Manipulator, device and drilling machine system

Abstract

The invention provides a manipulator, a device and a drilling machine system. A first rotating structure is arranged between the first rotating part and the moving part; a second rotating structure is arranged between the second rotating part and the first rotating part; the grabbing piece is arranged on the second rotating piece and comprises a main body part, a driving piece, an abutting piece and two supporting arms, the driving piece is arranged at the first end of the main body part, the abutting piece is arranged at the second end of the main body part, the two supporting arms are located between the first end of the main body part and the second end of the main body part, and the two supporting arms are oppositely arranged on the two sides of the main body part; the driving piece is configured to drive the first ends of the two supporting arms to move so that the second ends of the two supporting arms can get close to each other and get away from each other, and a grabbing area is formed between the abutting piece and the second ends of the two supporting arms. According to the drilling machine system, automation of drilling rod grabbing and disassembling is achieved, and the automation degree of the drilling machine system can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial equipment, and in particular to a manipulator, a device and a drilling rig system. Background Art

[0002] In drilling operations, the existing drilling rig consists of a tower and a power head. When working, the power head is connected to the drill rod to drive the drill rod to rotate, and the drill rod is linked with another drill rod located below to realize the rotation of multiple drill rods for drilling operations.

[0003] When the current drilling rig is working, multiple workers are required to install or remove drill rods in harsh locations. In the process of loading and unloading drill rods, there are defects such as high labor intensity, high labor protection conditions, difficulty in manual loading and unloading, difficulty in operation, low loading and unloading efficiency, and affecting the construction progress. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present application provides a manipulator, a device and a drilling rig system.

[0005] The specific technical solutions are as follows:

[0006] A robot arm, comprising:

[0007] A moving member, the moving member is used to be movably arranged on an external device;

[0008] A first rotating member, wherein a first rotating structure is disposed between the first rotating member and the moving member, and the first rotating structure is used to switch the first rotating member between approaching and moving away from the moving member;

[0009] a second rotating member, wherein a second rotating structure is disposed between the second rotating member and the first rotating member, and the second rotating structure is used to switch the second rotating member between a horizontal arrangement and a vertical arrangement relative to the moving member;

[0010] A grabbing member, wherein the grabbing member is arranged on the second rotating member, and the grabbing member includes a main body, a driving member, an abutting member and two support arms, wherein the driving member is arranged at the first end of the main body, the abutting member is arranged at the second end of the main body, the two support arms are both located between the first end of the main body and the second end of the main body, and the two support arms are relatively arranged on both sides of the main body, the driving member is configured to drive the first ends of the two support arms to move so that the second ends of the two support arms are close to and away from each other, and a grabbing area is formed between the abutting member and the second ends of the two support arms.

[0011] In one embodiment, the main body is provided with two wings, the two wings are provided in one-to-one correspondence with the two supporting arms, and the supporting arms are rotatably provided on the wings through a third rotating structure;

[0012] The support arm has a sub-side wall 1 and a sub-side wall 2 on one side close to the main body, and has a sub-side wall 3 on one side away from the main body, and the sub-side wall 1 and the sub-side wall 2 are arranged oppositely on two sides of the third rotating structure;

[0013] One end of the sub-side wall 1 away from the third rotation structure is inclined toward the sub-side wall 3 to form a first yielding structure at the end of the sub-side wall 1 away from the third rotation structure; and / or one end of the sub-side wall 2 away from the third rotation structure is inclined toward the sub-side wall 3 to form a second yielding structure at the end of the sub-side wall 2 away from the third rotation structure.

[0014] In one embodiment, the distance between the third rotating structure and the first end of the support arm is between 10 cm and 50 cm; the distance between the third rotating structure and the second end of the support arm is between 12 cm and 80 cm;

[0015] Wherein, the ratio of the distance between the third rotating structure and the first end of the support arm to the distance between the third rotating structure and the second end of the support arm is between 3:7 and 4.8:5.2.

