Omnibearing telescopic manipulator suitable for inclined shaft construction working condition

Abstract

The invention discloses an all-dimensional telescopic manipulator suitable for inclined shaft construction conditions, and belongs to the technical field of manipulators. Comprising a manipulator mounting seat, and a swing mounting seat is mounted on the manipulator mounting seat; one end of the lifting oil cylinder is hinged to the manipulator mounting seat; the swing oil cylinder is fixedly mounted on the swing mounting seat; the deflection sleeve is fixedly matched with an output shaft of the swinging oil cylinder; the mounting head is arranged in the deflection sleeve; the mounting column is fixedly mounted on the mounting head; the swing frame is fixedly arranged at one end of the mounting column; and the clamping jaw piece is arranged on the swing frame. The omni-directional telescopic manipulator suitable for the inclined shaft construction working condition has the beneficial effects that the position and angle of a drill rod or a drill bit can be flexibly adjusted through the arranged lifting oil cylinder and the arranged swing oil cylinder, the position of the drill rod is corrected through the arranged hinge rod and the adjusted supporting force, and the working efficiency is improved. And the taking accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, in particular to a full-direction telescopic mechanical hand suitable for inclined shaft construction conditions. BACKGROUND

[0002] Mine ore mining generally develops the roadway engineering along with the shape of the ore vein, and the mechanization of inclined shaft construction is also constantly popularized. Different angles of inclined shafts exist in the same mining and mining section of a mine. The drill pipe and drill bit matched by the traditional mechanized construction equipment are heavy instruments, which are generally grabbed by semi-automatic or automatic mechanical hands, moved and rotated on the plane by two to three hydraulic cylinders from the ground plane, and then connected with the driving equipment. Since different angles of inclined shafts exist in the same mining and mining section of a mine, in order to realize the matching with the development of the ore vein, it is necessary to flexibly adjust the angle of the drill pipe and drill bit according to the construction equipment, and accurately connect with the interface of the construction equipment.

[0003] The existing mechanical hand is generally adjusted and driven by a hydraulic cylinder. However, due to the heavy weight of the construction equipment, the hydraulic cylinder may not be in place during the working process, and the mechanical arm responsible for adjusting the equipment body may appear bending deformation phenomenon, which makes it difficult for the drill bit and drill pipe to reach the predetermined position and angle, affecting the subsequent installation and connection.

[0004] Therefore, a full-direction telescopic mechanical hand suitable for inclined shaft construction conditions is needed to solve the above problems. SUMMARY

[0005] The summary part of the present application is used to introduce the concept in a simple form, which will be described in detail in the specific embodiment part. The summary part of the present application is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0006] To solve the technical problems mentioned in the background section, some embodiments of the present application provide a full-range telescopic manipulator suitable for inclined shaft construction conditions, comprising: a manipulator mounting seat, a swing mounting seat is installed on the manipulator mounting seat; a lifting oil cylinder, one end of which is hingedly arranged on the manipulator mounting seat, the piston rod end of the lifting oil cylinder is hingedly arranged on the swing mounting seat; a swing oil cylinder, which is fixedly installed on the swing mounting seat; a deflection sleeve, which is fixedly matched with the output shaft of the swing oil cylinder; a mounting head, which is arranged in the deflection sleeve and is fixedly installed on the output shaft of the swing oil cylinder; a mounting column, which is fixedly installed on the mounting head; a swing frame, which is fixedly arranged at one end of the mounting column; a clamping jaw, which is arranged on the swing frame; four groups of circumferentially distributed support assemblies are arranged between the deflection sleeve and the swing frame, the support assemblies comprising: a sliding groove is formed in the deflection sleeve, a sliding block is slidably arranged in the sliding groove, a first hinge joint is slidably arranged on the sliding block, a sliding rod is fixedly arranged on the first hinge joint and slidably matched with the sliding block, the sliding rod is fixedly connected with a stop ring, an elastic member is connected between the sliding block and the stop ring, a second hinge joint is fixedly connected to the swing frame, a hinge rod is hingedly arranged between the first hinge joint and the second hinge joint, and the two ends of the hinge rod are hingedly arranged with the second hinge joint and the first hinge joint respectively; a pressure sensor is fixedly connected to one side of the deflection sleeve close to the swing frame, the pressure sensor is located close to the second hinge joint, a sleeve is fixedly connected to the pressure sensor, a contact head is slidably connected in the sleeve, one end of the contact head extends out of the sleeve and abuts against the swing frame, and a spring is connected between the contact head and the pressure sensor.

