Drill pipe conveying robot and drill pipe conveying method for directional drilling rigs

Abstract

This invention belongs to the field of coal mine drilling rig technology, and relates to a drill rod conveying robot and a drill rod conveying method for directional drilling rigs. The robot includes a pitch cylinder, a rotary drive, a pitch arm, a rotary shaft, a rotating arm, a gripper, and a positioning system. The pitch cylinder is a double-headed combined cylinder. The piston rod II at one end of the pitch cylinder is hinged to the drilling moving platform, and the piston rod I at the other end of the pitch cylinder is hinged to the pitch arm. The vertical plane containing the axis of the pitch cylinder is parallel to the vertical plane containing the axis of the frame. When piston rod I is fully retracted and piston rod II is fully extended, the robot is in a horizontal position. This invention saves a significant amount of installation space in the direction perpendicular to the frame, and the gripper opening faces upward to facilitate lifting the drill rod. After the robot grabs the drill rod, it rotates counterclockwise towards the frame, naturally avoiding the frame and its attitude adjustment mechanism, significantly reducing the required movement space and making it more suitable for narrow spaces.

Description

Technical Field

[0001] This invention belongs to the field of coal mine drilling rig technology, and relates to a drill rod conveying robot and a drill rod conveying method for directional drilling rigs. Background Technology

[0002] Currently, drill pipe conveying robots used in coal mine drilling rigs are mainly divided into two categories: multi-degree-of-freedom (DOF) robots and composite articulated robots. The main advantage of multi-DOF robots is their large working space; however, their applicability is often limited by the constraints of the underground drilling site and the space on the drilling rig itself. Since the drill pipe box and the drilling rig main unit (drilling system) are usually located on opposite sides of the robot, and the robot uses a downward-grabbing method to retrieve the drill pipe from the drill pipe box, it needs to rotate the drill pipe nearly 180° or lift it upwards to the opposite side and then lower it, thus requiring a large working space. However, underground coal mine drilling sites are typically narrow and equipped with ventilation, water supply pipes, and various cables, further limiting the space available for the drilling rig. Therefore, the practical application of multi-DOF robots, which require a large working space, on underground coal mine drilling rigs has been slow. Furthermore, these robots typically require machine vision technology for drill pipe positioning, but the dim lighting and severe dust pollution in underground coal mines hinder the application of machine vision, leading to inaccurate positioning and severely impacting the efficiency and accuracy of drill pipe conveying.

[0003] Some joints of the composite manipulator are similar to the continuously variable rotary joints of a multi-degree-of-freedom manipulator, while others are similar to the telescopic or translational joints of a portal manipulator. The main advantages of this type of manipulator are its simple structure and high reliability. However, since most joints operate within a fixed range, the joint stroke is generally large to accommodate a wide range of drilling inclination and azimuth angles. Therefore, the joints must complete a full stroke during drill rod transport, resulting in a large required movement space for the manipulator. Similar to multi-degree-of-freedom manipulators, the drill rod box and the drilling rig host are located on either side of the manipulator. Because the manipulator grips the drill rod downwards, and its movement path is almost entirely blocked by the host on the side closest to it, the composite manipulator needs to move in the opposite direction to the host to create space before moving closer to it when gripping the drill rod and transporting it to the drilling rig host. This requires a large movement space and increases the size of the drilling rig. Typically, the manipulator must rotate 270° counterclockwise in space to transport the drill rod from one side of the drill rod box (the initial position of the manipulator gripping the drill rod) to the frame. In addition, the positioning system of this type of robotic arm is relatively complex. It generally uses multiple position or angle sensors or servo motors for joint positioning, resulting in many potential failure points and making troubleshooting and maintenance quite difficult.

[0004] It is evident that both existing types of drill pipe conveying robots require a large installation and movement space, making them difficult to apply to drilling rigs with limited space. They also present challenges in maintenance. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a drill rod conveying robot and a drill rod conveying method for directional drilling rigs, which solves the problems of existing drill rod conveying robots requiring large installation or movement space and being unsuitable for narrow machine space, as well as positioning during the drill rod conveying process.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A drill rod conveying robot for a directional drilling rig is provided. The robot is arranged on a drilling rig moving platform and located between a drill rod box and a frame arranged on the drilling rig moving platform. The frame includes a connecting seat fixedly connected to the drilling rig moving platform and a frame body hinged to the connecting seat. The key feature is that the robot includes a pitch cylinder, a rotary drive, a pitch arm, a rotary shaft, a rotating arm, and a gripper. The pitch cylinder is a double-headed combined cylinder. The piston rod II at one end of the pitch cylinder is hinged to the drilling moving platform, and the piston rod I at the other end of the pitch cylinder is hinged to the pitch arm. The vertical plane containing the axis of the pitch cylinder is parallel to the vertical plane containing the axis of the frame. When the piston rod I is fully retracted and the piston rod II is fully extended, the robot is in a horizontal position.

[0008] The pitch arm includes a connecting sleeve, a support body, a bearing seat, and a rotating cylinder. One end of the rotating cylinder is fixedly connected to a connecting seat in the frame. The connecting sleeve is fitted onto the rotating cylinder and rotatably connected. One end of the support body is fixedly connected to the connecting sleeve, and the other end is connected to the bearing seat. The pitch cylinder is hinged to the support body. One end of the bearing seat is connected to a rotary drive. A rotary shaft is installed in its inner cavity. One end of the rotary shaft is circumferentially fixedly connected to the output shaft of the rotary drive. The other end of the rotary shaft is connected to a rotating arm, and the rotating arm is connected to a gripper.

[0009] The gripper includes a movable gripper body, a clamping jaw, a clamping cylinder, a fixed base, and the movable cylinder. The fixed base is a concave cavity, and the movable cylinder is hinged within the concave cavity. The movable gripper body forms a sliding pair with the back of the concave cavity, and the rotating arm is connected to the gripper through the side of the concave cavity. The top of the movable gripper body is a fixed jaw, which is hinged with the clamping jaw to clamp and fix the drill rod. The bottom of the movable gripper body is hinged with the piston rod of the movable cylinder to drive the movable gripper body to move. The movable gripper body has an internal cavity, and the clamping cylinder is hinged within the internal cavity. The back of the clamping jaw is hinged with the piston rod of the clamping cylinder to drive the clamping jaw to clamp the drill rod. When the piston rod of the movable cylinder is fully retracted, causing the movable gripper body to move to its highest point, the distance from the rotation center line of the rotating arm to the clamping center line of the movable gripper body is equal to the distance from the rotation center line of the rotating arm to the drilling center line of the frame.