[0016] In one embodiment, the angle between the sub-side wall one and the sub-side wall three is between 10° and 40°, the angle between the sub-side wall two and the sub-side wall three is between 10° and 40°, the angle between the sub-side wall one and the sub-side wall two is between 120° and 160°; and the angle between the sub-side wall one and the sub-side wall three is greater than the angle between the sub-side wall two and the sub-side wall three.

[0017] In one embodiment, a first contact portion is provided at one end of the abutment member away from the main body, and a cross section of the first contact portion at one end away from the main body is in the shape of an arc, and a second contact portion is provided at the second end of the support arm, and the second contact portion is tangent to the circle where the arc is located;

[0018] The second contact portion is provided with a clamping portion, the clamping portion overlaps with the circle where the arc is located, and the area of ​​the clamping portion is between 20cm 2 -40cm 2 between.

[0019] In one embodiment, the grabbing member further comprises a pushing member and two transmission members, the two transmission members correspond to the two supporting arms one by one, and the transmission members are rotatably connected to the first ends of the corresponding supporting arms, and the two ends of the pushing member are rotatably connected to the two transmission members respectively, and the pushing member is configured to be driven by the driving member and drive the first ends of the two supporting arms to rotate through the two transmission members, so that the second ends of the two supporting arms are close to and away from each other;

[0020] When the grabbing member is in the grabbing state, the angle between the pushing member and the transmission member is between 150° and 170°, and the angle between the transmission member and the support arm is between 75° and 90°;

[0021] When the grabbing member is in a released state, the angle between the pushing member and the transmission member is between 120° and 150°, and the angle between the transmission member and the supporting arm is between 90° and 110°.

[0022] In one embodiment, the number of the grabbing members is two, the second rotating structure is located between the two grabbing members, and the ratio of the distance between one of the two grabbing members and the second rotating structure to the distance between the other of the two grabbing members and the second rotating structure is between 1:19 and 10:10.

[0023] In one embodiment, a positioning portion is provided on the second rotating member, the positioning portion is formed with a positioning groove, the positioning groove is used to accommodate the object to be grasped, and a rolling member is provided in the positioning groove, the rolling member is used to contact the object to be grasped.

[0024] In one embodiment, the rotation axis of the first rotation structure is parallel to the moving direction of the moving member, and the rotation axis of the second rotation structure is perpendicular to the moving direction of the moving member.

[0025] A device comprises the manipulator described in any one of the above embodiments.

[0026] A drilling system comprises a drilling body and a manipulator as described in any one of the above embodiments, wherein a moving part of the manipulator is movably arranged on the drilling body.

[0027] This application has at least the following beneficial effects:

[0028] The present application provides a robot arm, comprising: a moving member, which is used to be movably set on an external device; a first rotating member, a first rotating structure is arranged between the first rotating member and the moving member, and the first rotating structure is used to switch the first rotating member between approaching and moving away from the moving member; a second rotating member, a second rotating structure is arranged between the second rotating member and the first rotating member, and the second rotating structure is used to switch the second rotating member between a horizontal setting and a vertical setting relative to the moving member; a grasping member, which is arranged on the second rotating member, and the grasping member comprises a main body, a driving member, an abutment member and two arms, the driving member is arranged at the first end of the main body, the abutment member is arranged at the second end of the main body, the two arms are both located between the first end of the main body and the second end of the main body, and the two arms are relatively arranged on both sides of the main body, the driving member is configured to drive the first ends of the two arms to move so that the second ends of the two arms approach each other and move away from each other, and a grasping area is formed between the abutment member and the second ends of the two arms.

[0029] The present application uses a second rotating member to enable the grasping member to grasp objects to be grasped in different shapes (for example, longitudinally arranged, transversely arranged or inclined), and to adjust the state of the objects to be grasped after grasping them (for example, rotating the longitudinally arranged objects to be grasped to be placed transversely); and uses a first rotating member to enable the grasping member to grasp the objects to be grasped at a long distance; and uses a moving member to enable the grasping member to move relative to an external device after grasping the objects to be grasped, so as to transport the objects to be grasped.