[0007] Further, a lead screw is rotatably arranged in the deflection sleeve, the lead screw passes through the sliding block and is threadedly connected with the sliding block, a driving member is arranged on the deflection sleeve, the driving member drives the lead screw to rotate, a hinge seat is fixedly installed on the swing frame, and the second hinge joint is hingedly installed on the hinge seat.

[0008] Further, the clamping jaw comprises: a telescopic oil cylinder fixedly arranged in the swing frame, a telescopic frame is fixedly connected to the piston rod end of the telescopic oil cylinder, a hinge rod is hingedly arranged on the telescopic frame, one end of the hinge rod is hingedly connected with a swing member, and two symmetrical clamping jaws are hingedly arranged at the lower end of the swing frame, one end of the swing member is hingedly connected with the clamping jaws.

[0009] Further, two limiting grooves are formed in the side close to the two clamping jaws, and an adjusting groove is formed between the two limiting grooves, an adjusting wheel is rotatably connected in the adjusting groove, two limiting wheels are rotatably connected in the limiting groove, and an abutting wheel is rotatably connected between the two limiting wheels.

[0010] Further, two ratchet wheels are coaxially fixedly connected to the limiting wheel, one on the upper end and the other on the lower end of the limiting wheel, a clamping block is slidably arranged in the limiting groove and embedded in the tooth groove of the ratchet wheel, a spring is connected between the clamping block and the end wall of the limiting groove, and the two ends of the spring are fixedly connected to the clamping block and the end wall of the limiting groove respectively.

[0011] Further, rotating sleeves are rotatably installed in the clamping jaw at coaxial positions on the upper and lower ends of the abutting wheel, the rotating sleeves are sleeved on the shaft end of the abutting wheel and rotatably matched with the abutting wheel, the abutting protrusion is fixedly connected to the outer wall of the shaft end of the abutting wheel, the abutting block is fixedly connected to the inner wall of the rotating sleeve, the abutting protrusion abuts one side of the abutting block, and the winding rope is wound on the rotating sleeve and fixedly connected to the clamping block at one end.

[0012] Further, an encoder is connected to the shaft end of the abutting wheel, and a controller is arranged on the clamping jaw and electrically connected to the encoder.

[0013] Further, a driving member is installed in the clamping jaw and drives the adjusting wheel to rotate.

[0014] The application has the following beneficial effects: 1. The lifting oil cylinder and the swing oil cylinder can be used to flexibly adjust the position and angle of the drill rod or drill bit.

[0015] 2. When the weight of the drill rod or drill bit is large, the movement of the drill rod driven by the swing oil cylinder will cause the mounting column to bear a large bending moment, the mounting column will be slightly deformed, the drill rod or drill bit will not reach the predetermined position, and the installation will be affected. At this time, the sliding block is driven to move, the hinge rod on the corresponding bending side supports the swing frame, and the hinge rod on the opposite side applies a pulling force under the action of the sliding block, so as to correct the position of the drill rod and improve the accuracy of taking.

[0016] 3. The adjusting wheel, the limiting wheel and the abutting wheel are arranged. After the drill bit is taken, the drill bit is adjusted to a predetermined inclination angle by the lifting oil cylinder. Since the drill rod is relatively smooth, vibration will occur during the operation of the construction machinery, causing the drill rod to slip on the clamping jaw. At this time, the adjusting wheel, the limiting wheel and the abutting wheel all abut the side wall of the drill rod. The rotation of the adjusting wheel will cause one of the rotating sleeves to rotate, thereby pulling the corresponding clamping block through the winding rope to no longer limit the corresponding ratchet wheel, so that the limiting wheel can rotate in one direction. At the same time, the adjusting wheel drives the drill rod to move in the opposite direction of the sliding direction. Since the limiting wheel rotates in one direction, the drill rod is limited in one direction. When the drill rod returns, the insufficient clamping force is avoided to cause continuous slipping. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the application.

[0018] In addition, throughout the drawings, same or similar reference numerals designate same or similar elements throughout the several views. It is to be understood that the drawings are schematic, and the elements and elements are not necessarily drawn to scale.

