Drill rod grabbing manipulator with sensing function and drill rod grabbing method thereof

Abstract

The invention relates to a drill rod grabbing manipulator with a sensing function and a drill rod grabbing method thereof, and belongs to the technical field of mining drilling machines. The manipulator is arranged on the drill rod box sliding rail and comprises a lifting joint, a rotating joint, a telescopic joint and a clamping jaw, and a detection sensor for detecting a drill rod is arranged on the clamping jaw; the detection sensor comprises a mounting seat, a trigger column and a sensor element; the lifting joint comprises a lifting oil cylinder, a lifting outer barrel and a lifting inner barrel; the rotating joint comprises a rotating driver and a rotating shaft, and the telescopic joint comprises a telescopic oil cylinder, a telescopic outer barrel and a telescopic inner barrel. According to the drilling rod grabbing method, the position of the clamping jaw is adjusted through the lifting joint, the rotating joint and the telescopic joint, so that the clamping jaw can accurately grab or put down the drilling rod, and accurate monitoring of the state of the drilling rod is achieved in combination with induction of the detection sensor on the drilling rod. The problems that an existing grabbing mechanical arm cannot meet the requirement for drilling in the full-section and full-dip-angle range and cannot sense the grabbing state of a drill rod are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of mining drills and relates to a drill rod grabbing manipulator with a sensing function and a drill rod grabbing method thereof. Background Art

[0002] As intelligent coal mining strategies are being promoted, drilling rig automation has become a key enabler for achieving reduced- and even unmanned underground operations. The complex underground environment in coal mines is rife with potential hazards such as gas and coal dust. Furthermore, the confined space, high humidity, and high temperatures present significant challenges for traditional manual operation. Workers endure significant physical and mental strain and accumulated fatigue during long periods of underground operation, making it difficult to maintain operational efficiency and significantly increasing the risk of accidents. This model clearly no longer meets the dual requirements of efficient mining and inherent safety in modern coal mining.

[0003] The emergence of automation technology has ushered in new hope for coal mining. Through automation, the drilling process and auxiliary processes can be automated. Operations that once required significant physical effort are now performed automatically by machines, significantly reducing labor intensity. Furthermore, unlike humans, machines are immune to operational errors caused by fatigue, significantly improving operational safety. Furthermore, automation technology has broken through the efficiency bottlenecks of manual operation, enabling sustained, stable, and efficient operation, making it an inevitable choice for technological upgrades in the coal industry.

[0004] The drill rod conveying system is one of the core systems of an automated drilling rig, and the drill rod grabbing robot is a key component of the system. Like a tireless "porter," it is responsible for accurately transferring drill rods between the drill rod box and subsequent drilling or conveying equipment, ensuring continuous and efficient operation of the drilling rig.

[0005] However, most automated drilling rigs currently in use utilize a three-stage drill pipe conveying system consisting of two manipulators combined with a translational transporter. The drill pipe gripping manipulators in these systems utilize rectangular coordinate articulated manipulators, each with translational joints. While relatively simple, this design only enables translational or lifting transport of drill pipe, significantly limiting the subsequent mechanisms of the drill pipe conveying system and the overall layout of the drilling rig.

[0006] Especially in the height direction, the Cartesian joint manipulator can only move straight up and down. In actual operation, the drill needs to cope with various complex drilling requirements, and the lifting sleeve and other necessary parts of the drill often become the "roadblock" of the drill rod conveying. Because the manipulator cannot flexibly bypass these parts, it is difficult for the drill rod to successfully complete the conveying task under the drive of the grabbing manipulator. This makes the existing automatic drill appear to be inadequate when facing the demand for full-face and full-inclination range drilling. In some scenarios that require large-angle and complex-position drilling, the traditional drill rod conveying system cannot meet the requirements and can only rely on manual assistance, which not only increases labor costs but also poses a safety hazard.

[0007] In addition, the current manipulator has a prominent shortcoming, i.e., lack of precise perception ability for the process of grabbing and putting down the drill rod. In the actual mining drill operation scene, the grabbing and putting down operation of the drill rod requires high accuracy and reliability. However, the current manipulator cannot accurately perceive whether the drill rod has been successfully grabbed or put down in real time when performing these actions, which may result in the drill rod falling due to insecure grabbing during operation, or repeated execution of the grabbing process, reducing the operation efficiency of the drill, and even damaging the manipulator, increasing equipment failure and maintenance costs, and potentially posing a potential threat to the personal safety of on-site workers.

