A narrow machine body drill rod storage device mechanical arm

Abstract

The present application relates to the technical fields of coal mine drilling machine, and discloses a mechanical hand for narrow body drill rod storage device, which comprises a guide assembly arranged at the top end of a drill rod box, and a sliding assembly arranged on the guide assembly, wherein 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, the guide block is in sliding connection with the guide rail, the guide block is connected with an extension assembly, the bottom end of the extension assembly is connected with a clamping assembly for clamping the drill rod, the extension assembly is used for controlling the vertical movement of the clamping assembly in the drill rod box, and the sliding assembly is used for driving the horizontal movement of the extension assembly at the top end of the drill rod box, and the present application has the effect of reducing the body width.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling rig technology, and more specifically to a robotic arm for a narrow-body drill rod storage device. Background Technology

[0002] A coal mine drilling rig is a piece of equipment specifically designed for underground drilling in coal mines. It is mainly used for various drilling operations such as gas extraction, water exploration and drainage, coal seam water injection, and geological exploration. It typically has a mobile platform on which a frame is mounted. The frame is used to hold and rotate drill rods. It also has a drill rod box for storing drill rods. A drill rod transfer device and a main manipulator are installed between the drill rod box and the frame. The drill rod box is equipped with a rod delivery manipulator, which places the drill rods in the drill rod box into the drill rod transfer device. The main manipulator then places the drill rods from the drill rod transfer device into the frame.

[0003] Chinese invention patent CN110952972B discloses a coal mine drilling rig and its control method, including a drill rod box. A slide rail is provided on the outside of the drill rod box, and 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 provided on the slider, a horizontal arm is horizontally provided at the top of the support cylinder, an outer cylinder is vertically installed at the end of the horizontal arm away from the support cylinder, a fixed claw is vertically slidably provided at the bottom of the outer cylinder, and a clamping claw is hinged on the fixed claw. A rod-feeding motor is installed on the slider to drive the slider to slide on the slide rail. A first lifting cylinder is installed inside the support cylinder to drive the horizontal arm to move up and down. A second lifting cylinder is installed on the outer cylinder to drive the fixed claw to move up and down. A clamping cylinder is provided between the fixed claw and the clamping claw to drive the clamping claw and the fixed claw to clamp the drill rod. The support cylinder moves outside the drill rod box under the drive of the slider, thereby realizing the movement of the entire rod-feeding manipulator on the drill rod box. The second lifting cylinder and the clamping cylinder cooperate to realize the rod-feeding manipulator to grab the drill rod and move it up and down. However, the existing technology's setup of support cylinders, sliders, and slide rails increases the width of the drill rod box, thereby increasing the width of the machine body. When the drilling rig is operating in a coal mine roadway, the roadway itself is narrow, which is not conducive to the movement of the rod-feeding robot. Summary of the Invention

[0004] The present invention aims to provide a robotic arm for a narrow-body drill rod storage device, so as to reduce the width of the machine body.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm for a narrow-body drill pipe storage device, comprising a guide assembly disposed at the top of the drill pipe box, a sliding assembly disposed on the guide assembly, the guide assembly including a guide rail fixedly connected to the top of the drill pipe box, the sliding assembly including a guide block, the guide block being slidably connected to the guide rail, the guide block being connected to a telescopic assembly, the bottom end of the telescopic assembly being connected to a clamping assembly for gripping the drill pipe, the telescopic assembly being used to control the vertical movement of the clamping assembly inside the drill pipe box, and the sliding assembly being used to drive the telescopic assembly to move horizontally at the top of the drill pipe box.

