Manipulator for intelligent drilling system

Abstract

The invention provides a manipulator for an intelligent drilling system, and relates to the field of manipulators. The mechanical arm for the intelligent drilling system comprises a mechanical arm driving rod, a grabbing unit is arranged at the lower end of the mechanical arm driving rod and comprises a lifting groove, the lifting groove is formed in the outer side of the mechanical arm driving rod, and a lifting block is slidably connected to the inner side of the lifting groove; a moving cylinder is fixedly connected to the outer side of the lifting block, a first electric push rod is fixedly connected between the upper side of the lifting block and the inner wall of the lifting groove, and a fixing disc is fixedly connected to the lower side of the moving cylinder. By arranging the moving cylinder, the first electric push rod, the fixing disc, the large gear, the connecting disc, the branch plate, the grabbing plates, the lifting disc and the second electric push rod, the lifting disc can be conveniently controlled to move up and down, the multiple grabbing plates are controlled to be close to the drill rod, the grabbing plates on the branch plate are controlled to rotate, oil stains on the surface of the drill rod are conveniently cleaned, and slipping is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator for an intelligent drilling system. Background Art

[0002] The drilling system is a complex mechanical equipment and technology system used for geological exploration, resource development and scientific research.

[0003] In the drilling system, a manipulator is needed to assist the staff in drilling work. During the drilling operation, due to equipment vibration, movement, etc., the drill pipe is easy to fall into the borehole. At this time, the manipulator is needed to grab the drill pipe to facilitate the grabbing and recovery of the fallen drill pipe to avoid affecting the continued drilling. However, the drill pipe is often in contact with oil stains in the formation. These oil stains will adhere to the surface of the drill pipe, making the friction between the drill pipe surface and the manipulator small, resulting in poor grabbing effect and easy slipping. Summary of the invention

[0004] Technical issues solved

[0005] In view of the deficiencies in the prior art, the present invention provides a manipulator for an intelligent drilling system, which solves the problem of poor grasping effect of the manipulator for a dropped drill rod.

[0006] Technical Solution

[0007] To achieve the above object, the present invention is implemented through the following technical solutions: A manipulator for an intelligent drilling system, comprising a manipulator driving rod, a gripping unit is provided at the lower end of the manipulator driving rod;

[0008] The lifting mechanism is a kind of inwardly sliding movement mechanism, and the moving cylinder is a kind of inwardly sliding movement mechanism, and the moving cylinder is a kind of inwardly sliding movement mechanism, and the moving cylinder is a kind of inwardly sliding movement mechanism.

[0009] Preferably, a mounting groove is provided on the lower side of the fixing plate, a motor is fixedly connected to the inner side of the mounting groove, a control rod is fixedly connected to the lower output end of the motor, and a pinion is fixedly connected to the lower end of the control rod.

[0010] Preferably, the large gear is meshingly connected with the small gear, and the guide groove is arranged in an annular structure.

[0011] Preferably, a vertical plate is fixedly connected to the lower side of the connecting plate, a limiting groove is provided on the outer side of the vertical plate, a moving block is slidably connected to the inner side of the limiting groove, and a mounting rod is fixedly connected between the moving block and the lifting plate.

[0012] Preferably, the branch plates and the connecting plates are both arranged in an inclined structure.

[0013] Preferably, the lower side of the grabbing plate is fixedly connected to a side plate, the lower sides of the side plate and the grabbing plate are both provided with sliding grooves, the inner side of the sliding groove is slidably connected to a slider, the lower side of the slider is fixedly connected to a bottom plate, the outer side of the bottom plate is fixedly connected to a connecting rod, and the outer end of the connecting rod is fixedly connected to a cleaning plate.

[0014] Preferably, a spring is fixedly connected between the outer side of the sliding block and the inner wall of the sliding groove.

[0015] Preferably, the grabbing plate and the cleaning plate are both arranged in an arc-shaped structure.

