A drilling rig pipe grabbing manipulator and a grabbing method

Abstract

The present application relates to the technical field of geological drilling, and particularly relates to a drill pipe grabbing manipulator for a drilling machine and a grabbing method. The drill pipe grabbing manipulator for the drilling machine comprises a mounting frame, a horizontal moving device, a turnover device and a manipulator. The turnover device pushes a first connecting point of the manipulator to rotate around a second connecting point to make a clamping axis of the manipulator parallel to an axis of the drill pipe, the manipulator clamps and drives the drill pipe to move along the axis direction of the drill pipe to make the drill pipe away from or close to the ground, and the horizontal moving device moves the drill pipe to a placing area of a drill pipe placing rack through the manipulator. The drill pipe grabbing manipulator for the drilling machine can be separated from the installation of the drilling machine, can be adapted to various forms of drilling machines, and has wider adaptability. The automatic placing of the drill pipe is realized through the horizontal moving device, the turnover device and the manipulator, a large amount of operation space is not needed to be reserved, the land occupation space is small, and the operation efficiency of the tripping in the geological drilling process is improved.

Description

Technical Field

[0001] This invention relates to the field of drilling technology, and in particular to a drill rod gripping robot for drilling rigs and a gripping method thereon. Background Technology

[0002] Drilling involves a drilling rig on the surface driving the drill rod to rotate and pressurize to drive the drill bit downwards at the bottom of the hole. During drilling, core sampling, drill bit changes, and drill string changes are required. This necessitates pulling all the drill rods out of the hole and placing them back in the drill rod storage area; this process is called tripping in and out of the hole. Current technology and equipment primarily use a winch or hydraulic cylinder on the drilling rig to lift the drill string from the hole. After unscrewing the threads, the drill rods are manually placed in the storage area. Therefore, tripping in and out of the hole is inefficient and involves high labor intensity for on-site workers. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a drill rod gripping robot and gripping method for drilling rigs, which solves the technical problems of low efficiency and high manual labor intensity in drilling operations.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0007] This invention provides a drill rod gripping robot for drilling rigs, including a mounting frame, a horizontal moving device, a flipping device, and a robot arm. The horizontal moving device is mounted on the mounting frame, and the fixed end of the flipping device is mounted on the horizontal moving device. The movable end of the flipping device is hinged to a first connection point of the robot arm, and a second connection point of the robot arm is hinged to one side of the horizontal moving device. The flipping device pushes the first connection point of the robot arm to rotate around the second connection point so that the gripping axis of the robot arm is parallel to the axis of the drill rod. The robot arm grips and drives the drill rod to move along its axial direction so that the drill rod moves away from or towards the ground. The horizontal moving device, through the robot arm, moves the drill rod to the placement area of ​​the drill rod placement rack.

[0008] Preferably, the robotic arm includes a fixed column, a fixed claw, an active claw, and a clamping cylinder; the fixed claw and the active claw are arranged opposite to each other, and the fixed claw and the active claw are hinged to the fixed column; the fixed end of the clamping cylinder is connected to the fixed column, and the moving end of the clamping cylinder is connected to the active claw to drive the active claw to rotate around the fixed column to cooperate with the fixed claw to clamp the drill rod; and the fixed claw can drive the drill rod to move along its axial direction.

[0009] Preferably, the fixed claw includes an active roller unit and a first driven roller unit; the active claw includes a second driven roller unit and a third driven roller unit; the axes of the active roller unit and the second driven roller unit are horizontal and parallel, and the axes of the first driven roller unit and the third driven roller unit are horizontal and parallel; the clamping cylinder drives the second driven roller unit and the third driven roller unit of the active claw to rotate around the fixed column and respectively cooperate with the active roller unit and the first driven roller unit of the fixed claw to clamp the drill pipe; the active roller unit drives the drill pipe to move along its axial direction.