[0006] The beneficial effects of this solution are as follows: By setting the guide rail at the top of the drill pipe box, the sliding component moves at the top of the drill pipe box, which in turn drives the telescopic component to move horizontally left and right at the top of the drill pipe box. The telescopic component extends and retracts, which drives the clamping component to move up and down inside the drill pipe box. This allows the entire robot arm to move on the guide rail at the top of the drill pipe box. The robot arm can then pick up the drill pipes stored inside the drill pipe box and move them to the drill pipe transfer device, or pick up the drill pipes from the drill pipe transfer device and place them in the drill pipe box for storage. Compared with the prior art, the robot arm does not move across the side of the drill pipe box, but is placed at the top of the drill pipe box. For narrow coal mine roadways, the overall width of the machine body is reduced, allowing for smoother movement in the coal mine roadways and achieving the goal of reducing the width of the machine body.

[0007] Furthermore, the guide block is provided with a first connecting seat, which has a rotating hole. The telescopic component is provided with a second connecting seat, which has a protruding rotating part that is embedded in the rotating hole. Both the first and second connecting seats are provided with fixing holes, and a locking part is connected between the fixing holes. After the second connecting seat rotates, the fixing holes on the first connecting seat can be aligned with the fixing holes on the second connecting seat.

[0008] The beneficial effects of this solution are as follows: During transportation, due to the large overall height of the drill pipe box and the robot body, transportation is inconvenient. Therefore, it is necessary to rotate the telescopic component and the clamping component together at the top of the drill pipe box to a horizontal position to reduce the maximum height of the drill pipe box and the robot body. Drive the second connecting seat to rotate on the first connecting seat. The rotation of the second connecting seat drives the telescopic component to rotate. After rotating the telescopic component to a horizontal position, align the fixing holes on the first and second connecting seats and fix them with locking components. This can achieve the purpose of reducing the maximum height between the robot body and the drill pipe box.

[0009] Furthermore, the telescopic assembly includes a fixed base connected to a sliding assembly. The fixed base is vertically slidably connected to a first telescopic cylinder and fixedly connected to a first hydraulic cylinder. The piston end of the first hydraulic cylinder is connected to the first telescopic cylinder. The first hydraulic cylinder is used to drive the first telescopic cylinder to slide on the fixed base. A second telescopic cylinder is slidably connected inside the first telescopic cylinder. A second hydraulic cylinder is sleeved inside the second telescopic cylinder and connected to the first telescopic cylinder. The second hydraulic cylinder is used to drive the second telescopic cylinder to slide vertically inside the first telescopic cylinder. A clamping assembly is connected below the second telescopic cylinder.

[0010] The beneficial effects of this solution are as follows: the first telescopic cylinder slides up and down inside the fixed cylinder under the drive of the first hydraulic cylinder, and the first telescopic cylinder drives the second telescopic cylinder to move up and down in the vertical direction, realizing the first-level telescopic extension of the telescopic component. Under the drive of the second hydraulic cylinder, the second telescopic cylinder moves vertically up and down inside the first telescopic cylinder, realizing the second-level telescopic extension of the telescopic component. By adopting the two-level telescopic structure, the height of the telescopic component can be shortened, thereby reducing the maximum height of the robot body and the drill pipe box, and reducing the movement restrictions in coal mine roadways with limited height.

[0011] Furthermore, the fixed base includes a fixed cylinder and a fixed plate fixed to the fixed cylinder. The first telescopic cylinder is fitted inside the fixed cylinder, and a first end cap is fixedly connected to the bottom end of the first telescopic cylinder. The piston end of the first hydraulic cylinder is connected to the first end cap. The second telescopic cylinder is fitted inside the first telescopic cylinder, and the second telescopic cylinder protrudes from the bottom end of the first telescopic cylinder. A second end cap is fixedly connected to the bottom end of the second telescopic cylinder. The second hydraulic cylinder is installed on the second telescopic cylinder through the second end cap, and both ends of the second hydraulic cylinder are respectively connected to the second telescopic cylinder and the first telescopic cylinder.