[0010] It also includes a positioning system, which comprises an isoangular sensor, an incremental sensor, an angle marker plate, and a pressure rod. The pressure rod is connected to the fixed base on the side opposite to the rotating arm. The isoangular sensor includes a proximity sensor, a pressure plate, a pressure plate seat, an elastic element, a support base, a sliding rod, a sliding seat, a mounting bracket, a sliding cylinder, and a sliding cylinder seat. The bottom of the mounting bracket is fixedly connected to the frame body in the frame, and the top is connected to and supports the sliding seat. The sliding rod and the sliding seat are connected to form a sliding pair. The sliding cylinder is fixedly connected to the mounting bracket and the sliding seat respectively. The sliding cylinder seat on the rod is hinged, the bottom of the support seat is fixedly connected to the sliding rod, and a proximity sensor is provided at the end of the support seat near the gripper. One end of the pressure plate seat is hinged to the support seat, and a downwardly extending side plate is provided on the side of the pressure plate seat near the proximity sensor so that the side plate is paired with the proximity sensor to form a signal sensing group. An elastic element is provided between the pressure plate seat and the support seat. In the natural state, the pressure plate seat is raised to prevent the side plate of the pressure plate seat from connecting with the proximity sensor. The top of the pressure plate is used to contact the pressure rod, and the bottom is fixedly connected to the pressure plate seat.

[0011] The angle indicator plate is a ring with partial fan-shaped protrusions. The ring has a plate body and a protruding fan-shaped block. The inner hole of the ring is movably fitted on the side of the rotating cylinder facing the frame. The fan-shaped block is provided with a toggle groove. The frame body in the frame is fixedly connected to a lever on the side facing the robot. The lever is inserted into the toggle groove so that when the tilt angle of the frame body changes, the angle indicator plate and the frame body change the same angle. The incremental sensor is set on the side of the connecting sleeve near the angle indicator plate and on the side of the connecting sleeve near the isoangular sensor, so that the incremental sensor and the fan-shaped block are paired to form a signal sensing group.

[0012] When the drilling center lines of the robotic arm and the frame are both in a horizontal position, the incremental sensor is in a horizontal position, and the edge of the sector block near the incremental sensor is above the horizontal line. The incremental sensor signal is not connected, and the pressure rod presses down the pressure plate, so that the proximity sensor signal is connected.

[0013] Furthermore, the piston rod I is hinged to the support body via a second cylinder seat that is fixedly connected to the middle of the support body.

[0014] Furthermore, the main body of the rotating cylinder is a multi-step cylindrical body with flanges at both ends, which are used to connect the sealing cover and the connecting seat in the frame, respectively.

[0015] Furthermore, the end of the shaft seat away from the rotary drive is also provided with an end cap sleeved on the rotary shaft to axially limit the rotary shaft.

[0016] Furthermore, the rotary drive is a hydraulic motor or a swing cylinder.

[0017] Furthermore, the fixing base consists of a base plate with a U-shaped cross-section and two side plates symmetrically arranged on one side of the base plate, and the base plate and the two side plates form a concave cavity.

[0018] Furthermore, a pair of first slide rails are symmetrically provided on the other side of the base plate, and a second slide rail matching the first slide rails is provided at one end of the internal cavity of the movable claw near the base plate to form a moving pair.

[0019] A method for conveying drill rods for directional drilling rigs, the key being the use of the aforementioned drill rod conveying robot for directional drilling rigs, with the drilling angle of the frame being an upward tilt angle, and the specific steps including:

[0020] s1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position. The incremental sensor is not turned on. The fixed jaw of the gripper and the moving jaw are facing upward and the gripper is open. The piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position and the drill rod is placed at the position of the gripping center line of the moving jaw. The piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod.

[0021] s2. Clamping the drill rod: The clamping cylinder extends, causing the jaws to engage with the fixed jaws to clamp the drill rod;

[0022] s3. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position;

[0023] s4. Robot arm rises: The piston rod II of the pitch cylinder retracts, the pitch arm drives the rotation shaft and the arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle for conveying the drill rod, and stops rising. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod.

[0024] s5. Robotic arm pressing down: The piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm increases and decreases. When the pressure rod presses down on the pressure plate, causing the side plate in the pressure plate seat to enter the sensing range of the proximity sensor, the pressure stops when the proximity sensor is turned on and outputs a signal.

[0025] s6. Flipping: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the clamping center line of the moving gripper body coincides with the drilling center line of the frame, so as to transport the drill rod into the drilling center line of the frame;

[0026] s7. Grip release: After the gripper or power head in the frame clamps the drill rod, the gripper releases, and the drill rod delivery is completed;

[0027] s8. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate;

[0028] s9. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position;

[0029] s10. Grip retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position, and the robotic arm returns to its initial state.

[0030] A method for conveying drill rods for directional drilling rigs, the key being the use of the aforementioned drill rod conveying robot for directional drilling rigs, wherein the drilling inclination angle of the frame is a downward inclination angle, and the specific steps include:

[0031] s1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position, the fixed jaws of the gripper and the moving jaw are open and facing upwards, the piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position and the drill rod is placed at the position of the gripping center line of the moving jaw, and the piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod;

[0032] s2. Clamping the drill rod: The clamping cylinder extends, causing the jaws to engage with the fixed jaws to clamp the drill rod;

[0033] s3. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position;

[0034] s41. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, the incremental sensor directly enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is now at a suitable tilt angle for conveying the drill rod. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod.

[0035] Or s42. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, but the incremental sensor does not enter the coverage area of ​​the angle indicator plate, the piston rod II of the pitch cylinder retracts, and the pitch arm drives the rotation shaft and the rotating arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle for conveying the drill rod, and stops lifting. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod;

[0036] s51. Robotic arm presses down: When the previous step is s41, the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, when the proximity sensor is turned on and outputs a signal, the pressing stops;

[0037] Or s52. Robotic arm presses down: When the previous step is s42, the piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the piston rod II is fully extended, the piston rod I continues to extend until the pressure rod presses down on the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor. When the proximity sensor is turned on and outputs a signal, the extension of the piston rod I stops, and the pressure rod stops pressing down;

[0038] s6. Flipping: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the clamping center line of the moving gripper body coincides with the drilling center line of the frame, so as to transport the drill rod into the drilling center line of the frame;

[0039] s7. Grip release: After the gripper or power head in the frame clamps the drill rod, the gripper releases, and the drill rod delivery is completed;

[0040] s8. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate;

[0041] s9. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position;

[0042] s10. Grip retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position, and the robotic arm returns to its initial state.

[0043] A method for conveying drill rods for directional drilling rigs, the key of which is to use the aforementioned drill rod conveying robot for directional drilling rigs to remove the drill rods from the frame, the specific steps of which include:

[0044] q1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position, the fixed jaws of the gripper and the moving jaw are open and facing upwards, the piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position, and the piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod.

