Large-size directional drill pipe conveying robot

Abstract

This utility model discloses a conveying robot for large-size directional drill pipes, belonging to the field of directional drilling rigs in coal mines. It includes an inclination adjustment mechanism, a horizontal displacement mechanism, a lifting joint, a tilting joint, a telescopic joint, and a gripper joint. The inclination adjustment mechanism has two spaced rotational connection points on the moving platform. The two ends of a rigid swing arm are hinged to these rotational connection points to form a double-rotational pair structure, and the swing arm is driven by a linkage mechanism to swing within a limited inclination angle range. The horizontal displacement mechanism includes a U-shaped bracket fixed to the swing arm, a parallel double-rail linear guide assembly located inside the U-shaped bracket, and a slidingly assembled support seat. The support seat is driven to move horizontally by a linear drive assembly. The lifting joint, tilting joint, telescopic joint, and gripper joint are sequentially connected to the support seat. This design uses a double-rotational pair inclination joint to improve rigidity and vibration resistance, and the integrated design of the single robot simplifies the layout, meeting the stable conveying requirements of large-size drill pipes.

Description

Technical Field

[0001] This utility model belongs to the field of directional drilling rigs in coal mines, and relates to a conveying robot for large-specification directional drill rods. Background Technology

[0002] In the process of intelligent transformation of coal mines, drilling automation technology has become a key means to improve the safety and efficiency of underground operations. Traditional manual operation modes are limited by the complex underground environment and personnel fatigue, making it difficult to meet the dual requirements of modern mines for efficient drilling and inherent safety. Automated drilling rigs, by realizing the autonomous operation of drilling processes and auxiliary procedures, significantly reduce labor intensity and break through the bottleneck of manual efficiency, and have now become an inevitable choice for technological upgrading in the coal industry.

[0003] Currently, the automation technology of rotary drilling rigs is relatively mature. Automated rotary drilling rigs based on hydraulic drives and PLC control systems can achieve full automation of drill rod loading and unloading, drilling control, and attitude adjustment, and have been widely applied in disaster prevention projects such as gas extraction and water exploration. In contrast, the automation technology of directional drilling rigs is still in its early stages, with existing achievements mainly focusing on low-power directional drilling rigs adapted to small-diameter drill rods. However, in actual directional drilling scenarios, drilling depths of kilometers are extremely common, and coal mining enterprises urgently need high-power automatic directional drilling rigs with output torques of 15,000 N·m or even 20,000 N·m or more. The drill rods used with such rigs can reach a diameter of 113 mm and a single length of 3 m, whose size and weight far exceed those used in low-power directional drilling rigs, placing more stringent requirements on the load capacity and operational stability of the loading and unloading system. Existing automatic loading and unloading systems for rotary drilling rigs and low-power directional drilling rigs are difficult to adapt to the transportation needs of large-diameter drill rods.

[0004] Existing automatic drilling rigs generally employ a dual-manipulator collaborative loading and unloading system: the auxiliary manipulator extracts drill rods from the drill rod box and transfers them to the transfer device, while the main manipulator grabs the drill rods from the transfer device and feeds them into the drilling system. While this approach can improve efficiency through parallel operation, it requires four core components: the main and auxiliary manipulators, the transfer device, and the drill rod box. This system is complex and occupies a large space, hindering the miniaturization of the drilling rig. More importantly, existing main manipulators commonly use a single-sided supported cantilevered tilt joint to meet the demands of large tilt angle adjustments. While this structure maintains stability when transporting small-diameter drill rods, it easily causes severe vibration and sway when used with large-diameter drill rods, resulting in dynamic impacts on the manipulator and damage to core components such as the tilt reducer and slewing arm. It is worth noting that high-power directional drilling rigs are mostly used in near-horizontal drilling conditions, which do not actually require a large range of tilt angle adjustments, but still demand higher stability during the transport process. In addition, the existing drill rod box is fixedly installed on the top of the drilling rig's tracked platform. When it is necessary to change the drill rod specifications, the disassembly process is time-consuming and labor-intensive, which seriously restricts the drilling rig's adaptability to different working conditions. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a new drill rod loading and unloading system specifically for high-power directional drilling rigs. While simplifying the structural layout, it focuses on solving the problems of stable conveying of large-size drill rods and rapid replacement of drill rod boxes, so as to fill the technical gap in this field.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A conveying robot for large-size directional drill pipe includes:

