual-link drill pipe picking manipulator

Abstract

Abstract The present invention relates to a dual-link drill pipe picking manipulator, and belongs to the technical field of coal mine drills, comprising a rotating arm capable of rotating in a vertical plane. Another end of the rotating arm is provided with a large arm; one end of the large arm is connected with a first driving device for driving the large arm to rotate around an axis, and another end is hinged with two parallel links; other ends of the two links are provided with a mechanical claw of which the clamping power is parallel to the large arm; and the dual-link drill pipe picking manipulator also comprises a second driving device connected with the links to make the mechanical claw translate. The present invention adopts a parallel four-link mechanism to realize longitudinal movement and parallel movement of a drill pipe, shortens a turning radius of the drill pipe towards a drilling center and improves turning stability. Meanwhile, dual-link swinging also realizes the axial movement of the drill pipe, and in combination with a turning function, a column space can be effectively avoided. 1 Abstract 2021277751 03 Dec 2021 1 Drawings Fig. 1 Fig. 2 Drilling center 6 20 21 27 77 51 0 3 D ec 2 02 12021277751 03 Dec 2021 B 6

Description

Description DUAL-LINK DRILL PIPE PICKING MANIPULATOR Field of invention The present invention belongs to the technical field of coal mine drills, and relates to a dual-link drill pipe picking manipulator. Background art of the invention With the development of intelligent mining of coal mines, the development of automatic drills is in the ascendant. The drill pipe picking manipulator is a key component of the automatic drills. Use of the manipulator is limited due to the diversity of underground drilling, such as difference in drilling heights and difference in drilling angles, the particularity of underground space, such as sufficiency in axial space of a roadway, and inadequacy in transverse and high phase space. Because the drill pipe picking manipulator in the prior art cannot take into account drilling heights and drilling angles, the manipulator cannot effectively and reasonably use the space of the roadway. Disclosure of the invention In view of this, the purpose of the present application is to provide a dual-link drill pipe picking manipulator to solve the problem that the drill pipe picking manipulator cannot take into account drilling heights and drilling angles in the prior art. To achieve the above purpose, the present invention provides following technical solution: A dual-link drill pipe picking manipulator comprises a rotating arm capable of rotating in a vertical plane; another end of the rotating arm is provided with a large arm; one end of the large arm is connected with a first driving device for driving the large arm to rotate around an axis, and another end of the large arm is hinged with two Description parallel links; other ends of the two links are provided with a mechanical claw of which the clamping power is parallel to the large arm; and the dual-link drill pipe picking manipulator also comprises a second driving device connected with the links to make the mechanical claw translate. Optionally, the mechanical claw comprises a fixed claw; the fixed claw is provided with guide holes along a length direction; a telescopic shaft with only axial movement freedom is arranged in the guide holes; one end of the telescopic shaft is connected with a third driving device capable of driving the telescopic shaft to move along an axial direction; the telescopic shaft is also sleeved with a movable claw capable of rotating around an axis; and the movable claw and the fixed claw form a pair of clamping claws with a clamping center parallel to the telescopic shaft. Optionally, telescopic shaft spiral grooves are formed in a circumferential direction of the telescopic shaft; a through hole is formed on the movable claw; a through hole wall is provided with movable claw spiral grooves matched with the telescopic shaft spiral grooves to form a ball channel; and balls and a ball fixing frame are arranged in the ball channel. Optionally, the movable claw is arranged in a middle of the telescopic shaft; a middle of the fixed claw is provided with a U-shaped movable claw avoiding groove; the guide holes are arranged on both sides of the movable claw avoiding groove; and the movable claw is installed in the movable claw avoiding groove. Optionally, a contact surface between the fixed claw and the drill pipe to be clamped is greater than a contact surface between the movable claw and the drill pipe to be clamped. Optionally, the fixed claw comprises a slotted fixed claw slip installing groove and a fixed claw slip detachably connected in the fixed claw slip installing groove; Description and the movable claw comprises a slotted movable claw slip installing groove and a movable claw slip detachably connected in the movable claw slip installing groove. Optionally, the contact surface between the fixed claw and the drill pipe to be clamped is greater than the contact surface between the movable claw and the drill pipe to be clamped. Optionally, cross sections of the guide holes are regular polygons. Optionally, one side of the large arm is provided with two drill pipe boxes along an axial direction of the drill pipe to be clamped. Optionally, the rotating arm is connected to one side of a drill rack through a gyrator. The present invention has the following beneficial effects: 1. The present invention adopts a parallel four-link mechanism to realize longitudinal movement and parallel movement of the drill pipe, shortens a turning radius of the drill pipe towards a drilling center and improves turning stability. Meanwhile, the