[0019] In the drawings: Figure 1 is a whole schematic diagram according to an embodiment of the present application; Figure 2 is Figure 1 a structural schematic diagram of the mounting column in the embodiment; Figure 3 is Figure 1 a mounting schematic diagram of the mounting column in the embodiment; Figure 4 is Figure 1 a sectional structural diagram of the deflection sleeve in the embodiment; Figure 5 is Figure 4 a partial enlarged view at A in the embodiment; Figure 6 is Figure 4 a partial enlarged view at B in the embodiment; Figure 7 is Figure 1 a mounting schematic diagram of the telescopic oil cylinder in the embodiment; Figure 8 is Figure 1 a mounting schematic diagram of the adjusting wheel in the embodiment; Figure 9 is Figure 1 a structural schematic diagram of the limiting wheel and the abutting wheel in the embodiment; Figure 10 is Figure 1 a structural schematic diagram of the lower end of the limiting wheel and the abutting wheel in the embodiment; Figure 11 is Figure 1 a mounting schematic diagram of the device in the embodiment.

[0020] 10, mechanical hand mounting seat; 11, swing mounting seat; 12, lifting oil cylinder; 13, swing oil cylinder; 14, deflection sleeve; 15, swing frame; 16, clamping jaw piece; 17, mounting column; 18, mounting head; 19, sliding groove; 20, sliding block; 21, lead screw; 22, first hinge joint; 23, stop ring; 24, sliding rod; 25, elastic piece; 26, hinge rod; 27, second hinge joint; 28, contact head; 29, pressure sensor; 30, telescopic oil cylinder; 31, telescopic frame; 32, clamping jaw; 33, swing piece; 34, adjusting groove; 35, limiting groove; 36, adjusting wheel; 37, limiting wheel; 38, abutting wheel; 39, rotating sleeve; 40, winding rope; 41, ratchet wheel; 42, clamping block; 43, spring; 44, encoder; 45, hinge seat; 46, controller; 47, abutting protrusion; 48, abutting block. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure will be described in more detail with reference to the drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings of the present disclosure are only for illustrative purposes and should not be construed as limiting the scope of protection of the present disclosure.

[0022] It should also be noted that only parts related to the present application are shown in the drawings for ease of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0023] It should be noted that the terms "first", "second", and the like mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0024] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0025] The present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0026] Reference Figures 1-11A kind of all-around telescopic manipulator suitable for inclined shaft construction working condition, comprising: manipulator mounting seat 10, swing mounting seat 11, lift oil cylinder 12, swing oil cylinder 13, deflection sleeve 14, mounting head 18, mounting column 17, swing frame 15, jaw piece 16.Manipulator mounting seat 10 is fixed on construction equipment by bolt, swing mounting seat 11 is hinged with manipulator mounting seat 10 by pin shaft, swing oil cylinder 13 is fixed on swing mounting seat 11 by bolt, two lift oil cylinders 12 are also hinged on manipulator mounting seat 10, the piston rod one end of lift oil cylinder 12 is hinged with swing mounting seat 11 and the hinged position is a certain distance from the connecting position of swing mounting seat 11 with manipulator mounting seat 10, so that when lift oil cylinder 12 contracts or lengthens, deflection torque is generated to swing mounting seat 11, so that swing mounting seat 11 deflects around Y axis, adjusts drill rod or drill bit angle, facilitates the installation of drill rod and drill bit at different angles.In the output shaft of swing oil cylinder 13, mounting head 18 is fixedly installed, mounting hole is opened in mounting head 18, mounting column 17 is fixed through mounting hole, so that when mounting head 18 output shaft rotates, mounting column 17 deflects around X axis.Deflection sleeve is also fixedly connected on mounting head 18, mounting column 17 is in deflection sleeve, mounting column 17 deflects with mounting head 18 rotating.Swing frame 15 is fixed in one end of mounting column 17, swing frame 15 is fixedly provided with telescopic oil cylinder 30, jaw piece 16 is driven by telescopic oil cylinder 30 and is arranged in one end of swing frame 15.