[0008] Tilt adjustment mechanism:

[0009] Two spaced rotating connection points are fixed to the mobile platform;

[0010] A rigid swing arm, with its two ends hinged to the rotational connection point, forms a double revolute joint structure;

[0011] A tilt drive assembly, comprising a linkage mechanism connecting a moving platform and a swing arm, for driving the swing arm to tilt within a defined tilt angle range;

[0012] A horizontal displacement mechanism, comprising:

[0013] A support frame fixed to the swing arm;

[0014] A linear guide assembly is provided on the support frame; the support frame has a U-shaped structure, and the linear guide assembly is arranged with parallel double rails on its inner side;

[0015] The bearing seat is slidably assembled via the linear guide assembly;

[0016] A linear drive assembly that drives the horizontal movement of the support base;

[0017] The lifting joint has its fixed end connected to the support base;

[0018] The rotating joint has its base connected to the output end of the lifting actuator;

[0019] The telescopic joint has its fixed end connected to the output end of the tilting actuator;

[0020] The gripper joint is installed at the output end of the axial telescopic mechanism.

[0021] Optionally, the travel of the tilt drive component is configured to provide a certain tilt adjustment range, which can be ±15° to 30°, and the absolute values ​​of the tilt angles adjusted vertically or horizontally can be the same or different.

[0022] Optionally, the tilt adjustment mechanism is a tilt joint, comprising:

[0023] Two swing arm seats, spaced apart along the length of the drill pipe, are fixed to the moving platform;

[0024] The swing arm has two ends hinged to two swing arm seats via pins, forming a double rotating pair;

[0025] The tilting cylinder has its cylinder barrel and piston rod end hinged to the moving platform and the swing arm respectively through the tilting cylinder seat, forming a four-bar drive mechanism.

[0026] Optionally, the horizontal displacement mechanism is a translational joint, comprising:

[0027] The bracket is fixedly installed on the swing arm;

[0028] The track and translation motor are mounted on the bracket;

[0029] The support is slidably connected to the track via a slider and is driven to move horizontally by a translation motor.

[0030] Optionally, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder, wherein the lifting outer cylinder is fixedly connected to the support seat.

[0031] Optionally, the flip joint includes a flip seat and a flip arm, wherein the flip seat is fixedly connected to the top of the lifting inner cylinder.

[0032] Optionally, the telescopic joint includes an outer cylinder and an inner cylinder, with the outer cylinder fixedly connected to the end of the tilting arm.

[0033] Optionally, the gripper joint includes a clamping drive and a gripper, which are fixedly connected to the top of the inner cylinder of the telescopic joint.

[0034] Optionally, the two ends of the swing arm are hinged to two swing arm seats respectively via pins.

[0035] Optionally, the cylinder barrel and piston rod end of the tilt cylinder are respectively hinged to the moving platform and the swing arm via the tilt cylinder seat.

[0036] The beneficial effects of this utility model are as follows:

[0037] This solution, through innovative mechanical structure design, fundamentally solves the problems of stability, space occupation, and equipment compatibility during the transportation of large-size directional drill pipes, specifically in the following three aspects:

[0038] 1. The double-rotational joint significantly improves structural rigidity and vibration resistance.

[0039] Traditional robotic arms employ a cantilevered tilt adjustment structure with single-sided support, which is prone to severe vibrations due to leverage effects when transporting heavy drill pipes. This innovative design features two swing arm seats spaced apart along the length of the drill pipe on the moving platform. These seats are connected to a rectangular tubular swing arm via double pin hinges, forming a rigid double-revolute joint structure. Combined with a closed four-bar linkage driven by a tilt cylinder, a stable triangular force transmission path is created. This design allows the swing arm to distribute torsional stress through two-point support when bearing drill pipe loads, eliminating the moment concentration problem associated with single-point support.

[0040] 2. The integrated design of a single robotic arm achieves both space simplification and functional integration.

