A manipulator, device and drilling rig system

Abstract

The present application provides a manipulator, a device and a drilling rig system. The manipulator includes: a moving member; a first rotating member, with a first rotating structure provided between the moving member and the first rotating member; a second rotating member, with a second rotating structure provided between the second rotating member and the first rotating member; a grasping member provided on the second rotating member. The grasping member includes a main body portion, a driving member, a abutting member and two support arms. The driving member is provided at the first end of the main body portion, the abutting member is provided at the second end of the main body portion. The two support arms are both located between the first end and the second end of the main body portion, and the two support arms are oppositely arranged on both sides of the main body portion. 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 approach each other and move away from each other. A grasping area is formed between the abutting member and the second ends of the two support arms. The present application realizes the automation of grasping and disassembling drill pipes, which helps to improve the automation degree of the drilling rig system.

Description

Technical Field

[0001] This application relates to the technical field of industrial equipment, and particularly relates to a manipulator, a device and a drilling rig system. Background Art

[0002] In the drilling operation, the existing drilling rig consists of a tower and a power head. During operation, the power head is connected to the drill pipe to drive the drill pipe to rotate, and the drill pipe is linked with another drill pipe located below to enable multiple drill pipes to rotate for the drilling operation.

[0003] Currently, during the operation of the drilling rig, multiple workers are required to assemble or disassemble the drill pipes in a harsh environment. During the process of assembling and disassembling the drill pipes, there are defects such as high labor intensity of workers, high labor protection conditions, great difficulty in manual assembly and disassembly, being not easy to operate, low assembly and disassembly efficiency, and affecting the construction progress. Summary of the Invention

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

[0005] The specific technical solutions are as follows:

[0006] A manipulator, comprising:

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

[0008] 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 configured to enable the first rotating member to switch between approaching and departing from the moving member;

[0009] 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 configured to enable the second rotating member to switch between being horizontally arranged and vertically arranged relative to the moving member;

[0010] A grasping member, which is arranged on the second rotating member. The grasping member includes a main body portion, a driving member, a abutting member and two arms. The driving member is arranged at the first end of the main body portion, the abutting member is arranged at the second end of the main body portion. Both of the two arms are located between the first end and the second end of the main body portion, and the two arms are oppositely arranged on both sides of the main body portion. 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 and depart from each other, and a grasping area is formed between the abutting member and the second ends of the two 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 via a third rotating structure;

[0012] The support arm has a first sub-side wall and a second sub-side wall on a side close to the main body, and a third sub-side wall on a side away from the main body, wherein the first sub-side wall and the second sub-side wall are arranged opposite to each other on both sides of the third rotating structure;

[0013] The 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 yield structure at the end of the sub-side wall 1 away from the third rotation structure; and / or, the 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 yield 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°, and 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 the end away from the main body is in the shape of an arc. 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 grasping member further includes a pushing member and two transmission members, the two transmission members corresponding to the two support arms one-to-one, and the transmission members are rotatably connected to the first ends of the corresponding support 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 support arms to rotate through the two transmission members, so that the second ends of the two support arms approach each other and move 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 the 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 support 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, wherein the positioning portion is formed with a positioning groove, wherein the positioning groove is used to accommodate the object to be grasped, and a rolling member is provided in the positioning groove, wherein 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 rig 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 manipulator, comprising: a moving member configured to be movably disposed on an external device; a first rotating member, with a first rotating structure provided between the first rotating member and the moving member, the first rotating structure being configured to switch the first rotating member between approaching and separating from the moving member; a second rotating member, with a second rotating structure provided between the second rotating member and the first rotating member, the second rotating structure being configured to switch the second rotating member between a lateral setting and a vertical setting relative to the moving member; a grasping member disposed on the second rotating member, the grasping member including a main body portion, a driving member, a abutting member and two arms, the driving member being disposed at the first end of the main body portion, the abutting member being disposed at the second end of the main body portion, the two arms being both located between the first end and the second end of the main body portion, and the two arms being oppositely disposed on both sides of the main body portion, the driving member being configured to drive the first ends of the two arms to move so that the second ends of the two arms approach and separate from each other, and a grasping area being formed between the abutting member and the second ends of the two arms.