[0027] In one embodiment, when the drill pipe or drill bit is heavy, the bending moment on the mounting column 17 is large, and the mounting column 17 will be slightly deformed, causing the drill pipe or drill bit to be unable to deflect to the predetermined position, resulting in installation error. To solve the above problem, the following solution is adopted. Four groups of support assemblies are arranged circumferentially between the deflection sleeve 14 and the mounting column 17. The support assembly includes a sliding groove 19 formed in the side wall of the deflection sleeve 14, a sliding block 20 slidably arranged in the sliding groove 19, a first hinge joint 22 slidably arranged on the sliding block 20, a sliding rod 24 fixedly arranged on the first hinge joint 22 and slidably matched with the sliding block 20, a stop ring 23 fixedly connected to the sliding rod 24, an elastic element 25 arranged between the stop ring 23 and the sliding block 20, a second hinge joint 27 fixedly connected to the swing frame 15, and a hinge rod 26 hingedly arranged between the second hinge joint 27 and the first hinge joint 22. It should be noted that when the side surface of the first hinge joint 22 abuts against the sliding block 20, the elastic element 25 is deformed to the limit state to avoid damage caused by excessive deformation. A lead screw 21 is rotatably arranged in the deflection sleeve 14, the lead screw 21 penetrates through the sliding block 20 and is threadedly connected with the sliding block 20, a driving element is arranged on the deflection sleeve 14, the driving element drives the lead screw 21 to rotate, and a hinge seat 45 is fixedly installed on the swing frame 15, and the second hinge joint 27 is hingedly installed on the hinge seat 45. The sliding block 20 is driven to move by the lead screw 21, and the hinge rod 26 supports or pulls the swing frame 15. The bending deformation of the mounting column 17 is avoided to cause the drill pipe to be unable to move to the predetermined position.

[0028] A pressure sensor 29 is fixedly connected to the side of the deflection sleeve 14 close to the swing frame 15, the pressure sensor 29 is located close to the second hinge joint 27, a sleeve is fixedly connected to the pressure sensor 29, a contact head 28 is slidably connected to the sleeve, one end of the contact head 28 extends out of the sleeve and abuts against the swing frame 15, and a spring is arranged between the contact head 28 and the pressure sensor 29. When the mounting column 17 is deformed due to the bending moment, the contact head 28 compresses the spring and presses the pressure sensor 29. When one pressure sensor 29 receives a pressing signal, the mounting column 17 is bent towards the pressure sensor 29, a signal is sent by the mounting column 17, the corresponding lead screw 21 is driven to rotate, the sliding block 20 and the first hinge joint 22 move towards the swing frame 15, the swing frame 15 is supported by the hinge rod 26, and the lead screw 21 on the opposite side is driven to rotate, so that the sliding block 20 moves away from the swing frame 15, the swing frame 15 is pulled by the hinge rod 26, and the bending moment on the mounting column 17 is reduced.

[0029] The piston rod end of the telescopic oil cylinder 30 is fixedly connected with a telescopic frame 31, and a hinged rod is hingedly arranged on the telescopic frame 31. One end of the hinged rod is hingedly connected with a swing piece 33. The lower end of the swing frame 15 is hingedly arranged with two symmetrical clamping claws 32. One end of the swing piece 33 is hingedly connected with the clamping claws 32. When the piston rod end of the telescopic oil cylinder 30 is extended, the two clamping claws 32 are caused to clamp and grab the drill rod under the action of the hinged rod and the swing piece 33.

[0030] In another embodiment, since the drill rod is relatively smooth, vibration occurs when the construction machinery is working, causing the drill rod to slip on the clamping claw piece 16. To solve the above problem, the following solution is adopted.

[0031] Two limiting grooves 35 are formed on the side close to each other of the two clamping claws 32, and an adjusting groove 34 is formed between the two limiting grooves 35. An adjusting wheel 36 is rotatably connected in the adjusting groove 34. Two limiting wheels 37 are rotatably connected in the limiting groove 35. An abutting wheel 38 is rotatably connected in the limiting groove 35 between the two limiting wheels 37. A driving piece is installed in the clamping claw 32. The driving piece drives the adjusting wheel 36 to rotate. Two ratchet wheels 41 are coaxially fixedly connected on the upper and lower ends of the limiting wheel 37. A clamping block 42 is slidably arranged in the limiting groove 35 and embedded in the tooth groove of the ratchet wheel 41. A spring 43 is arranged between the clamping block 42 and the end wall of the limiting groove 35. The two ends of the spring 43 are fixedly connected to the clamping block 42 and the end wall of the limiting groove 35, respectively. When the limiting wheel 37 rotates clockwise in the top view direction, the upper ratchet wheel 41 limits the clamping block 42. When the limiting wheel 37 rotates counterclockwise in the top view direction, the lower ratchet wheel 41 limits the clamping block 42.