[0010] Preferably, the active roller unit includes an active fixed seat connected to the fixed column, a driving member disposed on the active fixed seat, and an annular slip sleeved on the output end of the driving member; the first driven roller unit, the second driven roller unit, and the third driven roller unit have the same structure, each including a driven fixed seat and a driven roller disposed on the driven fixed seat, the axis of the annular slip and the driven roller is horizontal and can rotate along its own axis, the axis of the annular slip and the driven roller is parallel to each other and perpendicular to the extension direction of the fixed column; a connecting rod is provided between the second driven roller unit and the third driven roller unit, and the clamping cylinder simultaneously drives the driven roller of the second driven roller unit and the driven roller of the third driven roller unit to rotate around the fixed column, respectively cooperating with the annular slip of the active roller unit and the driven roller of the second driven roller unit to clamp the drill pipe; the annular slip of the active roller unit rotates to drive the drill pipe to move along its axial direction.

[0011] Preferably, the driven roller has an annular groove along its circumference, which can engage with the drill pipe; the driven roller in the first driven roller unit and the driven roller in the third driven roller unit cooperate to form a first clamping point, and the driving roller and the driven roller in the second driven roller unit cooperate to form a second clamping point; the first clamping point and the second clamping point are arranged sequentially in the vertical direction, and the first clamping point and the second clamping point clamp the drill pipe; the annular slip in the driving roller rotates to drive the drill pipe to move in the vertical direction.

[0012] Preferably, the active gripper further includes a hook unit; the hook unit is located between the second driven roller unit and the third driven roller unit; the hook unit includes a hook fixing seat disposed on the connecting rod and a hook body rotatably connected to the hook fixing seat; the moving end of the clamping cylinder is rotatably connected to the hook body of the hook unit.

[0013] Preferably, a limiting baffle is provided on the side of the hook fixing seat away from the fixing post to limit the rotation of the hook body; the moving end of the clamping cylinder drives the hook body to rotate around the hook fixing seat to hook the drill rod.

[0014] Preferably, the flipping device includes a flipping bracket, a flipping cylinder, and a limiting unit; the flipping bracket is mounted on the horizontal moving device, the fixed end of the flipping cylinder is rotatably connected to the flipping bracket, and the moving end of the flipping cylinder is hinged to the fixed column of the robot to form a first connection point; the fixed column is also hinged to one side of the horizontal moving device to form a second connection point; the limiting unit includes a limiting rod, a first limiting block, a second limiting block, and a connecting block; the connecting block is mounted on the flipping bracket, the limiting rod passes through the connecting block and is hinged to the first connection point of the fixed column, the limiting rod is slidably connected to the connecting block, and the first and second limiting blocks are both fixed on the limiting rod and located on both sides of the connecting block; when the moving end of the flipping cylinder drives the fixed column of the robot to rotate around the second connection point, the limiting rod of the limiting unit moves along the connecting block, and the first and second limiting blocks limit the forward and backward movement of the limiting rod, thereby limiting the flipping angle of the fixed column.

[0015] Preferably, the horizontal moving device includes a translation frame, a slide, and a telescopic frame; the translation frame is disposed above the mounting frame, the slide is slidably connected to the translation frame and the slide moves along the length direction of the translation frame, the telescopic frame is slidably connected to the slide and the telescopic frame moves along the width direction of the translation frame; the flipping device and the robot are disposed on one side of the telescopic frame.

[0016] This invention also provides a method for gripping drill rods for drilling rigs, which uses the aforementioned drill rod gripping robot to perform gripping through the following steps:

[0017] S1. Set the mounting bracket on the ground or on the drilling platform base;

[0018] S2. The horizontal moving device drives the robot arm to a preset position, and the flipping device pushes the first connection point of the robot arm to rotate around the second connection point so that the gripping axis of the robot arm is parallel to the axis of the drill rod to be gripped.

[0019] S3. The robotic arm opens and clamps the drill rod, and drives the drill rod to move along its axis to move the drill rod away from the ground.

[0020] S4. The horizontal moving device moves the drill rod to the placement area via a robotic arm;

[0021] S5. The robotic arm drives the drill rod to move along its axial direction so that the drill rod is close to the ground. Then the robotic arm opens and the drill rod is placed on the drill rod placement frame.

[0022] S6. The horizontal moving device drives the robotic arm to reset for the next placement.