[0041] Existing dual-manipulator systems require four types of components: main / auxiliary manipulators, a transfer device, and a drill pipe box, resulting in a bulky drilling rig. This solution innovatively adopts a four-stage tandem joint configuration:

[0042] The tilt joint and translation joint are integrated into the large-span swing arm to form the basic motion platform;

[0043] The lifting joint is directly connected to the translation joint bearing seat through a flange to achieve precise vertical positioning;

[0044] The flip-telescopic composite mechanism replaces the traditional transfer device to complete the axial alignment and pushing of the drill pipe.

[0045] This design integrates the drill pipe delivery path into a single robotic arm's continuous motion, reducing the number of components and compressing installation space, making it particularly suitable for narrow downhole tunnel environments. Meanwhile, the modular design of each joint (such as U-shaped bracket bolt fixing and pre-assembled track sliders) improves on-site maintenance efficiency.

[0046] 3. The side-mounted drill pipe box enables quick replacement and compatibility with multiple specifications.

[0047] Addressing the replacement challenges posed by the existing drill rod box being fixed to the top of the tracked vehicle, this solution features a groundbreaking design with a lateral mounting structure for the bottom bracket:

[0048] The drill pipe box body is mounted on the side of the mobile platform via a detachable bracket, utilizing the external space of the tracked vehicle;

[0049] The box is equipped with adjustable spacing partitions, which can be used to adapt to drill rods with diameters of Φ89-113mm by changing the pads;

[0050] The bracket and platform are locked together using a pin-type positioning mechanism, which shortens the replacement time.

[0051] This structure allows a single drilling rig to flexibly switch between 1.5m / 3m length and different diameter drill rod boxes to meet the needs of different working conditions such as water exploration holes and gas extraction holes, thereby improving equipment utilization.

[0052] 4. Synergistic enhancement of small-scale tilt angle optimization and process stability

[0053] To address the near-horizontal drilling characteristics of high-power directional drilling rigs, this solution actively constrains the tilt angle adjustment range by limiting the stroke of the tilt cylinder (and employing a mechanical limit design with dual rotating pairs). Compared to the wide tilt angle joints of traditional robotic arms, this design reduces the moment of inertia. Combined with a rack and pinion driven translational joint (and a lifting-telescopic dual-stage hydraulic cylinder), it achieves smooth transport of the drill rod from gripping to engagement, shortening drilling preparation time.

[0054] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0055] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0056] Figure 1 This is a side view of the robot arm's axis;

[0057] Figure 2 This is a front view of the robotic arm;

[0058] Figure 3 This is a schematic diagram of a directional drilling rig.

[0059] Figure 4 This is a partial view of the translation joint.

[0060] Reference numerals: 1. Robotic arm; 2. Drill rod box; 3. Moving platform; 4. Anchoring system; 5. Frame; 6. Gripper; 7. Hydraulic system; 8. Control system; 9. Power head; 101. Tilt joint; 102. Translation joint; 103. Lifting joint; 104. Tilting joint; 105. Grip joint; 106. Tilt sensor assembly; 107. Swing arm seat; 10101. Swing arm; 10102. Pin; 10103. Tilt cylinder; 10104. Tilt cylinder seat; 1010 5. Bracket 10201, track 10202, slider 10203, translation sensor 10204, translation motor 10205, bearing seat 10206, lifting cylinder 10301, lifting outer cylinder 10302, lifting inner cylinder 10303, tilting seat 10401, tilting arm 10402, tilting shaft 10403, tilting driver 10404, telescopic cylinder 10501, telescopic sensor 10502, clamping drive 10601. Detailed Implementation