parallel four-link mechanism also realizes the axial movement of the drill pipe, and in combination with a turning function, a column space can be effectively avoided. The mechanism uses a combination of longitudinal movement and axial movement of the drill pipe generated by swing to realize the function of effectively avoiding a vertical column of a drill at different dip angles and different drilling heights, thereby realizing drilling diversity; and a plurality of drill pipe boxes can also be arranged in an axial space of the drill pipe to increase the capacity of accommodating the drill pipe. 2. A built-in clamping power is adopted in the present invention. The direction of the clamping power is perpendicular to the direction of a clamping load, parallel to the axis of the drill pipe and consistent with the direction of an underground space. Stereographic transposition of the drill pipe can be changed into planar transposition, to save transposition space, facilitate a spatial layout of automatic drills and provide technical support for miniaturization and maximization development of the automatic drills. In addition, the transposition mode of the drill pipe of the manipulator can Description effectively avoid obstacles (the vertical column of the drill), thereby providing technical guarantee for high automatic drills and making the structure more compact. 3. A transmission principle of lead screws and nuts is used in the mechanical claw of the present invention. Circumferential rotation of the movable claw is driven through axial movement of the telescopic shaft, to realize opening and closing of the mechanical claw, thereby realizing clamping and opening functions of the mechanical claw. The telescopic shaft is parallel to the axis of the drill pipe to make a clamping direction perpendicular to a direction of a dynamic load, so that the structure of the mechanical claw is more compact. Because the length direction of the mechanical claw is consistent with the axis direction of the rack, the design of a picking structure of the drill pipe is more compact. In addition, due to the use of a structure that the balls rotate along the spiral grooves, less load transfer loss is caused and the clamping force of the mechanical claw can be controlled more accurately. Other advantages, objectives and features of the present invention will be illustrated in the following description to some extent, and will be apparent to those skilled in the art based on the following investigation and research to some extent, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. Description of the Drawings To enable the purpose, the technical solution and the advantages of the present invention to be more clear, the present invention will be preferably described in detail below in combination with the drawings, wherein: Fig. 1 is a structural schematic diagram 1 of a dual-link drill pipe picking manipulator; Fig. 2 is a structural schematic diagram 2 of a dual-link drill pipe picking manipulator; Fig. 3 is a structural schematic diagram 1 of a mechanical claw; and Fig. 4 is a structural schematic diagram 2 of a mechanical claw. Reference signs: first driving device 1; rotating arm 2; large arm 3; link 4; second driving device 5; mechanical claw 6; drill pipe 7; vertical column 8; third Description driving device 61; fixed claw 62; telescopic shaft 63; ball component 64; movable claw 65; fixed claw slip 66; movable claw slip 67. Detailed description of the invention Embodiments of the present invention are described below through specific embodiments. Those skilled in the art can understand other advantages and effects of the present invention easily through the disclosure of the description. The present invention can also be implemented or applied through additional different specific embodiments. All details in the description can be modified or changed based on different perspectives and applications without departing from the spirit of the present invention. It should be noted that the figures provided in the following embodiments only exemplarily explain the basic conception of the present invention, and if there is no conflict, the following embodiments and the features in the embodiments can be mutually combined. Wherein the drawings are only used for exemplary description, are only schematic diagrams rather than physical diagrams, and shall not be understood as a limitation to the present invention. In order to better illustrate the embodiments of the present invention, some components in the drawings may be omitted, scaled up or scaled down, and do not reflect actual product sizes. It should be understandable for those skilled in the art that some well-known structures and description thereof in the drawings may be omitted. Same or similar reference numerals in the drawings of the embodiments of the present invention refer to same or similar components. It should be understood in the description of the present invention that terms such as "upper", "lower", "left", "right", "front" and "back" indicate direction or position relationships shown based on the drawings, and are only intended to facilitate the description of the present invention Description and the simplification of the description rather than to indicate or imply that the indicated device or element must have a specific direction or constructed and operated in a specific direction, and therefore, the terms describing position relationships in the drawings are only used for exemplary description and shall not be understood as a limitation to the present invention; for those ordinary skilled in the art, the meanings of the above terms may be understood according to specific conditions. As shown in Fig. 1 to Fig. 4, a dual-link drill pipe picking manipulator