[0008] In order to break this dilemma, the coal industry urgently needs to innovate and upgrade the drill rod conveying system to adapt to complex underground environments and various drilling requirements, and to further develop the automation of the drill. SUMMARY

[0009] Therefore, the purpose of the present application is to provide a drill rod grabbing manipulator with sensing function and a drill rod grabbing method thereof, to solve the problem that the existing grabbing manipulator can only move straight up and down and cannot meet the demand for full-face and full-inclination range drilling, and the problem that the manipulator lacks the ability to perceive the state of grabbing the drill rod.

[0010] To achieve the above purpose, the present application provides the following technical solutions:

[0011] A drill rod grabbing manipulator with sensing function is arranged on a drill rod box sliding rail and includes a lifting joint, a rotating joint, an extension joint, and a clamping jaw connected in sequence. The lifting joint is connected to the sliding rail at an end away from the clamping jaw. The extension joint and the clamping jaw are arranged towards the inside of the drill rod box. A detection sensor is further arranged on the clamping jaw to detect whether the clamping jaw holds a drill rod.

[0012] Optionally, the detection sensor includes a mounting seat, a trigger column is provided in the mounting seat, and a spring is connected between the trigger column and the mounting seat; the trigger column has the same orientation as the clamp and protrudes from the inner edge of the clamp; a sensor element is provided in the mounting seat; when the clamp grasps the drill rod, the trigger column is squeezed into the mounting seat by the drill rod, and generates a connection signal after entering the sensing range of the sensor element, thereby sensing that the clamp has grasped the drill rod.

[0013] Optionally, the lifting joint and the rotating joint are connected via a crossbeam, and one end of the lifting joint away from the slide rail is connected below the crossbeam.

[0014] Optionally, the lifting joint includes a lifting cylinder and a lifting outer cylinder that are connected to each other. The lifting outer cylinder is installed in a sleeve arrangement with the lifting inner cylinder below the beam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair, and the lifting cylinder drives the lifting pair to perform lifting motion.

[0015] Optionally, the rotating joint includes a rotating driver connected to the beam and a rotating shaft connected to the rotating driver, and the rotating shaft rotates under the drive of the rotating driver; the end of the rotating shaft away from the beam is connected to the telescopic joint, and the rotating shaft rotates to drive the telescopic joint and the clamp to swing.

[0016] Optionally, the telescopic joint includes a telescopic oil cylinder connected to the rotating shaft, and a telescopic outer cylinder and a telescopic inner cylinder are connected below the telescopic oil cylinder. The telescopic inner cylinder is inserted into the telescopic outer cylinder to form a telescopic pair, and performs telescopic movement under the drive of the telescopic oil cylinder.

[0017] Optionally, the rotating shaft is installed in the inner cavity of the beam, the inner cavity of the beam is provided with an arc groove, and the outer side of the rotating shaft is provided with a protrusion. When the rotating shaft rotates, the protrusion slides circumferentially in the arc groove to achieve rotation limitation of the rotating shaft.

[0018] Optionally, a clamping cylinder is connected to a side of the clamping jaw close to the telescopic unit, and the clamping jaw is clamped or released under the drive of the clamping cylinder.

[0019] A drill rod grasping method, using any of the above-mentioned drill rod grasping manipulators with sensing functions, comprises the following steps:

[0020] The manipulator slides to the position of the drill rod box to grab the drill rod, adjusts the position of the gripper through the lifting joint, rotating joint, and telescopic joint, and then opens the gripper;

[0021] The gripper clamps the drill rod, and the drill rod enters the sensing range of the detection sensor, and a signal is sent to grab the drill rod;

[0022] The gripper is retracted by retracting the telescopic joint, rotating the rotary joint, and raising and lowering the lifting joint;

[0023] The manipulator slides to the position where the drill rod is to be placed in the drill rod box, and then adjusts the position of the clamping jaws through the lifting joint, rotating joint, and telescopic joint. The clamping jaws are then released to place the drill rod. At this time, the drill rod is out of the sensing range of the detection sensor and the signal is disconnected.

