Manipulator for narrow machine body drill rod storage device

Abstract

The invention relates to the technical field of coal mine drilling machines, and discloses a manipulator for a narrow-body drill rod storage device, which comprises a guide assembly arranged at the top end of a drill rod box, a sliding assembly is arranged on the guide assembly, the guide assembly comprises a guide rail fixedly connected to the top end of the drill rod box, the sliding assembly comprises a guide block, and the guide block is in sliding connection with the guide rail. The guide block is connected with a telescopic assembly, the bottom end of the telescopic assembly is connected with a clamping assembly used for clamping a drill rod, the telescopic assembly is used for controlling the clamping assembly to vertically move in the drill rod box, and the sliding assembly is used for driving the telescopic assembly to horizontally move at the top end of the drill rod box.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine drilling machines, and in particular to a manipulator for a narrow-body drill rod storage device. Background Art

[0002] A coal mine drilling rig is a device specially used for underground drilling in coal mines. It is mainly used for various drilling constructions such as gas extraction, water exploration and drainage, coal seam water injection, geological exploration, etc. It usually has a mobile platform with a frame installed on the mobile platform. The frame is used to clamp the drill rod and rotate it. It also has a drill rod box for storing the drill rod. A drill rod transporter and a main manipulator are arranged between the drill rod box and the frame. The drill rod box is provided with a rod delivery manipulator. The rod delivery manipulator places the drill rod in the drill rod box on the drill rod transporter, and places the drill rod in the drill rod transporter into the frame through the main manipulator.

[0003] The Chinese invention patent with authorization announcement number CN110952972B discloses a coal mine drilling rig and a control method thereof, including a drill rod box, a slide rail is arranged on the outer side of the drill rod box, a rod feeding manipulator is slidably connected to the slide rail, the rod feeding manipulator includes a slider slidably connected to the slide rail, a support cylinder is vertically arranged on the slider, a cross arm is horizontally arranged on the top of the support cylinder, an outer cylinder is vertically installed at the end of the cross arm away from the support cylinder, a fixed claw is vertically slidably arranged at the bottom of the outer cylinder, a clamping claw is hinged on the fixed claw, a rod feeding motor is installed on the slider for driving the slider to slide on the slide rail, a first lifting cylinder is installed in the support cylinder for driving the cross arm to move up and down, a second lifting cylinder is installed on the outer cylinder for driving the fixed claw to move up and down, a clamping cylinder is arranged between the fixed claw and the clamping claw for driving the clamping claw and the fixed claw to clamp the drill rod, the support cylinder moves outside the drill rod box driven by the slider, thereby realizing the movement of the rod feeding manipulator as a whole on the drill rod box, and the second lifting cylinder and the clamping cylinder cooperate to realize the rod feeding manipulator grabbing the drill rod and moving it up and down. However, the arrangement of the support tube, the slide block and the slide rail in the prior art will increase the width of the drill rod box, thereby increasing the width of the machine body. When the drill rig is running in the coal mine tunnel, the coal mine tunnel itself is narrow, which is not conducive to the movement of the rod feeding manipulator. Summary of the invention

[0004] The present invention is intended to provide a manipulator for a narrow-body drill rod storage device, so as to achieve the purpose of reducing the width of the body.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a manipulator for a narrow-body drill rod storage device, comprising a guide assembly arranged at the top of a drill rod box, a sliding assembly being arranged on the guide assembly, the guide assembly comprising a guide rail fixedly connected to the top of the drill rod box, the sliding assembly comprising a guide block, the guide block being slidably connected to the guide rail, the guide block being connected to a telescopic assembly, a clamping assembly for clamping the drill rod being connected to the bottom end of the telescopic assembly, the telescopic assembly being used to control the vertical movement of the clamping assembly inside the drill rod box, and the sliding assembly being used to drive the telescopic assembly to move horizontally at the top of the drill rod box.

[0006] The beneficial effects of the present solution are as follows: by setting the guide rail at the top of the drill rod box, when the sliding assembly moves at the top of the drill rod box, it drives the telescopic assembly to move horizontally left and right at the top of the drill rod box. The telescopic assembly can drive the clamping assembly to move up and down in the drill rod box, so that the manipulator body moves as a whole on the guide rail at the top of the drill rod box. The manipulator body clamps the drill rod stored in the drill rod box and moves it to the drill rod transporter, or the manipulator body clamps the drill rod in the drill rod transporter and places it in the drill rod box for storage. Compared with the prior art, the manipulator body does not move across the side of the drill rod box, but is placed on the top of the drill rod box. For narrow coal mine lanes, the width of the overall fuselage is reduced, and it can move more smoothly in the coal mine lanes, thereby achieving the purpose of reducing the width of the fuselage.