[0029] In the present application, the second rotating member enables the grasping member to grasp objects to be grasped in different forms (such as longitudinally arranged, laterally arranged or obliquely arranged), and can adjust the state of the object to be grasped after grasping (such as rotating a longitudinally arranged object to be grasped to be horizontally placed); the first rotating member enables the grasping member to achieve long-distance grasping of the object to be grasped; and the moving member enables the grasping member to move relative to the external device after grasping the object to be grasped, so as to convey the object to be grasped.

[0030] The present application enables the manipulator to flexibly cope with objects to be grasped in different forms, so that objects to be grasped in different forms can be effectively grasped, greatly expanding the application range of the manipulator and enabling it to be applicable to various complex grasping scenarios. At the same time, the state of the object to be grasped can be adjusted after grasping, providing convenience for subsequent operations. Moreover, it can perform grasping operations in a wider area, and the target position can be reached without the operator or frequent movement of the external device. And automatic conveying is achieved, without additional conveying equipment or manual handling, improving the overall operation efficiency.

[0031] In the present application, the driving member, the abutting member and the two arms are respectively disposed around the main body portion, making the structure of the grasping member concentrated, making the structure of the grasping member more compact, enhancing the structural strength of the grasping member, enhancing the bearing capacity of the grasping member, contributing to increasing the maximum grasping weight of the grasping member, and being able to better resist bending deformation and extend the service life of the grasping member.

[0032] The present application further provides a device, including the manipulator described above. By providing a manipulator capable of automatic grasping, the device of the present application can operate continuously and efficiently, significantly shortening the operation cycle and thus accelerating the operation progress. At the same time, the interference of human factors is reduced, the errors and mistakes caused by improper operation are reduced, and the operation stability and reliability are improved.

[0033] The present application also provides a drilling rig system, including a drilling main body and the manipulator described above, and the moving member of the manipulator is movably arranged on the drilling main body. By providing a manipulator capable of automatic grasping, the drilling rig system can operate continuously and efficiently, significantly shortening the construction period, thereby accelerating the project 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 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 following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 Structural schematic diagram of the manipulator provided in this embodiment Figure 1 ;

[0036] Figure 2 Structural schematic diagram of the manipulator provided in this embodiment Figure 2 ;

[0037] Figure 3 Structural schematic diagram of the manipulator provided in this embodiment Figure 3 ;

[0038] Figure 4 Structural schematic diagram of the grasping member provided in this embodiment Figure 1 ;

[0039] Figure 5 Structural schematic diagram of the grasping member provided in this embodiment Figure 2 ;

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

[0041] Reference Numerals:

[0042] 1 - Manipulator; 11 - Moving part; 12 - First rotating part; 13 - First rotating structure; 14 - Second rotating part; 15 - Second rotating structure; 16 - Gripping part; 141 - Positioning part; 161 - Main body part; 162 - Driving part; 163 - Contact part; 164 - Arm; 165 - Pushing part; 166 - Transmission part; 1411 - Positioning groove; 1412 - Rolling part; 1611 - First end of the main body part; 1612 - Second end of the main body part; 1613 - Wing part; 1631 - First contact part; 1641 - First end of the arm; 1642 - Second end of the arm; 1643 - First sub - side wall; 1644 - Second sub - side wall; 1645 - Third sub - side wall; 16421 - Second contact part; 16422 - Clamping part;

[0043] 2 - Drilling main body. Detailed implementation mode

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0045] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application.

[0046] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "install", "connected", "connected to" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0047] As Figures 1-5 shown, this embodiment provides a manipulator 1, including:

[0048] A moving part 11, and the moving part 11 is used for being movably arranged on an external device;

[0049] The first rotating member 12, and a first rotating structure 13 is provided between the first rotating member 12 and the moving member 11. The first rotating structure 13 is configured to switch the first rotating member 12 between approaching and departing from the moving member 11.

[0050] The second rotating member 14, and a second rotating structure 15 is provided between the second rotating member 14 and the first rotating member 12. The second rotating structure 15 is configured to switch the second rotating member 14 between being horizontally disposed and vertically disposed relative to the moving member 11.