[0045] q2. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position;

[0046] q31. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, the incremental sensor directly enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is now at a suitable tilt angle for conveying the drill rod. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod.

[0047] Or q32. The robot arm rises: The piston rod II of the pitch cylinder retracts, the pitch arm drives the rotation shaft and the arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle for conveying the drill rod, and stops rising. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod.

[0048] q41. Robotic arm presses down: When the previous step is q31, the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, when the proximity sensor is turned on and outputs a signal, the pressing stops;

[0049] Or q42. The robot arm presses down: When the previous step is q32, the piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robot arm decreases, and when the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I continues to extend until the pressure rod presses down on the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor. When the proximity sensor is turned on and outputs a signal, the extension of the piston rod I stops, and the pressure rod stops pressing down.

[0050] q5. Flip: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the gripping center line of the moving gripper body coincides with the center line of the drill rod to be retrieved in the frame;

[0051] q6. Clamping the drill pipe: The clamping cylinder extends, allowing the jaws to engage with the fixed jaws to clamp the drill pipe;

[0052] q7. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate;

[0053] q8. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position;

[0054] q9. Gripper retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position;

[0055] q10. Grip Release: The clamping cylinder retracts, the gripper releases, the drill rod is removed, and the robot returns to its initial state.

[0056] The beneficial effects of this invention are as follows:

[0057] This invention provides a drill rod conveying robot and a drill rod conveying method for directional drilling rigs. The tilt angle adjustment of its tilt arm is driven by a tilt cylinder parallel to the frame, instead of using a servo motor or rotary reducer as in existing technologies. This saves a significant amount of installation space in the direction perpendicular to the frame. Furthermore, the gripper lifts the drill rod upwards instead of grasping it downwards as in existing technologies. As the robot grips the drill rod and rotates counterclockwise towards the frame, it naturally avoids components such as the frame and attitude adjustment mechanism, significantly reducing the required movement space. This makes it well-suited for narrow spaces, especially for today's highly integrated automatic directional drilling rigs, and has great application potential.

[0058] Secondly, the positioning system of this drill rod conveying robot is simple and reliable. It only requires two position sensors, an isoangular sensor and an incremental sensor, to work together within the inclination range designed for the drilling rig, conveying the drill rod to the frame at the corresponding drilling angle. The system is simple and reliable, which simplifies the workload during the drill rod conveying process and the maintenance workload of the positioning system during later use.

[0059] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0060] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0061] Figure 1 This is a schematic diagram of the structure of a drill rod conveying robot for a directional drilling rig according to the present invention;

[0062] Figure 2 This is a schematic diagram of the robotic arm in this invention;

[0063] Figure 3 This is a schematic diagram of the pitching cylinder in this invention;

[0064] Figure 4 This is a schematic diagram of the pitch arm in this invention;

[0065] Figure 5 This is a three-dimensional structural diagram of the pitch arm in this invention;

[0066] Figure 6 This is a partial installation diagram of the robotic arm and the frame in this invention;

[0067] Figure 7 This is a schematic diagram of the hand claw structure in this invention;

[0068] Figure 8 This is a cross-sectional view of the hand claw in this invention;

[0069] Figure 9 This is a schematic diagram of the structure of the equal angle sensor of the present invention;

[0070] Figure 10 This is a side view of the medium angle sensor of the present invention;

[0071] Figure 11 This is a schematic diagram of the angle marking plate in this invention.

[0072] Reference numerals: 1-Manipulator, 101-First cylinder seat, 102-Pitch cylinder, 102a-Piston rod I, 102b-Piston rod II, 102c-Cylinder barrel, 103-Rotary actuator, 104-Pitch arm, 104a-Connecting sleeve, 104b-Incremental sensor mounting plate, 104c-Support body, 104d-End cover, 104e-Shaft seat, 104f-Second cylinder seat, 104g-Sealing cover, 104h-Rotating cylinder, 105-Rotating shaft, 106-Rotating arm, 107-Gripper, 107a-Moving gripper body, 107b-Gripper, 107c-Clamping Hydraulic cylinder, 107d-fixed seat, 107e-moving hydraulic cylinder, 107f-connecting flange, 108-pressure rod, 2-equiangular sensor, 201-proximity sensor, 202-pressure plate, 203-pressure plate seat, 204-spring assembly, 205-support seat, 206-sliding rod, 207-sliding seat, 208-mounting bracket, 209-sliding hydraulic cylinder, 210-sliding hydraulic cylinder seat, 3-power head, 4-frame, 5-gripper, 6-drill rod box, 7-incremental sensor, 8-angle marking plate, 801-plate body, 802-moving groove, 803-fan-shaped block, 9-arc-shaped groove. Detailed Implementation

[0073] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed 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 representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0074] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0075] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship 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 orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0076] Please see Figures 1 to 11 The present invention relates to a drill rod conveying robot and positioning system for directional drilling rigs, comprising a robot 1 and a positioning system consisting of an isogonal sensor 2, an incremental sensor 7 and an angle marking plate 8;

[0077] Key references Figures 1-2The directional drilling rig includes a drilling rig moving platform, a drill rod box 6 and a frame 4 connected to the drilling rig moving platform, and a manipulator 1 located between the drill rod box 6 and the frame 4. The frame 4 includes a connecting seat fixedly connected to the drilling rig moving platform, a frame body hinged to the connecting seat, and an adjustment cylinder connected between the connecting seat and the frame body. The frame body can rotate along the hinge point under the action of the adjustment cylinder to adjust the drilling direction, and the frame body has a power head 3 and a clamp 5 arranged at both ends. During drilling, the manipulator 1 grabs the drill rod from a designated initial position (a specific position on the drilling rig) and transfers it to the drilling centerline between the power head 3 and the clamp 5. After drilling is completed, the manipulator 1 retrieves the drill rod from between the power head 3 and the clamp 5 and returns it to the initial position so that the drill rod can be recycled into the drill rod box or removed from the drilling rig. An isotropic sensor 2 is used to determine whether the tilt angle (pitch angle) between the robot arm 1 and the frame 4 is equal, and an incremental sensor 7 is used to determine whether the robot arm 1 has reached a suitable tilt angle for conveying the drill rod between the power head 3 and the gripper 5. In the drilling machine that is equipped with the drill rod conveying robot arm in this application, the initial position of the drill rod is set as follows: On the side of the drill rod box 6 near the robot arm 1, two upward-opening arc-shaped grooves 9 are set according to the length of the drill rod for placing the drill rod, and there is no limit mechanism above the arc-shaped grooves 9 for placing the drill rod. After the drill rod is taken out of the drill rod box 6 by other conveying devices (such as handling robots, rod picking devices, etc.) of the drilling machine, the front and rear ends of the drill rod are respectively placed in the two arc-shaped grooves 9, and the initial position is located directly above the robot arm 1 so that the robot arm 1 can pick up and put back the drill rod.