comprises a rotating arm 2 capable of rotating in a vertical plane; another end of the rotating arm 2 is provided with a large arm 3; one end of the large arm 3 is connected with a first driving device 1 for driving the large arm to rotate around an axis, and another end of the large arm is hinged with two parallel links 4; other ends of the two links 4 are hinged with a mechanical claw 6 of which the clamping power is parallel to the large arm 3; and at least one link 4 is connected with a second driving device 5 for driving the link to swing around a hinging point. The first driving device 1 may be a hydraulic motor, and the second driving device 5 may be an oscillating hydraulic cylinder. The mechanical claw 6 adopts the built-in clamping power. The direction of the clamping power is perpendicular to the direction of a clamping load. The mechanical claw 6 comprises a fixed claw 62; the fixed claw 62 is provided with guide holes along a length direction; a telescopic shaft 63 with only axial movement freedom is arranged in the guide holes; one end of the telescopic shaft 63 is connected with a third driving device 61 capable of driving the telescopic shaft to move along an axial direction; the telescopic shaft 63 is also sleeved with a movable claw 65 capable of rotating around an axis; and the movable claw 65 and the fixed claw 62 form a pair of clamping claws with a clamping center parallel to the telescopic shaft 63. Cross sections of the guide holes in the mechanical claw 6 of the present Description invention may be regular polygons, and preferably regular hexagons. Telescopic shaft spiral grooves are formed in a circumferential direction of the telescopic shaft 63; a through hole is formed on the movable claw 65; a through hole wall is provided with movable claw spiral grooves matched with the telescopic shaft spiral grooves to form a ball channel; and balls and a ball fixing frame are arranged in the ball channel. The movable claw 65 in the mechanical claw 6 of the present invention is arranged at one end or a middle of the telescopic shaft 63, and preferably at the middle; a realization manner that the movable claw is arranged at the middle is as follows: a middle of the fixed claw 62 is provided with a U-shaped movable claw avoiding groove; the guide holes are arranged on both sides of the movable claw avoiding groove; and the movable claw 65 is installed in the movable claw avoiding groove. A contact surface between the fixed claw slip 66 and the drill pipe 7 to be clamped in the mechanical claw 6 of the present invention is greater than a contact surface between the movable claw slip 67 and the drill pipe 7 to be clamped, so as to clamp a piece to be clamped more stably. In order to make the structure more compact, the third driving device 61 in the mechanical claw 6 of the present invention adopts a linear hydraulic cylinder mounted at an end. The output end of the third driving device 61 is connected with the telescopic shaft 63 through a connecting hole arranged in a center of the end of the telescopic shaft 63, and a fixed end of the third driving device 61 is fixed to an end part of the fixed claw 62. In order to improve the capacity of accommodating the drill pipe, one side of large arm 3 is provided with two drill pipe boxes along a length direction of the drill pipe to be installed, and the two drill pipe boxes correspond to a front position and a Description rear position of the manipulator respectively. The present invention adopts a parallel four-link mechanism to realize longitudinal movement and parallel movement of the drill pipe 7, shortens a turning radius of the drill pipe 7 towards a drilling center and improves turning stability. Meanwhile, the parallel four-link mechanism also realizes the axial movement of the drill pipe 7, and in combination with a turning function, a space of a vertical column 8 can be effectively avoided. The mechanism can make full use of a combination of longitudinal movement and axial movement of the drill pipe 7 generated by swing to realize the function of effectively avoiding the vertical column 8 of a drill at different dip angles and different drilling heights, thereby realizing drilling diversity; and a plurality of drill pipe boxes can also be arranged in an axial space of the drill pipe 7 to increase the capacity of accommodating the drill pipe 7. Embodiment A dual-link drill pipe picking manipulator, as shown in Fig. 1 to Fig. 4, comprises a first driving device 1, a rotating arm 2, a large arm 3, links 4, a second driving device 5 and a mechanical claw 6. Concrete structures and functions of each component are as follows: The first driving device 1: is a hydraulic motor, and fixed to the rotating arm 2, A rotating shaft of the first driving device is connected with a connecting rod of the large arm 3 to realize rotation of the large arm 3 around a rotating center of the first driving device 1, thereby realizing change of a position of the drill pipe. The rotating arm 2: is arranged on one side of a drill rack through a gyrator and can rotate along O point to realize change of an angle of the drill pipe. The large arm 3: is connected with the rotating shaft of the first driving device 1 and can rotate around a rotating center of the first driving device 1. Another end is Description connected with the links 4 and the second driving device 5. The second driving device 5 is an oscillating hydraulic cylinder. A parallelogram structure is formed among two links 4, the mechanical claw 6 and the large arm 3. Under the action of the second driving device, the drill pipe 7 can move along an axial direction and an up-down direction of Fig. 1. The links 4: are connected with the large arm 3 and the mechanical claw 6 to ensure parallel movement of the