[0023] (III) Beneficial Effects

[0024] The beneficial effects of this invention are:

[0025] The drill rod gripping manipulator of this invention can be detached from the drilling rig and is adaptable to various types of drilling rigs, thus offering wider compatibility. Furthermore, since the gripping manipulator includes a horizontal movement device, a tilting device, and the manipulator itself, it grips and drives the drill rod along its axis, enabling the transfer of drill rods of unlimited length. Existing technologies are limited by the dimensions of the derrick, mast, and feed cylinder, making it impossible to handle ultra-long drill rods. In actual construction, drill rods are usually placed in the center of the borehole to provide more space for personnel operation. Therefore, drill rods are often placed at a certain distance from the borehole center. This invention achieves automatic placement of drill rods through the horizontal movement device, tilting device, and manipulator, eliminating the need for excessive operating space, reducing footprint, and simultaneously improving the labor intensity of personnel during drilling operations, thereby increasing work efficiency.

[0026] The drill rod gripping method for drilling rigs provided by this invention achieves automatic placement of drill rods through a horizontal moving device, a flipping device, and a robotic arm. It does not require much operating space, occupies little space, and improves the efficiency of tripping in and out of the drill string during geological drilling. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the drill rod gripping robot for drilling rigs of the present invention during use (showing the drill rod and drill rod placement frame);

[0028] Figure 2 for Figure 1 A schematic diagram of the structure of the drill rod gripping robot for the drilling rig (mounting bracket not shown);

[0029] Figure 3 for Figure 2 A schematic diagram of the structure of the robotic arm;

[0030] Figure 4 for Figure 3 Schematic diagram of the structure of the annular slip;

[0031] Figure 5 for Figure 3 Cross-sectional schematic diagrams of the first driven roller unit, the second driven roller unit, and the third driven roller unit;

[0032] Figure 6 This is a schematic diagram of the hook claw body.

[0033] [Explanation of Labels in the Attached Image]

[0034] 1: Horizontal moving device; 11: Translation frame; 12: Carriage; 13: Telescopic frame;

[0035] 2: Tilting device; 21: Tilting bracket; 22: Tilting cylinder; 23: Limiting unit; 231: Limiting rod; 232: First limiting block; 233: Second limiting block; 234: Connecting block;

[0036] 3: Robotic arm; 31: Fixed column; 32: Fixed claw; 321: Active roller unit; 3211: Active fixed seat; 3212: Drive component; 3213: Annular slip; 32131: Slip mounting seat; 32132: Slip die; 322: First driven roller unit; 33: Active claw; 331: Second driven roller unit; 332: Third driven roller unit; 333: Connecting rod; 334: Hook unit; 3341: Hook fixed seat; 3342: Hook body; 3343: Limiting baffle; 34: Clamping cylinder; 351: Driven fixed seat; 352: Driven roller; 353: Locking pin; 354: Positioning pin; 355: Screw; 356: Bearing; 36: Claw pin;

[0037] 4: Mounting bracket;

[0038] 5: Drill pipe;

[0039] 6: Drill pipe rack. Detailed Implementation

[0040] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Example 1

[0042] like Figure 1 As shown, this embodiment provides a drill rod gripping robot for drilling rigs. The drill rod gripping robot for drilling rigs includes a mounting frame 4, a horizontal moving device 1, a flipping device 2, and a robot arm 3.

[0043] Mounting frame 4 is set on the ground or drilling rig base platform according to actual needs. Horizontal moving device 1 is set on mounting frame 4. The fixed end of flipping device 2 is set on horizontal moving device 1. The movable end of flipping device 2 is hinged to the first connection point of manipulator 3. The second connection point of manipulator 3 is hinged to one side of horizontal moving device 1. Horizontal moving device 1 drives flipping device 2 and manipulator 3 to move simultaneously on the horizontal plane. Flipping device 2 pushes the first connection point of manipulator 3 to rotate around the second connection point so that the clamping axis of manipulator 3 is parallel to the axis of drill rod 5. Manipulator 3 clamps and drives drill rod 5 to move along its axis so that drill rod 5 moves away from or closer to the ground, ultimately achieving control of the drill rod thread position. Horizontal moving device 1 drives drill rod 5 to the placement area of ​​drill rod placement frame 6 through manipulator 3.

[0044] The drill rod gripping robot of the present invention can be detached from the drill rig and is compatible with various types of drill rigs, thus having wider adaptability. Furthermore, since the gripping robot includes a horizontal moving device 1, a flipping device 2, and a robot arm 3, the robot arm 3 clamps and drives the drill rod 5 to move along its axial direction, thereby enabling the transfer of drill rods 5 of unlimited length. By setting the flipping device 2, the clamping axis of the robot arm 3 is made parallel to the axis of the drill rod 5, so that it can grip the drill rod 5 when it is tilted or placed at an angle in the placement area of ​​the drill rod placement rack 6 to prevent the drill rod 5 from tipping over.