[0078] In another embodiment, the drill rod can also be placed directly in the initial position by a worker, thereby meeting the need for the robot arm 1 to pick up and put back the drill rod from the initial position.

[0079] The key feature of this embodiment is that the robotic arm includes a first cylinder seat 101, a pitch cylinder 102, a rotary driver 103, a pitch arm 104, a rotary shaft 105, a rotating arm 106, a gripper 107, and a pressure rod 108. The bottom of the first cylinder seat 101 is connected to the drilling rig moving platform by bolts and is located between the drill rod box 6 and the frame 4. The upper part is provided with a U-shaped through groove and a circular through hole. It is connected to the pitch cylinder 102 by a pin, thereby fixing and rotating one end of the pitch cylinder 102 to the drilling rig moving platform.

[0080] like Figure 3 As shown, the pitch cylinder 102 is a double-headed combined cylinder, and the vertical plane containing the axis of the pitch cylinder 102 is parallel to the vertical plane containing the axis of the frame 4. The piston rod I102b at one end of the pitch cylinder 102 is hinged to the first cylinder seat 101 by a pin, and the piston rod I102a at the other end of the pitch cylinder 102 is hinged to the pitch arm 104 by a pin.

[0081] like Figures 4-5 As shown, the pitch arm 104 is the main support component of the robot arm 1, bearing other parts of the robot arm 1 and connecting to the frame 4. It includes a connecting sleeve 104a, an incremental sensor mounting plate 104b, a support body 104c, an end cap 104d, a shaft seat 104e, a second cylinder seat 104f, a sealing cover 104g, and a rotating cylinder 104h. The rotating cylinder 104h is a multi-step cylindrical body with flanges at both ends for mounting the sealing cover 104g and the connecting seat in the frame 4, respectively. The rotating cylinder 104h has an angle indicator plate mounting section on the side near the frame 4, with its outer diameter matching the inner diameter of the angle indicator plate 8. The angle indicator plate 8 is movably mounted on it, allowing the angle indicator plate 8 to rotate with the frame 4. The rotating cylinder 104h is mounted and fitted with the frame as follows: Figure 6 As shown;

[0082] The connecting sleeve 104a is a cylindrical structure, which is sleeved on the rotating cylinder 104h and rotatably connected to the rotating cylinder 104h. An incremental sensor mounting plate 104b is provided on the side near the angle marking plate 8 for mounting the incremental sensor 7. The incremental sensor mounting plate 104b is located on the center horizontal line of the connecting sleeve 104a so that the incremental sensor 7 is 0° when the robot arm 1 is in the initial position. The sealing cover 104g is fixedly connected to the rotating cylinder 104h through the flange of the rotating cylinder 104h, which can effectively prevent water, coal slag and other substances from entering the interior of the connecting sleeve 104a.

[0083] One end of the support body 104c is fixedly connected to the connecting sleeve 104a, and the other end is connected to the bearing seat 104e. A second cylinder seat 104f is provided in the middle of the side of the support body 104c near the first cylinder seat 101 to connect the pitch cylinder 102.

[0084] The right side of the bearing seat 104e is provided with a mounting flange for the rotary drive 103, and the left side is provided with a mounting flange for the end cover 104d, so as to connect the rotary drive 103 and the end cover 104d respectively. The end cover 104d has a mounting hole in its inner cavity for mounting the rotary shaft 105. After the end cover 104d is fixedly mounted on the bearing seat 104e, it can limit the axial movement of the rotary shaft 105. One end of the rotary shaft 105 is circumferentially fixedly connected to the output shaft of the rotary drive 103, and the other end is connected to the rotating arm 106. The rotating arm 106 is connected to the gripper 107.

[0085] When piston rod I 102a is fully retracted and piston rod II 102b is fully extended, the robot arm 1 (rotary arm 106) is in a horizontal position, that is, the tilt angle of the upper plane of the robot arm 1 is 0°, which is the initial position of the robot arm 1. At this time, the angle of the incremental sensor 7 is also 0°. When piston rod II 102b retracts, the robot arm 1 rises, and the tilt angle increases. When the robot arm 1 is in a horizontal position, piston rod II 102b is fully extended, and piston rod I 102a continues to extend, and the robot arm 1 swings down to form a negative tilt angle.

[0086] The rotary drive 103 is used to provide rotary power to the robot 1. The motion is transmitted to the gripper 107 through the rotary shaft 105 and the rotating arm 106, so that the gripper 107 can turn or move away from the power head 3. The rotary drive 3 can be any mechanism that can realize rotary motion. In this application, a hydraulic motor or a swing cylinder is preferred.

[0087] The basic structure of the rotary shaft 105 is a cylindrical shaft. Its left end has a flange that matches and connects to the rotating arm 106, and its right end has a connection structure, such as a spline or flat key, that matches the rotary actuator 103, forming a circumferential fixed connection. The rotating arm 106 is a long rod-shaped part used to connect the rotary shaft 105 and the gripper 107. It is preferably a hollow cylindrical tube to facilitate machining and weight control.

[0088] Key references Figures 7-8 The gripper 107 is the actuator for clamping the drill pipe, possessing two degrees of freedom: translation and clamping. The gripper 107 includes a movable gripper body 107a, a clamping jaw 107b, a clamping cylinder 107c, a fixed base 107d, a movable cylinder 107e, and connecting flanges 107f. The fixed base 107d consists of a base plate with an approximately U-shaped cross-section and two side plates symmetrically arranged on one side of the base plate. The base plate and the two side plates form a concave cavity for housing the movable cylinder 107e. On the other side of the base plate, a pair of first slide rails are symmetrically arranged. Two connecting flanges 107f are respectively fixed to the two sides of the fixed base 107d with side plates and connected to the rotating arm 106 and the pressure rod 108, respectively. The top of the movable gripper body 107a is a fixed jaw, which cooperates with the clamping jaw 107b to clamp and fix the drill pipe. The fixed jaw and the clamping jaw 107b are hinged by a pin. The bottom of the movable claw body 107a is provided with a third cylinder seat for connecting the movable cylinder 107e, used to install the piston rod of the movable cylinder 107e. Its internal cavity is used to house the clamping cylinder 107c. The two side plates of the cavity of the movable claw body 107a are provided with second slide rails, which cooperate with the first slide rail of the fixed seat 107d to form a sliding pair, allowing the movable claw body 107a to reciprocate under the drive of the movable cylinder 107e. The piston rod of the movable cylinder 107e extends, and the movable claw body 107a moves towards... Figure 7The moving claw 107a moves upwards; conversely, the piston rod of the moving cylinder 107e retracts, causing the moving claw 107a to move upwards. Moreover, when the piston rod of the moving cylinder 107e is fully retracted, causing the moving claw 107a to move to its highest point, the distance from the rotation center line of the rotating arm 106 to the clamping center line of the moving claw 107a is equal to the distance from the rotation center line of the rotating arm 106 to the drill rod center line on the frame 4 (which is also the position between the power head and the clamp), thereby enabling the moving claw 107a to transfer the drill rod from its initial position to the drilling center line between the power head 3 and the clamp 5.