mechanical claw 6. The mechanical claw 6: drives circumferential rotation of the movable claw 65 through axial movement of the telescopic shaft 63 by using a transmission principle of lead screws and nuts, to realize opening and closing of the mechanical claw 6, thereby realizing clamping and opening functions of the mechanical claw 6. The mechanical claw 6 comprises a fixed claw 62, a movable claw 65, a telescopic shaft 63, balls, a ball fixing frame and a third driving device 61. The third driving device 61 drives the telescopic shaft 63 to move along the guide holes formed on the fixed claw 62, and converts the thrust of the driving device into the clamping force of the movable claw 65 through the movement of the balls. Relative installation positions and concrete structures and functions of each component are as follows: The third driving device 61: is a hydraulic cylinder of linear motion, and parallel to the axis of the drill pipe 7. The third driving device 61 provides a clamping power and is installed on one end of the fixed claw 62. A piston of the third driving device 61 is connected with the telescopic shaft 63, and drives the telescopic shaft 63 to move axially in hexagonal guide holes of the fixed claw 62. The fixed claw 62: one end of the fixed claw 62 is connected with the third driving device 61, and the guide holes in the middle are matched with the telescopic shaft 63. The telescopic shaft 63 can move in the guide holes and is combined with Description the movable claw 65 to complete the clamping of the drill pipe 7. A positioning platform is arranged at one end of the fixed claw 62 to realize positioning of the third driving device 61. A fixed claw slip installing groove of the fixed claw 62 is an installing position of a fixed claw slip 66, matched with a shape of the fixed claw slip 66, and provided with a fixed claw slip connecting hole which is consistent with a position of an installing hole of the fixed claw slip. The telescopic shaft 63: is connected with the third driving device 61, matched with the guide holes of the fixed claw 62 and can axially move in the guide holes of the fixed claw 62. A plurality of telescopic shaft spiral grooves are formed in a circumferential direction of the telescopic shaft 63. The telescopic shaft spiral grooves are arcs. Ball components 64 comprised of balls and ball fixing frames are arranged in the telescopic shaft spiral grooves. The balls can roll in the telescopic shaft spiral grooves and simultaneously move relatively along the axial direction, to reduce load transfer resistance. The ball fixing frames prevent the balls from moving irregularly. A connecting hole is formed at a center of one end of the telescopic shaft 63. The connecting hole is a threaded hole connected with the third driving device 61 to achieve transfer of a clamping load. Both ends of the telescopic shaft 63 are polygonal structures matched with the guide holes of the fixed claw 62 to prevent circumferential rotation of the telescopic shaft 63. The movable claw 65: is matched with the fixed claw 62 to complete clamping of the drill pipe 7. A through hole is formed on the movable claw 65; and an inner wall of the through hole is provided with movable claw spiral grooves matched with the telescopic shaft spiral grooves. The telescopic shaft 63 can move along the axial direction, the balls can rotate circumferentially, and act on the movable claw spiral grooves to realize rotation of the movable claw 65 along the circumferential direction Description of the telescopic shaft 63, thereby completing circumferential angular variation relative to the fixed claw 62 and then completing clamping and opening of the drill pipe 7. A movable claw slip installing groove of the movable claw 65 is an installing position of a movable claw slip 67, matched with a shape of the movable claw slip 67, and provided with a movable claw slip connecting hole which is consistent with a position of an installing hole of the movable claw slip. An operating principle of the mechanical claw 6 is: 1. Clamping of the drill pipe: before clamping, the third driving device 61 is in a retracted position; the movable claw 65 is in an opened position; and the mechanical claw 6 moves to a clamping position required by the drill pipe 7 through an external mechanism. Under the action of high pressure oil, the piston of the third driving device 61 extends out to push the telescopic shaft 63 forward, so as to drive the balls to rotate to act on the movable claw 65. The movable claw 65 rotates to clamp the drill pipe 7 to complete the clamping of the drill pipe 7. 2. Loosening of the drill pipe: the mechanical claw 6 moves to a designated position and clamps the drill pipe 7. Hydraulic oil of the third driving device 61 is reversed; the piston of the third driving device 61 is retracted; the telescopic shaft 63 moves towards the third driving device 61; the movable claw 65 is opened; and the drill pipe 7 is loosened. An operating principle of the manipulator is: 1 Feeding of the drill pipe 1.1 Feeding of the drill pipe Initial state: the drill pipe 7 is in a horizontal position, the manipulator is in any position without contact with the drill pipe 7, and the mechanical claw 6 is in an opened position. Description (1) The position of the mechanical claw 6 is adjusted, the second driving device 5 is withdrawn, and the mechanical claw 6 and the large arm 3 have a minimum distance. (2) The first driving device 1 works, and the large arm 3 rotates, and the mechanical claw 6 and a rotating center O of the rotating arm 2 are located at the same side of the large arm 3. (3) The rotating arm 2 rotates so that the large arm 3 is operated to a horizontal position. (4) The second driving device 5 works, and a center of the mechanical