[0061] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0062] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0063] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0064] Please see Figures 1-4 ,like Figure 1As shown, this solution applies to an automatic directional drilling rig, which includes a robotic arm 1, a drill rod box 2, a moving platform 3, an anchoring system 4, a frame 5, a clamp 6, a hydraulic system 7, a control system 8, and a power head 9. The robotic arm 1 has four degrees of freedom: tilt, translation, lifting, and tilting, and transports the drill rods from the drill rod box to the drilling axis of the drilling host (frame and power head). The drill rod box 2 is an onboard drill rod storage device. The moving platform 3 supports other components and systems and also has a moving function. The anchoring system 4 is a stabilizing mechanism for the drilling rig. Pressure is applied to the tunnel roof and ground using hydraulic cylinders to ensure the rig remains stable during drilling. The frame 5 is the support for the power head, clamp, and other components, as well as the drilling feed drive device. The clamp 6 is mainly responsible for clamping the drill rods, maintaining their position within the drilled hole, and also works with the power head to connect and disconnect the drill rods using threads. The hydraulic system 7 is the drilling rig's power system, driven by an electric motor, outputting hydraulic power. The control system 8 mainly refers to the electrical control system, including the controller and its supporting functional modules, sensors, human-machine interface system, drilling trajectory measurement system, etc. The power head 9 is the drive device for rotating the drill rod, and it connects the frame and the drill rod, transmitting the feed force to the drill rod.

[0065] robotic arm structure

[0066] 1. Tilt joint 101

[0067] Two swing arm seats 10101 are arranged at intervals along the length of the drill rod and are fixed to the surface of the moving platform 3 by bolts; the plug seats at both ends of the rectangular tubular swing arm 10102 are hinged to the swing arm seats 10101 by pins 10103 to form a double rotating pair; the cylinder end of the tilt cylinder 10104 is hinged to the moving platform 3 by the tilt cylinder seat 10105, and the piston rod end is hinged to the middle of the swing arm 10102 by the tilt cylinder seat 10105 to form a four-bar linkage.

[0068] Swing arm base 10101: The connecting part between the entire robot and the moving platform 3. Two of them are set along the length of the robot (i.e. the length of the drill rod). They are connected to both ends of the swing arm by pins to form two rotating pairs, so that the swing arm can tilt up and down under the drive of the tilting cylinder to adjust the tilt angle of the robot.

[0069] Swing arm 10102: The main support component of the robot arm. The swing arm body is a rectangular or round tube structure. Both the front and rear ends of the swing arm body have insertion sockets for connecting to the swing arm base. The insertion sockets have insertion holes for the pin shaft to pass through (in addition to the insertion holes, two other holes are for weight reduction). An angle sensor mounting hole is provided on the bottom or side of the swing arm body. The translation joint 102 is fixedly connected to the swing arm body with bolts.

[0070] Tilt cylinder 10104: The driving element for adjusting the tilt angle of the manipulator. The cylinder barrel and piston end are connected to the swing arm and the moving platform 3 respectively via the tilt cylinder seat 10105, thus forming a four-bar linkage driven by a sliding pair. The stroke of the cylinder and the installation position of the tilt cylinder seat are adjusted according to the tilt angle adjustment range of the drilling rig. Since large directional drilling rigs generally operate in near-horizontal drilling conditions, there is no need for the cylinder to drive the manipulator to adjust the tilt angle over a wide range.

[0071] 2. Translation joint 102

[0072] The U-shaped bracket 10201 is bolted to the upper surface of the swing arm 10102; the double track 10202 is bolted to the inner side of the bracket 10201; the bearing seat 10206 is fitted onto the double track 10202 via the slider 10203; the translation motor 10205 drives the bearing seat 10206 to move horizontally via a gear and rack pair, and the translation sensor 10204 detects the displacement in real time. The support frame 10201 has a U-shaped structure, and the linear guide assembly is arranged in parallel double tracks on its inner side.

[0073] The bracket 10201 is a support component for the lifting joint and also provides the mounting position for the rail. One end of the bracket is a connecting seat for fixing the bracket to the swing arm 10102. The main body of the bracket is a crossbeam structure, with a slide rail on the side facing the drill pipe box (or on the side away from the drill pipe box, the specific structure is slightly different). Slide rails are provided on both the upper and lower sides of the rail (either simultaneously or on one side), and the slide rails cooperate with the slider to form a sliding pair; a rack is provided in the middle section, and the rack pairs with the gear of the translation motor to form a rack and pinion pair. A certain space is left between the bracket and the drill pipe box to accommodate the lifting joint.