[0024] Optionally, the detection sensor includes a mounting seat, a trigger column is provided in the mounting seat, and a spring is connected between the trigger column and the mounting seat; the trigger column has the same orientation as the clamp and protrudes from the inner edge of the clamp; a sensor element is provided in the mounting seat; when the clamp grasps the drill rod, the trigger column is squeezed into the mounting seat by the drill rod, and generates a connection signal after entering the sensing range of the sensor element, thereby sensing that the clamp has grasped the drill rod.

[0025] The beneficial effects of the present invention are:

[0026] By providing a rotational joint with a defined angle, the manipulator's gripper can swing vertically. This allows the manipulator to transport drill pipe across components such as the attitude adjustment device, allowing the transporter to be positioned on the attitude adjustment device on the opposite side of the drill pipe box. This improvement significantly increases the flexibility of the drill pipe transportation system layout, allowing the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0027] Because the manipulator's gripper can swing vertically, the drill is no longer limited to the traditional manipulator's straight-up and straight-down movements when drilling across the entire cross-section and full-angle range. This significantly expands the drill's drilling inclination range, improving its adaptability and operational efficiency.

[0028] The manipulator's gripper is equipped with a detection sensor that detects in real time whether the gripper is holding a drill rod. When the gripper successfully grasps a drill rod, the sensor sends a signal, accurately monitoring the rod's status and enabling the drilling rig's control system to monitor the proper functioning of the rod delivery process. This feature improves the safety and reliability of drilling operations, reduces equipment failures and repair costs caused by a loose or repeated grip, and minimizes the need for manual intervention. This not only improves operational efficiency but also reduces the risk of accidents caused by human error.

[0029] Through technological innovation, this invention enables the drill rod grabbing robot to better adapt to the complex environmental conditions in coal mines, including potential hazards such as gas and coal dust, as well as unfavorable conditions such as confined space, high humidity, and high temperatures. This will help promote the implementation of intelligent coal mine strategies and achieve the goal of reducing or even eliminating the need for human operators in underground operations.

[0030] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0032] Figure 1 It is the axial side view of the manipulator;

[0033] Figure 2 This is the front view of the robot;

[0034] Figure 3 It is the partial cross-sectional view of the manipulator AA;

[0035] Figure 4 Schematic diagram of the detection sensor of the gripper part.

[0036] Reference numerals:

[0037] 601 lifting cylinder, 602 lifting outer cylinder, 603 crossbeam, 604 rotation driver, 605 rotation shaft, 606 telescopic cylinder, 607 telescopic outer cylinder, 608 telescopic inner cylinder, 609 clamping claw, 610 clamping cylinder, 611 detection sensor, 61101 mounting seat, 61102 spring, 61103 trigger column, 61104 sensor element. DETAILED DESCRIPTION

[0038] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0039] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0040] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0041] See also Figures 1 to 4 This is a drill rod grasping manipulator with sensing capabilities, mounted on the slide rails of a drill rod box. It comprises a lifting joint, a rotating joint, a telescopic joint, and a clamping jaw 609, which are connected in sequence. The lifting joint's end, distal from the clamping jaw 609, is connected to the slide rails, while the telescopic joint and clamping jaw 609 are positioned toward the inside of the drill rod box. The clamping jaw 609 is also equipped with a detection sensor 611 that detects whether the clamping jaw 609 is holding a drill rod. In certain embodiments, the drill rod grasping manipulator with sensing capabilities of the present invention can serve as a secondary manipulator to grasp and transport drill rods.

[0042] The detection sensor 611 includes a mounting base 61101, in which a trigger column 61103 is provided, and a spring 61102 is connected between the trigger column 61103 and the mounting base 61101; the trigger column 61103 is oriented in the same direction as the clamping jaw 609 and protrudes from the inner edge of the clamping jaw 609; a sensor element 61104 is provided in the mounting base 61101; when the clamping jaw 609 grasps the drill rod, the trigger column 61103 is squeezed into the mounting base 61101 by the drill rod, and after entering the sensing range of the sensor element 61104, a connection signal is generated, thereby sensing that the clamping jaw 609 has grasped the drill rod.