[0016] Beneficial Effects

[0017] The present invention provides a manipulator for an intelligent drilling system, which has the following beneficial effects:

[0018] 1. By setting up a moving cylinder, an electric push rod 1, a fixed plate, a large gear, a connecting plate, a branch plate, a grab plate, a lifting plate and an electric push rod 2, it is convenient to control the lifting plate to move up and down, control multiple grab plates to approach the drill pipe, and control the grab plate on the branch plate to rotate, so as to facilitate the cleaning of oil stains on the surface of the drill pipe and avoid slipping.

[0019] 2. By providing the side plates, sliders, bottom plates, connecting rods, cleaning plates and springs, the cleaning plates are closely attached to the outside of the drill pipe, so that the cleaning effect of oil stains on the surface of the drill pipe is better and slipping is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the overall three-dimensional structure diagram of the present invention;

[0021] Figure 2 It is a partially cutaway three-dimensional structural diagram of the present invention;

[0022] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0023] Figure 4 It is a partial three-dimensional structural diagram of the grabbing unit in the present invention;

[0024] Figure 5 It is a three-dimensional structural diagram of the connection between the branch plate and the grab plate in the present invention;

[0025] Figure 6 It is a three-dimensional structural diagram of the grabbing plate of the grabbing unit in the present invention.

[0026] Among them, 1. manipulator driving rod; 2. grabbing unit; 201. lifting slot; 202. lifting block; 203. electric push rod 1; 204. moving cylinder; 205. fixed plate; 206. guide slot; 207. guide block; 208. large gear; 209. connecting plate; 210. fixed block; 211. branch plate; 212. grab plate; 213. connecting block 1; 214. connecting plate; 215. connecting block 2; 216. lifting plate; 217. electric push rod 2; 218. vertical plate; 219. moving block; 220. mounting rod; 222. side plate; 223. slide slot; 224. slider; 225. bottom plate; 226. connecting rod; 227. cleaning plate; 228. spring; 229. control rod; 230. limit slot; 231. motor; 232. small gear. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Embodiment 1:

[0029] like Figure 1 - Figure 5 As shown, a manipulator for an intelligent drilling system includes a manipulator driving rod 1. A grabbing unit 2 is arranged at the lower end of the manipulator driving rod 1. The grabbing unit 2 is convenient for grabbing the drill rod in the borehole. The manipulator driving rod 1 is connected to the control hydraulic rod to facilitate the control of the lifting and lowering of the grabbing unit 2.

[0030] The grabbing unit 2 includes a lifting slot 201, which is provided on the outside of the manipulator driving rod 1. A lifting block 202 is slidably connected to the inner side of the lifting slot 201. A moving cylinder 204 is fixedly connected to the outer side of the lifting block 202. An electric push rod 203 is fixedly connected between the upper side of the lifting block 202 and the inner wall of the lifting slot 201. A fixed plate 205 is fixedly connected to the lower side of the moving cylinder 204. A guide slot 206 is provided on the lower side of the fixed plate 205. A guide block 207 is slidably connected to the inner side of the guide slot 206. The lower side of the block 207 is fixedly connected with a large gear 208, the lower side of the large gear 208 is fixedly connected with a connecting disk 209, the lower side of the connecting disk 209 is fixedly connected with multiple fixed blocks 210, the outer sides of the multiple fixed blocks 210 are rotatably connected with branch plates 211, the lower sides of the multiple branch plates 211 are fixedly connected with grabbing plates 212, the side of the multiple branch plates 211 close to the middle of the connecting disk 209 is fixedly connected with a connecting block 213, the outer sides of the multiple connecting blocks 213 are rotatably connected with connecting plates 214, and the connecting blocks 213 are fixedly connected with connecting blocks 213. The outer side of the upper end of the connecting plate 214 is rotatably connected with a connecting block 215, and the upper side of the connecting block 215 is fixedly connected with a lifting plate 216. The lifting plate 216 and the connecting plate 209 are fixedly connected with an electric push rod 217. The branch plate 211 and the connecting plate 214 are both inclined structures. The lower side of the fixed plate 205 is provided with a mounting groove, and the inner side of the mounting groove is fixedly connected with a motor 231. The lower output end of the motor 231 is fixedly connected with a control rod 229, and the lower end of the control rod 229 is fixedly connected with a pinion 232. The large gear 208 is meshed with the small gear 232, the guide groove 206 is an annular structure, the lower side of the connecting disk 209 is fixedly connected with a vertical plate 218, the outer side of the vertical plate 218 is provided with a limiting groove 230, the inner side of the limiting groove 230 is slidably connected with a moving block 219, and a mounting rod 220 is fixedly connected between the moving block 219 and the lifting disk 216. The motor 231, the electric push rod 217, and the electric push rod 1 203 are all connected to an external PLC controller to facilitate the control of the electric push rod 217 and the motor 231.