[0051] The grasping member 16 is disposed on the second rotating member 14. The grasping member 16 includes a main body portion 161, a driving member 162, an abutting member 163, and two support arms 164. The driving member 162 is disposed at the first end 161 of the main body portion 1611, the abutting member 163 is disposed at the second end 1612 of the main body portion, and the two support arms 164 are both located between the first end 1611 and the second end 1612 of the main body portion. The two support arms 164 are oppositely disposed on both sides of the main body portion 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 approach and depart from each other, and a grasping 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 forms (such as being longitudinally disposed, horizontally disposed, or obliquely disposed), and can adjust the state of the object to be grasped after grasping the object to be grasped (such as rotating the longitudinally disposed object to be grasped to be horizontally placed); and the first rotating member 12 enables the grasping member 16 to achieve grasping the object 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 object to be grasped, so as to convey the object to be grasped.

[0053] This embodiment enables the manipulator 1 to flexibly cope with objects to be grasped in different forms, so that objects to be grasped in different forms can be effectively grasped, greatly expanding the application range of the manipulator 1 and enabling it to be applicable to various complex grasping scenarios. At the same time, it enables the object to be grasped to be adjusted in state after grasping, providing convenience for subsequent operations. Moreover, it can perform grasping operations in a wider area, and the target position can be reached without the operator or frequently moving the external device. And it realizes automatic conveying, without additional conveying equipment or manual handling, improving 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 grabbing member 16 is gathered, making the structure of the grabbing member 16 more compact, enhancing the structural strength of the grabbing member 16, enhancing the carrying capacity of the grabbing member 16, helping to increase the maximum grabbing weight of the grabbing member 16, and being able to better resist bending deformation, thereby extending the service life of the grabbing 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 Figures 1-5 As shown, in one embodiment, the main body 161 is provided with two wings 1613, and the two wings 1613 are provided in a one-to-one correspondence with the two support arms 164, and the support arms 164 are rotatably provided on the wings 1613 through a third rotating structure (not shown in the figure);

[0058] The support arm 164 has a first sub-side wall 1643 and a second sub-side wall 1644 on a side close to the main body 161 , and has a third sub-side wall 1645 on a side away from the main body 161 . The first sub-side wall 1643 and the second sub-side wall 1644 are disposed opposite to each other on either side of the third rotating structure.

[0059] One end of sub-side wall 1643 away from the third rotation structure is inclined toward sub-side wall 3 1645 to form a first yield structure at the end of sub-side wall 1643 away from the third rotation structure; and / or, one end of sub-side wall 2 1644 away from the third rotation structure is inclined toward sub-side wall 3 1645 to form a second yield structure at the end of sub-side wall 2 1644 away from the third rotation structure.

[0060] Compared to conventional solutions that reserve space between the support arm 164 and the main body 161 to allow the support arm 164 to rotate relative to the main body based on a third rotation structure, this embodiment tilts the first sub-side wall 1643 to form a first clearance structure to reserve space between the first sub-side wall 1643 and the main body 161, and tilts the second sub-side wall 1644 to form a second clearance structure to reserve space between the second sub-side wall 1644 and the main body 161. The first sub-side wall 1643 and the second sub-side wall 1644 provide the necessary rotational space for the support arm 164, ensuring the rotation range of the support arm 164 without increasing the overall size of the gripper 16, making the overall structure of the gripper 16 compact. This also helps reduce the overall size and weight of the gripper 16, improving its portability and flexibility.

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

[0062] As Figures 1-5 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] wherein, 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 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 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 less 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 operating force required for the gripper 16 to grasp and transport the object to be grasped can be reduced, thereby accelerating the working speed. When the manipulator 1 performs automatic grasping, the gripper 16 can quickly and accurately complete the grasping and transportation of the object to be grasped, greatly improving the production efficiency. Moreover, when the gripper 16 holds an object to be grasped with an irregular shape or a large weight, it can also maintain a stable clamping force, ensuring the safety and reliability during the transportation 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] As Figures 1-5 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 included angle between the first sub-sidewall 1643 and the third sub-sidewall 1645 is between 10° and 40°, the included angle between the second sub-sidewall 1644 and the third sub-sidewall 1645 is between 10° and 40°, and the included angle between the first sub-sidewall 1643 and the second sub-sidewall 1644 is between 120° and 160°; and the included angle between the first sub-sidewall 1643 and the third sub-sidewall 1645 is greater than the included angle between the second sub-sidewall 1644 and the third sub-sidewall 1645.