[0074] The slider is embedded in the guide rail and fixedly connected to the support 10206 on one side. Therefore, the translation motor can drive the support to move the lifting joint horizontally via a gear and rack pair. The support is the connecting part between the translation joint and the lifting joint. The translation sensor 10204 is used to measure the displacement change value during the translation process of the lifting joint.

[0075] 3. Lifting and lowering joint 103

[0076] The outer lifting cylinder 10302 is flanged and connected to the bearing seat 10206; the inner lifting cylinder 10303 is slidably engaged with the outer lifting cylinder 10302 via an inner slide rail; the cylinder barrel of the lifting cylinder 10301 is fixed to the bottom of the outer lifting cylinder 10302, and the piston rod is connected to the inner lifting cylinder 10303.

[0077] The lifting outer cylinder 10302 is connected to the carrier seat of the translation joint. The lifting outer cylinder has a detachable inner slide rail for guiding the movement of the inner cylinder. The cylinder of the lifting cylinder is connected to the bottom of the lifting outer cylinder, and the piston rod is fixedly connected to the lifting inner cylinder or the tilting joint. The extension and retraction of the piston rod drives the inner cylinder or the tilting joint to rise and fall. The lifting inner cylinder is the moving component for lifting. Its lower end has a slider that matches the inner slide rail of the lifting outer cylinder, which is inserted into the lifting outer cylinder and guided by the guide rail to reduce offset during lifting. Its upper end is fixedly connected to the tilting joint, transmitting the lifting motion to the tilting joint.

[0078] 4. Rotate joint 104

[0079] The flip seat 10401 is flanged and connected to the top of the lifting inner cylinder 10303; the flip shaft 10403 is mounted on the flip seat 10401 via a bearing; one end of the flip arm 10402 is keyed to the flip shaft 10403, and the other end is flanged and connected to the telescopic joint 105; the flip drive 10404 (hydraulic motor) drives the flip shaft 10403 to rotate.

[0080] The left side of the tilting seat has a mounting flange for the tilting drive, and a flange-connected end cover with an inner cavity for mounting the tilting shaft. After the end cover is fixedly mounted on the tilting seat, it can limit the axial movement of the tilting shaft.

[0081] The basic structure of the tilting shaft is a cylindrical shaft with a flange at its right end for connection to the tilting arm, and a connecting structure, such as a spline or key, at its left end for connection to the tilting actuator. The tilting arm is a long rod or tubular part used to connect the tilting shaft and the telescopic joint. A hollow tubular shape is preferred for ease of machining and weight control.

[0082] 5. Telescopic joint 105

[0083] The outer cylinder flange is connected to the end of the tilting arm 10402; the inner cylinder slides with the outer cylinder through the guide rail; the cylinder barrel of the telescopic cylinder 10501 is fixed to the top of the outer cylinder, and the piston rod is connected to the inner cylinder; the telescopic sensor 10502 detects the displacement of the inner cylinder.

[0084] The telescopic joint has an inner and outer sleeve structure similar to a lifting joint. A telescopic cylinder 10501 is mounted on its top. The cylinder barrel is connected to the top of the outer cylinder, and the piston rod is fixedly connected to the inner cylinder or the gripper joint. The extension and retraction of the piston rod causes the gripper joint to move up and down. A telescopic sensor 10502 is installed on the telescopic joint to measure the change in telescopic displacement.

[0085] 6. Hand and claw joints 106

[0086] The base bolts are fixed to the top of the inner cylinder of the telescopic joint 105; the clamping drive 10601 (hydraulic cylinder) drives the jaws to open and close. The jaw joint can be various types of clamping mechanisms, and the clamping drive 10601 can be various linear or rotating elements (such as hydraulic cylinders, motors, etc.). The clamping drive drives the jaws to clamp and release, realizing the clamping and releasing of the drill rod. In this application, the clamping drive is preferably a linear hydraulic cylinder.