[0045] In this embodiment, the drill rod 5 is automatically placed by the cooperation of the horizontal moving device 1, the flipping device 2 and the robot arm 3. It does not require much operating space, occupies little space, and improves the efficiency of tripping in and out of the drill during geological drilling.

[0046] like Figure 2 As shown, the horizontal moving device 1 includes a translation frame 11, a slide 12, and a telescopic frame 13. The translation frame 11 is fixedly mounted above the mounting frame 4. The slide 12 is slidably connected to the translation frame 11 and moves along the length of the translation frame 11. The telescopic frame 13 is slidably connected to the slide 12 and moves relative to the slide 12 along the width of the translation frame 11. The flipping device 2 and the robotic arm 3 are mounted on one side of the telescopic frame 13. Thus, the horizontal moving device 1 enables the horizontal movement of the flipping device 2 and the robotic arm 3 on a plane.

[0047] like Figure 2 As shown, the robotic arm 3 includes a fixed post 31, a fixed claw 32, an active claw 33, a clamping cylinder 34, and a clamping pin 36. The fixed claw 32 and the active claw 33 are arranged opposite to each other, and the fixed claw 32 is fixedly connected to the fixed post 31. The fixed claw 32 and the active claw 33 are hinged by the clamping pin 36. The fixed end of the clamping cylinder 34 is connected to the fixed post 31, and the moving end of the clamping cylinder 34 is connected to the active claw 33 to drive the active claw 33 to rotate around the fixed post 31 to cooperate with the fixed claw 32 in clamping the drill rod 5. The fixed claw 32 can drive the drill rod 5 to move along its axial direction. In this embodiment, the fixed claw 32 is fixed, and only the active claw 33 rotates. This facilitates the horizontal movement device 1 driving the robotic arm 3 to directly contact the fixed claw 32 for positioning when the drill rod 5 just comes into contact with it. Also, the rotation of only the active claw 33 saves a set of clamping cylinders 34.

[0048] like Figure 2As shown, the flipping device 2 includes a flipping bracket 21, a flipping cylinder 22, and a limiting unit 23. The flipping bracket 21 is fixedly mounted on the first side of the telescopic frame 13 of the horizontal moving device 1. The fixed end of the flipping cylinder 22 is rotatably connected to the flipping bracket 21, and the moving end of the flipping cylinder 22 is hinged to the fixed column 31 of the robot arm 3 to form a first connection point. The fixed column 31 is also hinged to the first side of the telescopic frame 13 of the horizontal moving device 1 to form a second connection point. To limit the flipping angle of the robot arm 3, the limiting unit 23 includes a limiting rod 231, a first limiting block 232, a second limiting block 233, and a connecting block 234. The connecting block 234 is mounted on the flipping bracket 21. The limiting rod 231 passes through the connecting block 234 and is hinged to the first connection point of the fixed column 31. The limiting rod 231 is slidably connected to the connecting block 234. The first limiting block 232 and the second limiting block 233 are both fixed on the limiting rod 231 and located on both sides of the connecting block 234. When the moving end of the tilting cylinder 22 drives the fixed column 31 of the robot arm 3 to rotate around the second connection point, the limiting rod 231 of the limiting unit 23 moves along the connecting block 234, and the first limiting block 232 and the second limiting block 233 limit the forward and backward movement of the limiting rod 231, thereby limiting the tilting angle of the fixed column 31.

[0049] like Figure 3 As shown, the fixed claw 32 includes an active roller unit 321 and a first driven roller unit 322. The active claw 33 includes a second driven roller unit 331, a third driven roller unit 332, and a hook unit 334. The hook unit 334 is located between the second driven roller unit 331 and the third driven roller unit 332 to hook the drill pipe 5 into the clamping area. The axes of the active roller unit 321 and the second driven roller unit 331 are horizontal and parallel, as are the axes of the first driven roller unit 322 and the third driven roller unit 332. The clamping cylinder 34 drives the second driven roller unit 331, the third driven roller unit 332, and the hook unit 334 of the active claw 33 to rotate around the fixed post 31. The hook unit 334 hooks the drill rod 5 into the clamping area. The second driven roller unit 331 and the third driven roller unit 332 of the active claw 33 cooperate with the active roller unit 321 and the first driven roller unit 322 of the fixed claw 32 to clamp the drill rod 5. The active roller unit 321 drives the drill rod 5 to move along its axial direction. It should be noted that the clamping area is the area formed by the active roller unit 321 and the second driven roller unit 331 facing each other, and the first driven roller unit 322 and the third driven roller unit 332 facing each other, for clamping the drill rod 5. The hook unit 334 is provided so that the robot arm 3 can accurately and stably clamp the drill rod 5.