[0007] Furthermore, the guide block is provided with a first connecting seat, the first connecting seat is provided with a rotating hole, the telescopic assembly is provided with a second connecting seat, the second connecting seat is protrudingly provided with a rotating part, the rotating part is embedded in the rotating hole, the first connecting seat and the second connecting seat are both provided with fixing holes, and a locking part is connected between the fixing holes. After the second connecting seat is rotated, the fixing hole on the first connecting seat can be aligned with the fixing hole on the second connecting seat.

[0008] The beneficial effects of this solution are as follows: during transportation, since the overall height of the drill rod box and the manipulator body is relatively large and transportation is inconvenient, it is necessary to rotate the telescopic assembly and the clamping assembly together at the top of the drill rod box to a horizontal position to reduce the maximum height of the drill rod box and the manipulator body, drive the second connecting seat to rotate on the first connecting seat, and the rotation of the second connecting seat drives the telescopic assembly to rotate. After the telescopic assembly is rotated to a horizontal position, align the fixing holes on the first connecting seat and the second connecting seat, and fix them with locking members, thereby achieving the purpose of reducing the maximum height between the manipulator body and the drill rod box.

[0009] Furthermore, the telescopic assembly includes a fixed seat, which is connected to the sliding assembly. The fixed seat is vertically slidably connected to the first telescopic cylinder and fixedly connected to the first oil cylinder. The piston end of the first oil cylinder is connected to the first telescopic cylinder. The first oil cylinder is used to drive the first telescopic cylinder to slide on the fixed seat. The first telescopic cylinder is slidably connected to the second telescopic cylinder. The second telescopic cylinder is sleeved with a second oil cylinder. The second oil cylinder is connected to the first telescopic cylinder. The second oil cylinder is used to drive the second telescopic cylinder to slide vertically in the first telescopic cylinder. The clamping assembly is connected below the second telescopic cylinder.

[0010] The beneficial effects of this scheme are as follows: the first telescopic cylinder slides up and down in the fixed cylinder driven by the first oil cylinder, the first telescopic cylinder drives the second telescopic cylinder to move up and down in the vertical direction, thereby realizing the first-level telescopic extension of the telescopic assembly; the second telescopic cylinder moves vertically up and down in the first telescopic cylinder driven by the second oil cylinder, thereby realizing the second-level telescopic extension of the telescopic assembly. By adopting a two-level telescopic structure, on the one hand, the height of the telescopic assembly can be shortened, thereby reducing the maximum height of the manipulator body and the drill rod box, and reducing the movement restrictions in coal mine tunnels with limited height.

[0011] Furthermore, the fixed seat includes a fixed cylinder and a fixed plate fixed to the fixed cylinder, the first telescopic cylinder is internally sleeved in the fixed cylinder, the bottom end of the first telescopic cylinder is fixedly connected to a first end cover, the piston end of the first oil cylinder is connected to the first end cover, the second telescopic cylinder is internally sleeved in the first telescopic cylinder, the second telescopic cylinder protrudes from the bottom end of the first telescopic cylinder, the bottom end of the second telescopic cylinder is fixedly connected to a second end cover, the second oil cylinder is installed on the second telescopic cylinder through the second end cover, and the two ends of the second oil cylinder are respectively connected to the second telescopic cylinder and the first telescopic cylinder.

[0012] The beneficial effect of this solution is: the opening of the second oil cylinder is set upward, and the piston end of the second oil cylinder is upward. At this time, when the piston end of the second oil cylinder is extended and retracted, in the first telescopic cylinder, the cylinder body of the second oil cylinder slides relative to the piston rod, and the cylinder body of the second oil cylinder drives the second telescopic cylinder to slide, which can achieve the purpose of two-level extension and retraction of the telescopic assembly.

[0013] Furthermore, a first flat key is connected between the inner ring of the fixed cylinder and the outer ring of the first telescopic cylinder, and a second flat key is connected between the inner ring of the first telescopic cylinder and the outer ring of the second telescopic cylinder.