[0030] This application enables the manipulator to flexibly respond to objects of different shapes to be grasped, so that objects of different shapes can be grasped effectively, greatly expanding the application range of the manipulator, making it applicable to various complex grasping scenarios. At the same time, the state of the object to be grasped can be adjusted after grasping, which provides convenience for subsequent operations. Moreover, grasping operations can be carried out in a wider area, and the target position can be reached without operators or frequent movement of external devices. And automatic transportation is realized, without the need for additional conveying equipment or manual handling, which improves the overall operation efficiency.

[0031] The present application arranges the driving member, the abutment member and the two supporting arms around the main body, so that the structure of the grabbing member is gathered, making the structure of the grabbing member more compact, enhancing the structural strength of the grabbing member, enhancing the carrying capacity of the grabbing member, helping to increase the maximum grabbing weight of the grabbing member, and being able to better resist bending deformation, thereby extending the service life of the grabbing member.

[0032] The present application also provides a device, including the manipulator described above. The present application provides a manipulator capable of automatic grasping, so that the device can operate continuously and efficiently, significantly shortening the operation cycle, thereby speeding up the operation progress. At the same time, it reduces the interference of human factors, reduces errors and mistakes caused by improper operation, and improves the stability and reliability of the operation.

[0033] The present application also provides a drilling system, including a drilling body and the above-mentioned manipulator, wherein the moving part of the manipulator is movably arranged on the drilling body. The present application provides a manipulator capable of automatic grasping, so that the drilling system can operate continuously and efficiently, significantly shortening the construction period, thereby speeding up the progress of the project. At the same time, it reduces the interference of human factors, reduces the errors and mistakes caused by improper operation, and improves the stability and reliability of the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 The structure of the robot provided in this embodiment is shown in FIG. Figure 1 ;

[0036] Figure 2 The structure of the robot provided in this embodiment is shown in FIG. Figure 2 ;

[0037] Figure 3 The structure of the robot provided in this embodiment is shown in FIG. Figure 3 ;

[0038] Figure 4 The structure diagram of the grabbing member provided in this embodiment is as follows: Figure 1 ;

[0039] Figure 5 The structure diagram of the grabbing member provided in this embodiment is as follows: Figure 2 ;

[0040] Figure 6 A schematic diagram of the structure of the drilling rig system provided in this embodiment.

[0041] Reference numerals:

[0042] 1-manipulator; 11-moving member; 12-first rotating member; 13-first rotating structure; 14-second rotating member; 15-second rotating structure; 16-grabbing member; 141-positioning part; 161-main body; 162-driving member; 163-abutting member; 164-support arm; 165-pushing member; 166-transmission member; 1411-positioning groove; 1412-rolling member; 1611-first end of the main body; 1612-second end of the main body; 1613-wing; 1631-first contact part; 1641-first end of the support arm; 1642-second end of the support arm; 1643-sub-side wall one; 1644-sub-side wall two; 1645-sub-side wall three; 16421-second contact part; 16422-clamping part;

[0043] 2- Drill into the main body. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In the description of the present application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] like Figure 1-5 As shown, this embodiment provides a manipulator 1, comprising:

[0048] A moving member 11, the moving member 11 is used to be movably arranged on an external device;

[0049] A first rotating member 12, wherein a first rotating structure 13 is disposed between the first rotating member 12 and the moving member 11, and the first rotating structure 13 is used to switch the first rotating member 12 between approaching and moving away from the moving member 11;

[0050] A second rotating member 14, wherein a second rotating structure 15 is disposed between the second rotating member 14 and the first rotating member 12, and the second rotating structure 15 is used to switch the second rotating member 14 between a horizontal arrangement and a vertical arrangement relative to the moving member 11;

[0051] The grabbing member 16 is arranged on the second rotating member 14, and the grabbing member 16 includes a main body 161, a driving member 162, an abutting member 163 and two support arms 164. The driving member 162 is arranged at the first end 1611 of the main body, and the abutting member 163 is arranged at the second end 1612 of the main body. The two support arms 164 are both located between the first end 1611 of the main body and the second end 1612 of the main body, and the two support arms 164 are relatively arranged on both sides of the main body 161. The driving member 162 is configured to drive the first ends 1641 of the two support arms to move so that the second ends 1642 of the two support arms are close to and away from each other, and a grabbing area is formed between the abutting member 163 and the second ends 1642 of the two support arms.