[0050] Specifically, such as Figure 3As shown, the active roller unit 321 includes an active fixing seat 3211, a driving member 3212, and an annular clamp 3213. The active fixing seat 3211 is connected to the fixing post 31. The driving member 3212 is a hydraulic motor, with its end positioned on the active fixing seat 3211. The annular clamp 3213 is fitted onto the output end of the hydraulic motor. Figure 4 As shown, the annular slip 3213 includes a slip mounting base 32131 and multiple slip teeth 32132. The slip mounting base 32131 is an annular cylindrical structure, and multiple mounting grooves are formed along its circumference. Multiple slip pressure plates and multiple mounting grooves are correspondingly arranged. A hydraulic motor drives the annular slip 3213 to rotate, thereby driving the drill rod 5 to move along its axial direction via the slip teeth 32132.

[0051] like Figure 5 As shown, the first driven roller unit 322, the second driven roller unit 331, and the third driven roller unit 332 have the same structure and all include a driven fixed seat 351, a driven roller 352, a positioning pin 354, a locking pin 353, and a screw 355. The driven fixed seat 351 is formed by the upper and lower side plates and the front and rear side plates. The driven roller 352 is located between the front and rear side plates. The two ends of the driven roller 352 are axially positioned by the locking pin 353 and the positioning pin 354, respectively, and then connected by the screw 355. The rotation of the driven roller 352 is achieved by the bearing 356 between the locking pin 353 and the driven roller 352, and between the positioning pin 354 and the driven roller 352. In this embodiment, the axial positioning of the driven roller 352 is achieved by the locking pin 353 and the positioning pin 354, while avoiding the axial movement of the driven roller 352.

[0052] To achieve axial drive of the drill pipe 5, the annular slip 3213 and the driven roller 352 are horizontal and can rotate along their own axes. The axes of the annular slip 3213 and the driven roller 352 are parallel to each other and perpendicular to the extension direction of the fixed column 31. A connecting rod 333 is provided between the second driven roller unit 331 and the third driven roller unit 332. The clamping cylinder 34 simultaneously drives the driven rollers 352 of the second driven roller unit 331 and the third driven roller unit 332 to rotate around the fixed column 31, respectively cooperating with the annular slip 3213 of the driving roller unit 321 and the driven roller 352 of the second driven roller unit 331 to clamp the drill pipe 5. The annular slip 3213 of the driving roller unit 321 rotates to drive the drill pipe 5 to move along its axial direction.

[0053] like Figure 3As shown, the driven roller 352 has an annular groove along its circumference, which can engage with the drill rod 5 to facilitate the positioning and clamping of the drill rod 5. The driven roller 352 in the first driven roller unit 322 and the driven roller 352 in the third driven roller unit 332 cooperate to form a first clamping point. The driving roller and the driven roller 352 in the second driven roller unit 331 cooperate to form a second clamping point. The first clamping point and the second clamping point are arranged sequentially in the vertical direction to form a clamping area. The first clamping point and the second clamping point clamp the drill rod 5. The annular slip 3213 in the driving roller rotates to drive the drill rod 5 to move in the vertical direction.

[0054] like Figure 6 As shown, the hook unit 334 includes a hook fixing seat 3341, a hook body 3342, and a limiting baffle 3343. The hook fixing seat 3341 is disposed on the connecting rod 333. The hook body 3342 is rotatably connected to the hook fixing seat 3341. The limiting baffle 3343 is disposed on the side of the hook fixing seat 3341 away from the fixing post 31. The moving end of the clamping cylinder 34 is rotatably connected to the hook body 3342 of the hook unit 334. The limiting baffle 3343 limits the rotation of the claw body 3342. The moving end of the clamping cylinder 34 drives the claw body 3342 to rotate around the claw fixing seat 3341 to hook the drill rod 5 to the clamping area. The moving end of the clamping cylinder 34 continues to drive the claw body 3342 to push the limiting baffle 3343. Since the limiting baffle 3343 is fixedly connected to the driven fixing seat 351 on the active claw 33, the second passive roller unit and the third passive roller unit rotate around the claw pin 36 to clamp the drill rod 5.