[0014] The beneficial effects of this solution are: the first flat key can prevent the fixed cylinder and the first telescopic cylinder from rotating relative to each other, and the second flat key can prevent the first telescopic cylinder and the second telescopic cylinder from rotating relative to each other, thereby ensuring the stability of the connection of the telescopic assembly.

[0015] Furthermore, the clamping assembly includes a fixed claw fixedly connected to the bottom end of the second oil cylinder and a clamping cylinder, the fixed claw is hinged with a movable claw, the piston end of the clamping cylinder is connected to the movable claw, and the clamping cylinder is used to drive the movable claw to push the drill rod against the fixed claw.

[0016] The beneficial effect of this solution is that it can achieve the purpose of the manipulator body clamping the drill rod.

[0017] Furthermore, the guide assembly includes a guide rail, a drive rack is provided on the guide rail, the sliding assembly includes a guide block, the bottom end of the guide block is rotatably connected to a drive gear, a motor is installed on the top of the guide block, the output end of the motor is connected to the drive gear, the guide block is slidably connected to the guide rail, and the drive gear is meshed with the drive rack.

[0018] The beneficial effect of this solution is that the motor drives the driving gear to rotate, and the driving gear drives the rack when rotating to make the driving gear move, so that the driving gear can drive the guide block to slide on the guide rail.

[0019] Furthermore, the guide assembly is also provided with a displacement sensor and a limit block. The limit blocks are installed at both ends of the guide rail to prevent the guide block from sliding off the guide rail. The displacement sensor is arranged at the end of the guide rail and is connected to the guide block through a horizontal lead. The displacement sensor is used to detect the relative position of the manipulator body on the drill rod box. The motor is set as a hydraulic motor.

[0020] The beneficial effect of this solution is that when the guide block moves to both ends of the guide rail, the hydraulic motor stops rotating due to pressure buildup, preventing the telescopic assembly from falling, thereby achieving the function of protecting the structure.

[0021] Furthermore, the guide block is also provided with a hose support seat.

[0022] The beneficial effects of this solution are: the oil pipe is too long and may be damaged during actual use. When replacing it, the entire oil pipe needs to be disassembled and installed, which involves many structures. Adding a hose support seat can support the oil pipe to prevent damage to the oil pipe during the operation of the manipulator body, thereby ensuring that the oil pipe is not damaged.

[0023] Furthermore, a telescopic sensor is installed on the top of the fixed tube, which is connected to the second telescopic tube through a lead wire, and is used to measure the moving distance of the second telescopic tube in the vertical direction; a locator and a positioning sensor are provided on one side of the fixed claw, and the positioning sensor is electrically connected to the locator, and the positioning sensor is electrically connected to the telescopic sensor.

[0024] The beneficial effect of this solution is as follows: when the clamping assembly does not grab the drill rod, the telescopic assembly drives the fixed claw to extend. If the locator touches the drill rod during the extension process, the locator transmits an electrical signal to the positioning sensor, and the positioning sensor sends a signal. At this time, the telescopic sensor calculates the extension length of the clamping assembly, and the number of drill rod layers below is calculated to facilitate the next clamping.

[0025] Furthermore, the first connecting seat is fixed to a side of the guide block close to the telescopic assembly, and the second connecting seat is fixedly connected to a side of the fixing plate close to the guide assembly.

[0026] The beneficial effect of this solution is that the telescopic assembly is fixedly connected to the guide block through the first connecting seat and the second connecting seat, which can achieve the purpose of connecting the fixed seat to the sliding assembly.

[0027] Furthermore, the first connecting seat is set as a first connecting plate, the second connecting seat is set as a second connecting plate, the rotating member is set as a cylindrical rotating column, the diameter of the rotating hole is equal to the diameter of the axial circumferential cross-section circle of the rotating column, the fixing hole is set as a threaded hole, and the locking member is set as a connecting bolt.

[0028] Furthermore, the guide block is provided with a guide groove for the guide rail to pass through, the guide rail is embedded in the guide groove, the guide rail includes a first guide rail and a second guide rail, the first guide rail and the second guide rail are arranged opposite to each other, there is a gap between the first guide rail and the second guide rail for the gear to move, and the rack is arranged on any opposite surface of the first guide rail and the second guide rail.