claw 6 coincides with a center of the drill pipe 7. (5) The third driving device 61 of the mechanical claw 6 works, the movable claw 65 rotates and the drill pipe 7 is clamped. (6) The second driving device 5 works, and the mechanical claw 6 and the center of the large arm 3 have a minimum distance. (7) The first driving device 1 works, and the large arm 3 rotates by 270°clockwise along a center of the first driving device 1. (8) The rotating arm 2 rotates along the rotating center O, and the center of the large arm 3 is consistent with a drilling angle. (9) The second driving device 5 works, the mechanical claw 6 and the center of the large arm 3 have a maximum distance, and the drill pipe 7 is fed into the drilling center. (10) The third driving device 61 works, the mechanical claw 6 is loosened and the drill pipe 7 is fed into a working position. (11) The second driving device 5 works, and the mechanical claw 6 and the center of the large arm 3 have a minimum distance. Description (12) The first driving device 1 rotates by 270° anticlockwise, and the mechanical claw 6 and the rotating center O of the rotating arm 2 are located at the same side of the large arm 3. (13) Steps (3)-(12) are repeated, and a feeding process of a next drill pipe 7 is conducted. 1.2 Claw-back of drill pipe Initial position: after drilling is completed, the large arm 3 is in a horizontal position; the mechanical claw 6 is opened; the mechanical claw 6 and the center of the rotating arm are located on the same side of the large arm, and the large arm 3 and the mechanical claw 6 have a minimum distance. (1) The first driving device 1 rotates by 270° clockwise. (2) The rotating arm rotates to the drilling center to be parallel. (3) The second driving device 5 works, and the mechanical claw 6 is fed into the center of the drill pipe 7. (4) The third driving device 61 works, and the drill pipe 7 is clamped by the mechanical claw 6. (5) The second driving device 5 works, and the mechanical claw 6 moves to have a minimum distance from the large arm 3. (6) The first driving device 1 works, and the large arm 3 rotates by 270° anticlockwise. (7) The rotating arm 2 rotates around the center to a horizontal position. (8) The second driving device 5 works, and the center of the mechanical claw 6 moves to a center position of storage of the drill pipe 7. (9) The third driving device 61 works, the drill pipe 7 is loosened and the drill pipe 7 is clawed back. Description (10) The second driving device 5 works, and the mechanical claw 6 and the large arm 3 have a minimum distance. (11) Steps (1)-(10) are repeated, and a claw-back process of a next drill pipe 7 is conducted. 1.3 Series connection of drill pipe boxes Because the manipulator conducts picking at a farthest end (position A) and the length of the rack is greater than twice the length of the drill pipe, a space for accommodating another drill pipe box is adequate on the same side of the drill pipe box in a length direction of the rack. That is, another drill pipe box is arranged at position B to realize expansion of the drill pipe. The mechanical claw 6 of the present invention is a built-in piston type mechanical claw 6. A built-in clamping power is adopted. The direction of the clamping power is perpendicular to the direction of a clamping load, parallel to the axis of the drill pipe 7 and consistent with the direction of an underground space. Stereographic transposition of the drill pipe 7 can be changed into planar transposition, to save transposition space, facilitate a spatial layout of automatic drills and provide technical support for miniaturization and maximization development of the automatic drills. In addition, the transposition mode of the drill pipe 7 of the manipulator can effectively avoid obstacles (a vertical column 8 of the drill), thereby providing technical guarantee for high automatic drills and making the structure more compact. The manipulator of the present invention can allow the drill pipe 7 to move along the axial direction of the drill pipe and move up and down, and can make full use of the axial space of the rack. When the second driving device 5 is fully retracted, the distance between the center of the drill pipe and the rotation center (i.e., a rotation center of the motor) is minimum so that the drill pipe turns smoothly. A required Description turning torque of the motor is smaller, and turning impact is smaller. When the drill pipe 7 turns at a high position, the vertical column 8 can be effectively avoided without being affected by the height of the vertical column 8. The problem of small space perpendicular to the drill rack is solved. When turning at a minimum center distance, i.e., at a front position of the manipulator, that is, the drill pipe 7 is at the most front position A of the drill, and a drill pipe container can be arranged at a rear position B of the drill. That is, drill pipe containers are respectively arranged at the front position and the rear position of the manipulator to achieve expansion of the drill pipe containers. The manipulator has compact structure to maximize the directionality of a roadway space, and the structure of the drill is compact. Finally, it should be noted that the above embodiments are only used for describing, rather than limiting the technical solution of the present invention. Although the present invention is described in detail with reference to the preferred embodiments, those ordinary skilled in the art shall understand that the technical solution of the present invention can be amended or equivalently replaced without departing from the purpose and the scope of the technical solution. The amendment or equivalent replacement shall be covered within the scope of the claims of the present invention.