[0012] The beneficial effects of this solution are as follows: with the opening of the second hydraulic cylinder facing upward and the piston end of the second hydraulic cylinder facing upward, when the piston end of the second hydraulic cylinder extends and retracts, the cylinder body of the second hydraulic cylinder slides relative to the piston rod inside the first telescopic cylinder, and the cylinder body of the second hydraulic cylinder drives the second telescopic cylinder to slide, thus achieving the purpose of two-stage extension and retraction of the telescopic component.

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

[0014] The beneficial effects of this solution are: the first flat key can prevent relative rotation between the fixed cylinder and the first telescopic cylinder, and the second flat key can prevent relative rotation between the first telescopic cylinder and the second telescopic cylinder, thus ensuring the stability of the telescopic assembly connection.

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

[0016] The beneficial effect of this solution is that it enables the robotic arm to grip the drill rod.

[0017] Furthermore, the guiding component includes a guide rail with a drive rack on it, and the sliding component includes a guide block with a drive gear rotatably connected to the bottom end of the guide block. A motor is mounted on the top end of the guide block, and 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 meshes with the drive rack.

[0018] The beneficial effects of this solution are as follows: the motor drives the drive gear to rotate, and when the drive gear rotates, it drives the rack to move, which enables the drive gear to drive the guide block to slide on the guide rail.

[0019] Furthermore, the guide assembly is also equipped with a displacement sensor and a limit block. The limit block is installed at both ends of the guide rail to prevent the guide block from slipping off the guide rail. The displacement sensor is set at the end of the guide rail and connected to the guide block through a horizontal lead wire. The displacement sensor is used to detect the relative position of the robot body on the drill pipe box. The motor is set as a hydraulic motor.

[0020] The beneficial effects of this solution are: when the guide block moves to both ends of the guide rail, the hydraulic motor stops rotating due to pressure buildup, preventing the telescopic components from falling off and thus protecting the structure.

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

[0022] The beneficial effects of this solution are as follows: If the oil pipe is too long and gets damaged during actual use, the entire oil pipe needs to be disassembled and installed during replacement, which involves many structures. Adding a hose support can support the oil pipe and prevent it from being damaged during the operation of the robot body, thus ensuring that the oil pipe is not damaged.

[0023] Furthermore, a telescopic sensor is installed at the top of the fixed cylinder. The telescopic sensor is connected to the second telescopic cylinder via a lead wire. The telescopic sensor is used to measure the vertical movement distance of the second telescopic cylinder. A positioner and a positioning sensor are provided on one side of the fixed claw. The positioning sensor is electrically connected to the positioner and to the telescopic sensor.

[0024] The beneficial effects of this solution are as follows: when the clamping assembly does not grip 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. The positioning sensor sends a signal, and at this time, the telescopic sensor calculates the extension length of the clamping assembly. By calculating, the number of drill rod layers below can be determined so that it can be clamped next time.

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

[0026] The beneficial effects of this solution are: the telescopic component 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 component.

[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 component 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 component is set as a connecting bolt.

[0028] Furthermore, the guide block has 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 either opposite surface of the first guide rail and the second guide rail.

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

[0030] Furthermore, the drill pipe box is equipped with several partitions, which are equally spaced and used to separate the drill pipes in the drill pipe box in rows.

[0031] Furthermore, the drill pipe box is equipped with a side door.

[0032] The beneficial effect of this solution is that it enables workers to enter through the side door when moving drill pipes.

[0033] Furthermore, a limiting plate is detachably connected to the end of the rotating column away from the second connecting plate. The limiting plate is connected to a limiting component. After the rotating column is inserted into the rotating hole, the limiting component connects the limiting plate and the rotating column in sequence, and the limiting plate abuts against the side of the first connecting plate away from the second connecting plate.

[0034] Furthermore, the limiting component is set as a limiting bolt, which is coaxially connected to the rotating column. Attached Figure Description

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

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

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

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

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

[0040] Figure 6 This is a schematic cross-sectional view of the telescopic mechanism and clamping mechanism according to an embodiment of the present invention;

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

[0042] Figure 8 This is a cross-sectional structural diagram of the clamping mechanism according to an embodiment of the present invention. Detailed Implementation

[0043] The following detailed description illustrates the specific implementation method:

[0044] The reference numerals in the accompanying drawings include: drill rod box 1, robot 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, drive gear 421, hydraulic motor 422, hose support 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 cap 531, second telescopic cylinder 54, second end cap 541, first hydraulic cylinder 55, second hydraulic 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 hydraulic cylinder 62.