[0043] The lifting joint and the rotating joint are connected by a cross beam 603. In some embodiments of the present invention, the drill rod box slide rail is horizontally arranged, the lifting joint is vertically installed on the drill rod box slide rail, the end of the lifting joint away from the slide rail is connected to the bottom of the cross beam 603, and the rotating joint is connected to the side of the cross beam 603.

[0044] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 which are connected to each other. The lifting outer cylinder 602 is installed in a sleeve arrangement with the lifting inner cylinder below the beam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting motion.

[0045] The rotating joint includes a rotating driver 604 connected to the beam 603 and a rotating shaft 605 connected to the rotating driver 604. The rotating shaft 605 rotates under the drive of the rotating driver 604. The end of the rotating shaft 605 away from the beam 603 is connected to the telescopic joint. The rotating shaft 605 rotates, driving the telescopic joint and the clamp 609 to swing.

[0046] The telescopic joint includes a telescopic oil cylinder 606 connected to the rotating shaft 605, and a telescopic outer cylinder 607 and a telescopic inner cylinder 608 are connected below the telescopic oil cylinder 606. The telescopic inner cylinder 608 is inserted into the telescopic outer cylinder 607 to form a telescopic pair, which performs telescopic movement under the drive of the telescopic oil cylinder 606.

[0047] The rotating shaft 605 is installed in the inner cavity of the beam 603. The inner cavity of the beam 603 is provided with an arc groove. The outer side of the rotating shaft 605 is provided with a protrusion. When the rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the rotating shaft 605.

[0048] The side of the clamping jaw 609 close to the telescopic unit is connected to a clamping cylinder 610 , and the clamping jaw 609 is clamped or released under the drive of the clamping cylinder 610 .

[0049] A drill rod grasping method, using the drill rod grasping manipulator with sensing function, comprises the following steps:

[0050] The manipulator slides to the position of the drill rod box to grab the drill rod, adjusts the position of the clamping jaw 609 through the lifting joint, rotating joint, and telescopic joint, and then opens the clamping jaw 609;

[0051] The clamping jaws 609 clamp the drill rod, and the drill rod enters the sensing range of the detection sensor 611, and a signal is sent to grab the drill rod;

[0052] The clamping jaw 609 is retracted by retracting the telescopic joint, rotating the rotary joint, and raising and lowering the lifting joint;

[0053] The manipulator slides to the position where the drill rod is to be placed in the drill rod box, and then adjusts the position of the clamp 609 through the lifting joint, rotating joint, and telescopic joint. Then the clamp 609 is released to place the drill rod. At this time, the drill rod is out of the sensing range of the detection sensor 611 and the signal is disconnected.

[0054] The first embodiment is a drill rod grabbing step of taking out a drill rod from a drill rod box and placing the drill rod into a transporter.

[0055] Initial state: The auxiliary manipulator is located at any position on the drill rod box slide rail. The lifting joint and the telescopic joint prevent the clamping jaw 609 from interfering with the drill rod box and the drill rod therein. The rotating joint makes the clamping jaw 609 point vertically downward and the clamping jaw 609 opens.

[0056] Row selection: The auxiliary manipulator moves along the slide rail of the drill rod box to select a row of drill rods to be grabbed;

[0057] Grabbing the drill rod: The gripper 609 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for grabbing the top drill rod in the selected column. The gripper 609 is driven by the clamping cylinder 610 to clamp the drill rod. The trigger column 61103 contacts the drill rod, causing the top end to enter the sensing range of the sensor element 61104, which sends a signal.

[0058] Adjust the height: Adjust the height in reverse until the drill rod does not interfere with the drill rod box and is suitable for placing the drill rod on the transporter;

[0059] Translation: The clamping jaws 609 hold the drill pipe and translate it toward the transporter;

[0060] Upward swing: the rotating driver 604 drives the rotating shaft 605 to drive the clamping claw 609 to swing upward by an angle γ;

[0061] Extension: the telescopic joint drives the clamping claw 609 to extend toward the transporter;

[0062] Rod placement: The clamping jaws 609 are loosened and the drill rod is placed in the transporter;

[0063] Retraction: The telescopic joint drives the clamping jaw 609 to retract; the trigger column 61103 gradually leaves the drill rod, causing the top end to be out of the sensing range of the sensor element 61104, and the signal is disconnected.