[0052] In this embodiment, the second rotating member 14 enables the grasping member 16 to grasp objects to be grasped in different shapes (for example, longitudinally arranged, transversely arranged or inclined), and to adjust the state of the objects to be grasped after grasping them (for example, rotating the longitudinally arranged objects to be grasped to be placed transversely); and the first rotating member 12 enables the grasping member 16 to grasp the objects to be grasped at a long distance; and the moving member 11 enables the grasping member 16 to move relative to an external device after grasping the objects to be grasped, so as to transport the objects to be grasped.

[0053] This embodiment enables the manipulator 1 to flexibly respond to objects of different shapes to be grasped, so that objects of different shapes to be grasped can be grasped effectively, greatly expanding the application scope of the manipulator 1, making it applicable to various complex grasping scenarios. At the same time, the state of the object to be grasped can be adjusted after grasping, which provides convenience for subsequent operations. Moreover, grasping operations can be performed in a wider area, and the target position can be reached without the need for operators or frequent movement of external devices. And automatic transportation is realized, without the need for additional conveying equipment or manual handling, which improves the overall operation efficiency.

[0054] In this embodiment, the driving member 162, the abutment member 163 and the two support arms 164 are arranged around the main body 161, so that the structure of the grasping member 16 is gathered, making the structure of the grasping member 16 more compact, enhancing the structural strength of the grasping member 16, enhancing the carrying capacity of the grasping member 16, helping to increase the maximum grasping weight of the grasping member 16, and being able to better resist bending deformation, thereby extending the service life of the grasping member 16.

[0055] In one embodiment, the first rotating structure 13 is a rotating shaft, but is not limited thereto.

[0056] In one embodiment, the second rotating structure 15 is a rotating shaft, but is not limited thereto.

[0057] like Figure 1-5 As shown, in one embodiment, the main body 161 is provided with two wings 1613, the two wings 1613 are provided in one-to-one correspondence with the two arms 164, and the arms 164 are rotatably provided on the wings 1613 through a third rotating structure (not shown in the figure);

[0058] The side of the support arm 164 close to the main body 161 has a sub-side wall 1643 and a sub-side wall 1644, and the side of the support arm 164 away from the main body 161 has a sub-side wall 1645. The sub-side wall 1643 and the sub-side wall 1644 are arranged on both sides of the third rotating structure.

[0059] One end of sub-side wall 1643 away from the third rotating structure is inclined toward sub-side wall three 1645 to form a first yield structure at one end of sub-side wall 1643 away from the third rotating structure; and / or, one end of sub-side wall 2 1644 away from the third rotating structure is inclined toward sub-side wall three 1645 to form a second yield structure at one end of sub-side wall 2 1644 away from the third rotating structure.

[0060] Compared with the conventional solution of reserving space between the support arm 164 and the main body 161 so that the support arm 164 can rotate relative to the main body based on the third rotation structure, the present embodiment tilts the sub-side wall 1643 to form a first yielding structure so that a space is reserved between the sub-side wall 1643 and the main body 161, and tilts the sub-side wall 2 1644 to form a second yielding structure so that a space is reserved between the sub-side wall 2 1644 and the main body 161. The sub-side wall 1643 and the sub-side wall 2 1644 provide the necessary rotation space for the rotation of the support arm 164, ensure the rotation range of the support arm 164, and will not increase the overall size of the gripping member 16, so that the overall structure of the gripping member 16 is compact. At the same time, it helps to reduce the overall size and weight of the gripping member 16, and improve the portability and flexibility of the gripping member 16.

[0061] In one embodiment, the third rotating structure is a rotating shaft, but is not limited thereto.