[0055] Example 2

[0056] This embodiment provides a method for gripping drill rods for drilling rigs, using the drill rod gripping robot from Embodiment 1. The gripping and lifting of the drill rod is performed through the following steps:

[0057] S1. Place the mounting bracket 4 on the ground or on the drilling rig base platform;

[0058] S2. The horizontal moving device 1 drives the robot arm 3 to move to the preset position, and the flipping device 2 pushes the first connection point of the robot arm 3 to rotate around the second connection point so that the clamping axis of the robot arm 3 is parallel to the axis of the drill rod 5 that is about to be gripped.

[0059] S3, the robotic arm 3 opens and clamps the drill rod 5, and the robotic arm 3 drives the drill rod 5 to move along its axial direction so that the drill rod 5 is away from the ground;

[0060] S4. The horizontal moving device 1 moves the drill rod 5 to the placement area via the robotic arm 3.

[0061] S5. The robotic arm 3 drives the drill rod 5 to move along its axial direction so that the drill rod 5 is close to the ground. Then the robotic arm 3 opens and the drill rod 5 is placed on the drill rod placement frame 6.

[0062] S6. The horizontal moving device 1 drives the robotic arm 3 to reset and proceed with the next placement.

[0063] It should be noted that the drilling method for the drill pipe is simply the reverse of the above steps. In addition, the drill pipe mentioned above can be a drill pipe string of a certain length composed of multiple drill pipes.

[0064] The drill rod gripping method for drilling rigs in this embodiment achieves automatic placement of drill rods through the horizontal moving device 1, the flipping device 2, and the robotic arm 3. It does not require much operating space, occupies little space, and improves the efficiency of tripping in and out of the drill string during geological drilling.

[0065] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0066] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0068] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A drill rod gripping robot for drilling rigs, characterized in that, Includes mounting brackets, horizontal movement devices, tilting devices, and robotic arms; The horizontal moving device is mounted on the mounting frame, the fixed end of the flipping device is mounted on the horizontal moving device, the movable end of the flipping device is hinged to the first connection point of the manipulator, the second connection point of the manipulator is hinged to one side of the horizontal moving device, and the flipping device pushes the first connection point of the manipulator to rotate around the second connection point so that the clamping axis of the manipulator is parallel to the axis of the drill rod. The robotic arm grips and drives the drill rod to move along its axial direction so that the drill rod moves away from or closer to the ground. The horizontal moving device drives the drill rod to the placement area of ​​the drill rod placement rack through the robotic arm. The robotic arm includes a fixed column, a fixed claw, an active claw, and a clamping cylinder. The fixed claw and the active claw are arranged opposite to each other and are hinged to the fixed column. The fixed end of the clamping cylinder is connected to the fixed column, and the moving end of the clamping cylinder is connected to the active claw to drive the active claw to rotate around the fixed column to cooperate with the fixed claw to clamp the drill rod. The fixed claw can also drive the drill rod to move along its axial direction. The fixed jaw includes an active roller unit and a first driven roller unit; the active jaw includes a second driven roller unit and a third driven roller unit; the axes of the active roller unit and the second driven roller unit are horizontal and parallel, and the axes of the first driven roller unit and the third driven roller unit are horizontal and parallel; the clamping cylinder drives the second driven roller unit and the third driven roller unit of the active jaw to rotate around the fixed column, respectively cooperating with the active roller unit and the first driven roller unit of the fixed jaw to clamp the drill pipe; The active roller unit drives the drill pipe to move along its axial direction; the active roller unit includes an active fixing seat connected to the fixing column, a driving component disposed on the active fixing seat, and an annular slip sleeved on the output end of the driving component. The first driven roller unit, the second driven roller unit, and the third driven roller unit have the same structure, all including a driven fixed seat and a driven roller disposed on the driven fixed seat. The axis of the annular clamp and the axis of the driven roller are horizontal and can rotate along their own axis. The axis of the annular clamp and the axis of the driven roller are parallel to each other and perpendicular to the extension direction of the fixed column. A connecting rod is provided between the second driven roller unit and the third driven roller unit. The clamping cylinder simultaneously drives the driven rollers of the second driven roller unit and the third driven roller unit to rotate around the fixed column, respectively cooperating with the annular slip of the driving roller unit and the driven roller of the second driven roller unit to clamp the drill pipe. The annular slip of the active roller unit rotates to drive the drill pipe to move along its axial direction.