[0064] The second embodiment is a drill rod grabbing step of taking out the drill rod from the transporter and placing it into the drill rod box.

[0065] Initial state: the auxiliary manipulator is located at the position of the drill rod box slide rail closest to the transporter, the lifting joint makes the clamping claw 609 at a height suitable for grabbing the drill rod in the transporter, the telescopic joint retracts, and the rotating joint lifts the clamping claw 609 and opens.

[0066] Extending the gripper 609 and grabbing the drill rod: The telescopic joint drives the gripper 609 to extend toward the transporter, reaching a position suitable for grabbing the drill rod in the transporter. Driven by the clamping cylinder 610, the gripper 609 clamps the drill rod, and the trigger column 61103 contacts the drill rod, causing the top end to enter the sensing range of the sensor element 61104, which sends a signal.

[0067] The clamping jaw 609 retracts: the telescopic joint drives the clamping jaw 609 to retract;

[0068] Swing downward: the rotating driver 604 drives the rotating shaft 605 to drive the clamping jaw 609 to swing downward by an angle γ;

[0069] Row selection: The auxiliary manipulator moves along the slide rail of the drill rod box and selects a row of recyclable drill rods in the drill rod box;

[0070] Adjusting the height: The clamping jaw 609 is adjusted by the lifting joint and the telescopic joint to reach a height suitable for putting the drill rod back;

[0071] Putting the rod: Release the clamp 609 and put the drill rod back into the drill rod box;

[0072] Retraction: The telescopic joint drives the clamping claw 609 to retract, and the trigger column 61103 gradually leaves the drill rod, causing the top end to be out of the sensing range of the sensor element 61104, and the signal is disconnected.

[0073] The present invention achieves vertical swinging of the manipulator gripper 609 by providing a rotational joint with a defined angle. This allows the manipulator to transport drill pipe across components such as the attitude adjustment device, allowing the transporter to be positioned on the attitude adjustment device on the opposite side of the drill pipe box. This improvement significantly increases the flexibility of the drill pipe transportation system, allowing the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0074] Because the manipulator gripper 609 can swing in the vertical plane, the drill is no longer limited to the traditional manipulator's straight-up and straight-down motion when drilling across the entire cross-section and full-angle range. This significantly expands the drill's drilling angle range, improving its adaptability and operational efficiency.

[0075] The manipulator's gripper 609 is equipped with a detection sensor 611, which can sense in real time whether the gripper 609 is holding a drill rod. When the gripper 609 successfully grasps a drill rod, the sensor 611 sends a signal, enabling the drilling rig's control system to monitor the proper functioning of the drill rod delivery process. This feature improves the safety and reliability of drilling operations, reduces equipment failures and repair costs caused by a loose grip on the drill rod, and minimizes the need for manual intervention. This not only improves operational efficiency but also reduces the risk of accidents caused by human error.

[0076] Through technological innovation, this invention enables the drill rod grabbing robot to better adapt to the complex environmental conditions in coal mines, including potential hazards such as gas and coal dust, as well as unfavorable conditions such as confined space, high humidity, and high temperatures. This will help promote the implementation of intelligent coal mine strategies and achieve the goal of reducing or even eliminating the need for human operators in underground operations.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A drill rod grabbing manipulator with sensing function, arranged on a drill rod box slide rail, characterized in that: The invention comprises a lifting joint, a rotating joint, a telescopic joint and a clamping claw (609) connected in sequence, wherein the end of the lifting joint away from the clamping claw (609) is connected to the slide rail, and the telescopic joint and the clamping claw (609) are arranged toward the inside of the drill rod box; the clamping claw (609) is also provided with a detection sensor (611) for detecting whether the clamping claw (609) holds a drill rod.

2. The drill rod grabbing manipulator with sensing function according to claim 1 is characterized in that: The detection sensor (611) includes a mounting seat (61101), a trigger column (61103) is provided in the mounting seat (61101), and a spring (61102) is connected between the trigger column (61103) and the mounting seat (61101); the trigger column (61103) has the same orientation as the clamp (609) and protrudes from the inner edge of the clamp (609); a sensor element (61104) is provided in the mounting seat (61101); when the clamp (609) grasps the drill rod, the trigger column (61103) is squeezed into the mounting seat (61101) by the drill rod, and generates a connection signal after entering the sensing range of the sensor element (61104), thereby sensing that the clamp (609) has grasped the drill rod.