[0062] like Figure 1-5 As shown, in one embodiment, the distance between the third rotating structure and the first end 1641 of the support arm is between 10 cm and 50 cm; the distance between the third rotating structure and the second end 1642 of the support arm is between 12 cm and 80 cm;

[0063] The ratio of the distance between the third rotating structure and the first end 1641 of the support arm to the distance between the third rotating structure and the second end 1642 of the support arm is between 3:7 and 4.8:5.2.

[0064] In this embodiment, by making the distance between the third rotating structure and the first end 1641 of the support arm and the distance between the third rotating structure and the second end 1642 of the support arm between 3:7 and 4.8:5.2, the distance between the third rotating structure and the first end 1641 of the support arm (i.e., the power arm) is smaller than the distance between the third rotating structure and the second end 1642 of the support arm (i.e., the resistance arm), so that the grasping member 16 can reduce the required operating force when grasping and carrying the object to be grasped, thereby speeding up the working speed. When the manipulator 1 performs automated grasping, the grasping member 16 can quickly and accurately complete the grasping and carrying of the object to be grasped, greatly improving the production efficiency. In addition, when the grasping member 16 is clamping an irregularly shaped or heavy object to be grasped, it can also maintain a stable clamping force to ensure the safety and reliability during the handling process.

[0065] In one embodiment, the distance between the third rotating structure and the first end 1641 of the support arm is between 10 cm and 20 cm; the distance between the third rotating structure and the second end 1642 of the support arm is between 15 cm and 30 cm.

[0066] In one embodiment, the ratio of the distance between the third rotating structure and the first end 1641 of the support arm to the distance between the third rotating structure and the second end 1642 of the support arm is between 2:3 and 4:5.

[0067] like Figure 1-5 As shown, in one embodiment, the ratio of the distance between the third rotating structure and the first end 1641 of the support arm to the distance between the third rotating structure and the second end 1642 of the support arm is between 3.5:6.5 and 4.5:5.5.

[0068] In one embodiment, the angle between sub-sidewall one 1643 and sub-sidewall three 1645 is between 10° and 40°, the angle between sub-sidewall two 1644 and sub-sidewall three 1645 is between 10° and 40°, the angle between sub-sidewall one 1643 and sub-sidewall two 1644 is between 120° and 160°; and the angle between sub-sidewall one 1643 and sub-sidewall three 1645 is greater than the angle between sub-sidewall two 1644 and sub-sidewall three 1645.

[0069] In this embodiment, the angle between sub-side wall one 1643 and sub-side wall three 1645 and the angle between sub-side wall two 1644 and sub-side wall three 1645 are both between 10° and 40°, so that the support arm 164 is longer in length direction and shorter in width direction, thereby achieving rational use of space, avoiding unnecessary waste of space caused by increase in width direction of the support arm 164, and facilitating reduction of the overall size of the grabbing member 16.

[0070] At the same time, in this embodiment, the angle between the sub-side wall 1 1643 and the sub-side wall 3 1645 is greater than the angle between the sub-side wall 2 1644 and the sub-side wall 3 1645, so that the distance between the third rotating structure and the first end 1641 of the support arm (i.e., the power arm) is smaller than the distance between the third rotating structure and the second end 1642 of the support arm (i.e., the resistance arm), so that the grasping member 16 can reduce the required operating force when grasping and carrying the object to be grasped, thereby speeding up the working speed and greatly improving the production efficiency. And it can maintain a stable clamping force to ensure the safety and reliability during the handling process.

[0071] like Figure 1-5 As shown, in one embodiment, the end of the abutment member 163 away from the main body 161 is provided with a first contact portion 1631, and the cross-section of the end of the first contact portion 1631 away from the main body 161 is in the shape of an arc. The second end 1642 of the support arm is provided with a second contact portion 16421, and the second contact portion 16421 is tangent to the circle where the arc is located; the second contact portion 16421 is provided with a clamping portion 16422, and the clamping portion 16422 overlaps with the circle where the arc is located, and the area of ​​the clamping portion 16422 is between 20cm 2 -40cm 2 between.