2. The drill rod gripping robot for drilling rigs as described in claim 1, characterized in that: The driven roller has an annular groove along its circumference, and the annular groove can engage with the drill rod. The driven roller in the first driven roller unit cooperates with the driven roller in the third driven roller unit to form a first clamping point, and the driven roller unit cooperates with the driven roller in the second driven roller unit to form a second clamping point; The first clamping point and the second clamping point are arranged sequentially in the vertical direction, and the first clamping point and the second clamping point clamp the drill rod; The annular slip in the active roller unit rotates to drive the drill pipe to move vertically.

3. The drill rod gripping robot for drilling rigs as described in claim 1, characterized in that: The active claw also includes a hook claw unit; The hook unit is located between the second driven roller unit and the third driven roller unit; The hook unit includes a hook fixing seat disposed on the connecting rod and a hook body rotatably connected to the hook fixing seat; The moving end of the clamping cylinder is rotatably connected to the claw body of the claw unit.

4. The drill rod gripping robot for drilling rigs as described in claim 3, characterized in that: A limiting baffle is provided on the side of the hook fixing seat away from the fixing post to limit the rotation of the hook body. The moving end of the clamping cylinder drives the hook body to rotate around the hook fixing seat to hook the drill rod.

5. The drill rod gripping robot for drilling rigs as described in claim 1, characterized in that: The flipping device includes a flipping bracket, a flipping cylinder, and a limiting unit; The flipping bracket is mounted on the horizontal moving device, the fixed end of the flipping cylinder is rotatably connected to the flipping bracket, and the moving end of the flipping cylinder is hinged to the fixed column of the robot to form the first connection point. The fixed column is also hinged to one side of the horizontal moving device to form the second connection point; The limiting unit includes a limiting rod, a first limiting block, a second limiting block, and a connecting block; The connecting block is disposed on the flipping bracket, the limiting rod passes through the connecting block and is hinged to the first connection point of the fixed column, the limiting rod is slidably connected to the connecting block, and the first limiting block and the second limiting block are both fixed on the limiting rod and located on both sides of the connecting block; When the moving end of the tilting cylinder drives the fixed column of the robot to rotate around the second connection point, the limiting rod of the limiting unit moves along the connecting block, and the first limiting block and the second limiting block limit the forward and backward movement of the limiting rod, thereby limiting the tilting angle of the fixed column.

6. The drill rod gripping robot for drilling rigs as described in claim 1, characterized in that: The horizontal moving device includes a translation frame, a slide, and a telescopic frame; The translation frame is disposed above the mounting frame, the slide is slidably connected to the translation frame and the slide moves along the length direction of the translation frame, the telescopic frame is slidably connected to the slide and the telescopic frame moves along the width direction of the translation frame; The flipping device and the robotic arm are located on one side of the telescopic frame.

7. A method for gripping drill rods for drilling rigs, characterized in that: The drill rod gripping robot for drilling rigs according to any one of claims 1-6 performs gripping through the following steps: S1. Place the mounting bracket on the ground; S2. The horizontal moving device drives the robot arm to move to a preset position, and the flipping device pushes the first connection point of the robot arm to rotate around the second connection point so that the clamping axis of the robot arm is parallel to the axis of the drill rod. S3. The robotic arm opens and clamps the drill rod, and the robotic arm drives the drill rod to move along its axial direction to move the drill rod away from the ground; S4. The horizontal moving device moves the drill rod to the placement area via the robotic arm; S5. After the robotic arm drives the drill rod to move along its axial direction so that the drill rod is close to the ground, the robotic arm opens and the drill rod is placed on the drill rod placement frame. S6. The horizontal moving device drives the robotic arm to reset for the next placement.

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