[0032] The rotating sleeve 39 is sleeved on the shaft end of the abutting wheel 38 and rotationally matched with the abutting wheel 38, the abutting protrusion 47 is fixedly connected to the outer wall of the shaft end of the abutting wheel 38, the abutting block 48 is fixedly connected to the inner wall of the rotating sleeve 39, the abutting protrusion 47 abuts to one side of the abutting block 48, the winding ropes 40 are wound on the rotating sleeve 39, and one end of the winding rope 40 is fixedly connected with the clamping block 42. It should be noted that the two winding ropes 40 wound on the rotating sleeve 39 on the upper side of the abutting wheel 38 are connected with the two clamping blocks 42 on the upper side respectively, and the two winding ropes 40 wound on the rotating sleeve 39 on the lower side are connected with the two clamping blocks 42 on the lower side respectively. When the abutting wheel 38 rotates clockwise in the top view, the rotating sleeve 39 on the upper side does not rotate with the abutting wheel 38, and the rotating sleeve 39 on the lower side rotates with the abutting wheel 38; when the abutting wheel 38 rotates counterclockwise in the top view, the rotating sleeve 39 on the upper side rotates with the abutting wheel 38, and the rotating sleeve 39 on the lower side does not rotate with the abutting wheel 38. When the clamping jaw 16 grabs the drill rod, the adjusting wheel 36, the limiting wheel 37 and the abutting wheel 38 are all close to the sidewall of the drill rod. The encoder 44 is connected and arranged on the shaft end of the abutting wheel 38, the controller is arranged on the clamping jaw 32, and the controller is electrically connected with the encoder 44. The driving member is installed and arranged in the clamping jaw 32, the driving member is electrically connected with the controller and drives the adjusting wheel 36 to rotate. When the drill rod slips in one direction, the abutting wheel 38 rolls on the surface of the drill rod, the encoder 44 detects the rotation of the abutting wheel 38 and outputs a signal to the controller, the controller starts the driving member to drive the adjusting wheel 36 to rotate, so that the drill rod returns to the initial position. The driving member can be selected as a motor.

[0033] When the drill rod slips to one side, one of the rotating sleeves 39 rotates, thereby pulling the corresponding clamping block 42 through the winding rope 40 to no longer limit the corresponding ratchet wheel 41, so that the limiting wheel 37 can rotate in one direction, and the drill rod is driven to move in the reverse direction along the sliding direction through the adjusting wheel 36. Since the limiting wheel 37 rotates in one direction, the drill rod is limited in one direction, and the drill rod is prevented from continuing to slip due to insufficient clamping force when returning.

[0034] Working or installation process: 1. When it is necessary to adjust the drill rod or drill bit to a predetermined angle, the drill rod or drill bit is grabbed by the clamping jaw 16, the biasing torque is generated on the swing mounting seat 11 through the contraction or elongation of the lifting oil cylinder 12, the swing mounting seat 11 is deflected around the Y axis, the angle of the drill rod or drill bit is adjusted, and the output shaft of the mounting head 18 is rotated, the mounting column 17 is deflected around the X axis, and the drill rod or drill bit is adjusted at multiple angles. 2. When the drill rod or drill bit is heavy. After the drill rod is deflected by the mounting head 18, when a pressure sensor 29 receives a pressing signal, the mounting post 17 bends in the direction of the pressure sensor 29. The mounting post 17 sends a signal to drive the corresponding lead screw 21 to rotate, causing the sliding block 20 and the first hinge joint 22 to move towards the swing frame 15. Under the action of the hinge rod 26, the swing frame 15 is supported, and the lead screw 21 on the opposite side is driven to rotate, causing the sliding block 20 to move away from the swing frame 15. The hinge rod 26 generates a pulling force on the swing frame 15, reducing the bending moment on the mounting post 17. 3. When the construction machinery is working, vibration will occur, and due to the tilt of the drill rod angle, the drill rod will slide on the chuck 16. When the drill rod slides to one side, one of the rotating sleeves 39 will rotate, which will then pull the corresponding chuck 42 through the winding rope 40 to no longer limit the corresponding ratchet 41, so that the limit wheel 37 can rotate in one direction. At the same time, the adjusting wheel 36 will drive the drill rod to move in the opposite direction of the sliding. Since the limit wheel 37 rotates in one direction, it limits the drill rod in one direction. When the drill rod returns to its original position, it will avoid insufficient clamping force to prevent further slippage.