[0072] In this embodiment, the arc-shaped first contact portion 1631 perfectly fits the surface of the object to be grasped (drill rod), so that the pressure can be evenly distributed on the contact surface, avoiding damage to the object to be grasped (drill rod) or unstable grasping due to uneven pressure. At the same time, the second contact portion 16421 and the clamping portion 16422 increase the contact area between the support arm 164 and the object to be grasped (drill rod), thereby enhancing the grasping force and ensuring that the object to be grasped (drill rod) will not slip or loosen during the grasping process.

[0073] Secondly, the clamping portion 16422 enables the grasping member 16 to adapt to objects to be grasped (drill rods) of different diameters. When grasping an object to be grasped (drill rods) of a larger diameter, the clamping portion 16422 undergoes elastic deformation, thereby closely fitting with the surface of the object to be grasped (drill rods); when grasping an object to be grasped (drill rods) of a smaller diameter, the clamping portion 16422 closely fits with the surface of the object to be grasped (drill rods) through its surface, maintaining a stable grasping force. This makes it unnecessary to replace the grasping member 16 when grasping objects to be grasped (drill rods) of different diameters, greatly improving the flexibility and convenience of use.

[0074] In one embodiment, the clamping portion 16422 is detachably disposed on the second contact portion 16421 to accommodate objects to be grasped (drill rods) of different sizes.

[0075] like Figure 1-5 As shown, in one embodiment, the grabbing member 16 further includes a pushing member 165 and two transmission members 166, the two transmission members 166 correspond to the two supporting arms 164 one by one, and the transmission members 166 are rotatably connected to the first ends 1641 of the corresponding supporting arms, and both ends of the pushing member 165 are rotatably connected to the two transmission members 166, respectively, and the pushing member 165 is configured to be driven by the driving member 162 and drive the first ends 1641 of the two supporting arms to rotate through the two transmission members 166, so that the second ends 1642 of the two supporting arms are close to and away from each other;

[0076] When the grabbing member 16 is in the grabbing state, the angle between the pushing member 165 and the transmission member 166 is between 150° and 170°, and the angle between the transmission member 166 and the support arm 164 is between 75° and 90°;

[0077] When the grabbing member 16 is in the released state, the angle between the pushing member 165 and the transmission member 166 is between 120° and 150°, and the angle between the transmission member 166 and the supporting arm 164 is between 90° and 110°.

[0078] In this embodiment, when the grasping member 16 is in the grasping state, the angle between the pushing member 165 and the transmission member 166 is between 150° and 170°, ensuring the stability and reliability of the grasping action. At the same time, the larger angle helps to reduce the friction and resistance during the transmission process, so that the support arm 164 can contact and grasp the target object more smoothly. And in the release state, the angle between the pushing member 165 and the transmission member 166 is reduced to between 120° and 150°, which helps to achieve the smooth release of the support arm 164. At the same time, the smaller angle enables the transmission member 166 to more effectively push the support arm 164 to release the target object, avoiding the difficulty of release caused by over-tight clamping.

[0079] In this embodiment, when the grasping member 16 is in the grasping state, the angle between the transmission member 166 and the support arm 164 is between 75° and 90°; when the grasping member 16 is in the releasing state, the angle between the transmission member 166 and the support arm 164 is between 90° and 110°. In the grasping and releasing process, the force can be more evenly distributed on the transmission member 166 and the support arm 164, thereby improving the strength and stability of the entire structure. At the same time, by limiting the angle between the transmission member 166 and the support arm 164, the contact area between the transmission member 166 and the support arm 164 is guaranteed, which helps to reduce the wear between the transmission member 166 and the support arm 164.

[0080] Furthermore, the reasonable angle design provided in this embodiment helps to reduce energy loss during the transmission process, and can ensure that the transmission member 166 can transmit power more efficiently, thereby improving the transmission efficiency of the entire grabbing member 16.