[0031] When in use, the manipulator driving rod 1 controls the grabbing plate 212 to descend, the manipulator driving rod 1 drives the fixed plate 205 to descend, the fixed plate 205 drives the vertical plate 218 to descend, and then the motor 231 is started, the motor 231 drives the control rod 229 to rotate, the control rod 229 drives the small gear 232 to rotate, the small gear 232 drives the large gear 208 to rotate, the large gear 208 drives the grabbing plate 212 to rotate, and at the same time controls the electric push rod 217 to drive the lifting plate 216 to rise, the lifting plate 216 drives the connecting plate 214 to rotate, the connecting plate 214 drives the branch plate 211 to rotate, and the branch plate 211 drives the grabbing plate 212 to rotate. The plate 212 rotates, so that multiple grabbing plates 212 contact the drill rod, and the grabbing plate 212 partially rotates and contacts the drill rod, so that the grabbing plate 212 cleans the oil stains on the surface of the drill rod, and then controls the electric push rod 203 to drive the lifting block 202 to descend, and the lifting block 202 drives the moving cylinder 204 to descend, so that the moving cylinder 204 drives the fixed plate 205 to descend, and the fixed plate 205 drives the connecting plate 209 to descend, and the connecting plate 209 drives the grabbing plate 212 to descend, so that another part of the grabbing plate 212 contacts the cleaned parts of the drill rod, so that the friction between the grabbing plate 212 and the drill rod is increased to avoid slipping during grabbing.

[0032] Embodiment 2:

[0033] Based on the first embodiment, Figure 1 - Figure 6 As shown, a manipulator for an intelligent drilling system includes a manipulator driving rod 1. A grabbing unit 2 is arranged at the lower end of the manipulator driving rod 1. The grabbing unit 2 is convenient for grabbing the drill rod in the borehole. The manipulator driving rod 1 is connected to the control hydraulic rod to facilitate the control of the lifting and lowering of the grabbing unit 2.

[0034] The grabbing unit 2 includes a lifting slot 201, which is provided on the outside of the manipulator driving rod 1. A lifting block 202 is slidably connected to the inner side of the lifting slot 201. A moving cylinder 204 is fixedly connected to the outer side of the lifting block 202. An electric push rod 203 is fixedly connected between the upper side of the lifting block 202 and the inner wall of the lifting slot 201. A fixed plate 205 is fixedly connected to the lower side of the moving cylinder 204. A guide slot 206 is provided on the lower side of the fixed plate 205. A guide block 207 is slidably connected to the inner side of the guide slot 206. The lower side of the block 207 is fixedly connected with a large gear 208, the lower side of the large gear 208 is fixedly connected with a connecting disk 209, the lower side of the connecting disk 209 is fixedly connected with multiple fixed blocks 210, the outer sides of the multiple fixed blocks 210 are rotatably connected with branch plates 211, the lower sides of the multiple branch plates 211 are fixedly connected with grabbing plates 212, the side of the multiple branch plates 211 close to the middle of the connecting disk 209 is fixedly connected with a connecting block 213, the outer sides of the multiple connecting blocks 213 are rotatably connected with connecting plates 214, and the connecting blocks 213 are fixedly connected with connecting blocks 213. The outer side of the upper end of the connecting plate 214 is rotatably connected with a connecting block 215, and the upper side of the connecting block 215 is fixedly connected with a lifting plate 216. The lifting plate 216 and the connecting plate 209 are fixedly connected with an electric push rod 217. The branch plate 211 and the connecting plate 214 are both inclined structures. The lower side of the fixed plate 205 is provided with a mounting groove, and the inner side of the mounting groove is fixedly connected with a motor 231. The lower output end of the motor 231 is fixedly connected with a control rod 229, and the lower end of the control rod 229 is fixedly connected with a pinion 232. The large gear 208 is meshed with the small gear 232, the guide groove 206 is an annular structure, the lower side of the connecting disk 209 is fixedly connected with a vertical plate 218, the outer side of the vertical plate 218 is provided with a limiting groove 230, the inner side of the limiting groove 230 is slidably connected with a moving block 219, and a mounting rod 220 is fixedly connected between the moving block 219 and the lifting disk 216. The motor 231, the electric push rod 217, and the electric push rod 1 203 are all connected to an external PLC controller to facilitate the control of the electric push rod 217 and the motor 231.