[0089] Specifically, the piston rod of the movable cylinder 107e is connected to the movable claw body 107a via a pin, and the cylinder barrel is hinged to the fixed seat 107d via symmetrical pins on both sides. Therefore, while the movable cylinder 107e drives the movable claw body 107a to move through extension and retraction, it also has rotational freedom, which can avoid the phenomenon of the sliding track getting stuck. The gripper 107b has a fourth cylinder seat on the back side of the drill pipe clamping surface, which is connected to the clamping cylinder 107c and is hinged to the piston rod of the clamping cylinder 107c via a pin. The cylinder barrel of the clamping cylinder 107c is hinged to the movable claw body 107a via a pin.

[0090] Typically, the gripper 107b is positioned on the side of the gripper 107 near the frame 4 to avoid motion interference with the drill rod during the rotation process of the gripper 107 transporting or retrieving the drill rod.

[0091] One end of the pressure rod 108 is a flange, which is connected to the gripper 107, and the other end is a round rod, which is used to press down the pressure block of the isogonal sensor 2 to make it emit a signal.

[0092] Key references Figures 9-10The function of the isoangular sensor 2 is to determine whether the robot arm 1 has reached the same tilt angle as the frame 4. It includes a proximity sensor 201, a pressure plate 202, a pressure plate seat 203, a spring assembly 204, a support seat 205, a sliding rod 206, a sliding seat 207, a mounting bracket 208, a sliding cylinder 209, and a sliding cylinder seat 210. The lower part of the mounting bracket 208 has a flange for mounting the isoangular sensor 2 on the frame 4, and the upper part is a rod for connecting and supporting the sliding seat 207. The sliding cylinder... 209 is hinged to the mounting bracket 208 and the sliding cylinder seat 210 fixed to the sliding rod 206 via pins. The sliding rod 206 and the sliding seat 207 cooperate to form a sliding pair, that is, the sliding rod 206 is disposed in the sliding seat 207 and slidably connected, and moves under the drive of the sliding cylinder 209, thereby extending or retracting the other parts mounted on it toward the gripper 107 of the robot arm 1. The lower part of the support base 205 is fixedly connected to the sliding rod 206, and a hinge is provided thereon. A mounting hole is provided, and a pressure plate seat 203 is mounted on it via a pin to form a hinge. A proximity sensor 201 is provided at one end of the support seat 205 near the gripper 107. The pressure plate seat 203 is a hollow shell, and its side facing the proximity sensor 201 has a downwardly extending side plate that pairs with the proximity sensor 201 to form a signal sensing group. When the side plate of the pressure plate seat 203 enters the sensing range of the proximity sensor 201, the sensor outputs a signal. A spring is provided between the pressure plate seat 203 and the support seat 205. Group 204, the spring group 204 is used to support the pressure plate seat 203. In the natural state, the pressure plate seat 203 is lifted to prevent the side plate of the pressure plate seat 203 from connecting with the proximity sensor 201. The spring group 204 can be one or more springs, or a support structure can be added to its exterior or interior. In other embodiments, it can also be set as other elastic elements. The pressure plate 202 is an L-shaped bent plate piece placed upside down. The upper section is used to contact the pressure rod 108, and the lower section is used to be fixedly connected to the pressure plate seat 203.

[0093] The working principle of the above-mentioned isotropic sensor 2 is as follows:

[0094] In its natural state, the pressure plate seat 203 and the pressure plate 202 are lifted upwards under the action of the spring assembly 204. The downward-extending side plate in the pressure plate seat 203 is not within the sensing range of the proximity sensor 201, and the signal of the proximity sensor 201 is disconnected. When the robot arm 1 moves downwards and approaches the same tilt angle position of the frame 4, the pressure rod 108 at its front end contacts the pressure plate 202 and presses down the pressure plate 202 and the pressure plate seat 203. When the downward-extending side plate in the pressure plate seat 203 reaches the position that the proximity sensor 201 can sense, the signal of the proximity sensor 201 is turned on.

[0095] Key references Figure 11The angle indicator plate 8 is a ring with a partial fan-shaped protrusion. The ring has a plate body 801 and a protruding fan-shaped block 803. The fan-shaped block 803 is provided with a toggle groove 802. A lever is fixed on the side of the frame 4 facing the robot 1. The lever is inserted into the toggle groove 802 so that when the tilt angle of the frame 4 changes, the angle indicator plate 8 and the frame 4 change the same angle. The inner hole of the ring matches the outer diameter of the angle indicator plate mounting section of the rotating cylinder 104h of the pitch arm 104 in the robot 1 facing the frame 4, so that the angle indicator plate 8 is movably fitted on the rotating cylinder 104h.

[0096] The sector block 803 and the incremental sensor 7 are paired to form a signal sensing group. When the tilt angle of the frame 4 is 0°, the lower edge of the sector block 803 is at an angle of magnitude θ on the horizontal line. The initial angle of the robot arm 1 (i.e., the tilt angle of the upper plane of the robot arm 1, which is the center line of the rotating arm 106) is 0°, which means the initial angle of the incremental sensor 7 is 0°. In other words, the initial tilt angle of the incremental sensor 7 is at least θ smaller than the lower edge of the sector block 803, and the signal is not connected at this time. Therefore, when the tilt angle of the robot arm 1 increases, the incremental sensor 7 can only connect the signal when it moves upward into the area covered by the sector block 803, indicating that the robot arm 1 is at a suitable tilt angle for conveying the drill rod.