[0045] Example

[0046] The implementation examples are basically as follows Figure 1-8 As shown, a robotic arm for a narrow-bodied drill pipe storage device, such as Figure 1-3 As shown, the system includes a drill pipe box 1. A guide rail 31 is fixedly connected to the top of the drill pipe box 1. 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. The bottom end of the guide block 42 is symmetrically provided with guide grooves 424 for the first guide rail 311 and the second guide rail 312 to slide. The first guide rail 311 and the second guide rail 312 are embedded in the guide grooves 424. A drive gear 421 is rotatably connected to the bottom end of the guide block 42. The axis of the drive gear 421 coincides with the geometric center of the guide block 42. A hydraulic system is installed at the top end of the guide block 42. The output shaft of the hydraulic motor 422 is connected to the drive gear 421. A gap is provided between the first guide rail 311 and the second guide rail 312 for the drive gear 421 to move. A drive 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 first guide rail 311 is provided with the drive rack 313. The drive gear 421 meshes with the drive rack 313. A number of partitions are provided in the drill rod box 1. The partitions are equally spaced and are used to separate the drill rods in the drill rod box 1 in rows. 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 mounted on the guide rail 31 by a mounting bracket. The mounting brackets for mounting the displacement sensor 32 are located at both ends of the guide rail 31, and a hollow shaft is provided between the displacement sensor 32 and the mounting bracket. 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 detection of the running distance of the guide block 42 by the displacement sensor 32. 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. The first connecting plate 41 has a rotating hole 411. Several threaded holes 412 are opened around the outside of the rotating hole 411. The several 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 423. 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 base 52 at the top. The fixed base 52 includes a fixed cylinder 521 and a fixed plate 522 fixedly connected to the outside of the fixed cylinder 521. The inner circle of the circumferential cross-section of the fixed cylinder 521 is circular. Two fixed plates 522 are symmetrically arranged on both sides of the fixed cylinder 521 near the guide block 42. A second connecting plate 51 is snapped between the two fixed plates 522. The second connecting plate 51 and the fixed plate 522 are fixedly connected by bolts. A rotating column 511 is provided on the side of the second connecting plate 51 near the guide block 42. The diameter of the circumferential cross-section of the rotating column 511 is equal to the diameter of the rotating hole 411. The rotating column 511 is located on the second connecting plate 51. Several threaded holes 412 are also provided on both sides, and are arranged symmetrically. The threaded holes 412 on the first connecting plate 41 and the threaded holes 412 on the second connecting plate 51 correspond to each other. The threaded holes 412 are connected to connecting bolts 512. When the rotating column 511 is inserted into 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 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 by the connection of the limiting bolt 5112 and the rotating column 511.