[0029] The beneficial effect of this solution is that the guide rail is embedded in the guide groove to ensure the stability of the connection between the guide block and the guide rail.

[0030] Furthermore, a plurality of partitions are arranged in the drill rod box, and the plurality of partitions are arranged at equal intervals, and the partitions are used to separate the drill rods in the drill rod box into rows.

[0031] Furthermore, the drill rod box is provided with a side door.

[0032] The beneficial effect of this solution is that it can achieve the purpose of allowing workers to enter through the side door when carrying drill rods.

[0033] Furthermore, the end of the rotating column away from the second connecting plate is detachably connected to the limiting plate, and the limiting plate is connected to the limiting member. After the rotating column is embedded in the rotating hole, the limiting member connects the limiting plate and the rotating column in sequence, and presses the limiting plate against the side of the first connecting plate away from the second connecting plate.

[0034] Furthermore, the limiting member is configured as a limiting bolt, and the limiting bolt is coaxially connected to the rotating column. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of the telescopic mechanism in a vertical state according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the overall structure of the telescopic mechanism in the vertical and horizontal states according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of the connection between the sliding mechanism and the telescopic mechanism according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic structural diagram of a guide block according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the connection structure of the telescopic mechanism and the clamping mechanism according to an embodiment of the present invention;

[0040] Figure 6 It is a schematic diagram of the overall cross-sectional structure of the telescopic mechanism and the clamping mechanism of an embodiment of the present invention;

[0041] Figure 7 It is an overall top view of the telescopic mechanism and the clamping mechanism of an embodiment of the present invention;

[0042] Figure 8 It is a schematic cross-sectional structure diagram of the clamping mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] The reference numerals in the drawings of the specification include: drill rod box 1, manipulator body 2, guide assembly 3, guide rail 31, first guide rail 311, second guide rail 312, drive rack 313, displacement sensor 32, limit block 33, sliding assembly 4, first connecting plate 41, rotating hole 411, threaded hole 412, guide block 42, driving gear 421, hydraulic motor 422, hose support seat 423, guide groove 424, telescopic assembly 5, second connecting plate 51, rotating column 5 11. Limiting plate 5111, limiting bolt 5112, connecting bolt 512, fixing seat 52, fixing cylinder 521, telescopic sensor 5211, fixing plate 522, first telescopic cylinder 53, first end cover 531, second telescopic cylinder 54, second end cover 541, first oil cylinder 55, second oil cylinder 56, first flat key 57, second flat key 58, clamping assembly 6, fixing claw 61, movable claw 611, positioner 612, positioning sensor 613, clamping cylinder 62.

[0045] Example

[0046] The embodiment is basically as follows Figure 1-8 As shown, a manipulator for a narrow-body drill pipe storage device, such as Figure 1-3 As shown, it includes a drill rod box 1, the top of the drill rod box 1 is fixedly connected to a guide rail 31, the guide rail 31 includes a first guide rail 311 and a second guide rail 312 arranged opposite to each other, a guide block 42 is slidably connected to the guide rail 31, and a guide groove 424 for sliding the first guide rail 311 and the second guide rail 312 is symmetrically opened at the bottom of the guide block 42, the first guide rail 311 and the second guide rail 312 are embedded in the guide groove 424, the bottom of the guide block 42 is rotatably connected to a driving gear 421, the axis of the driving gear 421 coincides with the geometric center of the guide block 42, and a hydraulic Motor 422, the output shaft of the hydraulic motor 422 is connected to the driving gear 421, a gap is provided between the first guide rail 311 and the second guide rail 312 for the driving gear 421 to move, and the driving rack 313 can be provided on the opposite surfaces of the first guide rail 311 and the second guide rail 312. In this scheme, the driving rack 313 is preferably provided on the first guide rail 311, and the driving gear 421 is meshed with the driving rack 313. A plurality of partitions are provided in the drill rod box 1, and the plurality of partitions are arranged at equal intervals. The partitions are used to separate the drill rods in the drill rod box 1 into rows, and the drill rod box 1 is also provided with a side door.