3. The drill rod grabbing manipulator with sensing function according to claim 1, characterized in that: The lifting joint and the rotating joint are connected via a crossbeam (603), and one end of the lifting joint away from the slide rail is connected below the crossbeam (603).

4. The drill rod grabbing manipulator with sensing function according to claim 3 is characterized in that: The lifting joint comprises a lifting oil cylinder (601) and a lifting outer cylinder (602) which are connected to each other. The lifting outer cylinder (602) is sleeved with the lifting inner cylinder below the crossbeam (603). The lifting outer cylinder (602) and the lifting inner cylinder form a lifting pair. The lifting oil cylinder (601) drives the lifting pair to perform lifting motion.

5. The drill rod grabbing manipulator with sensing function according to claim 3 is characterized in that: The rotary joint comprises a rotary driver (604) connected to the crossbeam (603) and a rotary shaft (605) connected to the rotary driver (604), wherein the rotary shaft (605) rotates under the drive of the rotary driver (604); an end of the rotary shaft (605) away from the crossbeam (603) is connected to the telescopic joint, and the rotary shaft (605) rotates, driving the telescopic joint and the clamp (609) to swing.

6. The drill rod grabbing manipulator with sensing function according to claim 5, characterized in that: The telescopic joint comprises a telescopic oil cylinder (606) connected to the rotating shaft (605), a telescopic outer cylinder (607) and a telescopic inner cylinder (608) are connected below the telescopic oil cylinder (606), and the telescopic inner cylinder (608) is inserted into the telescopic outer cylinder (607) to form a telescopic pair, and performs telescopic movement under the drive of the telescopic oil cylinder (606).

7. The drill rod grabbing manipulator with sensing function according to claim 5, characterized in that: The rotating shaft (605) is installed in the inner cavity of the crossbeam (603), and the inner cavity of the crossbeam (603) is provided with an arc groove. The outer side of the rotating shaft (605) is provided with a protrusion. When the rotating shaft (605) rotates, the protrusion slides circumferentially in the arc groove, thereby realizing rotation limitation of the rotating shaft (605).

8. The drill rod grabbing manipulator with sensing function according to claim 1, characterized in that: The clamping jaw (609) is connected to a clamping oil cylinder (610) on one side close to the telescopic unit. Driven by the clamping oil cylinder (610), the clamping jaw (609) is clamped or released.

9. A drill rod grabbing method, characterized by: The application of the drill rod grabbing manipulator with sensing function as claimed in any one of claims 1 to 8 comprises the following steps: The manipulator slides to the position of the drill rod box to be used for grabbing the drill rod, adjusts the position of the clamping claw (609) through the lifting joint, the rotating joint, and the telescopic joint, and then opens the clamping claw (609); The clamping claw (609) clamps the drill rod, and the drill rod enters the sensing range of the detection sensor (611), and sends a signal to grab the drill rod; The clamping claw (609) is retracted by retracting the telescopic joint, rotating the rotary joint, and raising and lowering the lifting joint; The manipulator slides to the position of the drill rod box where the drill rod is to be placed, and then adjusts the position of the clamping jaw (609) through the lifting joint, rotating joint, and telescopic joint. Then the clamping jaw (609) is released to place the drill rod. At this time, the drill rod is out of the sensing range of the detection sensor (611) and the signal is disconnected.

10. The drill rod grabbing method according to claim 9, characterized in that: The detection sensor (611) includes a mounting seat (61101), a trigger column (61103) is provided in the mounting seat (61101), and a spring (61102) is connected between the trigger column (61103) and the mounting seat (61101); the trigger column (61103) has the same orientation as the clamp (609) and protrudes from the inner edge of the clamp (609); a sensor element (61104) is provided in the mounting seat (61101); when the clamp (609) grasps the drill rod, the trigger column (61103) is squeezed into the mounting seat (61101) by the drill rod, and generates a connection signal after entering the sensing range of the sensor element (61104), thereby sensing that the clamp (609) has grasped the drill rod.

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