[0081] like Figure 1-3 As shown, in one embodiment, the number of the grabbing members 16 is two, and the two grabbing members 16 are respectively arranged at the two ends of the second rotating member 14, and the second rotating structure 15 is located between the two grabbing members 16, and a first distance is formed between one of the two grabbing members 16 and the second rotating structure 15, and a second distance is formed between the other of the two grabbing members 16 and the second rotating structure 15, and the ratio of the first distance to the second distance is between 1:19 and 9:11.

[0082] This embodiment allows, when the object to be grasped is large in size, the grasping member 16 which is farther from the second rotating structure 15 grasps the object to be grasped by moving away from the moving member 11, and the grasping member 16 which is closer to the second rotating structure 15 grasps the object to be grasped by moving close to the moving member 11, thereby reducing the size of the second rotating member 14 contacting the external device when the manipulator 1 grasps the grasped object, avoiding interference between the second rotating member 14 and the external device. At the same time, it is conducive to optimizing the overall spatial layout when the external device and the manipulator work together.

[0083] In the embodiment of the present invention, the length of the second rotating member 14 is between 2m and 3.5m.

[0084] like Figure 1-3 As shown, in one embodiment, a positioning portion 141 is provided on the second rotating member 14, and a positioning groove 1411 is formed on the positioning portion 141. The positioning groove 1411 is used to accommodate the object to be grasped, and a rolling member 1412 is provided in the positioning groove 1411, and the rolling member 1412 is used to contact the object to be grasped.

[0085] In this embodiment, the positioning portion 141 is provided to position the object to be grasped to ensure that the object to be grasped is located in the positioning groove 1411, which helps to improve the grasping success rate of the grasping member 16. At the same time, the rolling member 1412 is provided to reduce the friction resistance generated during the grasping process and reduce the wear and scratches on the object to be grasped.

[0086] In one embodiment, the positioning portion 141 is located between two grabbing members 16 .

[0087] like Figure 1-3 As shown, in one embodiment, the rotation axis of the first rotating structure 13 is parallel to the moving direction of the moving member 11, and the rotation axis of the second rotating structure 15 is perpendicular to the moving direction of the moving member 11. This embodiment enables the first rotating member 12 to rotate flexibly on the horizontal plane, and enables the second rotating member 14 to rotate flexibly on the vertical plane, thereby improving the operating flexibility of the grabbing member 16.

[0088] like Figure 1-3 As shown, this embodiment further provides a device, including the manipulator 1 of any of the above embodiments. This embodiment sets the manipulator 1 capable of automatic grasping on the device, so that the device can operate continuously and efficiently, significantly shorten the operation cycle, and thus speed up the operation progress. At the same time, it reduces the interference of human factors, reduces the errors and mistakes caused by improper operation, and improves the stability and reliability of the operation.

[0089] like Figure 1-6 As shown, this embodiment further provides a drilling system, including a drilling body 2 and a manipulator 1 of any of the above embodiments, wherein a moving part 11 of the manipulator 1 is movably disposed on the drilling body 2 .

[0090] This embodiment provides a manipulator 1 capable of automatic grasping, so that the drilling system can operate continuously and efficiently, significantly shortening the construction period, thereby accelerating the progress of the project. At the same time, it reduces the interference of human factors, reduces errors and mistakes caused by improper operation, and improves the stability and reliability of construction quality.

[0091] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot, characterized in that: include: A moving member, the moving member is used to be movably arranged on an external device; a first rotating member, wherein a first rotating structure is disposed between the first rotating member and the moving member, and the first rotating structure is used to switch the first rotating member between approaching and moving away from the moving member; a second rotating member, wherein a second rotating structure is disposed between the second rotating member and the first rotating member, and the second rotating structure is used to switch the second rotating member between a horizontal arrangement and a vertical arrangement relative to the moving member; A grabbing member, wherein the grabbing member is arranged on the second rotating member, and the grabbing member includes a main body, a driving member, an abutting member and two support arms, wherein the driving member is arranged at the first end of the main body, the abutting member is arranged at the second end of the main body, the two support arms are both located between the first end of the main body and the second end of the main body, and the two support arms are relatively arranged on both sides of the main body, the driving member is configured to drive the first ends of the two support arms to move so that the second ends of the two support arms are close to and away from each other, and a grabbing area is formed between the abutting member and the second ends of the two support arms.