[0097] The side plate of the pressure plate seat 203 formed by the isoangular sensor 2 and the pressure rod 108, together with the signal sensing group paired with the proximity sensor 201 and the signal sensing group paired with the fan-shaped block 803 and the incremental sensor 7, form a positioning system, thereby realizing the positioning of the robot during the drill rod conveying process. The positioning system is simple and reliable. The relationship between the two signal sensing groups is that when the initial angle of the incremental sensor 7 is 0°, that is, when the robot 1 is in a horizontal position (i.e., the initial position), if the frame body in the frame 4 is also in a horizontal position, and the sliding rod 206 moves under the drive of the sliding cylinder 209, extending the remaining parts (support seat 205 and pressure plate seat 204) mounted on it towards the gripper 107 of the robot 1, the pressure rod 108 can contact the pressure plate 202, that is, the vertical height of the pressure rod can press down the pressure plate, and press down the pressure plate 202 and the pressure plate seat 203, and the downward-extending side plate in the pressure plate seat 203 reaches the position that the proximity sensor 201 can sense, the signal of the proximity sensor 201 is turned on, and thus realizes their mutual cooperation for positioning in the drill pipe conveying process. It should be noted that the positional relationship between the pressure rod and the isoangular sensor in this paragraph is only used to describe their relationship in the vertical direction, to show the cooperation relationship between the side plate of the pressure plate seat 203 formed by the isoangular sensor 2 and the pressure rod 108 and the signal sensing group paired with the proximity sensor 201, and the signal sensing group paired with the sector block 803 and the incremental sensor 7, and is not used as a limitation on their lateral position. Their lateral relationship can be adjusted by the sliding cylinder 209 as needed to avoid motion interference.

[0098] The drill rod conveying process of the drill rod conveying robot for directional drilling rigs described above is as follows:

[0099] Let the drilling inclination angle of frame 4 be α, where α is greater than 0° and is the upward inclination angle, and α is less than 0° and is the downward inclination angle;

[0100] Feeding drill rods to frame 4:

[0101] s1) Initial state of the manipulator: The piston rod II 102b of the pitch cylinder 102 is fully extended, and the piston rod I 102a retracts completely, making the tilt angle of the robot arm 1 0°, that is, the rotating arm 106 is in a horizontal position. At this time, the angle marking plate 8 is not connected to the incremental sensor 7. The gripper 107 is in a vertical position and the fixed claw openings of the gripper 107b and the moving gripper 107a are facing upward. The gripper 107b opens under the action of the retraction of the clamping cylinder 107c. The piston rod of the moving cylinder 107e extends completely. The moving gripper 107a and the gripper 107b are in the lowest position and are in the initial position of the drill rod to be conveyed. Then, the drill rod is taken out from the drill rod box 6 by other conveying devices matched with the drilling machine. The front and rear ends of the drill rod are placed in the two arc-shaped grooves 9 respectively. At this time, the center of the drill rod clamping of the gripper 107 coincides with the center of the drill rod to be conveyed. At the same time, the sliding cylinder 209 retracts completely, causing the proximity sensor 201 and the pressure plate 202 to retract, avoiding interference with the pressure rod 108 of the robot arm 1.

[0102] In another embodiment, the drill rod can also be placed directly by the worker in the initial position or by moving the gripping center line of the claw 107a, thereby meeting the needs of the robot arm 1 to pick up and put back the drill rod from the initial position.

[0103] s2) Clamping the drill rod: The clamping cylinder 107c extends, so that the chuck 107b cooperates with the fixed chuck to clamp the drill rod;

[0104] s3) Gripper extension: The piston rod of the moving cylinder 107e retracts, driving the moving gripper body 107a and the gripper 107b to move upward to reach the highest position;

[0105] s4) Upward movement: The piston rod II 102b of the pitch cylinder 102 retracts, and the pitch arm 104 drives the rotary shaft 105 and the rotating arm 106 to increase the tilt angle. When the upward tilt angle of the robot arm 1 reaches (α+θ), the incremental sensor 7 enters the coverage area of ​​the angle indicator plate 8. The incremental sensor 7 is turned on and sends a signal, indicating that the robot arm 1 is at a suitable tilt angle for conveying the drill rod and stops upward movement. At the same time, the sliding cylinder 209 extends, so that the pressure plate 202 is in a position that can be contacted and pressed down by the pressure rod 108.

[0106] In actual construction, since the drilling inclination angle of frame 4 needs to be set according to the specific construction needs, if α is negative and the absolute value is greater than θ, the incremental sensor 7 will directly enter the coverage area of ​​the angle indicator plate 8, the incremental sensor 7 will be turned on and send a signal. At this time, there is no need to raise it. At this time, the adjustment steps can be made according to the situation where the incremental sensor 7 has been raised to the point where it is turned on and sends a signal.

[0107] s5) Pressing down: The piston rod II 102b of the pitch cylinder 102 extends, and the manipulator pitch arm 104 drives the rotary shaft 105 and the rotating arm 106 to press down, reducing the tilt angle. When the tilt angle of the manipulator 1 reaches α (i.e., the same as the drilling tilt angle of the frame 4), the pressure rod 108 causes the side plate in the pressure plate seat 203 to enter the sensing range of the proximity sensor 201. The proximity sensor 201 is turned on and outputs a signal, stopping the pressing down. At the same time, since the tilt angle of the manipulator 1 has decreased by θ, the incremental sensor 7 is out of the coverage area of ​​the angle marking plate 8, and the signal is disconnected.

[0108] In actual construction, since the drilling angle of the frame 4 needs to be set according to the specific construction needs, if the incremental sensor 7 is still not out of the coverage area of ​​the angle marking plate 8 after the piston rod II 102b is fully extended, the piston rod I 102a can continue to extend to further reduce the tilt angle of the robot arm 1 until the pressure rod 108 presses down the pressure plate 202 so that the side plate in the pressure plate seat 203 enters the sensing range of the proximity sensor 201, the proximity sensor 201 is turned on and outputs a signal, and then the pressing stops.

[0109] s6) Flipping: The rotary drive 103 drives the gripper 107 to flip in the direction of the frame 4 via the rotary shaft 105 and the rotating arm 106, preferably rotating 90° counterclockwise, and the drill rod is fed into the drilling centerline between the power head 3 and the clamp 5 on the frame 4.

[0110] s7) Grip release: After the gripper 5 or power head 3 clamps the drill rod, the gripper 107b releases, and the drill rod delivery is completed;

[0111] s8) Flipping and restoring: The rotary driver 103 drives the gripper 107 to flip away from the frame 4, preferably rotating 90° clockwise, so that the gripper 107 leaves the frame 4. At the same time, the sliding cylinder 209 retracts, causing the pressure plate 202 to retract, so as to avoid contact interference with the pressure rod 108.

[0112] In another embodiment, the piston rod of the movable cylinder 107e can be fully extended as needed, and the movable claw 107a and the gripper 107b can be positioned away from the frame 4 to avoid motion interference.

[0113] S9) Tilt angle returns to zero: The piston rod I 102a is fully retracted, and then the piston rod II 102b of the pitch cylinder 102 is fully extended, so that the tilt angle of the robot arm 1 returns to 0°.

[0114] s10) Grip retraction: The piston rod of the moving cylinder 107e extends fully, causing the moving gripper 107a and the gripper 107b to return to their lowest positions, and the robot arm 1 returns to its initial state.