[0069] In this embodiment, the included angles between the first sub-sidewall 1643 and the third sub-sidewall 1645 and between the second sub-sidewall 1644 and the third sub-sidewall 1645 are both between 10° and 40°, making the length direction of the support arm 164 longer and the width direction shorter, achieving reasonable utilization of space, avoiding unnecessary space waste caused by an increase in the width direction of the support arm 164, and being beneficial to reducing the overall size of the gripper 16.

[0070] At the same time, in this embodiment, the included angle between the first sub-sidewall 1643 and the third sub-sidewall 1645 is greater than the included angle between the second sub-sidewall 1644 and the third sub-sidewall 1645. Therefore, the distance between the third rotating structure and the first end 1641 of the support arm (i.e., the power arm) is less than the distance between the third rotating structure and the second end 1642 of the support arm (i.e., the resistance arm), enabling the gripper 16 to reduce the required operating force when grasping and transporting the object to be grasped, thus accelerating the working speed and greatly improving production efficiency. And it can maintain a stable clamping force, ensuring safety and reliability during the transportation process.

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

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

[0073] Secondly, the clamping portion 16422 enables the grasping member 16 to adapt to workpieces to be grasped (drill pipes) with different diameters. When grasping a workpiece to be grasped (drill pipe) with a larger diameter, the clamping portion 16422 undergoes elastic deformation, so as to closely fit with the surface of the workpiece to be grasped (drill pipe); when grasping a workpiece to be grasped (drill pipe) with a smaller diameter, the clamping portion 16422 closely fits with the surface of the workpiece to be grasped (drill pipe) through its surface, maintaining a stable grasping force. This enables the grasping member 16 to grasp workpieces to be grasped (drill pipes) with different diameters without replacing the grasping member 16, greatly improving the flexibility and convenience of use.

[0074] In one embodiment, the clamping portion 16422 is detachably arranged on the second contact portion 16421 to adapt to workpieces to be grasped (drill pipes) with different sizes.

[0075] As Figures 1-5 shown, in one embodiment, the grasping member 16 further includes a pushing member 165 and two transmission members 166. The two transmission members 166 correspond to the two support arms 164 one by one, and the transmission member 166 is rotatably connected to the first end 1641 of the corresponding support arm. Two ends of the pushing member 165 are respectively rotatably connected to the two transmission members 166. The pushing member 165 is configured to be driven by the driving member 162 and drive the first ends 1641 of the two support arms to rotate through the two transmission members 166, so that the second ends 1642 of the two support arms approach and move away from each other;

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

[0077] When the grasping member 16 is in the releasing state, the included angle between the pushing member 165 and the transmission member 166 is between 120° and 150°, and the included angle between the transmission member 166 and the support arm 164 is between 90° and 110°.

[0078] In this embodiment, when the grasping member 16 is in the grasping state, the included 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 included angle helps to reduce the friction and resistance during the transmission process, enabling the support arm 164 to more smoothly contact and grasp the target object. And when in the releasing state, the included 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 included 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 gripping member 16 is in the gripping state, the angle between the transmission member 166 and the support arm 164 is between 75° and 90°; when the gripping member 16 is in the releasing state, the angle between the transmission member 166 and the support arm 164 is between 90° and 110°. This allows for a more even distribution of force between the transmission member 166 and the support arm 164 during the gripping and releasing processes, thereby improving the strength and stability of the entire structure. Furthermore, 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 ensured, helping to reduce 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 grasping member 16.