[0035] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A fully extendable manipulator suitable for inclined shaft construction, characterized in that: include: Robotic arm mounting base (10), on which a swing mounting base (11) is mounted; The lifting cylinder (12) is hinged at one end to the robot arm mounting base (10), and the piston rod end of the lifting cylinder (12) is hinged to the swing mounting base (11); The swing cylinder (13) is fixedly installed on the swing mounting base (11); The deflection sleeve (14) is fixedly fitted with the output shaft of the swing cylinder (13); The mounting head (18) is set inside the deflection sleeve (14) and is fixedly mounted on the output shaft of the swing cylinder (13); The mounting post (17) is fixedly installed on the mounting head (18); The swing frame (15) is fixedly installed at one end of the mounting column (17); The gripper (16) is mounted on the swing frame (15); Four sets of circumferentially distributed support components are provided between the deflection sleeve (14) and the swing frame (15). The support components include: a sliding groove (19) opened on the deflection sleeve (14), a sliding block (20) slidably disposed in the sliding groove (19), a first hinge joint (22) slidably disposed on the sliding block (20), a sliding rod (24) fixedly disposed on the first hinge joint (22) and slidingly engaged with the sliding block (20), a retaining ring (23) fixedly connected to the sliding rod (24), an elastic element (25) connected between the retaining ring (23) and the sliding block (20), a second hinge joint (27) fixedly connected to the swing frame (15), a hinge rod (26) hinged between the second hinge joint (27) and the first hinge joint (22), and the two ends of the hinge rod (26) hinged to the second hinge joint (27) and the first hinge joint (22) respectively. A pressure sensor (29) is fixedly connected to the side of the deflection sleeve (14) near the swing frame (15). The pressure sensor (29) is located near the second hinge joint (27). A sleeve is fixedly connected to the pressure sensor (29). A contact head (28) is slidably connected inside the sleeve. One end of the contact head (28) extends out of the sleeve and abuts against the swing frame (15). A spring is provided between the contact head (28) and the pressure sensor (29).

2. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 1, characterized in that: A lead screw (21) is rotatably installed inside the deflection sleeve (14). The lead screw (21) passes through the sliding block (20) and is threadedly connected to the sliding block (20). A driving member is provided on the deflection sleeve (14). The driving member drives the lead screw (21) to rotate. A hinge seat (45) is fixedly installed on the swing frame (15). The second hinge joint (27) is hingedly installed on the hinge seat (45).

3. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 1, characterized in that: The gripper (16) includes: a telescopic cylinder (30) fixedly installed inside the swing frame (15), a telescopic frame (31) fixedly connected to the piston rod end of the telescopic cylinder (30), a hinge rod hinged on the telescopic frame (31), a swing member (33) hinged to one end of the hinge rod, and two symmetrical gripping claws (32) hinged to the lower end of the swing frame (15), with one end of the swing member (33) hinged to the gripping claws (32).

4. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 3, characterized in that: Two clamping claws (32) are provided with two limiting grooves (35) on one side close to each other, and an adjustment groove (34) is provided between the two limiting grooves (35). An adjustment wheel (36) is rotatably connected in the adjustment groove (34). Two limiting wheels (37) are rotatably connected in the limiting groove (35). An abutment wheel (38) located between the two limiting wheels (37) is also rotatably connected in the limiting groove (35).

5. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 4, characterized in that: Two ratchet gears (41) are coaxially fixedly connected to the limiting wheel (37) and located at the upper and lower ends of the limiting wheel (37). A locking block (42) is slidably disposed in the limiting groove (35) and embedded in the tooth groove of the ratchet gear (41). A spring (43) is connected between the locking block (42) and the end wall of the limiting groove (35). The two ends of the spring (43) are fixedly connected to the locking block (42) and the end wall of the limiting groove (35) respectively.

6. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 5, characterized in that: The clamping claw (32) is rotatably mounted with rotating sleeves (39) located coaxially at the upper and lower ends of the abutment wheel (38). The rotating sleeves (39) are sleeved on the shaft end of the abutment wheel (38) and rotate in cooperation with the abutment wheel (38). An abutment protrusion (47) is fixedly connected to the outer wall of the shaft end of the abutment wheel (38). An abutment block (48) is fixedly connected to the inner wall of the rotating sleeve (39). The abutment protrusion (47) abuts against one side of the abutment block (48). A winding rope (40) is wound on the rotating sleeve (39). One end of the winding rope (40) is fixedly connected to the clamping block (42).

7. A fully extendable manipulator suitable for inclined shaft construction as described in claim 6, characterized in that: An encoder (44) is connected to the shaft end of the abutment wheel (38), and a controller is provided on the clamping claw (32). The controller is electrically connected to the encoder (44).

8. The omnidirectional telescopic manipulator suitable for inclined shaft construction as described in claim 7, characterized in that: A drive component is installed inside the clamping claw (32). The drive component is electrically connected to the controller and drives the adjusting wheel (36) to rotate.

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