[0115] Remove the drill pipe from the frame:

[0116] q1) Initial state: Same as step s1, except that no drill rod is placed at the initial position;

[0117] q2) Extend the claw: Same as step s3;

[0118] q3) Upward movement: Same as step s4;

[0119] q4) Press down: Same as step s5;

[0120] q5) Flip: Same as step s6, except that here the gripper flips in empty and just makes contact with the drill pipe;

[0121] q6) Clamping gripper: Clamping cylinder 107c extends, and gripper 107b clamps the drill rod;

[0122] q7) Flip and restore: Same as step s8.

[0123] q8) Zeroing the tilt angle: Same as step s9.

[0124] q9) Gripper retraction: Same as step s10, when the gripper retracts to the lowest position, the drill rod returns to its initial position.

[0125] q10) Grip Release: Clamping cylinder 107c retracts, gripper 107b releases, and robot arm 1 returns to its initial state. Other devices or workers can then remove the drill rod or place it in this position. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A drill rod conveying robot for a directional drilling rig, the robot being arranged on a drilling rig moving platform and located between a drill rod box and a frame arranged on the drilling rig moving platform, the frame comprising a connecting seat fixedly connected to the drilling rig moving platform and a frame body hinged to the connecting seat, characterized in that: The robotic arm includes a pitch cylinder, a rotary actuator, a pitch arm, a rotary shaft, a rotating arm, and a gripper. The pitch cylinder is a double-headed combined cylinder. The piston rod II at one end of the pitch cylinder is hinged to the drilling rig moving platform, and the piston rod I at the other end of the pitch cylinder is hinged to the pitch arm. The vertical plane containing the axis of the pitch cylinder is parallel to the vertical plane containing the axis of the frame. When the piston rod I is fully retracted and the piston rod II is fully extended, the robotic arm is in a horizontal position. The pitch arm includes a connecting sleeve, a support body, a bearing seat, and a rotating cylinder. One end of the rotating cylinder is fixedly connected to a connecting seat in the frame. The connecting sleeve is fitted onto the rotating cylinder and rotatably connected. One end of the support body is fixedly connected to the connecting sleeve, and the other end is connected to the bearing seat. The pitch cylinder is hinged to the support body. One end of the bearing seat is connected to a rotary drive. A rotary shaft is installed in its inner cavity. One end of the rotary shaft is circumferentially fixedly connected to the output shaft of the rotary drive. The other end of the rotary shaft is connected to a rotating arm, and the rotating arm is connected to a gripper. The gripper includes a movable gripper body, a clamping jaw, a clamping cylinder, a fixed base, and the movable cylinder. The fixed base is a concave cavity, and the movable cylinder is hinged within the concave cavity. The movable gripper body forms a sliding pair with the back of the concave cavity, and the rotating arm is connected to the gripper through the side of the concave cavity. The top of the movable gripper body is a fixed jaw, which is hinged with the clamping jaw to clamp and fix the drill rod. The bottom of the movable gripper body is hinged with the piston rod of the movable cylinder to drive the movable gripper body to move. The movable gripper body has an internal cavity, and the clamping cylinder is hinged within the internal cavity. The back of the clamping jaw is hinged with the piston rod of the clamping cylinder to drive the clamping jaw to clamp the drill rod. When the piston rod of the movable cylinder is fully retracted, causing the movable gripper body to move to its highest point, the distance from the rotation center line of the rotating arm to the clamping center line of the movable gripper body is equal to the distance from the rotation center line of the rotating arm to the drilling center line of the frame. It also includes a positioning system, which comprises an isoangular sensor, an incremental sensor, an angle marker plate, and a pressure rod. The pressure rod is connected to the fixed base on the side opposite to the rotating arm. The isoangular sensor includes a proximity sensor, a pressure plate, a pressure plate seat, an elastic element, a support base, a sliding rod, a sliding seat, a mounting bracket, a sliding cylinder, and a sliding cylinder seat. The bottom of the mounting bracket is fixedly connected to the frame body in the frame, and the top is connected to and supports the sliding seat. The sliding rod and the sliding seat are connected to form a sliding pair. The sliding cylinder is fixedly connected to the mounting bracket and the sliding seat respectively. The sliding cylinder seat on the rod is hinged, the bottom of the support seat is fixedly connected to the sliding rod, and a proximity sensor is provided at the end of the support seat near the gripper. One end of the pressure plate seat is hinged to the support seat, and a downwardly extending side plate is provided on the side of the pressure plate seat near the proximity sensor so that the side plate is paired with the proximity sensor to form a signal sensing group. An elastic element is provided between the pressure plate seat and the support seat. In the natural state, the pressure plate seat is raised to prevent the side plate of the pressure plate seat from connecting with the proximity sensor. The top of the pressure plate is used to contact the pressure rod, and the bottom is fixedly connected to the pressure plate seat. The angle indicator plate is a ring with partial fan-shaped protrusions. The ring has a plate body and a protruding fan-shaped block. The inner hole of the ring is movably fitted on the side of the rotating cylinder facing the frame. The fan-shaped block is provided with a toggle groove. The frame body in the frame is fixedly connected to a lever on the side facing the robot. The lever is inserted into the toggle groove so that when the tilt angle of the frame body changes, the angle indicator plate and the frame body change the same angle. The incremental sensor is set on the side of the connecting sleeve near the angle indicator plate and on the side of the connecting sleeve near the isoangular sensor, so that the incremental sensor and the fan-shaped block are paired to form a signal sensing group. When the drilling center lines of the robotic arm and the frame are both in a horizontal position, the incremental sensor is in a horizontal position, and the edge line of the sector block near the incremental sensor is above the horizontal line. The incremental sensor signal is not connected, and the vertical height of the pressure rod can press the pressure plate down, thereby connecting the signal of the proximity sensor.

2. The drill rod conveying robot for directional drilling rigs according to claim 1, characterized in that: The piston rod I is hinged to the support body via a second cylinder seat that is fixedly connected to the middle of the support body.

3. The drill rod conveying robot for directional drilling rigs according to claim 1, characterized in that: The rotating cylinder body is a multi-step cylindrical body with flanges at both ends, which are used to connect the sealing cover and the connecting seat in the frame, respectively.

4. The drill rod conveying robot for directional drilling rigs according to claim 1, characterized in that: The end of the shaft seat away from the rotary drive is also provided with an end cap sleeved on the rotary shaft to limit the axial movement of the rotary shaft.

5. The drill rod conveying robot for directional drilling rigs according to claim 1, characterized in that: The rotary drive is a hydraulic motor or a swing cylinder.

6. The drill rod conveying robot for directional drilling rigs according to claim 1, characterized in that: The fixing base consists of a U-shaped base plate and two side plates symmetrically arranged on one side of the base plate, and the base plate and the two side plates form a concave cavity.