[0035] When in use, the manipulator driving rod 1 controls the grabbing plate 212 to descend, the manipulator driving rod 1 drives the fixed plate 205 to descend, the fixed plate 205 drives the vertical plate 218 to descend, and then the motor 231 is started, the motor 231 drives the control rod 229 to rotate, the control rod 229 drives the small gear 232 to rotate, the small gear 232 drives the large gear 208 to rotate, the large gear 208 drives the grabbing plate 212 to rotate, and at the same time controls the electric push rod 217 to drive the lifting plate 216 to rise, the lifting plate 216 drives the connecting plate 214 to rotate, the connecting plate 214 drives the branch plate 211 to rotate, and the branch plate 211 drives the grabbing plate 212 to rotate. The plate 212 rotates, so that multiple grabbing plates 212 contact the drill rod, and the grabbing plate 212 partially rotates and contacts the drill rod, so that the grabbing plate 212 cleans the oil stains on the surface of the drill rod, and then controls the electric push rod 203 to drive the lifting block 202 to descend, and the lifting block 202 drives the moving cylinder 204 to descend, so that the moving cylinder 204 drives the fixed plate 205 to descend, and the fixed plate 205 drives the connecting plate 209 to descend, and the connecting plate 209 drives the grabbing plate 212 to descend, so that another part of the grabbing plate 212 contacts the cleaned parts of the drill rod, so that the friction between the grabbing plate 212 and the drill rod is increased to avoid slipping during grabbing.

[0036] The lower side of the grabbing plate 212 is fixedly connected with a side plate 222, and a slide groove 223 is provided on the lower side of the side plate 222 and the lower side of the grabbing plate 212. A slider 224 is slidably connected to the inner side of the slide groove 223, and a bottom plate 225 is fixedly connected to the lower side of the slider 224. A connecting rod 226 is fixedly connected to the outer side of the bottom plate 225, and a cleaning plate 227 is fixedly connected to the outer end of the connecting rod 226. A spring 228 is fixedly connected between the outer side of the slider 224 and the inner wall of the slide groove 223. The grabbing plate 212 and the cleaning plate 227 are both arranged in an arc structure. The grabbing plate 212 drives the cleaning plate 227 to contact with the drill pipe. When cleaning the oil stains, the cleaning plate 227 assists the grabbing plate 212 to clean the oil stains. At the same time, the spring 228 is compressed, and the spring 228 drives the cleaning plate 227 to fit closely with the drill pipe, thereby increasing the cleaning of the oil stains on the surface of the drill pipe, increasing the cleaning effect, and facilitating the grabbing and recycling.