Claims

Claims 1. A dual-link drill pipe picking manipulator, characterized by comprising a rotating arm capable of rotating in a vertical plane; another end of the rotating arm is provided with a large arm; one end of the large arm is connected with a first driving device for driving the large arm to rotate around an axis, and another end of the large arm is hinged with two parallel links; other ends of the two links are provided with a mechanical claw of which the clamping power is parallel to the large arm; and the dual-link drill pipe picking manipulator also comprises a second driving device connected with the links to make the mechanical claw translate.

2. The dual-link drill pipe picking manipulator according to claim 1, characterized in that: the mechanical claw comprises a fixed claw; the fixed claw is provided with guide holes along a length direction; a telescopic shaft with only axial movement freedom is arranged in the guide holes; one end of the telescopic shaft is connected with a third driving device capable of driving the telescopic shaft to move along an axial direction; the telescopic shaft is also sleeved with a movable claw capable of rotating around an axis; and the movable claw and the fixed claw form a pair of clamping claws with a clamping center parallel to the telescopic shaft.

3. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: telescopic shaft spiral grooves are formed in a circumferential direction of the telescopic shaft; a through hole is formed on the movable claw; a through hole wall is provided with movable claw spiral grooves matched with the telescopic shaft spiral grooves to form a ball channel; and balls and a ball fixing frame are arranged in the ball channel.

4. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: the movable claw is arranged in a middle of the telescopic shaft; a middle of the Claims fixed claw is provided with a U-shaped movable claw avoiding groove; the guide holes are arranged on both sides of the movable claw avoiding groove; and the movable claw is installed in the movable claw avoiding groove.

5. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: a contact surface between the fixed claw and a drill pipe to be clamped is greater than a contact surface between the movable claw and the drill pipe to be clamped.

6. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: the fixed claw comprises a slotted fixed claw slip installing groove and a fixed claw slip detachably connected in the fixed claw slip installing groove; and the movable claw comprises a slotted movable claw slip installing groove and a movable claw slip detachably connected in the movable claw slip installing groove.

7. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: the contact surface between the fixed claw and the drill pipe to be clamped is greater than the contact surface between the movable claw and the drill pipe to be clamped.

8. The dual-link drill pipe picking manipulator according to claim 2, characterized in that: cross sections of the guide holes are regular polygons.

9. The dual-link drill pipe picking manipulator according to claim 1, characterized in that: one side of the large arm is provided with two drill pipe boxes along an axial direction of the drill pipe to be clamped.

10. The dual-link drill pipe picking manipulator according to claim 1, characterized in that: the rotating arm is connected to one side of a drill rack through a gyrator.

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