7. The drill rod conveying robot for directional drilling rigs according to claim 6, characterized in that: A pair of first slide rails are symmetrically provided on the other side of the base plate, and a second slide rail matching the first slide rails is provided at one end of the internal cavity of the moving claw near the base plate to form a moving pair.

8. A method for conveying drill rods for directional drilling rigs, characterized in that, The drilling rod conveying robot for a directional drilling rig according to any one of claims 1 to 7, wherein the drilling angle of the frame is an upward tilt angle, comprises the following specific steps: s1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position. The incremental sensor is not turned on. The fixed jaw of the gripper and the moving jaw are facing upward and the gripper is open. The piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position and the drill rod is placed at the position of the gripping center line of the moving jaw. The piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod. s2. Clamping the drill rod: The clamping cylinder extends, causing the jaws to engage with the fixed jaws to clamp the drill rod; s3. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position; s4. Robot arm rises: The piston rod II of the pitch cylinder retracts, the pitch arm drives the rotation shaft and the arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle for conveying the drill rod, and stops rising. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod. s5. Robotic arm pressing down: The piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm increases and decreases. When the pressure rod presses down on the pressure plate, causing the side plate in the pressure plate seat to enter the sensing range of the proximity sensor, the pressure stops when the proximity sensor is turned on and outputs a signal. s6. Flipping: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the clamping center line of the moving gripper body coincides with the drilling center line of the frame, so as to transport the drill rod into the drilling center line of the frame; s7. Grip release: After the gripper or power head in the frame clamps the drill rod, the gripper releases, and the drill rod delivery is completed; s8. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate; s9. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position; s10. Grip retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position, and the robotic arm returns to its initial state.

9. A method for conveying drill rods in a directional drilling rig, characterized in that, The drilling rod conveying robot for a directional drilling rig according to any one of claims 1 to 7, wherein the drilling inclination angle of the frame is a downward inclination angle, comprises the following specific steps: s1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position, the fixed jaws of the gripper and the moving jaw are open and facing upwards, the piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position and the drill rod is placed at the position of the gripping center line of the moving jaw, and the piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod; s2. Clamping the drill rod: The clamping cylinder extends, causing the jaws to engage with the fixed jaws to clamp the drill rod; s3. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position; s41. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, the incremental sensor directly enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is now at a suitable tilt angle for conveying the drill rod. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod. Or s42. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, but the incremental sensor does not enter the coverage area of ​​the angle indicator plate, the piston rod II of the pitch cylinder retracts, and the pitch arm drives the rotation shaft and the rotating arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle for conveying the drill rod, and stops lifting. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod; s51. Robotic arm presses down: When the previous step is s41, the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, when the proximity sensor is turned on and outputs a signal, the pressing stops; Or s52. Robotic arm presses down: When the previous step is s42, the piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the piston rod II is fully extended, the piston rod I continues to extend until the pressure rod presses down on the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor. When the proximity sensor is turned on and outputs a signal, the extension of the piston rod I stops, and the pressure rod stops pressing down; s6. Flipping: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the clamping center line of the moving gripper body coincides with the drilling center line of the frame, so as to transport the drill rod into the drilling center line of the frame; s7. Grip release: After the gripper or power head in the frame clamps the drill rod, the gripper releases, and the drill rod delivery is completed; s8. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate; s9. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position; s10. Grip retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position, and the robotic arm returns to its initial state.

10. A method for conveying drill rods in a directional drilling rig, characterized in that, Using the drill rod conveying robot for directional drilling rigs according to any one of claims 1 to 7, the specific steps for removing drill rods from the frame include: q1. Initial state: The piston rod II of the pitch cylinder is fully extended, and the piston rod I is fully retracted, so that the rotating arm of the manipulator is in a horizontal position, the fixed jaws of the gripper and the moving jaw are open and facing upwards, the piston rod of the moving cylinder is fully extended, so that the moving jaw is in the lowest position, and the piston rod of the sliding cylinder is retracted, so that the pressure plate is away from the pressure rod. q2. Gripper extension: The piston rod of the moving cylinder retracts, driving the moving gripper to move upward to reach its highest position; q31. Robot arm lifting: When the drilling angle of the frame is the downward tilt angle, and the lever connected to the frame body drives the angle indicator plate to rotate, the incremental sensor directly enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is now at a suitable tilt angle for conveying the drill rod. At this time, there is no need to retract the piston rod II of the pitch cylinder. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod. Or q32. The robot arm rises: The piston rod II of the pitch cylinder retracts, the pitch arm drives the rotation shaft and the arm to increase the tilt angle, so that the incremental sensor enters the coverage area of ​​the angle indicator plate. The incremental sensor is turned on and sends a signal, indicating that the robot arm is at a suitable tilt angle to take out the drill rod, and stops rising. At the same time, the sliding cylinder extends, so that the pressure plate is in a position that can be contacted and pressed down by the pressure rod. q41. Robotic arm presses down: When the previous step is q31, the piston rod I of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robotic arm decreases, when the pressure rod presses down the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor, when the proximity sensor is turned on and outputs a signal, the pressing stops; Or q42. The robot arm presses down: When the previous step is q32, the piston rod II of the pitch cylinder extends, the pitch arm drives the rotary shaft and the rotating arm to press down, the tilt angle of the robot arm decreases, and when the piston rod II is fully extended, if the side plate in the pressure plate seat does not enter the sensing range of the proximity sensor, the piston rod I continues to extend until the pressure rod presses down on the pressure plate so that the side plate in the pressure plate seat enters the sensing range of the proximity sensor. When the proximity sensor is turned on and outputs a signal, the extension of the piston rod I stops, and the pressure rod stops pressing down. q5. Flip: The rotary drive drives the gripper to flip towards the frame via the rotary shaft and the rotating arm, so that the gripping center line of the moving gripper body coincides with the center line of the drill rod to be retrieved in the frame; q6. Clamping the drill pipe: The clamping cylinder extends, allowing the jaws to engage with the fixed jaws to clamp the drill pipe; q7. Flipping and restoring: The rotary drive drives the gripper to flip away from the frame, the gripper leaves the frame, and at the same time, the sliding cylinder retracts to retract the pressure plate; q8. Tilt angle zeroing: The piston rod I of the pitch cylinder is fully retracted and the piston rod II is fully extended, so that the rotating arm in the manipulator is in a horizontal position; q9. Gripper retraction: The piston rod of the moving cylinder extends fully, causing the moving gripper to return to its lowest position; q10. Grip Release: The clamping cylinder retracts, the gripper releases, the drill rod is removed, and the robot returns to its initial state.

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