[0047] A displacement sensor 32 is installed at the end of the guide rail 31. The displacement sensor 32 is installed on the guide rail 31 through a mounting frame. The mounting frames for installing the displacement sensor 32 are respectively located at both ends of the guide rail 31, and a hollow shaft is set between the displacement sensor 32 and the mounting frame. The wire of the displacement sensor 32 is located inside the hollow shaft (not shown in the figure). The other end of the wire of the displacement sensor 32 is connected to the guide block 42 to realize the displacement sensor 32 to detect the running distance of the guide block 42. Limit blocks 33 are installed at both ends of the guide rail 31. The guide block 42 includes a first connecting plate 41 fixed to itself, and the first connecting plate 41 is provided with a rotating hole 411. The first connecting plate 41 is located on the outer side of the rotating hole 411 and is provided with a plurality of threaded holes 412. The plurality of threaded holes 412 are arranged in a square, and the geometric center of the square coincides with the axis of the rotating hole 411. The guide block 42 is connected to a hose support seat 423, and the guide block 42 is also connected to a telescopic component 5.

[0048] like Figure 3 , Figure 5-7 As shown, the telescopic assembly 5 includes a fixed seat 52 at the top, the fixed seat 52 includes a fixed cylinder 521 and a fixed plate 522 fixedly connected to the outer side of the fixed cylinder 521, the inner circle of the circumferential section of the fixed cylinder 521 is circular, the fixed plates 522 are provided in two pieces and are symmetrically arranged on both sides of the side of the fixed cylinder 521 close to the guide block 42, a second connecting plate 51 is clamped between the two fixing plates 522, the second connecting plate 51 and the fixing plate 522 are fixedly connected by bolts, a rotating column 511 is provided on the side of the second connecting plate 51 close to the guide block 42, the diameter of the circumferential section of the rotating column 511 is equal to the diameter of the rotating hole 411, and the rotating column 51 is located on the second connecting plate 51 A plurality of threaded holes 412 are also provided on both sides, and are symmetrically arranged. The threaded holes 412 on the first connecting plate 41 correspond to the threaded holes 412 on the second connecting plate 51. The threaded holes 412 are connected with connecting bolts 512. When the rotating column 511 is embedded in the rotating hole 411, the threaded holes 412 on the first connecting plate 41 and the second connecting plate 51 are aligned and connected by the connecting bolts 512. At the same time, the limiting plate 5111 is placed at the end of the rotating column 511. The limiting bolt 5112 passes through the limiting plate 5111 and is connected to the axis of the rotating column 511. The limiting plate 5111 is tightly pressed against the first connecting plate 41 through the connection between the limiting bolt 5112 and the rotating column 511.

[0049] The first telescopic cylinder 53 is slidably connected in the fixed cylinder 521, and the outer cylindrical surface of the first telescopic cylinder 53 is tangent to the inner cylindrical surface of the fixed cylinder 521. A vertically arranged first flat key 57 is connected between the first telescopic cylinder 53 and the fixed cylinder 521. The bottom end of the first telescopic cylinder 53 protrudes from the fixed cylinder 521 and is fixedly connected to the first end cover 531. A first oil cylinder 55 is installed on the outer side of the fixed cylinder 521 at the fixed plate 522. The cylinder body of the first oil cylinder 55 is fixedly connected to the fixed cylinder 521 through the fixed plate 522. The first end cover 531 is fixedly provided with an articulated seat directly below the first oil cylinder 55. The end of the piston end of the first oil cylinder 55 is connected to the articulated seat. The top of the first telescopic cylinder 53 is also fixedly provided with an articulated seat. The second telescopic cylinder 54 is slidably connected in the first telescopic cylinder 53. The second telescopic cylinder 55 The outer ring is tangent to the inner ring of the first telescopic cylinder 53. A second flat key 58 is vertically arranged between the second telescopic cylinder 54 and the first telescopic cylinder 53. A second end cover 541 is fixedly connected to the bottom end of the second telescopic cylinder 54. A second oil cylinder 56 is sleeved inside the second telescopic cylinder 54. The piston end of the second oil cylinder 56 is arranged upward. The second end cover 541 is fixedly connected to the cylinder seat of the second oil cylinder 56 by bolts. The end of the piston end of the second oil cylinder 56 is connected to the hinge seat arranged at the top end of the first telescopic cylinder 53. The clamping assembly 6 is connected to the bottom end of the cylinder seat of the second oil cylinder 56. A telescopic sensor 5211 is fixedly connected to the top end of the fixed cylinder 521. The lead wire of the telescopic sensor 5211 is connected to the top end of the second telescopic cylinder 54. Since the first telescopic cylinder 53 is hollow, it does not interfere with the connection of the lead wire.