[0037] Working principle: When in use, the manipulator driving rod 1 is used to control the grab plate 212 to descend, and the electric push rod 217 is controlled to drive the lifting plate 216 to rise. Under the action of the connecting plate 214 and the branch plate 211, multiple grab plates 212 are controlled to approach the drill rod, and the motor 231 is started to drive the small gear 232 to rotate. Under the action of the large gear 208, multiple grab plates 212 are controlled to rotate, and the grab plate 212 is controlled to descend through the electric push rod 1 203 to clean the oil stains on the surface of the drill rod, and the electric push rod 217 is controlled to separate the grab plate 212 from the drill rod, and the grab plate 212 is controlled to descend so that part of the grab plate 212 contacts the drill rod from which part of the oil stains have been cleaned, so that the grab plate 212 increases the grabbing effect on the drill rod and avoids slipping, and the spring 228 and the cleaning plate 227 are controlled to increase the cleaning effect on the oil stains, so as to facilitate the recovery of the fallen drill rod.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for an intelligent drilling system, comprising a manipulator driving rod (1), characterized in that: A gripping unit (2) is provided at the lower end of the manipulator driving rod (1); The grabbing unit (2) comprises a lifting slot (201), wherein the lifting slot (201) is arranged on the outer side of the manipulator driving rod (1), a lifting block (202) is slidably connected to the inner side of the lifting slot (201), a moving cylinder (204) is fixedly connected to the outer side of the lifting block (202), an electric push rod (203) is fixedly connected between the upper side of the lifting block (202) and the inner wall of the lifting slot (201), a fixed plate (205) is fixedly connected to the lower side of the moving cylinder (204), a guide slot (206) is arranged on the lower side of the fixed plate (205), a guide block (207) is slidably connected to the inner side of the guide slot (206), a large gear (208) is fixedly connected to the lower side of the guide block (207), and a connecting rod (208) is fixedly connected to the lower side of the large gear (208). A connecting plate (209) is provided, wherein a plurality of fixed blocks (210) are fixedly connected to the lower side of the connecting plate (209), the outer sides of the plurality of fixed blocks (210) are rotatably connected to branch plates (211), the lower sides of the plurality of branch plates (211) are fixedly connected to grab plates (212), the sides of the plurality of branch plates (211) close to the middle of the connecting plate (209) are fixedly connected to a first connecting block (213), the outer sides of the plurality of first connecting blocks (213) are rotatably connected to a connecting plate (214), the outer side of the upper end of the connecting plate (214) is rotatably connected to a second connecting block (215), the upper side of the second connecting block (215) is fixedly connected to a lifting plate (216), and a second electric push rod (217) is fixedly connected between the lifting plate (216) and the connecting plate (209).

2. The manipulator for an intelligent drilling system according to claim 1, characterized in that: A mounting groove is provided on the lower side of the fixed plate (205), a motor (231) is fixedly connected to the inner side of the mounting groove, a control rod (229) is fixedly connected to the lower output end of the motor (231), and a pinion (232) is fixedly connected to the lower end of the control rod (229).

3. The manipulator for an intelligent drilling system according to claim 2, characterized in that: The large gear (208) is meshingly connected with the small gear (232), and the guide groove (206) is arranged in an annular structure.

4. The manipulator for an intelligent drilling system according to claim 1, characterized in that: A vertical plate (218) is fixedly connected to the lower side of the connection plate (209), a limiting groove (230) is provided on the outer side of the vertical plate (218), a moving block (219) is slidably connected to the inner side of the limiting groove (230), and a mounting rod (220) is fixedly connected between the moving block (219) and the lifting plate (216).

5. The manipulator for an intelligent drilling system according to claim 1, characterized in that: The branch plate (211) and the connection plate (214) are both arranged in an inclined structure.

6. The manipulator for an intelligent drilling system according to claim 1, characterized in that: The lower side of the grab plate (212) is fixedly connected to a side plate (222), the lower side of the side plate (222) and the lower side of the grab plate (212) are both provided with a slide groove (223), the inner side of the slide groove (223) is slidably connected to a slider (224), the lower side of the slider (224) is fixedly connected to a bottom plate (225), the outer side of the bottom plate (225) is fixedly connected to a connecting rod (226), and the outer end of the connecting rod (226) is fixedly connected to a cleaning plate (227).

7. The manipulator for an intelligent drilling system according to claim 6, characterized in that: A spring (228) is fixedly connected between the outer side of the sliding block (224) and the inner wall of the sliding groove (223).

8. The manipulator for an intelligent drilling system according to claim 6, characterized in that: The grabbing plate (212) and the cleaning plate (227) are both arranged in an arc-shaped structure.

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