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

[0082] This embodiment allows for larger objects to be grasped by positioning the gripping member 16 farther from the second rotating structure 15 away from the moving member 11, while positioning the gripping member 16 closer to the second rotating structure 15 closer to the moving member 11. This reduces the contact area between the second rotating member 14 and the external device when the manipulator 1 grasps the object, preventing interference between the second rotating member 14 and the external device. This also helps optimize the overall spatial layout of the external device and the manipulator when working in conjunction.

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

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

[0085] In this embodiment, the positioning part 141 is provided to position the object to be grasped, so as 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 part 16. At the same time, the rolling part 1412 is provided to reduce the frictional resistance generated during the grasping process and reduce the wear and scratch of the object to be grasped.

[0086] In one embodiment, the positioning part 141 is located between the two grasping parts 16.

[0087] As Figures 1-3 shown, in one embodiment, the rotation axis of the first rotation structure 13 is parallel to the moving direction of the moving part 11, and the rotation axis of the second rotation structure 15 is perpendicular to the moving direction of the moving part 11. This embodiment enables the first rotating part 12 to rotate flexibly on the horizontal plane, and at the same time enables the second rotating part 14 to rotate flexibly on the vertical plane, improving the running flexibility of the grasping part 16.

[0088] As Figures 1-3 shown, this embodiment also provides a device, including the manipulator 1 in any of the above embodiments. By setting the manipulator 1 capable of automatic grasping on the device in this embodiment, the device can operate continuously and efficiently, significantly shortening the operation cycle, thereby accelerating 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 operation stability and reliability.

[0089] As Figures 1-6 shown, this embodiment also provides a drilling rig system, including a drilling main body 2 and the manipulator 1 in any of the above embodiments, and the moving part 11 of the manipulator 1 is movably arranged on the drilling main body 2.

[0090] In this embodiment, by setting the manipulator 1 capable of automatic grasping, the drilling rig system can operate continuously and efficiently, significantly shortening the construction cycle, thereby accelerating the project 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 construction quality.

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

[0092] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A robot, characterized in that: include: a moving member configured to be movably disposed on an external device; a first rotating member, wherein a first rotating structure is provided between the first rotating member and the moving member, the first rotating structure being 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 provided 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, the grabbing member includes a main body, a driving member, an abutting member and two support arms, 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 approach each other and move away from each other, and a grabbing area is formed between the abutting member and the second ends of the two support arms; The main body is provided with two wings, and the two wings are arranged in a one-to-one correspondence with the two support arms, and the support arms are rotatably arranged on the wings through a third rotating structure; the support arm has a sub-side wall 1 and a sub-side wall 2 on a side close to the main body, and a sub-side wall 3 on a side away from the main body, and the sub-side wall 1 and the sub-side wall 2 are arranged opposite to each other on both sides of the third rotating structure; an end of the sub-side wall 1 away from the third rotating structure is inclined toward the sub-side wall 3, so as to form a first yielding structure at the end of the sub-side wall 1 away from the third rotating structure; an end of the sub-side wall 2 away from the third rotating structure is inclined toward the sub-side wall 3, so as to form a second yielding structure at the end of the sub-side wall 2 away from the third rotating structure; A first contact portion is provided at one end of the abutment member away from the main body portion, and the cross-section of the first contact portion at the end away from the main body portion is arc-shaped. 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; the second contact portion is provided with a clamping portion, and the clamping portion overlaps with the circle where the arc is located, and the area of the clamping portion is between 20cm² and 40cm².

2. The manipulator according to claim 1, characterized in that: 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; 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.

3. The manipulator according to claim 1, 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°, and 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.

4. The manipulator according to claim 1, characterized in that: The grasping member further includes a pushing member and two transmission members, the two transmission members corresponding to the two support arms one-to-one, and the transmission members are rotatably connected to the first ends of the corresponding support 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 support arms to rotate through the two transmission members, so that the second ends of the two support arms approach each other and move 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 the 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 support arm is between 90° and 110°.

5. 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.

6. 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.

7. A drilling device, characterized in that: The invention comprises the manipulator described in any one of claims 1 to 6.

8. A drilling rig system, characterized in that: The drilling rig comprises a drilling body and the drilling apparatus according to claim 7, wherein the moving part of the manipulator is movably arranged on the drilling body.

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