2. The robot according to claim 1, characterized in that: The main body is provided with two wings, the two wings are provided in one-to-one correspondence with the two supporting arms, and the supporting arms are rotatably provided on the wings through a third rotating structure; The support arm has a sub-side wall 1 and a sub-side wall 2 on one side close to the main body, and has a sub-side wall 3 on one side away from the main body, and the sub-side wall 1 and the sub-side wall 2 are arranged oppositely on two sides of the third rotating structure; One end of the sub-side wall 1 away from the third rotation structure is inclined toward the sub-side wall 3 to form a first yielding structure at the end of the sub-side wall 1 away from the third rotation structure; and / or one end of the sub-side wall 2 away from the third rotation structure is inclined toward the sub-side wall 3 to form a second yielding structure at the end of the sub-side wall 2 away from the third rotation structure.

3. The robot according to claim 2, characterized in that: The distance between the third rotating structure and the first end of the support arm is between 10cm and 50cm; the distance between the third rotating structure and the second end of the support arm is between 12cm and 80cm; Wherein, the ratio of the distance between the third rotating structure and the first end of the support arm to the distance between the third rotating structure and the second end of the support arm is between 3:7 and 4.8:5.

2.

4. The robot according to claim 2, characterized in that: The included angle between the sub-side wall one and the sub-side wall three is between 10° and 40°, the included angle between the sub-side wall two and the sub-side wall three is between 10° and 40°, the included angle between the sub-side wall one and the sub-side wall two is between 120° and 160°; and the included angle between the sub-side wall one and the sub-side wall three is greater than the included angle between the sub-side wall two and the sub-side wall three.

5. The robot according to claim 1, characterized in that: The abutment member is provided with a first contact portion at one end away from the main body, the cross section of the first contact portion at one end away from the main body is in the shape of an arc, the second end of the support arm is provided with a second contact portion, and the second contact portion is tangent to the circle where the arc is located; The second contact portion is provided with a clamping portion, the clamping portion overlaps with the circle where the arc is located, and the area of ​​the clamping portion is between 20cm 2 -40cm 2 between.

6. The robot according to claim 1, characterized in that: The grabbing member further includes a pushing member and two transmission members, the two transmission members correspond to the two supporting arms one by one, and the transmission members are rotatably connected to the first ends of the corresponding supporting arms, and the two ends of the pushing member are rotatably connected to the two transmission members respectively, and the pushing member is configured to be driven by the driving member and drive the first ends of the two supporting arms to rotate through the two transmission members, so that the second ends of the two supporting arms are close to each other and away from each other; When the grabbing member is in the grabbing state, the angle between the pushing member and the transmission member is between 150° and 170°, and the angle between the transmission member and the support arm is between 75° and 90°; When the grabbing member is in a released state, the angle between the pushing member and the transmission member is between 120° and 150°, and the angle between the transmission member and the supporting arm is between 90° and 110°.

7. The robot according to claim 1, characterized in that: There are two grasping members, the second rotating structure is located between the two grasping members, and the ratio of the distance between one of the two grasping members and the second rotating structure to the distance between the other of the two grasping members and the second rotating structure is between 1:19 and 10:

10.

8. The robot according to claim 1, characterized in that: The second rotating member is provided with a positioning portion, the positioning portion is formed with a positioning groove, the positioning groove is used to accommodate the object to be grasped, and a rolling member is provided in the positioning groove, the rolling member is used to contact the object to be grasped; And / or, the rotation axis of the first rotation structure is parallel to the moving direction of the moving member, and the rotation axis of the second rotation structure is perpendicular to the moving direction of the moving member.

9. A device, characterized in that: A robot comprising the manipulator described in any one of claims 1 to 9.

10. A drilling rig system, characterized in that: It comprises a drilling body and the manipulator according to any one of claims 1 to 9, wherein a moving part of the manipulator is movably arranged on the drilling body.

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