[0049] A first telescopic cylinder 53 is slidably connected inside the fixed cylinder 521. 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 connects 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 a first end cap 531. A first hydraulic cylinder 55 is installed on the outside of the fixed cylinder 521 at the fixed plate 522. The cylinder body of the first hydraulic cylinder 55 is fixedly connected to the fixed cylinder 521 through the fixed plate 522. A hinge seat is fixedly installed on the first end cap 531 directly below the first hydraulic cylinder 55. The end of the piston end of the first hydraulic cylinder 55 is connected to the hinge seat. A hinge seat is also fixedly installed on the top end of the first telescopic cylinder 53. A second telescopic cylinder 54 is slidably connected inside the first telescopic cylinder 53. The outer ring of the first telescopic cylinder 53 is tangent to the inner ring of the second telescopic cylinder 54. A vertically arranged second flat key 58 connects the second telescopic cylinder 54 to the first telescopic cylinder 53. A second end cap 541 is fixedly connected to the bottom end of the second telescopic cylinder 54. A second hydraulic cylinder 56 is fitted inside the second telescopic cylinder 54, with the piston end of the second hydraulic cylinder 56 facing upwards. The second end cap 541 is fixedly connected to the cylinder seat of the second hydraulic cylinder 56 by bolts. The end of the piston end of the second hydraulic cylinder 56 is connected to a hinge seat located at the top of the first telescopic cylinder 53. The clamping assembly 6 is connected to the bottom end of the cylinder seat of the second hydraulic 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, a fixed claw 61 is fixedly connected to the bottom end of the second oil cylinder 56, and a movable claw 611 is hinged to the bottom end of the fixed claw 61. A clamping oil cylinder 62 is also fixedly connected to the bottom end of the cylinder seat of the second oil cylinder 56. A connecting pin is provided on the movable claw 611 directly below the clamping oil cylinder 62. The piston end of the clamping oil 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 on the top of the positioner 612. The positioner 612 and the positioning sensor 613 are electrically connected.

[0051] Its working principle is as follows: the hydraulic motor 422 drives the drive gear 421 to rotate, the drive gear 421 moves under the action of the drive rack 313, the movement of the drive gear 421 drives the sliding component 4 to move, when the sliding component 4 moves to the end of the guide rail 31, the hydraulic motor 422 pressurizes, causing the drive gear 421 to stop rotating, the piston end of the first cylinder 55 extends and retracts, causing 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 cylinder 56 extends and retracts, causing 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 gripping of the drill rod, and through the cooperation of the telescopic mechanism and the sliding mechanism, the robot body 2 clamps and moves the drill rod.

[0052] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A robotic arm for a narrow-body drill rod storage device, characterized in that: The device includes a guide assembly located at the top of the drill pipe box, a sliding assembly on the guide assembly, a guide rail fixedly connected to the top of the drill pipe box, a guide block slidably connected to the guide rail, a telescopic assembly connected to the guide block, a clamping assembly for gripping the drill pipe connected to the bottom of the telescopic assembly, the telescopic assembly for controlling the vertical movement of the clamping assembly inside the drill pipe box, and the sliding assembly for driving the telescopic assembly to move horizontally at the top of the drill pipe box. A rack is provided on the guide rail, a drive gear is rotatably connected to the bottom end of the guide block, and a motor is installed at the top end of the guide block. The output end of the motor is connected to the drive gear for meshing between the drive gear and the drive rack. The guide rail includes a first guide rail and a second guide rail, which 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 set on either opposite surface of the first guide rail and the second guide rail. The guide block has a guide groove for the guide rail to pass through, and the guide rail is embedded in the guide groove. The guide block is provided with a first connecting seat, which has a rotating hole. The telescopic component is provided with a second connecting seat, which has a rotating part protruding from it. The rotating part is embedded in the rotating hole. Both the first and second connecting seats are provided with fixing holes, and a locking part is connected between the fixing holes. After the second connecting seat rotates, the fixing holes on the first connecting seat can be aligned with the fixing holes on the second connecting seat.

2. The robotic arm for a narrow-body drill rod storage device according to claim 1, characterized in that: The guide assembly also includes a displacement sensor and a limit block. The limit block is installed at both ends of the guide rail to prevent the guide block from slipping off the guide rail. The displacement sensor is set at the end of the guide rail and connected to the guide block through a horizontal lead wire. The displacement sensor is used to detect the relative position of the robot body on the drill pipe box. The motor is set as a hydraulic motor.