[0050] like Figure 6 , Figure 8 As shown, the bottom end of the second oil cylinder 56 is fixedly connected to a fixed claw 61, and the bottom end of the fixed claw 61 is hinged to a movable claw 611. The bottom end of the cylinder seat of the second oil cylinder 56 is also fixedly connected to a clamping cylinder 62. The movable claw 611 is located directly below the clamping cylinder 62 and is provided with a connecting pin. The end of the piston end of the clamping cylinder 62 is connected to the movable claw 611 through the connecting pin. A positioner 612 is connected to the side of the fixed claw 61, and a positioning sensor 613 is provided at the top of the positioner 612. The positioner 612 is electrically connected to the positioning sensor 613.

[0051] Its working principle is as follows: the hydraulic motor 422 drives the driving gear 421 to rotate, and the driving gear 421 moves under the action of the driving rack 313. The movement of the driving gear 421 drives the sliding assembly 4 to move. When the sliding assembly 4 moves to the end of the guide rail 31, the hydraulic motor 422 is pressed to stop the driving gear 421 from rotating. The piston end of the first oil cylinder 55 is extended and retracted to drive the first telescopic cylinder 53 to move up and down in the fixed cylinder 521. The first telescopic cylinder 53 drives the second telescopic cylinder 54 and the clamping mechanism to move up and down together. The piston end of the second oil cylinder 56 is extended and retracted to drive the second telescopic cylinder 54 to move up and down in the first telescopic cylinder 53, realizing two-stage extension and retraction. The clamping cylinder 62 controls the movable claw 611 and the fixed grasping drill rod. Through the cooperation of the telescopic mechanism and the sliding mechanism, the manipulator body 2 can clamp and move the drill rod.

[0052] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A manipulator for a narrow-body drill pipe storage device, characterized in that: It includes a guide assembly arranged at the top of the drill rod box, a sliding assembly is arranged on the guide assembly, the guide assembly includes a guide rail fixedly connected to the top of the drill rod box, the sliding assembly includes a guide block, the guide block is slidably connected to the guide rail, the guide block is connected to a telescopic assembly, the bottom end of the telescopic assembly is connected to a clamping assembly for clamping the drill rod, the telescopic assembly is used to control the vertical movement of the clamping assembly inside the drill rod box, and the sliding assembly is used to drive the telescopic assembly to move horizontally at the top of the drill rod box.

2. A manipulator for a narrow-body drill pipe storage device according to claim 1, characterized in that: A rack is arranged on the guide rail, the bottom end of the guide block is rotatably connected with a driving gear, a motor is installed on the top end of the guide block, and the output end of the motor is connected with the driving gear to mesh the driving gear with the driving rack.

3. A manipulator for a narrow-body drill pipe storage device according to claim 2, characterized in that: The guide rail includes a first guide rail and a second guide rail. The first guide rail and the second guide rail are arranged opposite to each other. There is a gap between the first guide rail and the second guide rail for the gear to move. The rack is arranged on any opposite surface of the first guide rail and the second guide rail. The guide block is provided with a guide groove for the guide rail to pass through, and the guide rail is embedded in the guide groove.

4. A manipulator for a narrow-body drill pipe storage device according to claim 3, characterized in that: The guide assembly also includes a displacement sensor and a limit block. The limit blocks are installed at both ends of the guide rail to prevent the guide block from sliding off the guide rail. The displacement sensor is arranged at the end of the guide rail and is connected to the guide block through a horizontal lead. The displacement sensor is used to detect the relative position of the manipulator body on the drill rod box. The motor is set as a hydraulic motor.

5. A manipulator for a narrow-body drill pipe storage device according to claim 4, characterized in that: The guide block is provided with a first connecting seat, the first connecting seat is provided with a rotating hole, the telescopic assembly is provided with a second connecting seat, the second connecting seat is protrudingly provided with a rotating member, the rotating member is embedded in the rotating hole, the first connecting seat and the second connecting seat are both provided with fixing holes, a locking member is connected between the fixing holes, after the second connecting seat is rotated, the fixing hole on the first connecting seat can be aligned with the fixing hole on the second connecting seat.