[0087] Workflow

[0088] Initial state: Robotic arm 1 is in the non-interference position, and gripper joint 106 is released;

[0089] Column selection: Control system 8 selects the column containing drill rods in drill rod box 2;

[0090] Lowering: The lifting cylinder 10301 and the telescopic cylinder 10501 work together to drive the gripper joint 106 to descend to the grasping position;

[0091] Gripping: The clamping drive component 10601 closes the gripper to grip the drill rod;

[0092] Lifting: The lifting joint 103 and the telescopic joint 105 lift the drill rod and disengage it from the drill rod box 2;

[0093] Translation: Translation motor 10205 drives bearing seat 10206 to move outward, causing the drill pipe to move out of the drill pipe box 2 area;

[0094] Tilting: The tilt cylinder 10104 drives the swing arm 10102 to trigger the tilt sensor assembly 107 (tilt matching the drilling axis of the frame 5);

[0095] Tilting: The tilting driver 10404 drives the drill pipe to rotate 90° to the drilling axis direction;

[0096] Telescopic: Telescopic cylinder 10501 pushes the drill rod to the drilling axis of frame 5;

[0097] Connection: The power head 9 and the clamp 6 work together to complete the threaded connection of the drill rod.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A conveying robot for large-size directional drill pipes, characterized in that, include: Tilt adjustment mechanism: Two spaced rotating connection points are fixed to the mobile platform (3); A rigid swing arm (10102) has its two ends hinged to the rotation connection point to form a double rotation pair structure; The tilt drive assembly includes a linkage mechanism connecting the moving platform (3) and the swing arm (10102) for driving the swing arm to tilt within a defined tilt angle range; A horizontal displacement mechanism, comprising: A bracket (10201) is fixed to the swing arm (10102). A linear guide assembly is provided on the bracket (10201); the bracket (10201) has a U-shaped structure, and the linear guide assembly is arranged in parallel double rails on its inner side; The carrier (10206) is slidably assembled via the linear guide assembly. A linear drive assembly that drives the carrier (10206) to move horizontally; The lifting joint (103) has its fixed end connected to the bearing seat (10206). A tilting joint (104) has its base connected to the output end of a lifting joint (103); The telescopic joint (105) has its fixed end connected to the output end of the flip joint (104); The hand-claw joint (106) is installed at the output end of the axial telescopic joint (105).

2. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The travel of the tilt drive assembly is configured to provide only a certain tilt adjustment range.

3. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The tilt adjustment mechanism is a tilt joint (101), comprising: Two swing arm seats (10101) are spaced apart along the length of the drill pipe and fixed to the moving platform (3). The swing arm (10102) is hinged at both ends to two swing arm seats (10101) via pins (10103) to form a double rotating pair; The tilting cylinder (10104) has its cylinder barrel and piston rod end hinged to the moving platform (3) and the swing arm (10102) respectively through the tilting cylinder seat (10105), forming a four-bar drive mechanism.

4. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The horizontal displacement mechanism is a translation joint (102), comprising: The track (10202) and the translation motor (10205) are mounted on the bracket (10201); The support (10206) is slidably connected to the track (10202) via a slider (10203) and is driven to move horizontally by a translation motor (10205).

5. The conveying robot for large-size directional drill pipe according to claim 4, characterized in that: The lifting joint (103) includes a lifting outer cylinder (10302) and a lifting inner cylinder (10303), wherein the lifting outer cylinder (10302) is fixedly connected to the support seat (10206).

6. The conveying robot for large-size directional drill pipe according to claim 5, characterized in that: The flip joint (104) includes a flip seat (10401) and a flip arm (10402), wherein the flip seat (10401) is fixedly connected to the top of the lifting inner cylinder (10303).

7. The conveying robot for large-size directional drill pipe according to claim 6, characterized in that: The telescopic joint (105) includes an outer cylinder and an inner cylinder, with the outer cylinder fixedly connected to the end of the flip arm (10402).

8. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The gripper joint (106) includes a clamping drive (10601) and a gripper, which are fixedly connected to the top of the inner cylinder of the telescopic joint (105).

9. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The two ends of the swing arm (10102) are hinged to the two swing arm seats (10101) respectively through the pin (10103).

10. The conveying robot for large-size directional drill pipe according to claim 1, characterized in that: The cylinder barrel and piston rod end of the tilt cylinder (10104) are respectively hinged to the moving platform (3) and the swing arm (10102) through the tilt cylinder seat (10105).

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