3. The robotic arm for a narrow-body drill rod storage device according to claim 2, characterized in that: The telescopic assembly includes a fixed base connected to a guide block. A first telescopic cylinder is vertically slidably connected to the fixed base, and a first hydraulic cylinder is fixedly connected to it. The piston end of the first hydraulic cylinder is connected to the first telescopic cylinder. The first hydraulic cylinder is used to drive the first telescopic cylinder to slide on the fixed base. A second telescopic cylinder is slidably connected inside the first telescopic cylinder. A second hydraulic cylinder is sleeved inside the second telescopic cylinder and is connected to the first telescopic cylinder. The second hydraulic cylinder is used to drive the second telescopic cylinder to slide vertically inside the first telescopic cylinder. A clamping assembly is connected below the second telescopic cylinder.

4. The robotic arm for a narrow-body drill rod storage device according to claim 3, characterized in that: The fixed base includes a fixed cylinder and a fixed plate fixed to the fixed cylinder. A first telescopic cylinder is fitted inside the fixed cylinder. A first end cap is fixedly connected to the bottom end of the first telescopic cylinder. The piston end of the first hydraulic cylinder is connected to the first end cap. A second telescopic cylinder is fitted inside the first telescopic cylinder. The second telescopic cylinder protrudes from the bottom end of the first telescopic cylinder. A second end cap is fixedly connected to the bottom end of the second telescopic cylinder. The second hydraulic cylinder is installed on the second telescopic cylinder through the second end cap, and both ends of the second hydraulic cylinder are connected to the second telescopic cylinder and the first telescopic cylinder, respectively.

5. The robotic arm for a narrow-body drill rod storage device according to claim 4, characterized in that: A first flat key connects the inner ring of the fixed cylinder to the outer ring of the first telescopic cylinder, and a second flat key connects the inner ring of the first telescopic cylinder to the outer ring of the second telescopic cylinder.

6. The robotic arm for a narrow-body drill rod storage device according to claim 5, characterized in that: The clamping assembly includes a fixed jaw fixedly connected to the bottom of the second cylinder and a clamping cylinder. The fixed jaw is hinged to a movable jaw. The piston end of the clamping cylinder is connected to the movable jaw. The clamping cylinder is used to drive the movable jaw to push the drill rod against the fixed jaw.

7. The robotic arm for a narrow-body drill rod storage device according to claim 6, characterized in that: The guide block is also equipped with a hose support.

8. The robotic arm for a narrow-body drill rod storage device according to claim 7, characterized in that: The first connecting seat is fixed to the side of the guide block near the telescopic component, and the second connecting seat is fixedly connected to the side of the fixing plate near the guide component.

9. The robotic arm for a narrow-body drill rod storage device according to claim 8, characterized in that: The first connecting seat is set as the first connecting plate, the second connecting seat is set as the second connecting plate, the rotating part 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 part is set as a connecting bolt.

10. A robotic arm for a narrow-body drill rod storage device according to claim 9, characterized in that: A telescopic sensor is installed at the top of the fixed cylinder. The telescopic sensor is connected to the second telescopic cylinder through a vertical lead wire. The telescopic sensor is used to measure the vertical movement distance of the second telescopic cylinder. A positioner and a positioning sensor are provided on one side of the fixed claw. The positioning sensor is electrically connected to the positioner and to the telescopic sensor.

11. The robotic arm for a narrow-body drill rod storage device according to claim 10, characterized in that: The drill pipe box is equipped with several partitions, which are evenly spaced and used to separate the drill pipes in the drill pipe box into rows.

12. The robotic arm for a narrow-body drill rod storage device according to claim 11, characterized in that: The drill pipe box is equipped with a side door.

13. The robotic arm for a narrow-body drill rod storage device according to claim 12, characterized in that: A limiting plate is detachably connected to the end of the rotating column away from the second connecting plate. The limiting plate is connected to a limiting component. After the rotating column is inserted into the rotating hole, the limiting component is connected to the limiting plate and the rotating column in sequence, and the limiting plate is pressed against the side of the first connecting plate away from the second connecting plate.

14. The robotic arm for a narrow-body drill rod storage device according to claim 13, characterized in that: The limiting component is a limiting bolt, which is coaxially connected to the rotating column.

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