6. A manipulator for a narrow-body drill pipe storage device according to claim 5, characterized in that: The telescopic assembly includes a fixed seat, which is connected to the guide block. The fixed seat is vertically slidably connected to the first telescopic cylinder and fixedly connected to the first oil cylinder. The piston end of the first oil cylinder is connected to the first telescopic cylinder. The first oil cylinder is used to drive the first telescopic cylinder to slide on the fixed seat. The first telescopic cylinder is slidably connected to the second telescopic cylinder. The second telescopic cylinder is sleeved with a second oil cylinder, which is connected to the first telescopic cylinder. The second oil cylinder is used to drive the second telescopic cylinder to slide vertically in the first telescopic cylinder. The clamping assembly is connected below the second telescopic cylinder.

7. A manipulator for a narrow-body drill pipe storage device according to claim 6, characterized in that: The fixed seat includes a fixed cylinder and a fixed plate fixed to the fixed cylinder, the first telescopic cylinder is sleeved in the fixed cylinder, the bottom end of the first telescopic cylinder is fixedly connected to the first end cover, the piston end of the first oil cylinder is connected to the first end cover, the second telescopic cylinder is sleeved in the first telescopic cylinder, the second telescopic cylinder protrudes from the bottom end of the first telescopic cylinder, the bottom end of the second telescopic cylinder is fixedly connected to the second end cover, the second oil cylinder is installed on the second telescopic cylinder through the second end cover, and the two ends of the second oil cylinder are respectively connected to the second telescopic cylinder and the first telescopic cylinder.

8. A manipulator for a narrow-body drill pipe storage device according to claim 7, characterized in that: A first flat key is connected between the inner ring of the fixed cylinder and the outer ring of the first telescopic cylinder, and a second flat key is connected between the inner ring of the first telescopic cylinder and the outer ring of the second telescopic cylinder.

9. A manipulator for a narrow-body drill pipe storage device according to claim 8, characterized in that: The clamping assembly comprises a fixed claw fixedly connected to the bottom end of the second oil cylinder and a clamping oil cylinder, the fixed claw is hinged with a movable claw, the piston end of the clamping oil cylinder is connected to the movable claw, and the clamping oil cylinder is used to drive the movable claw to push the drill rod against the fixed claw.

10. A manipulator for a narrow-body drill pipe storage device according to claim 9, characterized in that: The guide block is also provided with a hose support seat.

11. A manipulator for a narrow-body drill pipe storage device according to claim 10, characterized in that: The first connecting seat is fixed to a side of the guide block close to the telescopic assembly, and the second connecting seat is fixedly connected to a side of the fixing plate close to the guide assembly.

12. A manipulator for a narrow-body drill pipe storage device according to claim 11, characterized in that: The first connecting seat is set as a first connecting plate, the second connecting seat is set as a second connecting plate, the rotating member is set as a cylindrical rotating column, the diameter of the rotating hole is equal to the diameter of the axial circumferential cross-section circle of the rotating column, the fixing hole is set as a threaded hole, and the locking member is set as a connecting bolt.

13. A manipulator for a narrow-body drill pipe storage device according to claim 12, characterized in that: A telescopic sensor is installed on the top of the fixed cylinder. The telescopic sensor is connected to the second telescopic cylinder through a vertical lead. The telescopic sensor is used to measure the moving distance of the second telescopic cylinder in the vertical direction. A locator and a positioning sensor are arranged on one side of the fixed claw. The positioning sensor is electrically connected to the locator, and the positioning sensor is electrically connected to the telescopic sensor.

14. A manipulator for a narrow-body drill pipe storage device according to claim 13, characterized in that: A plurality of partitions are arranged in the drill rod box, and the plurality of partitions are arranged at equal intervals. The partitions are used to separate the drill rods in the drill rod box into rows.

15. A manipulator for a narrow-body drill pipe storage device according to claim 14, characterized in that: The drill rod box is provided with a side door.

16. A manipulator for a narrow-body drill pipe storage device according to claim 15, characterized in that: The end of the rotating column away from the second connecting plate is detachably connected to the limiting plate, and the limiting plate is connected to the limiting member. After the rotating column is embedded in the rotating hole, the limiting member sequentially connects the limiting plate and the rotating column, and presses the limiting plate against the side of the first connecting plate away from the second connecting plate.

17. A manipulator for a narrow-body drill pipe storage device according to claim 16, characterized in that: The limiting member is arranged as a limiting bolt, and the limiting bolt is coaxially connected with the rotating column.

Images